diff --git a/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00014/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5dc18f0bbb28399ac326991f67171a7b606bbf5b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00014/meta.json @@ -0,0 +1,7596 @@ +{ + "frame_id": 14, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.0, + "sim_timestamp": 4656.66913832305 + }, + "drone_pose": { + "x": 7.386650576479611, + "y": -47.919762770836904, + "z": 20.270847984961204, + "pitch": -41.82879360195324, + "yaw": 83.42785469367782, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08528447151184082, + -0.7402443289756775, + 0.6669069528579712, + 21.323591232299805 + ], + [ + 0.9934285283088684, + 0.11445415019989014, + -2.9802322387695312e-08, + 12.822725296020508 + ], + [ + -0.0763302743434906, + 0.6625244617462158, + 0.7451409697532654, + -46.28882598876953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.400755006156858, + "y": -47.411048352414326, + "z": 20.243490156730306 + }, + "t1_image_uv": [ + 747.1767792537869, + -410.20628687206386 + ], + "t1_depth": 0.39602095020631306 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -26.687763214111328, + "z": 1.1423384737968445 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.68242339564221, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 562, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -26.687763214111328, + "z": 1.142338514328003 + }, + "extent": { + "x": 0.40044403076171875, + "y": 0.4764501750469208, + "z": 0.9319954514503479 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.0757396485344, + "ymin": 326.3252237506423, + "xmax": 657.6004302945367, + "ymax": 393.0133125360574 + }, + "corners_3d": [ + [ + 10.309267044067383, + -27.088207244873047, + 0.21034306287765503 + ], + [ + 9.356367111206055, + -27.088207244873047, + 0.21034306287765503 + ], + [ + 9.356367111206055, + -26.28731918334961, + 0.21034306287765503 + ], + [ + 10.309267044067383, + -26.28731918334961, + 0.21034306287765503 + ], + [ + 10.309267044067383, + -27.088207244873047, + 2.074333906173706 + ], + [ + 9.356367111206055, + -27.088207244873047, + 2.074333906173706 + ], + [ + 9.356367111206055, + -26.28731918334961, + 2.074333906173706 + ], + [ + 10.309267044067383, + -26.28731918334961, + 2.074333906173706 + ] + ], + "corners_2d": [ + [ + 622.8428031240329, + 390.51716156508576 + ], + [ + 654.1674386426249, + 393.0133125360574 + ], + [ + 656.8602606084545, + 375.1188687979533 + ], + [ + 626.1547686804586, + 372.7217052075783 + ], + [ + 622.0757396485344, + 343.9270248452883 + ], + [ + 654.8026927874349, + 346.3985297725014 + ], + [ + 657.6004302945367, + 328.6944675114116 + ], + [ + 625.5486989335546, + 326.3252237506423 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 14, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 89, + "semantic_pixel_counts": { + "1": 233092, + "2": 74269, + "5": 3389, + "6": 5899, + "7": 107, + "10": 2, + "12": 2459, + "14": 42882, + "15": 4931, + "24": 40900, + "25": 513670 + }, + "instance_pixel_counts": { + "586": 2662, + "606": 722, + "842": 727, + "1118": 550, + "1630": 178, + "2142": 205, + "2644": 3100, + "2654": 938, + "3156": 1715, + "3166": 925, + "3678": 440, + "4190": 698, + "6238": 476, + "6991": 4931, + "7262": 508, + "7503": 8064, + "7774": 606, + "8015": 6063, + "8527": 5850, + "8798": 905, + "9310": 1130, + "9822": 1407, + "10334": 1810, + "10846": 1291, + "11676": 42972, + "11870": 2773, + "12188": 82675, + "12700": 27844, + "13212": 3528, + "13406": 60, + "13918": 121, + "14236": 19652, + "14430": 701, + "14942": 772, + "15454": 1072, + "15966": 1322, + "16284": 22801, + "16478": 1705, + "16990": 2221, + "18013": 359554, + "19037": 154116, + "23418": 3919, + "23441": 5594, + "24442": 3601, + "24465": 281, + "24954": 1419, + "25466": 133, + "25489": 8991, + "25978": 615, + "27516": 618, + "28026": 693, + "28028": 755, + "29052": 4724, + "29564": 787, + "30076": 5563, + "31100": 50, + "31612": 1221, + "33660": 1264, + "34560": 234, + "34816": 957, + "36252": 6025, + "37788": 73, + "38300": 10023, + "40860": 17499, + "43008": 562, + "43264": 230, + "43520": 162, + "43776": 587, + "44032": 52, + "44288": 866, + "44922": 411, + "45312": 929, + "45824": 3205, + "46173": 4595, + "47104": 5, + "48896": 3900, + "52124": 45, + "52636": 732, + "54684": 975, + "57241": 2088, + "57753": 2210, + "58265": 17981, + "58777": 896, + "59289": 21198, + "59997": 143, + "60825": 31, + "61021": 83, + "61337": 7431, + "63385": 7452 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 562, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -26.687763214111328, + "z": 1.142338514328003 + }, + "extent": { + "x": 0.3926239013671875, + "y": 0.5335473418235779, + "z": 0.9267107844352722 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.158367459532, + "ymin": 326.4892276618999, + "xmax": 659.4980122563817, + "ymax": 392.8584959017164 + }, + "corners_3d": [ + [ + 10.366364479064941, + -27.080387115478516, + 0.2156277298927307 + ], + [ + 9.299269676208496, + -27.080387115478516, + 0.2156277298927307 + ], + [ + 9.299269676208496, + -26.29513931274414, + 0.2156277298927307 + ], + [ + 10.366364479064941, + -26.29513931274414, + 0.2156277298927307 + ], + [ + 10.366364479064941, + -27.080387115478516, + 2.06904935836792 + ], + [ + 9.299269676208496, + -27.080387115478516, + 2.06904935836792 + ], + [ + 9.299269676208496, + -26.29513931274414, + 2.06904935836792 + ], + [ + 10.366364479064941, + -26.29513931274414, + 2.06904935836792 + ] + ], + "corners_2d": [ + [ + 621.0024623464265, + 390.0643791633543 + ], + [ + 656.0783931843162, + 392.8584959017164 + ], + [ + 658.6822995570653, + 375.3081301547796 + ], + [ + 624.2863319854252, + 372.6227084599765 + ], + [ + 620.158367459532, + 343.74191784795585 + ], + [ + 656.7951299136002, + 346.5085551461276 + ], + [ + 659.4980122563817, + 329.14359578476177 + ], + [ + 623.6024351751399, + 326.4892276618999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 230, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -23.6900577545166, + "z": 1.1383589506149292 + }, + "extent": { + "x": 0.21911683678627014, + "y": 0.2331494241952896, + "z": 0.6020689010620117 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 515.8467283373395, + "ymin": 270.0788700298422, + "xmax": 533.2823648087258, + "ymax": 308.4840574584503 + }, + "corners_3d": [ + [ + 14.141300201416016, + -23.952861785888672, + 0.5362900495529175 + ], + [ + 13.68519115447998, + -23.855911254882812, + 0.5362900495529175 + ], + [ + 13.77630615234375, + -23.42725372314453, + 0.5362900495529175 + ], + [ + 14.232415199279785, + -23.52420425415039, + 0.5362900495529175 + ], + [ + 14.141300201416016, + -23.952861785888672, + 1.740427851676941 + ], + [ + 13.68519115447998, + -23.855911254882812, + 1.740427851676941 + ], + [ + 13.77630615234375, + -23.42725372314453, + 1.740427851676941 + ], + [ + 14.232415199279785, + -23.52420425415039, + 1.740427851676941 + ] + ], + "corners_2d": [ + [ + 519.0139978523777, + 308.4840574584503 + ], + [ + 533.2823648087258, + 307.6415931802603 + ], + [ + 533.1220324970234, + 299.40286789206436 + ], + [ + 518.9993445040726, + 300.22820642816134 + ], + [ + 515.8467283373395, + 279.05561483351744 + ], + [ + 530.491614375909, + 278.2226175506671 + ], + [ + 530.3563668761141, + 270.0788700298422 + ], + [ + 515.8649084066445, + 270.8944979135325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 162, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -19.74505043029785, + "z": 0.8145116567611694 + }, + "extent": { + "x": 0.2756069600582123, + "y": 0.3581487536430359, + "z": 0.6142257452011108 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 714.6551052059551, + "ymin": 222.27240729522066, + "xmax": 737.9636063459943, + "ymax": 260.20987520307784 + }, + "corners_3d": [ + [ + 7.904370307922363, + -20.056583404541016, + 0.2002859115600586 + ], + [ + 7.191997051239014, + -19.98171043395996, + 0.2002859115600586 + ], + [ + 7.249614715576172, + -19.433517456054688, + 0.2002859115600586 + ], + [ + 7.9619879722595215, + -19.508390426635742, + 0.2002859115600586 + ], + [ + 7.904370307922363, + -20.056583404541016, + 1.4287374019622803 + ], + [ + 7.191997051239014, + -19.98171043395996, + 1.4287374019622803 + ], + [ + 7.249614715576172, + -19.433517456054688, + 1.4287374019622803 + ], + [ + 7.9619879722595215, + -19.508390426635742, + 1.4287374019622803 + ] + ], + "corners_2d": [ + [ + 715.4003088228429, + 260.09101466516506 + ], + [ + 735.6065156508921, + 260.20987520307784 + ], + [ + 734.6203716624132, + 251.15885492070936 + ], + [ + 714.6551052059551, + 251.04281053089773 + ], + [ + 717.258935953828, + 231.18811960822939 + ], + [ + 737.9636063459943, + 231.30527454022504 + ], + [ + 736.9246698769252, + 222.3867193124496 + ], + [ + 716.4728995212297, + 222.27240729522066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 587, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -26.687763214111328, + "z": 1.1520308256149292 + }, + "extent": { + "x": 0.41794535517692566, + "y": 0.6311584115028381, + "z": 0.9361960887908936 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.7341662171465, + "ymin": 349.4014909110687, + "xmax": 997.7650152529545, + "ymax": 419.4081105234052 + }, + "corners_3d": [ + [ + 0.9639753699302673, + -27.105709075927734, + 0.21583473682403564 + ], + [ + -0.29834145307540894, + -27.105709075927734, + 0.21583473682403564 + ], + [ + -0.29834121465682983, + -26.269817352294922, + 0.21583473682403564 + ], + [ + 0.9639756083488464, + -26.269817352294922, + 0.21583473682403564 + ], + [ + 0.9639753699302673, + -27.105709075927734, + 2.088226795196533 + ], + [ + -0.29834145307540894, + -27.105709075927734, + 2.088226795196533 + ], + [ + -0.29834121465682983, + -26.269817352294922, + 2.088226795196533 + ], + [ + 0.9639756083488464, + -26.269817352294922, + 2.088226795196533 + ] + ], + "corners_2d": [ + [ + 937.9404028120928, + 415.9055036384962 + ], + [ + 981.8818137836088, + 419.4081105234052 + ], + [ + 977.7177097602698, + 399.63447309278854 + ], + [ + 934.7341662171465, + 396.280758576365 + ], + [ + 951.726947305503, + 368.8594239460696 + ], + [ + 997.7650152529545, + 372.33632035381675 + ], + [ + 993.0543882149468, + 352.7239650088726 + ], + [ + 948.0666458915891, + 349.4014909110687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 52, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -37.81512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.4618729054927826, + "y": 0.5563367605209351, + "z": 0.9389387369155884 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 718.3664562690658, + "ymin": 676.0964241377171, + "xmax": 783.9356927818778, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.818885803222656, + -38.216312408447266, + 0.20807743072509766 + ], + [ + 5.712307929992676, + -38.332618713378906, + 0.20807743072509766 + ], + [ + 5.615750312805176, + -37.413936614990234, + 0.20807743072509766 + ], + [ + 6.722328186035156, + -37.297630310058594, + 0.20807743072509766 + ], + [ + 6.818885803222656, + -38.216312408447266, + 2.0859549045562744 + ], + [ + 5.712307929992676, + -38.332618713378906, + 2.0859549045562744 + ], + [ + 5.615750312805176, + -37.413936614990234, + 2.0859549045562744 + ], + [ + 6.722328186035156, + -37.297630310058594, + 2.0859549045562744 + ] + ], + "corners_2d": [ + [ + 718.3664562690658, + 760.7696123437182 + ], + [ + 770.3333778441711, + 771.9521865288796 + ], + [ + 775.3542405642002, + 731.297640411943 + ], + [ + 724.992411907852, + 720.8159666424483 + ], + [ + 723.4616221892285, + 717.088039231714 + ], + [ + 778.8874302547662, + 728.5914211313514 + ], + [ + 783.9356927818778, + 686.8340749714598 + ], + [ + 730.3321425438262, + 676.0964241377171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 866, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -34.85797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.3440783619880676, + "y": 0.49089109897613525, + "z": 0.8856634497642517 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.90511657844411, + "ymin": 506.95177800822853, + "xmax": 184.69429805041017, + "ymax": 583.2063077604826 + }, + "corners_3d": [ + [ + 21.62985610961914, + -35.09247589111328, + 0.25151389837265015 + ], + [ + 20.669527053833008, + -35.296600341796875, + 0.25151389837265015 + ], + [ + 20.526451110839844, + -34.62348175048828, + 0.25151389837265015 + ], + [ + 21.486780166625977, + -34.41935729980469, + 0.25151389837265015 + ], + [ + 21.62985610961914, + -35.09247589111328, + 2.022840738296509 + ], + [ + 20.669527053833008, + -35.296600341796875, + 2.022840738296509 + ], + [ + 20.526451110839844, + -34.62348175048828, + 2.022840738296509 + ], + [ + 21.486780166625977, + -34.41935729980469, + 2.022840738296509 + ] + ], + "corners_2d": [ + [ + 134.02900797947063, + 572.7244095213554 + ], + [ + 166.57616536702454, + 583.2063077604826 + ], + [ + 184.69429805041017, + 561.5675132962037 + ], + [ + 152.6196441128224, + 551.4985689731479 + ], + [ + 107.90511657844411, + 528.327158695453 + ], + [ + 141.88123453514612, + 538.8990333398538 + ], + [ + 161.44348736151863, + 517.0862138554487 + ], + [ + 127.97908665408659, + 506.95177800822853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 929, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1187.4480301907317, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 19.26515140782749 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1304.584183418724, + 19.26515140782749 + ], + [ + 1291.1914427186923, + 5.894485745412965 + ], + [ + 1187.4480301907317, + 1.5560170308369266 + ], + [ + 1198.0007111243983, + 14.694992644733759 + ], + [ + 1318.73787488079, + -10.835076476916981 + ], + [ + 1304.6948440128813, + -23.690664253259 + ], + [ + 1198.7006500201642, + -27.85897007398802 + ], + [ + 1209.7775254024023, + -15.230767250410622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3205, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 470.48975654739127, + "ymin": 21.752729513900988, + "xmax": 580.9304822593408, + "ymax": 72.62445595537991 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 483.0640567782759, + 51.309251337640205 + ], + [ + 474.14566949369294, + 67.55631765191742 + ], + [ + 574.8464838339931, + 72.62445595537991 + ], + [ + 580.9304822593408, + 56.08975676649993 + ], + [ + 479.70601932748184, + 21.752729513900988 + ], + [ + 470.48975654739127, + 37.46641730403218 + ], + [ + 573.3971821180612, + 42.37223695053734 + ], + [ + 579.6553294531868, + 26.37423364984511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 184, + "instance_id": 47104, + "pixel_count": 5, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": 31.706411361694336, + "y": -28.793697357177734, + "z": 0.6945980191230774 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -88.46794891357422 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 287.59537106293163, + "xmax": 15.118021281222923, + "ymax": 444.9522394500206 + }, + "corners_3d": [ + [ + 30.618553161621094, + -26.143095016479492, + -0.010731322690844536 + ], + [ + 32.65102767944336, + -26.088735580444336, + -0.010731322690844536 + ], + [ + 32.79426574707031, + -31.444299697875977, + -0.010731322690844536 + ], + [ + 30.761791229248047, + -31.498661041259766, + -0.010731322690844536 + ], + [ + 30.618553161621094, + -26.143095016479492, + 1.3999274969100952 + ], + [ + 32.65102767944336, + -26.088735580444336, + 1.3999274969100952 + ], + [ + 32.79426574707031, + -31.444299697875977, + 1.3999274969100952 + ], + [ + 30.761791229248047, + -31.498661041259766, + 1.3999274969100952 + ] + ], + "corners_2d": [ + [ + 15.118021281222923, + 326.96813906039284 + ], + [ + -41.37915012026713, + 321.4264317704014 + ], + [ + -163.93810389607393, + 437.72159853914945 + ], + [ + -100.31858848117861, + 444.9522394500206 + ], + [ + -4.039423199802286, + 293.07151055769214 + ], + [ + -62.12428207288838, + 287.59537106293163 + ], + [ + -192.004398754347, + 402.9888168852693 + ], + [ + -126.37033827746052, + 410.19642476145515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 3900, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 17.077914783850133, + "ymin": 87.26738916039972, + "xmax": 127.41664557712534, + "ymax": 171.3741500734109 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 127.41664557712534, + 124.16228029354949 + ], + [ + 87.46051903075579, + 121.75300145319792 + ], + [ + 34.24970451379147, + 168.5869210262219 + ], + [ + 77.00996786130611, + 171.3741500734109 + ], + [ + 113.87812677946238, + 89.60296715027528 + ], + [ + 72.92455401225209, + 87.26738916039972 + ], + [ + 17.077914783850133, + 132.75425862027126 + ], + [ + 60.981836271230804, + 135.4670235134126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8520976081268, + "ymin": 0.0, + "xmax": 909.6264047474779, + "ymax": 11.050842364753066 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343774932863, + 11.050842364753066 + ], + [ + 906.8936309288792, + 10.445313206524759 + ], + [ + 892.8520976081268, + 9.820273332425586 + ], + [ + 892.9760088031576, + 10.424317275574822 + ], + [ + 909.6264047474779, + -2.7478913916050374 + ], + [ + 909.4811878242765, + -3.342757343328742 + ], + [ + 895.3004850760615, + -3.9567760586948566 + ], + [ + 895.4285311260238, + -3.363383295720894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8521012844583, + "ymin": 0.0, + "xmax": 909.6264084739266, + "ymax": 11.050842529192323 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343811830758, + 11.050842529192323 + ], + [ + 906.8936346142449, + 10.445313370573786 + ], + [ + 892.8521012844583, + 9.820273496072616 + ], + [ + 892.9760124838916, + 10.424317439610377 + ], + [ + 909.6264084739266, + -2.747891230059679 + ], + [ + 909.4811915462128, + -3.342757182170317 + ], + [ + 895.300488788786, + -3.9567758979353584 + ], + [ + 895.4285348432384, + -3.3633831345758836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.2234332183946, + "ymin": 0.0, + "xmax": 851.2447812186297, + "ymax": 9.387526290858204 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 849.2206198756554, + 9.387526290858204 + ], + [ + 849.1487163993136, + 8.785936150813882 + ], + [ + 835.2234332183946, + 8.164957301486766 + ], + [ + 835.2787778929766, + 8.765076686179725 + ], + [ + 851.2447812186297, + -4.381884034833206 + ], + [ + 851.1697655141227, + -4.972842979686732 + ], + [ + 837.1075909958178, + -5.582833813791183 + ], + [ + 837.1657205687894, + -4.9933335769087535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.6316935280568, + "ymin": 0.0, + "xmax": 849.6024622579529, + "ymax": 8.402010285187202 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 847.5979294917361, + 8.402010285187202 + ], + [ + 847.5280808559037, + 7.802747912564655 + ], + [ + 833.6316935280568, + 7.184169001590078 + ], + [ + 833.6850520302816, + 7.78196914175868 + ], + [ + 849.6024622579529, + -5.349977104773416 + ], + [ + 849.5295506891607, + -5.938627373214501 + ], + [ + 835.4968416496451, + -6.5462380350383 + ], + [ + 835.5529377966142, + -5.959037940120197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.7373280921579, + "ymin": 0.0, + "xmax": 910.096337802775, + "ymax": 5.460202430725872 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.185611575936, + 5.460202430725872 + ], + [ + 907.1669728782563, + 5.380993383623036 + ], + [ + 894.7373280921579, + 4.833215547948612 + ], + [ + 894.7539974966701, + 4.912252697349345 + ], + [ + 910.096337802775, + -10.087268525506886 + ], + [ + 910.0770342640096, + -10.16487354135245 + ], + [ + 897.5089571844271, + -10.701551279889372 + ], + [ + 897.5262473269524, + -10.624116512283024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.7374673893465, + "ymin": 0.0, + "xmax": 910.0964788254514, + "ymax": 5.460203497460952 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.1857510727117, + 5.460203497460952 + ], + [ + 907.1671123530982, + 5.3809944500233655 + ], + [ + 894.7374673893465, + 4.833216612034732 + ], + [ + 894.7541368157366, + 4.912253761769193 + ], + [ + 910.0964788254514, + -10.087267480371963 + ], + [ + 910.0771752642698, + -10.164872496549151 + ], + [ + 897.5090980031316, + -10.701550237378058 + ], + [ + 897.5263881680155, + -10.624115469441165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8520976081268, + "ymin": 0.0, + "xmax": 909.6264047474779, + "ymax": 11.050842364753066 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343774932863, + 11.050842364753066 + ], + [ + 906.8936309288792, + 10.445313206524759 + ], + [ + 892.8520976081268, + 9.820273332425586 + ], + [ + 892.9760088031576, + 10.424317275574822 + ], + [ + 909.6264047474779, + -2.7478913916050374 + ], + [ + 909.4811878242765, + -3.342757343328742 + ], + [ + 895.3004850760615, + -3.9567760586948566 + ], + [ + 895.4285311260238, + -3.363383295720894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.852097595986, + "ymin": 0.0, + "xmax": 909.6264047260847, + "ymax": 11.050842275548007 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343774725519, + 11.050842275548007 + ], + [ + 906.8936309150891, + 10.445313147195634 + ], + [ + 892.852097595986, + 9.820273273242037 + ], + [ + 892.9760087849032, + 10.424317186588667 + ], + [ + 909.6264047260847, + -2.747891479240195 + ], + [ + 909.4811878100484, + -3.342757401612346 + ], + [ + 895.3004850635157, + -3.9567761168342486 + ], + [ + 895.4285311071601, + -3.3633833831389666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8521006717364, + "ymin": 0.0, + "xmax": 909.6264078457207, + "ymax": 11.050842472050704 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343805611994, + 11.050842472050704 + ], + [ + 906.8936340000172, + 10.445313343232328 + ], + [ + 892.8521006717364, + 9.820273468798064 + ], + [ + 892.9760118643512, + 10.424317382609047 + ], + [ + 909.6264078457207, + -2.7478912861956246 + ], + [ + 909.4811909258901, + -3.342757209030026 + ], + [ + 895.3004881699985, + -3.9567759247286176 + ], + [ + 895.4285342174148, + -3.3633831905727902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.5548294056143, + "ymin": 1.32422505056212, + "xmax": 871.0382539108099, + "ymax": 16.452306671339898 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 868.7936784864619, + 16.452306671339898 + ], + [ + 868.6973042304617, + 15.833897263414883 + ], + [ + 854.5548294056143, + 15.195578529697741 + ], + [ + 854.6341243017239, + 15.812455113105784 + ], + [ + 871.0382539108099, + 2.559061001815394 + ], + [ + 870.9382171203192, + 1.951416899867752 + ], + [ + 856.6545348356001, + 1.32422505056212 + ], + [ + 856.7371493339374, + 1.930348272198387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.7371398666147, + "ymin": 0.0, + "xmax": 910.0961468812523, + "ymax": 5.460189144465062 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.1854227885323, + 5.460189144465062 + ], + [ + 907.166784120974, + 5.3809801015326 + ], + [ + 894.7371398666147, + 4.833202294680291 + ], + [ + 894.7538092411734, + 4.912239439924292 + ], + [ + 910.0961468812523, + -10.087281542735013 + ], + [ + 910.0768433732927, + -10.164886554450277 + ], + [ + 897.5087668372555, + -10.701564264441629 + ], + [ + 897.5260569491487, + -10.624129500952051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8521012844583, + "ymin": 0.0, + "xmax": 909.6264084739266, + "ymax": 11.050842529192323 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343811830758, + 11.050842529192323 + ], + [ + 906.8936346142449, + 10.445313370573786 + ], + [ + 892.8521012844583, + 9.820273496072616 + ], + [ + 892.9760124838916, + 10.424317439610377 + ], + [ + 909.6264084739266, + -2.747891230059679 + ], + [ + 909.4811915462128, + -3.342757182170317 + ], + [ + 895.300488788786, + -3.9567758979353584 + ], + [ + 895.4285348432384, + -3.3633831345758836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.471474817239, + "ymin": 0.0, + "xmax": 912.1496319669966, + "ymax": 6.149141314085739 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.0650506065456, + 6.149141314085739 + ], + [ + 909.0423490664255, + 6.054039780516803 + ], + [ + 892.471474817239, + 5.322902499240911 + ], + [ + 892.491029006094, + 5.417728973347096 + ], + [ + 912.1496319669966, + -10.203981632152704 + ], + [ + 912.1260830929964, + -10.297060491596767 + ], + [ + 895.3610399014045, + -11.012634112349986 + ], + [ + 895.3813672432935, + -10.91982754141361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.7372431649519, + "ymin": 0.0, + "xmax": 910.0962511092721, + "ymax": 5.46017856290041 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.1855259543564, + 5.46017856290041 + ], + [ + 907.1668872709965, + 5.380969523289309 + ], + [ + 894.7372431649519, + 4.833191739391793 + ], + [ + 894.7539125553593, + 4.912228881325234 + ], + [ + 910.0962511092721, + -10.08729191003431 + ], + [ + 910.0769475851845, + -10.164896918459931 + ], + [ + 897.5088712008408, + -10.701574605716871 + ], + [ + 897.5261613289108, + -10.624139845506079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.852097595986, + "ymin": 0.0, + "xmax": 909.6264047260847, + "ymax": 11.050842275548007 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343774725519, + 11.050842275548007 + ], + [ + 906.8936309150891, + 10.445313147195634 + ], + [ + 892.852097595986, + 9.820273273242037 + ], + [ + 892.9760087849032, + 10.424317186588667 + ], + [ + 909.6264047260847, + -2.747891479240195 + ], + [ + 909.4811878100484, + -3.342757401612346 + ], + [ + 895.3004850635157, + -3.9567761168342486 + ], + [ + 895.4285311071601, + -3.3633833831389666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.471480206756, + "ymin": 0.0, + "xmax": 912.1496384526708, + "ymax": 6.149167506260994 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.0650568588392, + 6.149167506260994 + ], + [ + 909.0423553234123, + 6.054065992352832 + ], + [ + 892.471480206756, + 5.3229286352722625 + ], + [ + 892.4910343915656, + 5.417755089760362 + ], + [ + 912.1496384526708, + -10.20395599699242 + ], + [ + 912.126089583511, + -10.29703483730458 + ], + [ + 895.3610455040055, + -11.012608533098444 + ], + [ + 895.3813728417133, + -10.919801981252363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4715995030324, + "ymin": 0.0, + "xmax": 912.1497583582039, + "ymax": 6.149143234201233 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.0651755534975, + 6.149143234201233 + ], + [ + 909.042473996824, + 6.054041729427638 + ], + [ + 892.4715995030324, + 5.32290444251538 + ], + [ + 892.4911537093257, + 5.417730887908533 + ], + [ + 912.1497583582039, + -10.203979752871192 + ], + [ + 912.1262094673646, + -10.297058584140586 + ], + [ + 895.361166025498, + -11.012632210473328 + ], + [ + 895.381493385131, + -10.919825667630334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.8520957335388, + "ymin": 0.0, + "xmax": 909.626402834336, + "ymax": 11.050842074388243 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.0343756000112, + 11.050842074388243 + ], + [ + 906.893629044826, + 10.445312946513013 + ], + [ + 892.8520957335388, + 9.82027307305134 + ], + [ + 892.9760069201973, + 10.42431698592253 + ], + [ + 909.626402834336, + -2.747891676859922 + ], + [ + 909.4811859206242, + -3.3427575987587375 + ], + [ + 895.3004831820622, + -3.9567763134926963 + ], + [ + 895.4285292234014, + -3.3633835802689873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4714724776181, + "ymin": 0.0, + "xmax": 912.1496285646302, + "ymax": 6.1491151103513175 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.0650474026836, + 6.1491151103513175 + ], + [ + 909.0423458643434, + 6.054013586643748 + ], + [ + 892.4714724776181, + 5.322876381120409 + ], + [ + 892.4910266650207, + 5.41770284540803 + ], + [ + 912.1496285646302, + -10.204007278626307 + ], + [ + 912.1260796925126, + -10.297086128308194 + ], + [ + 895.3610373837096, + -11.012659674072097 + ], + [ + 895.3813647240554, + -10.919853112855264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.633917151174, + "ymin": 0.0, + "xmax": 836.4293334624432, + "ymax": 7.820608804416281 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 834.5529335286752, + 7.820608804416281 + ], + [ + 834.4985475552512, + 7.222717622405355 + ], + [ + 820.633917151174, + 6.605552374567253 + ], + [ + 820.6718881684458, + 7.201986336831567 + ], + [ + 836.4293334624432, + -5.921082966979725 + ], + [ + 836.3721895994646, + -6.508373351705529 + ], + [ + 822.3718575684993, + -7.114582055893436 + ], + [ + 822.4122634009815, + -6.528736825489375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4714735997086, + "ymin": 0.0, + "xmax": 912.1496307263617, + "ymax": 6.149141289181614 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.0650493801243, + 6.149141289181614 + ], + [ + 909.0423478472821, + 6.054039785139821 + ], + [ + 892.4714735997086, + 5.322902503850571 + ], + [ + 892.4910277822632, + 5.4177289485149345 + ], + [ + 912.1496307263617, + -10.203981656527219 + ], + [ + 912.126081859908, + -10.297060487072144 + ], + [ + 895.361038669966, + -11.01263410783855 + ], + [ + 895.3813660053094, + -10.919827565716787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.3602254268836, + "ymin": 0.0, + "xmax": 909.103303979326, + "ymax": 14.679879307393321 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 906.5201645635699, + 14.679879307393321 + ], + [ + 906.3802369991611, + 14.070952077626032 + ], + [ + 892.3602254268836, + 13.44240235113449 + ], + [ + 892.4833692076621, + 14.049838253460393 + ], + [ + 909.103303979326, + 0.9371017851328816 + ], + [ + 908.9589313426654, + 0.33872188070665743 + ], + [ + 894.8001784872931, + -0.27892622061597194 + ], + [ + 894.9274333840133, + 0.31797401898808175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.7373280921579, + "ymin": 0.0, + "xmax": 910.096337802775, + "ymax": 5.460202430725872 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.185611575936, + 5.460202430725872 + ], + [ + 907.1669728782563, + 5.380993383623036 + ], + [ + 894.7373280921579, + 4.833215547948612 + ], + [ + 894.7539974966701, + 4.912252697349345 + ], + [ + 910.096337802775, + -10.087268525506886 + ], + [ + 910.0770342640096, + -10.16487354135245 + ], + [ + 897.5089571844271, + -10.701551279889372 + ], + [ + 897.5262473269524, + -10.624116512283024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.8917411981299, + "ymin": 0.0, + "xmax": 829.6235211970547, + "ymax": 8.387594661639298 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 827.8101084979396, + 8.387594661639298 + ], + [ + 827.7636218465209, + 7.788366334748616 + ], + [ + 813.8917411981299, + 7.169822494413495 + ], + [ + 813.92179564969, + 7.767588713346697 + ], + [ + 829.6235211970547, + -5.36413760518775 + ], + [ + 829.5744248025642, + -5.952754108365639 + ], + [ + 815.5666972519987, + -6.560329989383547 + ], + [ + 815.5990378512288, + -5.973163535068807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.737446399975, + "ymin": 0.0, + "xmax": 910.0964575444027, + "ymax": 5.460202307008956 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.185730027867, + 5.460202307008956 + ], + [ + 907.1670913116004, + 5.380993259945001 + ], + [ + 894.737446399975, + 4.833215424538764 + ], + [ + 894.7541158230345, + 4.912252573900844 + ], + [ + 910.0964575444027, + -10.087268646718542 + ], + [ + 910.0771539866438, + -10.164873662525792 + ], + [ + 897.5090767787876, + -10.701551400796973 + ], + [ + 897.526366940266, + -10.62411663322888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 467.5305139890968, + "ymin": 33.923135577526295, + "xmax": 478.5391027639082, + "ymax": 57.7986266604982 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 478.5391027639082, + 53.982477208756166 + ], + [ + 472.16179564770607, + 53.66238351352479 + ], + [ + 469.9812942271024, + 57.47410273229019 + ], + [ + 476.4013236784423, + 57.7986266604982 + ], + [ + 476.22648852246016, + 34.23622192315844 + ], + [ + 469.7592497680786, + 33.923135577526295 + ], + [ + 467.5305139890968, + 37.65174740764991 + ], + [ + 474.04169208725637, + 37.96922970060626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.3071996938431, + "ymin": 0.0, + "xmax": 843.38483213289, + "ymax": 40.70935095705158 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 836.8987065160526, + 40.70935095705158 + ], + [ + 836.8584906337649, + 40.26134663306402 + ], + [ + 835.3071996938431, + 40.18780333524683 + ], + [ + 835.3461219885478, + 40.63568546814713 + ], + [ + 843.38483213289, + -5.142057365640483 + ], + [ + 843.3377335176757, + -5.565508825499705 + ], + [ + 841.7344794654542, + -5.635019373115881 + ], + [ + 841.7801963482278, + -5.211687209782895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 39.55803545183039, + "ymin": 0.0, + "xmax": 216.17785375483186, + "ymax": 14.705432226596429 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 216.17785375483186, + -61.98651516607191 + ], + [ + 209.56094560650854, + -62.27737030771277 + ], + [ + 106.06527956532796, + 14.303642958327998 + ], + [ + 113.76187084346896, + 14.705432226596429 + ], + [ + 172.04599497231732, + -217.61688684226624 + ], + [ + 164.77299865561355, + -217.82370249180497 + ], + [ + 39.55803545183039, + -162.36226607550373 + ], + [ + 48.15563745197721, + -162.06584839742231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.560866164567, + "ymin": 448.93838851547974, + "xmax": 764.5952666712938, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 764.135349583286, + 454.0061189543775 + ], + [ + 747.0287791481771, + 452.5639337352376 + ], + [ + 733.560866164567, + 762.181078687081 + ], + [ + 756.2164309346348, + 764.7154346231373 + ], + [ + 764.5952666712938, + 450.3804029675053 + ], + [ + 747.4247148267, + 448.93838851547974 + ], + [ + 734.0201249510928, + 758.890138194557 + ], + [ + 756.7880500682905, + 761.4303149367165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 822.5826253883557, + "ymin": 0.0, + "xmax": 830.2195420197056, + "ymax": 40.104900464271395 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 824.1600607149826, + 40.104900464271395 + ], + [ + 824.1304480806289, + 39.65789826763108 + ], + [ + 822.5826253883557, + 39.58451939724199 + ], + [ + 822.61095020481, + 40.03139981252616 + ], + [ + 830.2195420197056, + -5.713375513358528 + ], + [ + 830.1837684320672, + -6.135848632545219 + ], + [ + 828.5842165645037, + -6.205198663266174 + ], + [ + 828.6186147831313, + -5.782844427440352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.6645466525717, + "ymin": 44.567060407123904, + "xmax": 774.8353747708218, + "ymax": 138.04192868415356 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 774.5459520794378, + 48.02562201467549 + ], + [ + 764.5831211042114, + 47.54387024515887 + ], + [ + 760.6645466525717, + 137.38874613195674 + ], + [ + 772.2621779626355, + 138.04192868415356 + ], + [ + 774.8353747708218, + 45.04721991733345 + ], + [ + 764.8508762526928, + 44.567060407123904 + ], + [ + 760.9666015633585, + 134.14645302414814 + ], + [ + 772.5936053414598, + 134.79793723898464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 855.8061141198523, + "ymin": 2.261045269880583, + "xmax": 864.7199805723288, + "ymax": 49.075578459350766 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 857.4424097201684, + 49.075578459350766 + ], + [ + 857.3842608506825, + 48.613588653244506 + ], + [ + 855.8061141198523, + 48.53775064203671 + ], + [ + 855.8629242307153, + 48.999612491302116 + ], + [ + 864.7199805723288, + 2.7699140167022165 + ], + [ + 864.653549990491, + 2.332797797694525 + ], + [ + 863.0215979013817, + 2.261045269880583 + ], + [ + 863.0865968510994, + 2.6980363718848253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.7426479181206, + "ymin": 44.626267398464734, + "xmax": 774.7687379505853, + "ymax": 137.96700345324734 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 774.4831358863315, + 48.040765973307714 + ], + [ + 764.6467762954657, + 47.565140903824386 + ], + [ + 760.7426479181206, + 137.32231381259643 + ], + [ + 772.1914069192752, + 137.96700345324734 + ], + [ + 774.7687379505853, + 45.10034066574275 + ], + [ + 764.9112583106912, + 44.626267398464734 + ], + [ + 761.0410068587723, + 134.12160111382838 + ], + [ + 772.5183877640843, + 134.76463565901173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 265.9167709099791, + "ymax": 117.81220114399747 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 12.91028348325824, + 97.68254140206051 + ], + [ + 7.109872628779044, + 102.08105364488415 + ], + [ + 261.8777606196182, + 117.81220114399747 + ], + [ + 265.9167709099791, + 113.18141564595143 + ], + [ + -79.75744897030461, + -99.58632849638542 + ], + [ + -87.20690760120078, + -96.20264557134726 + ], + [ + 203.82731946725278, + -84.04039329512295 + ], + [ + 208.98302944399018, + -87.63047825454834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.4030435983956, + "ymin": 448.79317128001406, + "xmax": 764.7123750214585, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 764.2461241103716, + 453.92616951100837 + ], + [ + 746.9206454013223, + 452.465665845844 + ], + [ + 733.4030435983956, + 762.3826965019193 + ], + [ + 756.354618746683, + 764.9506118440859 + ], + [ + 764.7123750214585, + 450.25349847423854 + ], + [ + 747.3212629143587, + 448.79317128001406 + ], + [ + 733.8675482899503, + 759.0495435574803 + ], + [ + 756.9344480907896, + 761.6234372728022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.7134977389185, + "ymin": 0.2509439722798561, + "xmax": 902.7692276771086, + "ymax": 46.54574322659403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 894.3652368921831, + 46.54574322659403 + ], + [ + 894.2770852904713, + 46.091597864737764 + ], + [ + 892.7134977389185, + 46.01704667573347 + ], + [ + 892.8003352433514, + 46.471067816394395 + ], + [ + 902.7692276771086, + 0.7512631945695603 + ], + [ + 902.6709419467572, + 0.3214917513202522 + ], + [ + 901.054561161418, + 0.2509439722798561 + ], + [ + 901.1514425372065, + 0.6805939798761074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.237997254569, + "ymin": 36.22616840258604, + "xmax": 778.6992197506017, + "ymax": 368.9790029516127 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 756.3608476823842, + 261.7728158061857 + ], + [ + 742.6749615340422, + 260.8510662606536 + ], + [ + 736.237997254569, + 367.77945383961975 + ], + [ + 751.8430318459364, + 368.9790029516127 + ], + [ + 778.6992197506017, + 37.000164388815335 + ], + [ + 762.3575336719667, + 36.22616840258604 + ], + [ + 757.865314826581, + 128.48141981593875 + ], + [ + 777.0198321687483, + 129.54537772309774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.8681566499324, + "ymin": 0.0, + "xmax": 845.014705617983, + "ymax": 41.73386219901215 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 838.4641955860506, + 41.73386219901215 + ], + [ + 838.4226020019921, + 41.284156731577184 + ], + [ + 836.8681566499324, + 41.21033431855403 + ], + [ + 836.9084513794918, + 41.659916898324866 + ], + [ + 845.014705617983, + -4.173607428606999 + ], + [ + 844.9661150971472, + -4.598719899744424 + ], + [ + 843.3594918001734, + -4.668502965000812 + ], + [ + 843.4066947743327, + -4.2435104929445515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.1254724965179, + "ymin": 435.612332509862, + "xmax": 771.4209901132785, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 738.4033971579596, + 687.8632646611202 + ], + [ + 717.1028354681104, + 685.6219897739475 + ], + [ + 700.1254724965179, + 967.6378656841193 + ], + [ + 726.468144864197, + 971.0746134422525 + ], + [ + 771.4209901132785, + 437.9740167817657 + ], + [ + 742.9081923625463, + 435.612332509862 + ], + [ + 727.194936741717, + 758.2970453632931 + ], + [ + 765.5299213872116, + 762.5742891809184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.9855862090151, + "ymin": 0.0, + "xmax": 823.407226715231, + "ymax": 40.694379670848264 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 817.5583671286647, + 40.694379670848264 + ], + [ + 817.5341998568032, + 40.24640015097589 + ], + [ + 815.9855862090151, + 40.17286092799378 + ], + [ + 816.0084643416632, + 40.62071826693 + ], + [ + 823.407226715231, + -5.1562085247994105 + ], + [ + 823.3772512725686, + -5.5796357670420775 + ], + [ + 821.7768536832629, + -5.649142336519674 + ], + [ + 821.8054522959915, + -5.225834380566084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.79749367000943, + "ymin": 0.0, + "xmax": 544.3741610606687, + "ymax": 116.26078924361687 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 481.0959325634053, + 115.68462095888353 + ], + [ + 490.66480876516897, + 116.26078924361687 + ], + [ + 544.3741610606687, + 9.414338553428536 + ], + [ + 536.4236154550764, + 9.020791493529941 + ], + [ + 456.79749367000943, + -85.69085808510323 + ], + [ + 467.8048993219146, + -85.24406950409787 + ], + [ + 532.5903323898686, + -165.96469778422374 + ], + [ + 523.6711447309414, + -166.25429153413586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2750461016631, + "ymin": 0.0, + "xmax": 903.3730424789236, + "ymax": 43.46279728260595 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.9310048468708, + 43.46279728260595 + ], + [ + 894.8421854921148, + 43.010213793856565 + ], + [ + 893.2750461016631, + 42.9359191575079 + ], + [ + 893.3625453808323, + 43.38837857710149 + ], + [ + 903.3730424789236, + -2.5390051544108587 + ], + [ + 903.2740108542165, + -2.9669284610313866 + ], + [ + 901.6538341628984, + -3.0371727034885225 + ], + [ + 901.7514548279124, + -2.609370587981175 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00018/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8f5db9e6891149ca22a27cbfef66971e711a056f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00018/meta.json @@ -0,0 +1,7902 @@ +{ + "frame_id": 18, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.0, + "sim_timestamp": 4701.0704155857675 + }, + "drone_pose": { + "x": 7.538101944132741, + "y": -45.8876985396884, + "z": 20.170681022547825, + "pitch": -41.74405792234881, + "yaw": 83.82226427765069, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08029288053512573, + -0.7417936325073242, + 0.6658042669296265, + 20.004215240478516 + ], + [ + 0.9941928386688232, + 0.1076129674911499, + 2.9802322387695312e-08, + 12.432439804077148 + ], + [ + -0.07164919376373291, + 0.6619378328323364, + 0.7461264133453369, + -44.88458251953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.612971044597488, + "y": -45.37682137115782, + "z": 20.15198190726383 + }, + "t1_image_uv": [ + 593.0001742304952, + -436.1166507640912 + ], + "t1_depth": 0.3974268067810658 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -24.687763214111328, + "z": 1.142465431690216 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.579292572153346, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 552, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -24.687763214111328, + "z": 1.1424654722213745 + }, + "extent": { + "x": 0.39397093653678894, + "y": 0.5292626619338989, + "z": 0.9281173348426819 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3027613875247, + "ymin": 326.37166850696696, + "xmax": 659.3484850388215, + "ymax": 392.9683942171681 + }, + "corners_3d": [ + [ + 10.362079620361328, + -25.08173370361328, + 0.21434813737869263 + ], + [ + 9.30355453491211, + -25.08173370361328, + 0.21434813737869263 + ], + [ + 9.30355453491211, + -24.293792724609375, + 0.21434813737869263 + ], + [ + 10.362079620361328, + -24.293792724609375, + 0.21434813737869263 + ], + [ + 10.362079620361328, + -25.08173370361328, + 2.070582866668701 + ], + [ + 9.30355453491211, + -25.08173370361328, + 2.070582866668701 + ], + [ + 9.30355453491211, + -24.293792724609375, + 2.070582866668701 + ], + [ + 10.362079620361328, + -24.293792724609375, + 2.070582866668701 + ] + ], + "corners_2d": [ + [ + 621.143718681026, + 390.35639385668543 + ], + [ + 656.0915039252449, + 392.9683942171681 + ], + [ + 658.5364297445236, + 375.31039218208775 + ], + [ + 624.2732859408654, + 372.80090704266763 + ], + [ + 620.3027613875247, + 343.7308198172729 + ], + [ + 656.8113647930711, + 346.3162276287174 + ], + [ + 659.3484850388215, + 328.8512125069095 + ], + [ + 623.5863898206205, + 326.37166850696696 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 18, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 83, + "semantic_pixel_counts": { + "1": 250402, + "2": 72891, + "5": 3555, + "6": 4848, + "7": 237, + "10": 1, + "12": 2706, + "14": 47452, + "15": 1891, + "24": 39509, + "25": 498108 + }, + "instance_pixel_counts": { + "381": 412, + "586": 2943, + "606": 499, + "842": 612, + "1118": 624, + "1630": 211, + "2142": 240, + "2644": 1814, + "2654": 923, + "3156": 1919, + "3166": 866, + "3678": 574, + "4190": 6, + "6238": 472, + "6991": 1891, + "7262": 576, + "7503": 7958, + "7774": 698, + "8015": 6835, + "8527": 6508, + "8798": 1042, + "9310": 1321, + "9822": 1587, + "10334": 2199, + "11676": 47719, + "11870": 2666, + "12188": 83849, + "12700": 18460, + "13212": 1950, + "13406": 54, + "13918": 137, + "14236": 21707, + "14430": 748, + "14942": 993, + "15454": 1253, + "15966": 1582, + "16284": 24181, + "16478": 2095, + "18013": 349393, + "19037": 148715, + "23418": 4351, + "23441": 6337, + "24442": 3619, + "24954": 1130, + "25466": 82, + "25489": 10135, + "25978": 682, + "27516": 710, + "28026": 741, + "28028": 809, + "29052": 5493, + "29564": 217, + "30076": 4496, + "31612": 1409, + "33660": 1406, + "34560": 121, + "34816": 1231, + "36252": 13273, + "37788": 1486, + "38300": 15516, + "40860": 22261, + "43008": 552, + "43264": 243, + "43520": 161, + "43776": 601, + "44032": 200, + "44288": 949, + "44922": 842, + "45312": 1838, + "45824": 3491, + "46173": 4415, + "48896": 4350, + "52124": 74, + "52636": 866, + "54684": 1228, + "57241": 2339, + "57753": 1075, + "58265": 20965, + "58777": 66, + "59289": 17269, + "59997": 113, + "61337": 8311, + "63385": 7914 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 552, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -24.687763214111328, + "z": 1.1424654722213745 + }, + "extent": { + "x": 0.37579038739204407, + "y": 0.5670947432518005, + "z": 0.9125985503196716 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0878119267345, + "ymin": 327.08070845956036, + "xmax": 660.566344865941, + "ymax": 392.2730090669107 + }, + "corners_3d": [ + [ + 10.399911880493164, + -25.063552856445312, + 0.22986692190170288 + ], + [ + 9.265722274780273, + -25.063552856445312, + 0.22986692190170288 + ], + [ + 9.265722274780273, + -24.311973571777344, + 0.22986692190170288 + ], + [ + 10.399911880493164, + -24.311973571777344, + 0.22986692190170288 + ], + [ + 10.399911880493164, + -25.063552856445312, + 2.0550639629364014 + ], + [ + 9.265722274780273, + -25.063552856445312, + 2.0550639629364014 + ], + [ + 9.265722274780273, + -24.311973571777344, + 2.0550639629364014 + ], + [ + 10.399911880493164, + -24.311973571777344, + 2.0550639629364014 + ] + ], + "corners_2d": [ + [ + 619.9655239584717, + 389.4770857627673 + ], + [ + 657.4075464375868, + 392.2730090669107 + ], + [ + 659.7168341076781, + 375.42768608651767 + ], + [ + 622.9750289523114, + 372.736564826984 + ], + [ + 619.0878119267345, + 343.6369935386372 + ], + [ + 658.1726844736912, + 346.4048177999436 + ], + [ + 660.566344865941, + 329.7403655029078 + ], + [ + 622.2438593953482, + 327.08070845956036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 243, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -21.6900577545166, + "z": 1.1386959552764893 + }, + "extent": { + "x": 0.22933411598205566, + "y": 0.2510071098804474, + "z": 0.5997210741043091 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 514.0538179946154, + "ymin": 270.1846004186663, + "xmax": 532.7444203010381, + "ymax": 309.1384248829756 + }, + "corners_3d": [ + [ + 14.156643867492676, + -21.966567993164062, + 0.5389748811721802 + ], + [ + 13.665599822998047, + -21.862192153930664, + 0.5389748811721802 + ], + [ + 13.76096248626709, + -21.41354751586914, + 0.5389748811721802 + ], + [ + 14.252006530761719, + -21.51792335510254, + 0.5389748811721802 + ], + [ + 14.156643867492676, + -21.966567993164062, + 1.7384170293807983 + ], + [ + 13.665599822998047, + -21.862192153930664, + 1.7384170293807983 + ], + [ + 13.76096248626709, + -21.41354751586914, + 1.7384170293807983 + ], + [ + 14.252006530761719, + -21.51792335510254, + 1.7384170293807983 + ] + ], + "corners_2d": [ + [ + 517.3194768544561, + 309.1384248829756 + ], + [ + 532.7444203010381, + 308.1628433502947 + ], + [ + 532.4874763497756, + 299.52598629845284 + ], + [ + 517.2279554177259, + 300.48072893915605 + ], + [ + 514.1123563855475, + 279.6848227830314 + ], + [ + 529.9440228102477, + 278.72036009052454 + ], + [ + 529.7112723789251, + 270.1846004186663 + ], + [ + 514.0538179946154, + 271.12793237110156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 161, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -17.74505043029785, + "z": 0.828603982925415 + }, + "extent": { + "x": 0.2597173750400543, + "y": 0.3419872522354126, + "z": 0.58676677942276 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 714.0402854452677, + "ymin": 222.3759421612184, + "xmax": 736.400417750135, + "ymax": 258.5408948855037 + }, + "corners_3d": [ + [ + 7.889958381652832, + -18.039093017578125, + 0.24183714389801025 + ], + [ + 7.209730625152588, + -17.96759796142578, + 0.24183714389801025 + ], + [ + 7.264026641845703, + -17.451007843017578, + 0.24183714389801025 + ], + [ + 7.944254398345947, + -17.522502899169922, + 0.24183714389801025 + ], + [ + 7.889958381652832, + -18.039093017578125, + 1.4153707027435303 + ], + [ + 7.209730625152588, + -17.96759796142578, + 1.4153707027435303 + ], + [ + 7.264026641845703, + -17.451007843017578, + 1.4153707027435303 + ], + [ + 7.944254398345947, + -17.522502899169922, + 1.4153707027435303 + ] + ], + "corners_2d": [ + [ + 714.8398344049224, + 258.5056892488245 + ], + [ + 734.182021645086, + 258.5408948855037 + ], + [ + 733.1641444720634, + 250.01794466921825 + ], + [ + 714.0402854452677, + 249.98352917535317 + ], + [ + 716.6025537884468, + 230.77629012515268 + ], + [ + 736.400417750135, + 230.81100180967897 + ], + [ + 735.3332228268733, + 222.40985675651376 + ], + [ + 715.7640344991923, + 222.3759421612184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 601, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -24.687763214111328, + "z": 1.1521576642990112 + }, + "extent": { + "x": 0.41625744104385376, + "y": 0.6089929342269897, + "z": 0.94548100233078 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.1674239605911, + "ymin": 347.7575359696341, + "xmax": 998.1000825008089, + "ymax": 418.04926366756786 + }, + "corners_3d": [ + [ + 0.941809892654419, + -25.104021072387695, + 0.2066766619682312 + ], + [ + -0.27617597579956055, + -25.104021072387695, + 0.2066766619682312 + ], + [ + -0.27617573738098145, + -24.27150535583496, + 0.2066766619682312 + ], + [ + 0.941810131072998, + -24.27150535583496, + 0.2066766619682312 + ], + [ + 0.941809892654419, + -25.104021072387695, + 2.0976386070251465 + ], + [ + -0.27617597579956055, + -25.104021072387695, + 2.0976386070251465 + ], + [ + -0.27617573738098145, + -24.27150535583496, + 2.0976386070251465 + ], + [ + 0.941810131072998, + -24.27150535583496, + 2.0976386070251465 + ] + ], + "corners_2d": [ + [ + 939.6058547126148, + 414.8748490899586 + ], + [ + 982.0451857691107, + 418.04926366756786 + ], + [ + 977.6818284097519, + 398.36667331009306 + ], + [ + 936.1674239605911, + 395.32717607883774 + ], + [ + 953.6176499125046, + 367.1281653477929 + ], + [ + 998.1000825008089, + 370.2774969837611 + ], + [ + 993.1752072859608, + 350.76695550618615 + ], + [ + 949.7077991033386, + 347.7575359696341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 200, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -35.81512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.4626712203025818, + "y": 0.5467371344566345, + "z": 0.936600923538208 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 723.0437120414432, + "ymin": 676.8046741147931, + "xmax": 787.9139808164186, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.809422492980957, + -36.21811294555664, + 0.21041524410247803 + ], + [ + 5.721938610076904, + -36.33241271972656, + 0.21041524410247803 + ], + [ + 5.625213623046875, + -35.41213607788086, + 0.21041524410247803 + ], + [ + 6.712697505950928, + -35.29783630371094, + 0.21041524410247803 + ], + [ + 6.809422492980957, + -36.21811294555664, + 2.0836172103881836 + ], + [ + 5.721938610076904, + -36.33241271972656, + 2.0836172103881836 + ], + [ + 5.625213623046875, + -35.41213607788086, + 2.0836172103881836 + ], + [ + 6.712697505950928, + -35.29783630371094, + 2.0836172103881836 + ] + ], + "corners_2d": [ + [ + 723.0437120414432, + 762.0126269075702 + ], + [ + 774.4678637486363, + 772.719587551408 + ], + [ + 779.0902140929129, + 731.7430417193814 + ], + [ + 729.2747872343912, + 721.7134540115983 + ], + [ + 728.4502043479988, + 718.1453648314646 + ], + [ + 783.3016455288571, + 729.1580371270064 + ], + [ + 787.9139808164186, + 687.0773891129268 + ], + [ + 734.8891555701434, + 676.8046741147931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 949, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -32.85797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.3495873808860779, + "y": 0.3280688524246216, + "z": 0.8703910112380981 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.60941692289884, + "ymin": 511.9646332639694, + "xmax": 177.85079258096152, + "ymax": 584.7972960699236 + }, + "corners_3d": [ + [ + 21.471736907958984, + -33.131717681884766, + 0.2667863368988037 + ], + [ + 20.829936981201172, + -33.26813507080078, + 0.2667863368988037 + ], + [ + 20.6845703125, + -32.5842399597168, + 0.2667863368988037 + ], + [ + 21.326370239257812, + -32.44782257080078, + 0.2667863368988037 + ], + [ + 21.471736907958984, + -33.131717681884766, + 2.007568359375 + ], + [ + 20.829936981201172, + -33.26813507080078, + 2.007568359375 + ], + [ + 20.6845703125, + -32.5842399597168, + 2.007568359375 + ], + [ + 21.326370239257812, + -32.44782257080078, + 2.007568359375 + ] + ], + "corners_2d": [ + [ + 137.30533521264584, + 577.8672410678851 + ], + [ + 159.3354317377412, + 584.7972960699236 + ], + [ + 177.85079258096152, + 562.6263254777308 + ], + [ + 156.15327144261067, + 555.976632109839 + ], + [ + 111.60941692289884, + 534.012146773704 + ], + [ + 134.5989952785432, + 541.0014467021987 + ], + [ + 154.57935474629653, + 518.6571371404088 + ], + [ + 131.94985628108924, + 511.9646332639694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 1838, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1194.5590568097268, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 33.106467575657916 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1315.3054011660179, + 33.106467575657916 + ], + [ + 1300.9894376189243, + 19.041247177148307 + ], + [ + 1194.5590568097268, + 14.76148179555679 + ], + [ + 1205.8749276874428, + 28.591085442827307 + ], + [ + 1330.0769286085897, + 2.423863470543438 + ], + [ + 1315.0557784707607, + -11.108711351700947 + ], + [ + 1206.2604741079829, + -15.223286682290052 + ], + [ + 1218.1449999937424, + -1.9222352589069374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3491, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.09009742599187, + "ymin": 39.3381820817296, + "xmax": 570.9013699699615, + "ymax": 91.99980661254784 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 469.5854645178984, + 69.56716830525926 + ], + [ + 460.19311480201935, + 86.91751164687167 + ], + [ + 564.5588584932955, + 91.99980661254784 + ], + [ + 570.9013699699615, + 74.35050871617057 + ], + [ + 465.81494539684405, + 39.3381820817296 + ], + [ + 456.09009742599187, + 56.137019206929835 + ], + [ + 562.8220278212808, + 61.06208312750499 + ], + [ + 569.3593195677449, + 43.96720227447264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4350, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 111.01455907346372, + "xmax": 98.05157595731112, + "ymax": 200.0058203128703 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 98.05157595731112, + 148.79307534461384 + ], + [ + 56.376956761546126, + 146.34121816325148 + ], + [ + -1.1031142190556693, + 197.1502989371074 + ], + [ + 43.64168134819499, + 200.0058203128703 + ], + [ + 83.14607025655437, + 113.39543914498586 + ], + [ + 40.38789713599249, + 111.01455907346372 + ], + [ + -20.095906540021474, + 160.4546784090668 + ], + [ + 25.89958438690553, + 163.23963056299715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695972673, + "ymin": 11.383266250861539, + "xmax": 910.2464038732048, + "ymax": 26.73172099369083 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.568152658979, + 26.73172099369083 + ], + [ + 907.4106117902575, + 26.0890484976822 + ], + [ + 892.9196695972673, + 25.465804027220656 + ], + [ + 893.0592281671571, + 26.106944034140042 + ], + [ + 910.2464038732048, + 12.627368644857995 + ], + [ + 910.0839664991431, + 11.995763301030081 + ], + [ + 895.4451108939681, + 11.383266250861539 + ], + [ + 895.5891968400007, + 12.013350456967714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919673391392, + "ymin": 11.383266411228135, + "xmax": 910.2464077200812, + "ymax": 26.73172115766556 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681564668921, + 26.73172115766556 + ], + [ + 907.4106155934455, + 26.089048661254537 + ], + [ + 892.919673391392, + 25.46580419040299 + ], + [ + 893.0592319659846, + 26.106944197723465 + ], + [ + 910.2464077200812, + 12.62736880601102 + ], + [ + 910.0839703411973, + 11.995763461783667 + ], + [ + 895.4451147267749, + 11.383266411228135 + ], + [ + 895.5892006776066, + 12.013350617732215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.4501710091151, + "ymin": 9.818807279341058, + "xmax": 849.9848083774314, + "ymax": 25.132025892151717 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 847.9101345089197, + 25.132025892151717 + ], + [ + 847.826105854769, + 24.493273602224008 + ], + [ + 833.4501710091151, + 23.87382622003065 + ], + [ + 833.5165005397365, + 24.51106001306158 + ], + [ + 849.9848083774314, + 11.05524989266496 + ], + [ + 849.8973772068091, + 10.427535608467224 + ], + [ + 835.3758520395991, + 9.818807279341058 + ], + [ + 835.4452235859112, + 10.445014452360567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.7929733063827, + "ymin": 8.799761860289664, + "xmax": 848.2737203460962, + "ymax": 24.08998901409035 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 846.2200617053268, + 24.08998901409035 + ], + [ + 846.1382654542194, + 23.45378384116549 + ], + [ + 831.7929733063827, + 22.836803654052687 + ], + [ + 831.857145826919, + 23.471499398523292 + ], + [ + 848.2737203460962, + 10.031227906837614 + ], + [ + 848.1885765669176, + 9.406041611136061 + ], + [ + 833.6983165589021, + 8.799761860289664 + ], + [ + 833.7654784168901, + 9.423450134603002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8725271773096, + "ymin": 4.500291618672065, + "xmax": 910.7307306440413, + "ymax": 21.01436743879458 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226952621602, + 21.01436743879458 + ], + [ + 907.7018309345328, + 20.930284512746425 + ], + [ + 894.8725271773096, + 20.38396425247521 + ], + [ + 894.8912875244108, + 20.46786975546013 + ], + [ + 910.7307306440413, + 5.118193880045567 + ], + [ + 910.7091378582625, + 5.035777345148915 + ], + [ + 897.732656297715, + 4.500291618672065 + ], + [ + 897.7520965587298, + 4.582532296085219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8726708570091, + "ymin": 4.5002923364629055, + "xmax": 910.7308761379662, + "ymax": 21.014368172904142 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7228391352653, + 21.014368172904142 + ], + [ + 907.7019747842396, + 20.930285246617473 + ], + [ + 894.8726708570091, + 20.3839649847979 + ], + [ + 894.8914312274534, + 20.46787048802048 + ], + [ + 910.7308761379662, + 5.118194599607477 + ], + [ + 910.7092833282591, + 5.035778064474471 + ], + [ + 897.7328015938563, + 4.5002923364629055 + ], + [ + 897.7522418787423, + 4.582533014111618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695972673, + "ymin": 11.383266250861539, + "xmax": 910.2464038732048, + "ymax": 26.73172099369083 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.568152658979, + 26.73172099369083 + ], + [ + 907.4106117902575, + 26.0890484976822 + ], + [ + 892.9196695972673, + 25.465804027220656 + ], + [ + 893.0592281671571, + 26.106944034140042 + ], + [ + 910.2464038732048, + 12.627368644857995 + ], + [ + 910.0839664991431, + 11.995763301030081 + ], + [ + 895.4451108939681, + 11.383266250861539 + ], + [ + 895.5891968400007, + 12.013350456967714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695835941, + "ymin": 11.383266189129813, + "xmax": 910.2464038492736, + "ymax": 26.731720899009815 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681526357694, + 26.731720899009815 + ], + [ + 907.4106117748224, + 26.08904843471646 + ], + [ + 892.9196695835941, + 25.46580396440487 + ], + [ + 893.0592281465969, + 26.106943939684925 + ], + [ + 910.2464038492736, + 12.627368551806228 + ], + [ + 910.0839664832286, + 11.995763239149483 + ], + [ + 895.4451108798514, + 11.383266189129813 + ], + [ + 895.5891968187732, + 12.013350364140251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919672759038, + "ymin": 11.383266384500246, + "xmax": 910.2464070709581, + "ymax": 26.731721098776006 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681558245035, + 26.731721098776006 + ], + [ + 907.4106149595809, + 26.08904863399232 + ], + [ + 892.919672759038, + 25.465804163205917 + ], + [ + 893.0592313259933, + 26.106944138974484 + ], + [ + 910.2464070709581, + 12.627368748134813 + ], + [ + 910.0839697008548, + 11.995763434991261 + ], + [ + 895.4451140879738, + 11.383266384500246 + ], + [ + 895.5892000309299, + 12.013350559995558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.5103400583374, + "ymin": 17.105668742948524, + "xmax": 870.5362013146375, + "ymax": 32.58238052095021 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 868.2259547075389, + 32.58238052095021 + ], + [ + 868.1155031007349, + 31.92526829925066 + ], + [ + 853.5103400583374, + 31.28803795375586 + ], + [ + 853.6025236027376, + 31.943565780467736 + ], + [ + 870.5362013146375, + 18.377990916148065 + ], + [ + 870.4217355930273, + 17.732050141987997 + ], + [ + 855.6662867740033, + 17.105668742948524 + ], + [ + 855.7621063521939, + 17.750036331229694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8723327953505, + "ymin": 4.500278347546214, + "xmax": 910.7305334179512, + "ymax": 21.014353865955 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7225003062782, + 21.014353865955 + ], + [ + 907.7016360108637, + 20.93027094431568 + ], + [ + 894.8723327953505, + 20.383950712672856 + ], + [ + 894.8910931104158, + 20.467856211262813 + ], + [ + 910.7305334179512, + 5.118180576173984 + ], + [ + 910.7089406651394, + 5.0357640456473405 + ], + [ + 897.7324596587007, + 4.500278347546214 + ], + [ + 897.7518998869317, + 4.582519020603286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919673391392, + "ymin": 11.383266411228135, + "xmax": 910.2464077200812, + "ymax": 26.73172115766556 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681564668921, + 26.73172115766556 + ], + [ + 907.4106155934455, + 26.089048661254537 + ], + [ + 892.919673391392, + 25.46580419040299 + ], + [ + 893.0592319659846, + 26.106944197723465 + ], + [ + 910.2464077200812, + 12.62736880601102 + ], + [ + 910.0839703411973, + 11.995763461783667 + ], + [ + 895.4451147267749, + 11.383266411228135 + ], + [ + 895.5892006776066, + 12.013350617732215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294704387454, + "ymin": 4.175690329662757, + "xmax": 912.8462417631324, + "ymax": 21.707935279419814 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579866491037, + 21.707935279419814 + ], + [ + 909.6325943302072, + 21.60698838188108 + ], + [ + 892.5294704387454, + 20.877836308526867 + ], + [ + 892.5515003657415, + 20.978499329699957 + ], + [ + 912.8462417631324, + 4.988497558304459 + ], + [ + 912.8199210544917, + 4.889651835682855 + ], + [ + 895.5103716996275, + 4.175690329662757 + ], + [ + 895.533248371425, + 4.27425480554524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8724391184267, + "ymin": 4.500267069033271, + "xmax": 910.7306407093968, + "ymax": 21.014342331029525 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226064726563, + 21.014342331029525 + ], + [ + 907.7017421604625, + 20.930259413137094 + ], + [ + 894.8724391184267, + 20.383939205824277 + ], + [ + 894.8911994503286, + 20.467844700679166 + ], + [ + 910.7306407093968, + 5.118169269831924 + ], + [ + 910.7090479394487, + 5.035752743019202 + ], + [ + 897.7325671105459, + 4.500267069033271 + ], + [ + 897.7520073559724, + 4.582507738388358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695835941, + "ymin": 11.383266189129813, + "xmax": 910.2464038492736, + "ymax": 26.731720899009815 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681526357694, + 26.731720899009815 + ], + [ + 907.4106117748224, + 26.08904843471646 + ], + [ + 892.9196695835941, + 25.46580396440487 + ], + [ + 893.0592281465969, + 26.106943939684925 + ], + [ + 910.2464038492736, + 12.627368551806228 + ], + [ + 910.0839664832286, + 11.995763239149483 + ], + [ + 895.4451108798514, + 11.383266189129813 + ], + [ + 895.5891968187732, + 12.013350364140251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294765105845, + "ymin": 4.175717495720107, + "xmax": 912.8462490122554, + "ymax": 21.707963081665127 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.657993642518, + 21.707963081665127 + ], + [ + 909.6326013287793, + 21.607016204630895 + ], + [ + 892.5294765105845, + 20.877864053042913 + ], + [ + 892.5515064331025, + 20.978527053753965 + ], + [ + 912.8462490122554, + 4.988524781918386 + ], + [ + 912.8199283089277, + 4.889679079249049 + ], + [ + 895.51037800483, + 4.175717495720107 + ], + [ + 895.5332546720063, + 4.274281951691762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5295990646375, + "ymin": 4.175692001547077, + "xmax": 912.8463721783199, + "ymax": 21.707936961042037 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6581155300244, + 21.707936961042037 + ], + [ + 909.6327231938283, + 21.606990094180276 + ], + [ + 892.5295990646375, + 20.87783801601131 + ], + [ + 892.5516290098844, + 20.978501006592808 + ], + [ + 912.8463721783199, + 4.988499204928019 + ], + [ + 912.8200514520647, + 4.889653512337247 + ], + [ + 895.5105018537927, + 4.175692001547077 + ], + [ + 895.5333785441779, + 4.274256447483253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196676591853, + "ymin": 11.383265985483035, + "xmax": 910.2464018939272, + "ymax": 26.731720690781287 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681507008669, + 26.731720690781287 + ], + [ + 907.4106098423583, + 26.089048226998898 + ], + [ + 892.9196676591853, + 25.465803757182243 + ], + [ + 893.0592262197695, + 26.10694373195321 + ], + [ + 910.2464018939272, + 12.62736834716111 + ], + [ + 910.0839645303722, + 11.995763035011407 + ], + [ + 895.4451089352149, + 11.383265985483035 + ], + [ + 895.5891948716669, + 12.013350159988079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294675125976, + "ymin": 4.175663173693522, + "xmax": 912.8462376942355, + "ymax": 21.707907456166254 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579827988833, + 21.707907456166254 + ], + [ + 909.6325904820993, + 21.606960569463183 + ], + [ + 892.5294675125976, + 20.877808574313633 + ], + [ + 892.5514974378436, + 20.978471584696706 + ], + [ + 912.8462376942355, + 4.988470314119638 + ], + [ + 912.8199169878258, + 4.889624602233482 + ], + [ + 895.5103685773086, + 4.175663173693522 + ], + [ + 895.5332452472509, + 4.274227638886089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.3744412927316, + "ymin": 8.232623219676725, + "xmax": 834.6705165129221, + "ymax": 23.510041123559347 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 832.7531284303136, + 23.510041123559347 + ], + [ + 832.6878577379364, + 22.87525140113536 + ], + [ + 818.3744412927316, + 22.2596422119895 + ], + [ + 818.42216636645, + 22.892927537479636 + ], + [ + 834.6705165129221, + 9.461323921639234 + ], + [ + 834.6022341885055, + 8.837542380829234 + ], + [ + 820.1444915249026, + 8.232623219676725 + ], + [ + 820.1948724118309, + 8.854911782150111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294691832042, + "ymin": 4.175690337865603, + "xmax": 912.8462404828696, + "ymax": 21.70793525647997 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579853839421, + 21.70793525647997 + ], + [ + 909.6325930731743, + 21.606988390282197 + ], + [ + 892.5294691832042, + 20.877836316904336 + ], + [ + 892.5514991031162, + 20.978499306824688 + ], + [ + 912.8462404828696, + 4.9884975358421 + ], + [ + 912.8199197826516, + 4.889651843909007 + ], + [ + 895.5103704293145, + 4.175690337865603 + ], + [ + 895.5332470937591, + 4.274254783146716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4202250349975, + "ymin": 15.158941028203685, + "xmax": 909.7138920213126, + "ymax": 30.455619894508175 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 907.045020444866, + 30.455619894508175 + ], + [ + 906.8883624157186, + 29.809366803388684 + ], + [ + 892.4202250349975, + 29.18264762250925 + ], + [ + 892.5589573403383, + 29.82736204549184 + ], + [ + 909.7138920213126, + 16.410346892406892 + ], + [ + 909.5523654935844, + 15.775034925683372 + ], + [ + 894.9367820141932, + 15.158941028203685 + ], + [ + 895.0800154375007, + 15.79272529595363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8725271773096, + "ymin": 4.500291618672065, + "xmax": 910.7307306440413, + "ymax": 21.01436743879458 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226952621602, + 21.01436743879458 + ], + [ + 907.7018309345328, + 20.930284512746425 + ], + [ + 894.8725271773096, + 20.38396425247521 + ], + [ + 894.8912875244108, + 20.46786975546013 + ], + [ + 910.7307306440413, + 5.118193880045567 + ], + [ + 910.7091378582625, + 5.035777345148915 + ], + [ + 897.732656297715, + 4.500291618672065 + ], + [ + 897.7520965587298, + 4.582532296085219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.4256461222583, + "ymin": 8.840472669237556, + "xmax": 827.6552516986178, + "ymax": 24.131618900711203 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.8047511315829, + 24.131618900711203 + ], + [ + 825.7478922131464, + 23.495312096597843 + ], + [ + 811.4256461222583, + 22.878233437823496 + ], + [ + 811.4649376834169, + 23.51303045195823 + ], + [ + 827.6552516986178, + 10.072137306963668 + ], + [ + 827.5955437281938, + 9.446850145909082 + ], + [ + 813.1287898813061, + 8.840472669237556 + ], + [ + 813.1705740014816, + 9.464261446541684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.872649186889, + "ymin": 4.500291158915502, + "xmax": 910.7308541603427, + "ymax": 21.01436696858559 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7228174088289, + 21.01436696858559 + ], + [ + 907.7019530613804, + 20.93028404269029 + ], + [ + 894.872649186889, + 20.383963783410877 + ], + [ + 894.891409553773, + 20.467869286243342 + ], + [ + 910.7308541603427, + 5.118193419154466 + ], + [ + 910.7092613542961, + 5.0357768844093584 + ], + [ + 897.732779673838, + 4.500291158915502 + ], + [ + 897.7522199550813, + 4.582531836177623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.49946037713607, + "ymin": 0.0, + "xmax": 176.35494804580475, + "ymax": 7.694696039103746 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 171.80091056343593, + 7.694696039103746 + ], + [ + 176.35494804580475, + 3.913716970878795 + ], + [ + 169.59631122596755, + 3.6175502875512393 + ], + [ + 164.99396839191303, + 7.394039681136462 + ], + [ + 164.40932466314837, + -14.851405565789946 + ], + [ + 169.0909916231323, + -18.51995073149368 + ], + [ + 162.23089554081054, + -18.807273720811907 + ], + [ + 157.49946037713607, + -15.143153170722996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8654652936407312004, + "instance_id": 33894, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 35.24429702758789, + "y": -10.915966987609863, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.09512814628772, + "ymin": 0.0, + "xmax": 43.72026661007612, + "ymax": 1.7950045030782462 + }, + "corners_3d": [ + [ + 35.105709075927734, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -11.105924606323242, + 6.416468620300293 + ], + [ + 35.105709075927734, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -11.105924606323242, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 38.229379247001475, + 1.7950045030782462 + ], + [ + 43.72026661007612, + -1.8983587108381812 + ], + [ + 37.11753163336232, + -2.1876937241020755 + ], + [ + 31.580618768644626, + 1.501334861156181 + ], + [ + 28.841928337816626, + -20.5752800816515 + ], + [ + 34.48846271022012, + -24.15750149648244 + ], + [ + 27.789045003210504, + -24.438094778879986 + ], + [ + 22.09512814628772, + -20.860142833679674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 452.00526941980206, + "ymin": 54.41209994807491, + "xmax": 463.7375215455039, + "ymax": 79.10389908183942 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 463.7375215455039, + 74.99037653063067 + ], + [ + 457.0984799726113, + 74.666305123023 + ], + [ + 454.78148461636556, + 78.77514823236623 + ], + [ + 461.4669766549937, + 79.10389908183942 + ], + [ + 461.11318296331956, + 54.72933649409066 + ], + [ + 454.3768607368984, + 54.41209994807491 + ], + [ + 452.00526941980206, + 58.43468160860317 + ], + [ + 458.7894176213927, + 58.75656783422255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18360097670761586227, + "instance_id": 13214, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 32.24429702758789, + "y": -10.91596508026123, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.55084288262378, + "ymin": 0.0, + "xmax": 115.68224838676076, + "ymax": 4.995801608756267 + }, + "corners_3d": [ + [ + 32.105709075927734, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -11.10592269897461, + 6.416468620300293 + ], + [ + 32.105709075927734, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -11.10592269897461, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 110.69674892892715, + 4.995801608756267 + ], + [ + 115.68224838676076, + 1.2550301136597568 + ], + [ + 108.99510306577895, + 0.9619962102391355 + ], + [ + 103.96234926353304, + 4.6983493745020155 + ], + [ + 102.38591356987354, + -17.470132428018758 + ], + [ + 107.51203894010894, + -21.09905708461315 + ], + [ + 100.72563638901829, + -21.383293562181336 + ], + [ + 95.55084288262378, + -17.758722116754313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.5771642097272, + "ymin": 9.743461566976578, + "xmax": 841.8583959060959, + "ymax": 57.10472251522725 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 835.2255387136569, + 57.10472251522725 + ], + [ + 835.1775199454084, + 56.629521693137406 + ], + [ + 833.5771642097272, + 56.55623475941309 + ], + [ + 833.6238022901102, + 57.03130964729036 + ], + [ + 841.8583959060959, + 10.262594321789209 + ], + [ + 841.80286201702, + 9.812824170215663 + ], + [ + 840.1472819418043, + 9.743461566976578 + ], + [ + 840.2013381744329, + 10.193108476729208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.067508983584389, + "ymin": 0.0, + "xmax": 195.70605787195348, + "ymax": 31.75434097651049 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 195.70605787195348, + -49.56326057624989 + ], + [ + 188.88869925297524, + -49.85273167756941 + ], + [ + 79.48595455780014, + 31.350047270438665 + ], + [ + 87.45950128926484, + 31.75434097651049 + ], + [ + 148.04355171833873, + -208.90999362067566 + ], + [ + 140.52953927739634, + -209.116266378678 + ], + [ + 7.067508983584389, + -150.1067331887881 + ], + [ + 16.00950779505331, + -149.80706818815412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.7052573592583, + "ymin": 542.4102329668195, + "xmax": 768.4659302691512, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 767.9422498909861, + 547.6917873311655 + ], + [ + 749.0125471599666, + 546.0463778307031 + ], + [ + 737.7052573592583, + 935.7585752406126 + ], + [ + 763.7008101631473, + 938.8656194278792 + ], + [ + 768.4659302691512, + 544.0566158705607 + ], + [ + 749.4580405004206, + 542.4102329668195 + ], + [ + 738.2546149250497, + 932.9469654084494 + ], + [ + 764.3978474733324, + 936.0653843442383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.4496646407761, + "ymin": 9.17447320369422, + "xmax": 828.2626296855883, + "ymax": 56.50232551156711 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 822.0832447079307, + 56.50232551156711 + ], + [ + 822.04654376344, + 56.02815756292915 + ], + [ + 820.4496646407761, + 55.955029843334785 + ], + [ + 820.4849908802845, + 56.429072268096604 + ], + [ + 828.2626296855883, + 9.692439421569475 + ], + [ + 828.2192077182755, + 9.243680012131279 + ], + [ + 826.5673460981759, + 9.17447320369422 + ], + [ + 826.6092970272161, + 9.623109786480768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.6529495967793, + "ymin": 72.83135956916192, + "xmax": 773.4213542896028, + "ymax": 177.2844139139941 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 773.1190546062733, + 76.41902764799767 + ], + [ + 762.5857839531479, + 75.91683311372213 + ], + [ + 759.6529495967793, + 176.58998865457522 + ], + [ + 772.0371344148427, + 177.2844139139941 + ], + [ + 773.4213542896028, + 73.33198216028313 + ], + [ + 762.8639191591976, + 72.83135956916192 + ], + [ + 759.9722914404113, + 173.22924560025965 + ], + [ + 772.3898928702831, + 173.92205038967967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.8406853998686, + "ymin": 18.076662171117903, + "xmax": 864.0148275529682, + "ymax": 65.92227409595341 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 856.5367248058637, + 65.92227409595341 + ], + [ + 856.469363253845, + 65.43182632153844 + ], + [ + 854.8406853998686, + 65.35618912297554 + ], + [ + 854.9066169683676, + 65.84650485426073 + ], + [ + 864.0148275529682, + 18.613029938821455 + ], + [ + 863.9383974950808, + 18.148326560546195 + ], + [ + 862.2524920024788, + 18.076662171117903 + ], + [ + 862.32738978442, + 18.541236119524342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.941615003092, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.065419481285517 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1286.2015747178948, + -14.98731526441577 + ], + [ + 1277.941615003092, + -15.304755057276793 + ], + [ + 1305.9301633378395, + 11.71132996414974 + ], + [ + 1314.6735407339827, + 12.065419481285517 + ], + [ + 1355.2511142966005, + -170.01191681177738 + ], + [ + 1346.0588188106467, + -170.25017443346064 + ], + [ + 1381.4795110777354, + -149.85216507528378 + ], + [ + 1391.274184994592, + -149.58318303637031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.7356443426777, + "ymin": 72.89545089795939, + "xmax": 773.3514725857166, + "ymax": 177.20186663452864 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 773.0531709037945, + 76.43741508084003 + ], + [ + 762.6535631802183, + 75.94160449139508 + ], + [ + 759.7356443426777, + 176.51647944380662 + ], + [ + 771.960804385745, + 177.20186663452864 + ], + [ + 773.3514725857166, + 73.38972950289212 + ], + [ + 762.9283107799304, + 72.89545089795939 + ], + [ + 760.0510904452796, + 173.198834141026 + ], + [ + 772.3088128288869, + 173.882642079578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 242.91502349705746, + "ymax": 141.48504723195188 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -20.60807519199284, + 120.71690126778228 + ], + [ + -26.847209654940684, + 125.46377130240532 + ], + [ + 238.5935395433039, + 141.48504723195188 + ], + [ + 242.91502349705746, + 136.49152217804715 + ], + [ + -122.63572142676924, + -82.39328655543068 + ], + [ + -130.75373279521796, + -78.71179168688582 + ], + [ + 174.17813134551284, + -66.2213956673346 + ], + [ + 179.77102708756843, + -70.12519550976725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.5264258552479, + "ymin": 542.2394977688801, + "xmax": 768.5939669059637, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 768.063052369691, + 547.5890908711979 + ], + [ + 748.8914061247699, + 545.9228317565586 + ], + [ + 737.5264258552479, + 936.0134497623628 + ], + [ + 763.8621258668863, + 939.1617561336054 + ], + [ + 768.5939669059637, + 543.9067535849074 + ], + [ + 749.3421169193407, + 542.2394977688801 + ], + [ + 738.0819937003006, + 933.1662938079766 + ], + [ + 764.5692767380029, + 936.3262820342557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.791353488055, + "ymin": 15.697160304474778, + "xmax": 903.1735587604458, + "ymax": 62.994026003853605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 894.5029724105532, + 62.994026003853605 + ], + [ + 894.4038229618182, + 62.51249641862984 + ], + [ + 892.791353488055, + 62.43823363900867 + ], + [ + 892.889101354004, + 62.91963527396899 + ], + [ + 903.1735587604458, + 16.22383957873842 + ], + [ + 903.0633201827927, + 15.767531045176781 + ], + [ + 901.394783170242, + 15.697160304474778 + ], + [ + 901.5035209763605, + 16.153343461322095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.114666118061, + "ymin": 64.07840562385445, + "xmax": 777.4774118844339, + "ymax": 414.0425779344607 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 754.3084036320354, + 295.9273912394483 + ], + [ + 739.9636920953847, + 294.9800320642569 + ], + [ + 734.114666118061, + 412.7920396484793 + ], + [ + 750.5890692986665, + 414.0425779344607 + ], + [ + 777.4774118844339, + 64.88545300238201 + ], + [ + 760.1960711708674, + 64.07840562385445 + ], + [ + 756.6776698559598, + 167.53333194377745 + ], + [ + 777.1468494967341, + 168.66595203166585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.2013771115769, + "ymin": 10.765832448525146, + "xmax": 843.556308211766, + "ymax": 58.1870144247672 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 836.854586774893, + 58.1870144247672 + ], + [ + 836.80507355738, + 57.70995504538695 + ], + [ + 835.2013771115769, + 57.6363816266865 + ], + [ + 835.2495038700229, + 58.113314332374046 + ], + [ + 843.556308211766, + 11.287064593929301 + ], + [ + 843.4991526424254, + 10.835475427499773 + ], + [ + 841.8399973167943, + 10.765832448525146 + ], + [ + 841.895668839937, + 11.217297624789694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.6886138757536, + "ymin": 528.0229301362433, + "xmax": 775.9915398418884, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 739.203600809935, + 775.5633725034106 + ], + [ + 716.2236828268977, + 773.1244165246053 + ], + [ + 699.6886138757536, + 1106.1683571436283 + ], + [ + 728.6703324539063, + 1110.0564598231103 + ], + [ + 775.9915398418884, + 530.7209641897539 + ], + [ + 744.415685659155, + 528.0229301362433 + ], + [ + 730.5489941983743, + 935.7341691960332 + ], + [ + 774.6838436671824, + 941.0119362934884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.6553532874179, + "ymin": 9.784320165850431, + "xmax": 821.2399240799277, + "ymax": 57.14797853415939 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.2841032589486, + 57.14797853415939 + ], + [ + 815.2531945620685, + 56.67270346943883 + ], + [ + 813.6553532874179, + 56.59940509646401 + ], + [ + 813.6848856164836, + 57.07455419746418 + ], + [ + 821.2399240799277, + 10.303536770013352 + ], + [ + 821.2026812676023, + 9.853693963331239 + ], + [ + 819.5497891152647, + 9.784320165850431 + ], + [ + 819.5855590460617, + 10.234039700854282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.3545809678935, + "ymin": 0.0, + "xmax": 533.2734876645889, + "ymax": 139.00685872649294 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 466.96731756443654, + 138.42189838647192 + ], + [ + 476.91611356948664, + 139.00685872649294 + ], + [ + 533.2734876645889, + 24.8930039273842 + ], + [ + 525.0667914235834, + 24.49915281734195 + ], + [ + 439.3545809678935, + -68.61724232670656 + ], + [ + 450.8632153980201, + -68.15999963375742 + ], + [ + 519.6745315640853, + -154.8847110182926 + ], + [ + 510.4346155242806, + -155.17565881241683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00102/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..666ae07955022c0a0d241b0750213a9b0eb011bb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00102/meta.json @@ -0,0 +1,3306 @@ +{ + "frame_id": 102, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.0, + "sim_timestamp": 5782.342830921989 + }, + "drone_pose": { + "x": 9.36607872706265, + "y": -1.9269000543443082, + "z": 20.0, + "pitch": -41.90160052898437, + "yaw": 66.24671778878424, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2998005151748657, + -0.6812427043914795, + 0.6678533554077148, + -14.852334022521973 + ], + [ + 0.9152884483337402, + 0.4027990698814392, + -2.9802322387695312e-08, + 9.348816871643066 + ], + [ + -0.2690106928348541, + 0.6112784147262573, + 0.7442929148674011, + -13.544156074523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.587779009756652, + "y": -1.3584560251848166, + "z": 20.0 + }, + "t1_image_uv": [ + 695.116407951022, + -501.4071444027635 + ], + "t1_depth": 0.4537141795236752 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.1389937591552735 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.241239368545344, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 534, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.138993740081787 + }, + "extent": { + "x": 0.32868894934654236, + "y": 0.45083922147750854, + "z": 0.9168761372566223 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.3329787339696, + "ymin": 325.82066631884413, + "xmax": 658.81136739608, + "ymax": 393.5492642675222 + }, + "corners_3d": [ + [ + 17.919189453125, + 16.76102638244629, + 0.2221176028251648 + ], + [ + 17.281606674194336, + 17.398611068725586, + 0.2221176028251648 + ], + [ + 17.746444702148438, + 17.863447189331055, + 0.2221176028251648 + ], + [ + 18.3840274810791, + 17.225862503051758, + 0.2221176028251648 + ], + [ + 17.919189453125, + 16.76102638244629, + 2.0558698177337646 + ], + [ + 17.281606674194336, + 17.398611068725586, + 2.0558698177337646 + ], + [ + 17.746444702148438, + 17.863447189331055, + 2.0558698177337646 + ], + [ + 18.3840274810791, + 17.225862503051758, + 2.0558698177337646 + ] + ], + "corners_2d": [ + [ + 629.8596775272212, + 393.5492642675222 + ], + [ + 658.0099715737778, + 385.9778956666891 + ], + [ + 649.8975274923771, + 372.1208605568244 + ], + [ + 622.1223810214227, + 379.45663534630137 + ], + [ + 629.4044374288464, + 347.024303675494 + ], + [ + 658.81136739608, + 339.52714671566554 + ], + [ + 650.3307627846093, + 325.82066631884413 + ], + [ + 621.3329787339696, + 333.07436696854677 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 102, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 274991, + "2": 414009, + "3": 34982, + "5": 4264, + "6": 9983, + "7": 1814, + "9": 49495, + "10": 83783, + "12": 2152, + "14": 20683, + "20": 6582, + "21": 540, + "24": 18322 + }, + "instance_pixel_counts": { + "3146": 2094, + "3669": 40, + "4224": 55, + "4480": 125, + "7299": 319, + "9557": 20, + "9856": 91, + "11651": 540, + "17502": 69507, + "19038": 14081, + "19354": 260, + "19866": 11849, + "20378": 17195, + "20573": 17855, + "20890": 16938, + "21085": 280656, + "21402": 5195, + "21597": 63, + "21914": 6680, + "23450": 30197, + "29260": 239, + "34816": 126, + "34899": 1275, + "35072": 9689, + "35442": 2274, + "36252": 136242, + "36764": 92739, + "37276": 36506, + "38300": 9504, + "38483": 527, + "39073": 491, + "41121": 531, + "41633": 412, + "42145": 187, + "42657": 2, + "43008": 534, + "43264": 224, + "43520": 10, + "43776": 659, + "44032": 4, + "44288": 721, + "44544": 17213, + "44705": 356, + "44922": 11932, + "45388": 666, + "45434": 3791, + "45644": 699, + "46848": 3470, + "49778": 32708, + "51021": 435, + "51309": 49495, + "51612": 1704, + "52636": 895, + "58697": 4264, + "59772": 564, + "60284": 5702, + "60796": 4553, + "61308": 5139, + "61820": 1654, + "62844": 1957, + "63868": 7552 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 534, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.138993740081787 + }, + "extent": { + "x": 0.3814251720905304, + "y": 0.46640074253082275, + "z": 0.9454970359802246 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.1790245863413, + "ymin": 323.86221032124075, + "xmax": 660.0212664354979, + "ymax": 395.52608406039616 + }, + "corners_3d": [ + [ + 17.89290428161621, + 16.71273422241211, + 0.1934967041015625 + ], + [ + 17.233314514160156, + 17.372323989868164, + 0.1934967041015625 + ], + [ + 17.772729873657227, + 17.911739349365234, + 0.1934967041015625 + ], + [ + 18.43231964111328, + 17.25214958190918, + 0.1934967041015625 + ], + [ + 17.89290428161621, + 16.71273422241211, + 2.0844907760620117 + ], + [ + 17.233314514160156, + 17.372323989868164, + 2.0844907760620117 + ], + [ + 17.772729873657227, + 17.911739349365234, + 2.0844907760620117 + ], + [ + 18.43231964111328, + 17.25214958190918, + 2.0844907760620117 + ] + ], + "corners_2d": [ + [ + 630.0072263493649, + 395.52608406039616 + ], + [ + 659.1412955345384, + 387.67249499613865 + ], + [ + 649.7261507523814, + 371.59449656791134 + ], + [ + 621.0418566260772, + 379.16539804329005 + ], + [ + 629.5435885019957, + 347.53496418333106 + ], + [ + 660.0212664354979, + 339.75985758792444 + ], + [ + 650.1648344244093, + 323.86221032124075 + ], + [ + 620.1790245863413, + 331.3448954820595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 224, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.958803176879883, + "y": 20.3099422454834, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.22910888493061066, + "y": 0.2233416736125946, + "z": 0.5934396982192993 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 551.5645175897464, + "ymin": 253.84074912272155, + "xmax": 572.2346731664564, + "ymax": 294.27604716128633 + }, + "corners_3d": [ + [ + 21.888296127319336, + 19.99785041809082, + 0.39133042097091675 + ], + [ + 21.645015716552734, + 20.37247085571289, + 0.39133042097091675 + ], + [ + 22.02931022644043, + 20.622034072875977, + 0.39133042097091675 + ], + [ + 22.27259063720703, + 20.247413635253906, + 0.39133042097091675 + ], + [ + 21.888296127319336, + 19.99785041809082, + 1.5782098770141602 + ], + [ + 21.645015716552734, + 20.37247085571289, + 1.5782098770141602 + ], + [ + 22.02931022644043, + 20.622034072875977, + 1.5782098770141602 + ], + [ + 22.27259063720703, + 20.247413635253906, + 1.5782098770141602 + ] + ], + "corners_2d": [ + [ + 560.5635607010105, + 294.27604716128633 + ], + [ + 572.2346731664564, + 289.7393359096392 + ], + [ + 565.356667215673, + 282.743043541031 + ], + [ + 553.750261563743, + 287.1996451949586 + ], + [ + 558.5319536360399, + 265.2327558596679 + ], + [ + 570.5116906344332, + 260.7505006406717 + ], + [ + 563.4760124807373, + 253.84074912272155 + ], + [ + 551.5645175897464, + 258.2418654876396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 10, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.576992988586426, + "y": 24.254947662353516, + "z": 0.8013930320739746 + }, + "extent": { + "x": 0.3239727318286896, + "y": 0.24718625843524933, + "z": 0.6309537887573242 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.4272448198752, + "ymin": 237.81596694044055, + "xmax": 797.034210071957, + "ymax": 282.11677686886526 + }, + "corners_3d": [ + [ + 15.480777740478516, + 23.858964920043945, + 0.1704392433166504 + ], + [ + 15.169659614562988, + 24.243165969848633, + 0.1704392433166504 + ], + [ + 15.673208236694336, + 24.650930404663086, + 0.1704392433166504 + ], + [ + 15.984326362609863, + 24.2667293548584, + 0.1704392433166504 + ], + [ + 15.480777740478516, + 23.858964920043945, + 1.4323468208312988 + ], + [ + 15.169659614562988, + 24.243165969848633, + 1.4323468208312988 + ], + [ + 15.673208236694336, + 24.650930404663086, + 1.4323468208312988 + ], + [ + 15.984326362609863, + 24.2667293548584, + 1.4323468208312988 + ] + ], + "corners_2d": [ + [ + 780.864443926689, + 282.11677686886526 + ], + [ + 793.0007364358673, + 278.09398722637764 + ], + [ + 782.4598917939326, + 268.0395072149277 + ], + [ + 770.4272448198752, + 271.9589284663823 + ], + [ + 784.597647615215, + 251.6987102767655 + ], + [ + 797.034210071957, + 247.73016042668766 + ], + [ + 786.1657809362357, + 237.81596694044055 + ], + [ + 773.837856594706, + 241.67990021393712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 659, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 8.332817077636719, + "y": 17.312236785888672, + "z": 1.1480220556259155 + }, + "extent": { + "x": 0.5093634128570557, + "y": 0.3636712431907654, + "z": 0.9507476687431335 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 938.5401005688254, + "ymin": 414.70363945835675, + "xmax": 1001.2714510872871, + "ymax": 497.4673494320117 + }, + "corners_3d": [ + [ + 8.22979736328125, + 16.694908142089844, + 0.19727438688278198 + ], + [ + 7.715488433837891, + 17.209217071533203, + 0.19727438688278198 + ], + [ + 8.435836791992188, + 17.9295654296875, + 0.19727438688278198 + ], + [ + 8.950145721435547, + 17.41525650024414, + 0.19727438688278198 + ], + [ + 8.22979736328125, + 16.694908142089844, + 2.0987696647644043 + ], + [ + 7.715488433837891, + 17.209217071533203, + 2.0987696647644043 + ], + [ + 8.435836791992188, + 17.9295654296875, + 2.0987696647644043 + ], + [ + 8.950145721435547, + 17.41525650024414, + 2.0987696647644043 + ] + ], + "corners_2d": [ + [ + 960.6506296496345, + 497.4673494320117 + ], + [ + 983.4661475779549, + 489.8622827536899 + ], + [ + 960.9104208731773, + 463.40099175039677 + ], + [ + 938.5401005688254, + 470.60397794348296 + ], + [ + 977.4073689364626, + 448.74094760752354 + ], + [ + 1001.2714510872871, + 441.1318508321167 + ], + [ + 977.0799707573977, + 414.70363945835675 + ], + [ + 953.7004936643327, + 421.89038300852326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 4, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 14.217317581176758, + "y": 6.18487548828125, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.44333434104919434, + "y": 0.42284971475601196, + "z": 0.9331785440444946 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 555.5348532282061, + "ymin": 697.2143412161228, + "xmax": 608.9856357294241, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 14.266934394836426, + 5.57423210144043, + 0.05158179998397827 + ], + [ + 13.609702110290527, + 6.106447696685791, + 0.05158179998397827 + ], + [ + 14.16770076751709, + 6.79551887512207, + 0.05158179998397827 + ], + [ + 14.824933052062988, + 6.263303279876709, + 0.05158179998397827 + ], + [ + 14.266934394836426, + 5.57423210144043, + 1.9179389476776123 + ], + [ + 13.609702110290527, + 6.106447696685791, + 1.9179389476776123 + ], + [ + 14.16770076751709, + 6.79551887512207, + 1.9179389476776123 + ], + [ + 14.824933052062988, + 6.263303279876709, + 1.9179389476776123 + ] + ], + "corners_2d": [ + [ + 569.3700191446128, + 791.4167305524982 + ], + [ + 608.9856357294241, + 780.7527141466815 + ], + [ + 599.1278296175935, + 741.3227141242528 + ], + [ + 560.6608747779659, + 751.338357443098 + ], + [ + 564.6509402782941, + 748.7585559574738 + ], + [ + 606.9316635433038, + 737.7634736577593 + ], + [ + 596.5095843580964, + 697.2143412161228 + ], + [ + 555.5348532282061, + 707.4986310714182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 721, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 29.438173294067383, + "y": 7.9594292640686035, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3579455614089966, + "y": 0.3208679258823395, + "z": 0.8876736164093018 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 67.3606597400701, + "ymin": 427.8749083364736, + "xmax": 125.1185179733211, + "ymax": 495.7788530676757 + }, + "corners_3d": [ + [ + 29.512325286865234, + 7.484473705291748, + 0.09709161520004272 + ], + [ + 28.974119186401367, + 7.833988189697266, + 0.09709161520004272 + ], + [ + 29.36402130126953, + 8.434385299682617, + 0.09709161520004272 + ], + [ + 29.9022274017334, + 8.084870338439941, + 0.09709161520004272 + ], + [ + 29.512325286865234, + 7.484473705291748, + 1.872438907623291 + ], + [ + 28.974119186401367, + 7.833988189697266, + 1.872438907623291 + ], + [ + 29.36402130126953, + 8.434385299682617, + 1.872438907623291 + ], + [ + 29.9022274017334, + 8.084870338439941, + 1.872438907623291 + ] + ], + "corners_2d": [ + [ + 93.73477348517065, + 495.7788530676757 + ], + [ + 118.90832923282017, + 492.8147568307305 + ], + [ + 125.1185179733211, + 472.96859776119595 + ], + [ + 100.46706247800557, + 475.81538213845715 + ], + [ + 67.3606597400701, + 450.67984432969297 + ], + [ + 93.82799714992905, + 447.7135922111908 + ], + [ + 100.85507029616372, + 427.8749083364736 + ], + [ + 74.96413675866279, + 430.7182805245204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 17213, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 125.53417749982987, + "ymin": 272.6740377439181, + "xmax": 356.46922900091903, + "ymax": 481.7097950791801 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 152.28806039378566, + 456.10391099256896 + ], + [ + 219.5615106574478, + 481.7097950791801 + ], + [ + 356.46922900091903, + 343.57178401259273 + ], + [ + 295.35994046140206, + 324.58665874837897 + ], + [ + 125.53417749982987, + 402.686681155564 + ], + [ + 195.84641693230537, + 428.2278156770665 + ], + [ + 342.8317273912356, + 291.32174439758666 + ], + [ + 279.17309585804344, + 272.6740377439181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 3470, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 431.2204035326718, + "ymin": 42.62688248156684, + "xmax": 533.935585297189, + "ymax": 129.80929190699192 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 533.935585297189, + 82.14360855736624 + ], + [ + 493.75708203824297, + 73.83416573512335 + ], + [ + 436.2947951473857, + 120.09826532318425 + ], + [ + 478.8573002401229, + 129.80929190699192 + ], + [ + 531.4585904413407, + 50.66906005487613 + ], + [ + 490.3915224528455, + 42.62688248156684 + ], + [ + 431.2204035326718, + 87.47105753583429 + ], + [ + 474.778852066442, + 96.90516259433724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.29089421660217, + "ymin": 405.7278112155266, + "xmax": 505.5738853041178, + "ymax": 443.9509330936735 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 495.84742126444405, + 430.47678792455974 + ], + [ + 488.09465086632815, + 440.62705129610146 + ], + [ + 497.90007633338416, + 443.9509330936735 + ], + [ + 505.5738853041178, + 433.7293034025642 + ], + [ + 492.2776526253873, + 405.7278112155266 + ], + [ + 484.29089421660217, + 415.85591943905325 + ], + [ + 494.3289801618744, + 419.1737341248932 + ], + [ + 502.23307358979946, + 408.9726324369758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.75524411684012, + "ymin": 208.26426486888647, + "xmax": 150.90197953690438, + "ymax": 246.5031896345288 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 142.8724056049275, + 236.38356398144228 + ], + [ + 131.85424670185483, + 244.01832458172782 + ], + [ + 139.93045988807916, + 246.5031896345288 + ], + [ + 150.90197953690438, + 238.81770586534685 + ], + [ + 131.15983567665813, + 208.26426486888647 + ], + [ + 119.75524411684012, + 215.78289917425127 + ], + [ + 127.98311366370353, + 218.23075996038136 + ], + [ + 139.33967323148192, + 210.66098481494907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.24499012988304, + "ymin": 259.05550941884576, + "xmax": 321.9590544906939, + "ymax": 299.47991097369095 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 312.76718684572415, + 287.8870161472512 + ], + [ + 302.85353776594883, + 296.63122815946394 + ], + [ + 312.1122133874382, + 299.47991097369095 + ], + [ + 321.9590544906939, + 290.6735051949677 + ], + [ + 304.5056326918241, + 259.05550941884576 + ], + [ + 294.24499012988304, + 267.69542610680514 + ], + [ + 303.70942153512067, + 270.5111757924321 + ], + [ + 313.9004996040722, + 261.8082382970191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 196.05624886409834, + "ymin": 230.48379618495824, + "xmax": 225.79347402049206, + "ymax": 269.68776782442455 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 217.2646614343974, + 258.9355282016696 + ], + [ + 206.69972235376736, + 267.04672958784863 + ], + [ + 215.28352169984845, + 269.68776782442455 + ], + [ + 225.79347402049206, + 261.52101340055196 + ], + [ + 206.99297051125473, + 230.48379618495824 + ], + [ + 196.05624886409834, + 238.48326538702753 + ], + [ + 204.81415949626148, + 241.088818484785 + ], + [ + 215.6939596995171, + 233.03321589775317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 308996133291023887, + "instance_id": 4062, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_0", + "bbox_3d": { + "center_world": { + "x": -0.04459415376186371, + "y": 40.953365325927734, + "z": 3.652277708053589 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.1539006483777, + "ymin": 44.60646611453984, + "xmax": 1280.0, + "ymax": 83.88747999219362 + }, + "corners_3d": [ + [ + -1.0119582414627075, + 39.86409378051758, + 3.48895263671875 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.4889559745788574 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.4889559745788574 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.48895263671875 + ], + [ + -1.0119582414627075, + 39.86409378051758, + 3.8155994415283203 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.8156027793884277 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.8156027793884277 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.8155994415283203 + ] + ], + "corners_2d": [ + [ + 1334.7557101928305, + 83.88747999219362 + ], + [ + 1329.7734112683347, + 60.94961881468646 + ], + [ + 1275.1539006483777, + 52.466107384226234 + ], + [ + 1277.8651272899933, + 74.7034429822724 + ], + [ + 1338.9463070754591, + 75.76879754745494 + ], + [ + 1333.7699592984527, + 53.01804973577862 + ], + [ + 1278.7781499835942, + 44.60646611453984 + ], + [ + 1281.6518441987755, + 66.65838806455082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.31706008796607, + "ymin": 81.16037682392516, + "xmax": 63.959666404078234, + "ymax": 97.87631267264908 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 39.77044966783376, + 92.346170746432 + ], + [ + 61.47750442528968, + 97.87631267264908 + ], + [ + 63.959666404078234, + 96.5784651275502 + ], + [ + 42.27633293893484, + 91.07214009854096 + ], + [ + 35.31706008796607, + 82.42238833732165 + ], + [ + 57.144892194820045, + 87.9008250035373 + ], + [ + 59.65505587753148, + 86.61504396503568 + ], + [ + 37.85112200355661, + 81.16037682392516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3700170815823105936, + "instance_id": 36943, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_1", + "bbox_3d": { + "center_world": { + "x": -0.04460056126117706, + "y": 40.953365325927734, + "z": 3.6533782482147217 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.2128404380717, + "ymin": 44.62284516754693, + "xmax": 1280.0, + "ymax": 83.81467477692024 + }, + "corners_3d": [ + [ + -1.0107700824737549, + 39.86528778076172, + 3.491137981414795 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.4911415576934814 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.4911415576934814 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.491137981414795 + ], + [ + -1.0107700824737549, + 39.86528778076172, + 3.815614938735962 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.8156185150146484 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.8156185150146484 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.815614938735962 + ] + ], + "corners_2d": [ + [ + 1334.7452413346641, + 83.81467477692024 + ], + [ + 1329.768561346391, + 60.90364105106204 + ], + [ + 1275.2128404380717, + 52.430718848045046 + ], + [ + 1277.9235298028902, + 74.64287039624332 + ], + [ + 1338.9078047965606, + 75.74974534648334 + ], + [ + 1333.7385825282922, + 53.02439725950211 + ], + [ + 1278.8134602200876, + 44.62284516754693 + ], + [ + 1281.6853913881914, + 66.65099625990155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.1981004223887, + "ymin": 17.389314058358195, + "xmax": 1280.0, + "ymax": 161.54469693151225 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1296.9907135516573, + 161.54469693151225 + ], + [ + 1293.4966915623556, + 135.6259596059017 + ], + [ + 1239.1981004223887, + 125.97572383385821 + ], + [ + 1240.4626527153068, + 151.09965258046108 + ], + [ + 1355.0797975279281, + 49.402651463661186 + ], + [ + 1348.8266131412236, + 26.044948235970026 + ], + [ + 1289.0981609435298, + 17.389314058358195 + ], + [ + 1292.6445406513203, + 39.970284869291504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.5931640433354, + "ymin": 4.663737493098495, + "xmax": 704.3066739018021, + "ymax": 239.47698681788717 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 690.3103578324406, + 239.47698681788717 + ], + [ + 694.7517538318453, + 233.11608099042485 + ], + [ + 599.4368608660986, + 209.6667064363764 + ], + [ + 594.3395966290618, + 215.62630856507036 + ], + [ + 699.1796308336518, + 29.619885228272096 + ], + [ + 704.3066739018021, + 24.265084512638225 + ], + [ + 592.6220015301332, + 4.663737493098495 + ], + [ + 586.5931640433354, + 9.62475790340551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.7063489378282, + "ymin": 11.038449261847575, + "xmax": 606.2413030087368, + "ymax": 19.770305411783852 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 602.3240532709355, + 19.770305411783852 + ], + [ + 606.2413030087368, + 16.397440893617386 + ], + [ + 594.7981413847991, + 14.352190481831656 + ], + [ + 590.8222226813454, + 17.69837691148183 + ], + [ + 602.2349252283692, + 16.434487938403265 + ], + [ + 606.1619598481092, + 13.0753350625493 + ], + [ + 594.6923239358921, + 11.038449261847575 + ], + [ + 590.7063489378282, + 14.370970224930716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.6225045616836, + "ymin": 10.991707433393515, + "xmax": 606.3247496734523, + "ymax": 19.81753918486089 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 602.3656890699825, + 19.81753918486089 + ], + [ + 606.3247496734523, + 16.408130849799875 + ], + [ + 594.7588218983233, + 14.34095515711573 + ], + [ + 590.7398233673551, + 17.7231074598717 + ], + [ + 602.2756961286257, + 16.445737563743876 + ], + [ + 606.2447518076184, + 13.050337796606811 + ], + [ + 594.6517784394279, + 10.991707433393515 + ], + [ + 590.6225045616836, + 14.35989885106062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.4285006865525, + "ymin": 524.3884023881869, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1204.7473114699546, + 762.5623577235148 + ], + [ + 1182.1678251484236, + 754.3979550605554 + ], + [ + 1178.4285006865525, + 938.9155085908371 + ], + [ + 1204.3224814985856, + 949.66568649896 + ], + [ + 1398.730810527254, + 533.3481655716882 + ], + [ + 1366.7830456179581, + 524.3884023881869 + ], + [ + 1399.7840664237606, + 737.074153907586 + ], + [ + 1438.7744236351944, + 750.1582013971799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.51383027490704, + "ymin": 18.56881014518865, + "xmax": 187.04131772716943, + "ymax": 33.256073766476675 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 164.660946166874, + 28.849869061076674 + ], + [ + 185.0651327864485, + 33.256073766476675 + ], + [ + 187.04131772716943, + 32.22278633564275 + ], + [ + 166.6599850956975, + 27.833526084921346 + ], + [ + 161.51383027490704, + 19.57397253913291 + ], + [ + 182.0279128466231, + 23.932000543668835 + ], + [ + 184.02317428236, + 22.90996786165948 + ], + [ + 163.53215080086028, + 18.56881014518865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.8196185052038, + "ymin": 0.0, + "xmax": 1116.0129956804717, + "ymax": 26.347975973664973 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1082.263013891197, + 26.347975973664973 + ], + [ + 1086.195872615638, + 9.790610875809591 + ], + [ + 1045.0198737648468, + 3.5576653569191308 + ], + [ + 1039.8196185052038, + 19.70735199877157 + ], + [ + 1112.8407511213832, + -70.69100602797744 + ], + [ + 1116.0129956804717, + -85.10695296738328 + ], + [ + 1071.7336316181666, + -90.51761678224454 + ], + [ + 1067.0912968668972, + -76.48028128590954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.32299432868797, + "ymin": 121.65335762787456, + "xmax": 525.0915412023913, + "ymax": 507.1492276124178 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 517.0964858798964, + 507.1492276124178 + ], + [ + 525.0915412023913, + 495.69971346791624 + ], + [ + 182.49135273103877, + 371.3290529916285 + ], + [ + 172.0651708090104, + 380.0879224225454 + ], + [ + 482.31976776584384, + 246.05452805429542 + ], + [ + 493.04914490465853, + 235.20287434358355 + ], + [ + 74.58055727815781, + 121.65335762787456 + ], + [ + 60.32299432868797, + 129.39968747290916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 632.185051551586, + "xmax": 300.10533700081294, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -441.794110117881, + 1930.5980655619824 + ], + [ + -419.3006720492981, + 1961.3339344304782 + ], + [ + 300.10533700081294, + 881.4565462103834 + ], + [ + 282.3361877181419, + 871.7122744191121 + ], + [ + -1670.7036642923367, + 2499.412829367911 + ], + [ + -1655.615447976339, + 2581.599393782393 + ], + [ + 152.7614209046734, + 643.7168023845719 + ], + [ + 128.85073661525666, + 632.185051551586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 43.98308931050724, + "ymax": 263.97583456131866 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -74.35282182647916, + 263.97583456131866 + ], + [ + 43.98308931050724, + 206.7915194220534 + ], + [ + -18.433705432837087, + 173.93015827403525 + ], + [ + -135.36744648159106, + 225.61370721693982 + ], + [ + -398.36812684912934, + -261.5013064185134 + ], + [ + -198.89048183525324, + -286.5845501144762 + ], + [ + -268.4052039181573, + -298.84522617329026 + ], + [ + -460.6817723429356, + -276.93875992807034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 22.960301735425446, + "ymax": 9.634267206024333 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -57.49719931149957, + 9.634267206024333 + ], + [ + 22.960301735425446, + -16.604943227428805 + ], + [ + -19.883020588990576, + -31.9747851824053 + ], + [ + -99.71148258772075, + -7.472263594494677 + ], + [ + -242.44365910127135, + -363.72455008900965 + ], + [ + -130.54151353450254, + -372.51870307704326 + ], + [ + -176.99190918708848, + -376.61945110818226 + ], + [ + -286.94488178139954, + -368.4838224818641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.099022056141, + "ymin": 0.0, + "xmax": 1023.6561666681869, + "ymax": 401.16137031453326 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 918.040653527845, + 401.16137031453326 + ], + [ + 915.5399581478255, + 260.6789252113161 + ], + [ + 706.7510244739105, + 236.6646755731058 + ], + [ + 672.099022056141, + 367.6720899333982 + ], + [ + 1023.6561666681869, + 10.397050208520454 + ], + [ + 998.9812800498137, + -93.38755382585009 + ], + [ + 726.1431102195759, + -109.9799315613451 + ], + [ + 683.6764488766571, + -15.442502790730487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.8332489050306, + "ymin": 0.0, + "xmax": 1137.6772122280288, + "ymax": 21.12610342237076 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1058.3604414169274, + 21.12610342237076 + ], + [ + 1043.2801375478289, + -29.26171940519538 + ], + [ + 909.8332489050306, + -38.59101112014844 + ], + [ + 910.6536851393396, + 9.723342942545287 + ], + [ + 1137.6772122280288, + -245.95842308709734 + ], + [ + 1111.12469157094, + -274.73535116074925 + ], + [ + 954.1833953694403, + -279.95039704678334 + ], + [ + 960.6402325486391, + -252.56237460203465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.3655524185745, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 309.39239239474847 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1324.9659456566487, + 278.423369509829 + ], + [ + 1588.8967712194121, + 309.39239239474847 + ], + [ + 1482.1411770963882, + 180.16678484564287 + ], + [ + 1262.3655524185745, + 158.1487571794184 + ], + [ + 1550.7560662996966, + -101.13847100636957 + ], + [ + 1918.423733449295, + -79.72264963038975 + ], + [ + 1715.089938557748, + -165.5217269725182 + ], + [ + 1427.4841880131207, + -179.25116901075694 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00145/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00145/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1678401c3cc1f6509717c38bf2e55a1741c82949 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/ORI/frames_playback/frame_00145/meta.json @@ -0,0 +1,2987 @@ +{ + "frame_id": 145, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.5, + "sim_timestamp": 6319.201426367741 + }, + "drone_pose": { + "x": 20.640876944895936, + "y": 18.37537269589258, + "z": 20.0, + "pitch": -42.3479643357552, + "yaw": 78.40846251683698, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.14850324392318726, + -0.7239941358566284, + 0.6736314296722412, + -29.841527938842773 + ], + [ + 0.979604959487915, + 0.2009332776069641, + -2.9802322387695312e-08, + 16.52768325805664 + ], + [ + -0.13535496592521667, + 0.6598926782608032, + 0.7390674352645874, + 0.13827037811279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 20.744205163142087, + "y": 18.851133069355246, + "z": 20.0 + }, + "t1_image_uv": [ + 624.9919776720087, + -515.0029593317655 + ], + "t1_depth": 0.35979227896552474 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701239582602 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.22794259502745, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 564, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3857714831829071, + "y": 0.561236560344696, + "z": 0.9145440459251404 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.0341827377017, + "ymin": 325.4618994191413, + "xmax": 661.6562470686076, + "ymax": 393.92347113967685 + }, + "corners_3d": [ + [ + 25.394054412841797, + 38.42646408081055, + 0.07022607326507568 + ], + [ + 24.27157974243164, + 38.42646408081055, + 0.07022607326507568 + ], + [ + 24.27157974243164, + 39.1980094909668, + 0.07022607326507568 + ], + [ + 25.394054412841797, + 39.1980094909668, + 0.07022607326507568 + ], + [ + 25.394054412841797, + 38.42646408081055, + 1.8993141651153564 + ], + [ + 24.27157974243164, + 38.42646408081055, + 1.8993141651153564 + ], + [ + 24.27157974243164, + 39.1980094909668, + 1.8993141651153564 + ], + [ + 25.394054412841797, + 39.1980094909668, + 1.8993141651153564 + ] + ], + "corners_2d": [ + [ + 618.9789159358173, + 388.63480731583815 + ], + [ + 655.9186628189741, + 393.92347113967685 + ], + [ + 660.7373980354661, + 376.43993626942665 + ], + [ + 624.4766435148765, + 371.35220500660625 + ], + [ + 618.0341827377017, + 342.5862130744307 + ], + [ + 656.6384585359039, + 347.8323229502518 + ], + [ + 661.6562470686076, + 330.49997730917437 + ], + [ + 623.7929208617587, + 325.4618994191413 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 145, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 307243, + "2": 262996, + "3": 64377, + "5": 642, + "6": 5126, + "9": 68156, + "10": 154193, + "12": 2596, + "14": 16277, + "16": 14205, + "20": 11494, + "24": 14295 + }, + "instance_pixel_counts": { + "3485": 2256, + "3925": 10, + "4224": 1250, + "7253": 9, + "7299": 603, + "8788": 244, + "9557": 87, + "17502": 151752, + "18526": 2038, + "20378": 4761, + "20573": 29954, + "20890": 3281, + "21085": 66290, + "21402": 36334, + "21914": 33134, + "22909": 2600, + "23421": 2800, + "25181": 9564, + "25683": 44, + "25693": 29710, + "26205": 1306, + "34899": 2597, + "36764": 73902, + "36978": 4342, + "37276": 193129, + "39073": 1119, + "40531": 991, + "42145": 557, + "42657": 379, + "43008": 564, + "43264": 237, + "43520": 184, + "43776": 641, + "44032": 46, + "44288": 924, + "44705": 1035, + "45056": 14205, + "45388": 3937, + "45434": 3135, + "45644": 3488, + "46490": 9712, + "46848": 13773, + "47002": 8857, + "48640": 2504, + "49266": 8508, + "49539": 270, + "49778": 51527, + "51309": 68156, + "51612": 8904, + "58441": 642, + "60796": 1730, + "61308": 3258, + "61820": 9550, + "62844": 10155, + "63386": 40212 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 564, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3684948682785034, + "y": 0.5662426352500916, + "z": 0.9187119603157043 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.992446618083, + "ymin": 325.7063194898996, + "xmax": 661.7182028059815, + "ymax": 393.6486375748497 + }, + "corners_3d": [ + [ + 25.399059295654297, + 38.44374084472656, + 0.06605815887451172 + ], + [ + 24.26657485961914, + 38.44374084472656, + 0.06605815887451172 + ], + [ + 24.26657485961914, + 39.18073272705078, + 0.06605815887451172 + ], + [ + 25.399059295654297, + 39.18073272705078, + 0.06605815887451172 + ], + [ + 25.399059295654297, + 38.44374084472656, + 1.9034820795059204 + ], + [ + 24.26657485961914, + 38.44374084472656, + 1.9034820795059204 + ], + [ + 24.26657485961914, + 39.18073272705078, + 1.9034820795059204 + ], + [ + 25.399059295654297, + 39.18073272705078, + 1.9034820795059204 + ] + ], + "corners_2d": [ + [ + 618.9427558213373, + 388.3174135413424 + ], + [ + 656.192643452421, + 393.6486375748497 + ], + [ + 660.7921925214904, + 376.9471430654937 + ], + [ + 624.1965405166936, + 371.8095452694076 + ], + [ + 617.992446618083, + 342.06225004072803 + ], + [ + 656.9279229102684, + 347.35017049815156 + ], + [ + 661.7182028059815, + 330.793741104616 + ], + [ + 623.4969441525104, + 325.7063194898996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 237, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 41.809940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.2553088665008545, + "y": 0.33607181906700134, + "z": 0.6134095788002014 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 520.8579074482913, + "ymin": 261.3573351140705, + "xmax": 545.706877512683, + "ymax": 301.30387917924486 + }, + "corners_3d": [ + [ + 29.23444938659668, + 41.49033737182617, + 0.37135565280914307 + ], + [ + 28.576993942260742, + 41.63008499145508, + 0.37135565280914307 + ], + [ + 28.683156967163086, + 42.12954330444336, + 0.37135565280914307 + ], + [ + 29.340612411499023, + 41.98979568481445, + 0.37135565280914307 + ], + [ + 29.23444938659668, + 41.49033737182617, + 1.598174810409546 + ], + [ + 28.576993942260742, + 41.63008499145508, + 1.598174810409546 + ], + [ + 28.683156967163086, + 42.12954330444336, + 1.598174810409546 + ], + [ + 29.340612411499023, + 41.98979568481445, + 1.598174810409546 + ] + ], + "corners_2d": [ + [ + 524.010327551669, + 301.30387917924486 + ], + [ + 544.6796118880034, + 301.2113125996828 + ], + [ + 545.706877512683, + 291.4685171627724 + ], + [ + 525.2844562082059, + 291.55888695488136 + ], + [ + 520.8579074482913, + 271.08280415690655 + ], + [ + 542.0892527566732, + 270.99124215580366 + ], + [ + 543.1758424066201, + 261.3573351140705 + ], + [ + 522.2048840230917, + 261.44666619795487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 184, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 45.75494384765625, + "z": 0.6810711622238159 + }, + "extent": { + "x": 0.29274046421051025, + "y": 0.38820064067840576, + "z": 0.5640122890472412 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 731.9170404762401, + "ymin": 223.50451457586786, + "xmax": 757.1805617007758, + "ymax": 261.48887021658805 + }, + "corners_3d": [ + [ + 22.93246841430664, + 45.4232292175293, + 0.11705893278121948 + ], + [ + 22.160320281982422, + 45.50438690185547, + 0.11705893278121948 + ], + [ + 22.221519470214844, + 46.0866584777832, + 0.11705893278121948 + ], + [ + 22.993667602539062, + 46.00550079345703, + 0.11705893278121948 + ], + [ + 22.93246841430664, + 45.4232292175293, + 1.2450834512710571 + ], + [ + 22.160320281982422, + 45.50438690185547, + 1.2450834512710571 + ], + [ + 22.221519470214844, + 46.0866584777832, + 1.2450834512710571 + ], + [ + 22.993667602539062, + 46.00550079345703, + 1.2450834512710571 + ] + ], + "corners_2d": [ + [ + 731.9170404762401, + 260.18583337781126 + ], + [ + 754.3741416303897, + 261.48887021658805 + ], + [ + 754.5376750372832, + 251.56358780215314 + ], + [ + 732.3668788080066, + 250.29362220980096 + ], + [ + 734.0623826075075, + 233.27325214561768 + ], + [ + 757.0482242474416, + 234.56045836392906 + ], + [ + 757.1805617007758, + 224.75830309365415 + ], + [ + 734.494575673431, + 223.50451457586786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 641, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 38.81223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4236682057380676, + "y": 0.4120434522628784, + "z": 0.9383981227874756 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 951.3564253775926, + "ymin": 365.12725780041274, + "xmax": 999.3615535827938, + "ymax": 438.25751434161725 + }, + "corners_3d": [ + [ + 15.744860649108887, + 38.38856887817383, + 0.20296382904052734 + ], + [ + 14.92077350616455, + 38.38856887817383, + 0.20296382904052734 + ], + [ + 14.92077350616455, + 39.235904693603516, + 0.20296382904052734 + ], + [ + 15.744860649108887, + 39.235904693603516, + 0.20296382904052734 + ], + [ + 15.744860649108887, + 38.38856887817383, + 2.0797600746154785 + ], + [ + 14.92077350616455, + 38.38856887817383, + 2.0797600746154785 + ], + [ + 14.92077350616455, + 39.235904693603516, + 2.0797600746154785 + ], + [ + 15.744860649108887, + 39.235904693603516, + 2.0797600746154785 + ] + ], + "corners_2d": [ + [ + 952.3734281020409, + 433.952456065209 + ], + [ + 982.519488775131, + 438.25751434161725 + ], + [ + 980.8276588216754, + 417.06118599768376 + ], + [ + 951.3564253775926, + 412.945037059788 + ], + [ + 967.6604160539734, + 386.02723853348726 + ], + [ + 999.3615535827938, + 390.3158716783326 + ], + [ + 997.1959943240466, + 369.2187914072998 + ], + [ + 966.2402059021315, + 365.12725780041274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 46, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 27.68487548828125, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.4363733232021332, + "y": 0.4677954316139221, + "z": 0.9375777840614319 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 675.0174003852493, + "ymin": 690.6229625977251, + "xmax": 734.6609353233368, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.72816276550293, + 27.29979133605957, + 0.1995946764945984 + ], + [ + 20.797697067260742, + 27.201993942260742, + 0.1995946764945984 + ], + [ + 20.70646858215332, + 28.06995964050293, + 0.1995946764945984 + ], + [ + 21.636934280395508, + 28.167757034301758, + 0.1995946764945984 + ], + [ + 21.72816276550293, + 27.29979133605957, + 2.0747501850128174 + ], + [ + 20.797697067260742, + 27.201993942260742, + 2.0747501850128174 + ], + [ + 20.70646858215332, + 28.06995964050293, + 2.0747501850128174 + ], + [ + 21.636934280395508, + 28.167757034301758, + 2.0747501850128174 + ] + ], + "corners_2d": [ + [ + 675.0174003852493, + 773.4893551947205 + ], + [ + 718.7338604340487, + 787.1220559284334 + ], + [ + 728.7899781277727, + 747.812024180247 + ], + [ + 686.2777386770676, + 734.9859638857332 + ], + [ + 677.383076403332, + 730.2687029261862 + ], + [ + 724.1130183809265, + 744.3442682211293 + ], + [ + 734.6609353233368, + 703.8118005447425 + ], + [ + 689.3045961147196, + 690.6229625977251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 924, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 30.64202117919922, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.33260253071784973, + "y": 0.3488549590110779, + "z": 0.8871597051620483 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.96762486664556, + "ymin": 477.9803834699841, + "xmax": 165.68839671080997, + "ymax": 550.9717317095685 + }, + "corners_3d": [ + [ + 36.4885368347168, + 30.389217376708984, + 0.09761041402816772 + ], + [ + 35.80607223510742, + 30.244155883789062, + 0.09761041402816772 + ], + [ + 35.66776657104492, + 30.894824981689453, + 0.09761041402816772 + ], + [ + 36.3502311706543, + 31.039886474609375, + 0.09761041402816772 + ], + [ + 36.4885368347168, + 30.389217376708984, + 1.8719298839569092 + ], + [ + 35.80607223510742, + 30.244155883789062, + 1.8719298839569092 + ], + [ + 35.66776657104492, + 30.894824981689453, + 1.8719298839569092 + ], + [ + 36.3502311706543, + 31.039886474609375, + 1.8719298839569092 + ] + ], + "corners_2d": [ + [ + 125.40704512281218, + 541.9773388193775 + ], + [ + 146.33839123412366, + 550.9717317095685 + ], + [ + 165.68839671080997, + 531.5296696623643 + ], + [ + 144.9753328673434, + 522.8590436502732 + ], + [ + 98.96762486664556, + 497.21178480473657 + ], + [ + 120.74738467637155, + 506.27175897690813 + ], + [ + 141.57173346718957, + 486.6978787304122 + ], + [ + 120.02454656553289, + 477.9803834699841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 14205, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 483.26471650647034, + "ymin": 0.0, + "xmax": 639.9253524124426, + "ymax": 157.8122998310869 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 639.9253524124426, + 49.197892622348775 + ], + [ + 560.4292663756714, + 42.10082784091668 + ], + [ + 494.7143404062495, + 147.74404608764382 + ], + [ + 588.5157943428351, + 157.8122998310869 + ], + [ + 639.9204023502488, + -41.25594135279266 + ], + [ + 555.2234541158937, + -47.605066342844566 + ], + [ + 483.26471650647034, + 48.012191939766865 + ], + [ + 584.3918688984172, + 57.25046390729318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 13773, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 221.2405662507827, + "ymin": 423.6868657163967, + "xmax": 401.08939304262924, + "ymax": 627.5107421992784 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 401.08939304262924, + 473.30001377620556 + ], + [ + 328.71295369802573, + 461.53701174860373 + ], + [ + 239.72272169498933, + 611.819665726053 + ], + [ + 322.1532482221382, + 627.5107421992784 + ], + [ + 391.46876242025655, + 435.44926204822934 + ], + [ + 316.33294420212974, + 423.6868657163967 + ], + [ + 221.2405662507827, + 574.8147518905718 + ], + [ + 307.26325008245334, + 590.7014643399448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2504, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 440.5208829562067, + "ymin": 49.24645131745859, + "xmax": 515.8251893323508, + "ymax": 130.46604889739234 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 515.8251893323508, + 87.28260733040878 + ], + [ + 476.5338376262199, + 83.4630535624035 + ], + [ + 445.88123338595506, + 126.0811259684211 + ], + [ + 487.78017412099007, + 130.46604889739234 + ], + [ + 512.6091493244588, + 52.94089441305073 + ], + [ + 472.3277190349861, + 49.24645131745859 + ], + [ + 440.5208829562067, + 90.53744546297946 + ], + [ + 483.547261401323, + 94.79442972129686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.3047612909945, + "ymin": 0.0, + "xmax": 1259.282258235057, + "ymax": 56.349162232744504 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1160.2835691445107, + 8.697985967902866 + ], + [ + 1150.3047612909945, + 7.93540722509772 + ], + [ + 1172.459431134507, + 55.441617310868025 + ], + [ + 1183.3814504335267, + 56.349162232744504 + ], + [ + 1226.1298265495584, + -169.0603264453532 + ], + [ + 1214.7821924085742, + -169.6277130883076 + ], + [ + 1246.7000146228354, + -133.8775054837559 + ], + [ + 1259.282258235057, + -133.18646027618496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.5419059796352, + "ymin": 102.3155270878022, + "xmax": 1199.3884282190795, + "ymax": 146.73062687012444 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1195.5905975030628, + 146.73062687012444 + ], + [ + 1182.1717708842086, + 116.02139059108657 + ], + [ + 1124.5419059796352, + 110.73163648160246 + ], + [ + 1135.0628784121134, + 140.9158590211875 + ], + [ + 1199.3884282190795, + 138.07310135035794 + ], + [ + 1185.7047648734251, + 107.56814057653892 + ], + [ + 1127.672722857498, + 102.3155270878022 + ], + [ + 1138.417023970008, + 132.2955279415311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.63856793712966, + "ymin": 150.99629234745925, + "xmax": 152.9201304624985, + "ymax": 167.1565167794199 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 120.12943925560091, + 163.5615674713308 + ], + [ + 150.92431225050314, + 167.1565167794199 + ], + [ + 152.9201304624985, + 165.3544642497169 + ], + [ + 122.19569009671727, + 161.77843353942265 + ], + [ + 115.63856793712966, + 152.76617638226134 + ], + [ + 146.67688351815292, + 156.33465708576517 + ], + [ + 148.70130600314025, + 154.54583173509124 + ], + [ + 117.73452345505302, + 150.99629234745925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.8275868834124, + "ymin": 16.063031479482106, + "xmax": 285.4395886672487, + "ymax": 28.81397716281822 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 259.40559117524833, + 26.5625955477459 + ], + [ + 284.14892299397684, + 28.81397716281822 + ], + [ + 285.4395886672487, + 27.6860584180115 + ], + [ + 260.7420321557797, + 25.443986948326597 + ], + [ + 256.8275868834124, + 17.169669040769577 + ], + [ + 281.72843216742393, + 19.397050879037977 + ], + [ + 283.0329129501239, + 18.281140092047224 + ], + [ + 258.1784224764084, + 16.063031479482106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.3574777928935, + "ymin": 638.756259707942, + "xmax": 845.7417630208818, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 784.8025159918795, + 921.138526620192 + ], + [ + 786.9196584387873, + 896.1405450307834 + ], + [ + 591.1046606526488, + 853.4953482587836 + ], + [ + 585.690422087291, + 876.9926869349046 + ], + [ + 844.2254344104608, + 719.1882185874732 + ], + [ + 845.7417630208818, + 689.1044180380725 + ], + [ + 572.3470256628339, + 638.756259707942 + ], + [ + 564.3574777928935, + 666.3480048608801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.4769216137097, + "ymin": 650.7909060060329, + "xmax": 606.7260326022214, + "ymax": 678.5107839271038 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 602.0081729492351, + 678.5107839271038 + ], + [ + 606.7260326022214, + 660.0141627437408 + ], + [ + 578.9671637991229, + 654.8363355258379 + ], + [ + 573.8354070309463, + 673.1690298783091 + ], + [ + 601.8013995242161, + 674.5118900496259 + ], + [ + 606.5477580847353, + 655.9784734562463 + ], + [ + 578.641612080949, + 650.7909060060329 + ], + [ + 573.4769216137097, + 669.1591885557809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.2954118665227, + "ymin": 650.6437586269503, + "xmax": 606.9026125442027, + "ymax": 678.6621202893774 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 602.1363723028222, + 678.6621202893774 + ], + [ + 606.9026125442027, + 659.9655775296369 + ], + [ + 578.847827951201, + 654.7329165640465 + ], + [ + 573.6587514163109, + 673.261988922482 + ], + [ + 601.9280521593242, + 674.6205054800496 + ], + [ + 606.7233832134743, + 655.8863641830776 + ], + [ + 578.5181587654529, + 650.6437586269503 + ], + [ + 573.2954118665227, + 669.2091829001772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.6037180990584, + "ymin": 102.33402455454302, + "xmax": 1199.3429620942934, + "ymax": 146.6518452373981 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1195.5706160267036, + 146.6518452373981 + ], + [ + 1182.1665755033341, + 115.97796709945166 + ], + [ + 1124.6037180990584, + 110.69472303688491 + ], + [ + 1135.116386609605, + 140.84481189943554 + ], + [ + 1199.3429620942934, + 138.05157024449738 + ], + [ + 1185.6761395175142, + 107.58041546952774 + ], + [ + 1127.7142305697628, + 102.33402455454302 + ], + [ + 1138.4485420763815, + 132.28144387234016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.5509137635537, + "ymin": 85.61453714689247, + "xmax": 204.34913112589516, + "ymax": 99.99350142061365 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 175.1132623659966, + 97.11574772182416 + ], + [ + 202.69893466605305, + 99.99350142061365 + ], + [ + 204.34913112589516, + 98.55138704644622 + ], + [ + 176.8201391572312, + 95.68708227034648 + ], + [ + 171.5509137635537, + 87.03040565843452 + ], + [ + 199.33209523462216, + 89.88253630070449 + ], + [ + 201.00292234936842, + 88.45323659367244 + ], + [ + 173.2792172725799, + 85.61453714689247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.1995093120188, + "ymin": 73.02639979031, + "xmax": 1214.612994955719, + "ymax": 228.91376130379976 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1162.151677081567, + 228.91376130379976 + ], + [ + 1150.3974486646948, + 194.71928449452304 + ], + [ + 1093.1995093120188, + 188.7870481376087 + ], + [ + 1102.119130541471, + 222.39874673480784 + ], + [ + 1214.612994955719, + 109.92146373755264 + ], + [ + 1199.0957779825355, + 78.45580278089204 + ], + [ + 1136.0448363466203, + 73.02639979031 + ], + [ + 1148.1018144480229, + 103.9039738770266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.5716761235603, + "ymin": 0.0, + "xmax": 880.707100603177, + "ymax": 207.48685740101914 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 845.2433806567088, + 207.48685740101914 + ], + [ + 845.7838768606888, + 201.10500480468056 + ], + [ + 743.9965531494252, + 189.9569877714734 + ], + [ + 742.5716761235603, + 196.1408299818381 + ], + [ + 880.4385207807967, + 0.7219490950571981 + ], + [ + 880.707100603177, + -4.606621243753466 + ], + [ + 761.3250942699522, + -13.87616506318767 + ], + [ + 759.8379541008725, + -8.740360197217512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 762.4836111528562, + "ymin": 0.0, + "xmax": 776.3557948632528, + "ymax": 0.016398638010173272 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 775.1408270826457, + 0.016398638010173272 + ], + [ + 776.0360752008494, + -3.4953886307608286 + ], + [ + 763.4632578502171, + -4.489574871534728 + ], + [ + 762.4836111528562, + -0.9914723112967749 + ], + [ + 775.4606284524478, + -3.327928878854209 + ], + [ + 776.3557948632528, + -6.825112025836177 + ], + [ + 763.7528628582421, + -7.815143344964156 + ], + [ + 762.7728915396178, + -4.33162004246816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.99600480306736, + "ymin": 0.0, + "xmax": 390.5394595421471, + "ymax": 62.56307366549487 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 338.77210647125946, + 62.56307366549487 + ], + [ + 390.5394595421471, + 26.162359053767887 + ], + [ + 317.313958344742, + 13.738921646609526 + ], + [ + 262.1380042494442, + 48.35244248821084 + ], + [ + 242.8633062820624, + -351.64190699408937 + ], + [ + 316.8781169135794, + -364.82319211857134 + ], + [ + 226.13647173716743, + -368.13582856709695 + ], + [ + 146.99600480306736, + -355.6916586319402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.0059069104777, + "ymin": 0.0, + "xmax": 1208.9555252813668, + "ymax": 81.55632265452277 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 923.89406746396, + 81.48923183050283 + ], + [ + 1100.882823810473, + 81.55632265452277 + ], + [ + 1044.1561845474207, + 7.959079095503057 + ], + [ + 889.0059069104777, + 7.907550390817505 + ], + [ + 990.4553227805186, + -230.75366790835267 + ], + [ + 1208.9555252813668, + -230.71419986920023 + ], + [ + 1124.899366980181, + -272.7936463347538 + ], + [ + 938.7469559411895, + -272.8222791293466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.9229482433761, + "ymin": 470.41936940134906, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1400.1226286524761, + 1419.1034204676355 + ], + [ + 1179.5602085887106, + 869.0553729635801 + ], + [ + 799.9229482433761, + 873.8843710249296 + ], + [ + 869.9514516252698, + 1428.546474978328 + ], + [ + 2497.7468642096583, + 1427.550644258009 + ], + [ + 1574.7987856237278, + 470.41936940134906 + ], + [ + 917.7796277440327, + 476.3912984537164 + ], + [ + 1205.9938905589852, + 1450.894937970874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 878.4917344914323, + "ymin": 0.0, + "xmax": 1252.3488953083047, + "ymax": 214.62905488017637 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1116.112760551614, + 213.29416006813395 + ], + [ + 1052.1291619672088, + 118.49248940056981 + ], + [ + 878.4917344914323, + 119.50223582943937 + ], + [ + 916.5604191562738, + 214.62905488017637 + ], + [ + 1252.3488953083047, + -130.06532715973577 + ], + [ + 1151.0228579298082, + -192.19581300332015 + ], + [ + 935.8328868400104, + -191.55757143399273 + ], + [ + 995.8827816164869, + -129.157410939054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 264.53852938773696, + "ymax": 48.91869983452892 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 205.6340913112515, + 48.91869983452892 + ], + [ + 264.53852938773696, + 14.118672020737847 + ], + [ + 195.90129341154085, + 2.2440730142019447 + ], + [ + 134.14268139743916, + 35.37261881007254 + ], + [ + 73.06554483986292, + -357.40110162180144 + ], + [ + 158.4539974873145, + -369.7803294671106 + ], + [ + 74.97221375998868, + -372.8536369496694 + ], + [ + -14.41839327135267, + -361.1443017153473 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00002/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96430007c1c3a01d40768185657842908a8a13e4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00002/meta.json @@ -0,0 +1,2297 @@ +{ + "frame_id": 2, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 1.0, + "sim_timestamp": 6707.235809826758 + }, + "drone_pose": { + "x": 7.4722803603547145, + "y": -53.88749630060016, + "z": 20.671326460960994, + "pitch": -42.47537915012251, + "yaw": 83.64643118936817, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08162194490432739, + -0.7330373525619507, + 0.6752732992172241, + 24.932857513427734 + ], + [ + 0.9938578605651855, + 0.11066365242004395, + -2.9802322387695312e-08, + 13.389768600463867 + ], + [ + -0.07472819089889526, + 0.6711257696151733, + 0.7375675439834595, + -50.8533935546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.377035542561276, + "y": -53.51057580938073, + "z": 20.545224276134935 + }, + "t1_image_uv": [ + 1010.1587462068359, + -54.846427691951135 + ], + "t1_depth": 0.35367619351138224 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -32.68776321411133, + "z": 1.14215293943882 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.92039825046897, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 538, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -32.68776321411133, + "z": 1.1421529054641724 + }, + "extent": { + "x": 0.3579180836677551, + "y": 0.4755224585533142, + "z": 0.9417516589164734 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.4766369231307, + "ymin": 327.41250735196854, + "xmax": 657.2485336721631, + "ymax": 391.841714430724 + }, + "corners_3d": [ + [ + 10.30833911895752, + -33.04568099975586, + 0.20040124654769897 + ], + [ + 9.357294082641602, + -33.04568099975586, + 0.20040124654769897 + ], + [ + 9.357295036315918, + -32.3298454284668, + 0.20040124654769897 + ], + [ + 10.308340072631836, + -32.3298454284668, + 0.20040124654769897 + ], + [ + 10.30833911895752, + -33.04568099975586, + 2.083904504776001 + ], + [ + 9.357294082641602, + -33.04568099975586, + 2.083904504776001 + ], + [ + 9.357295036315918, + -32.3298454284668, + 2.083904504776001 + ], + [ + 10.308340072631836, + -32.3298454284668, + 2.083904504776001 + ] + ], + "corners_2d": [ + [ + 623.2364559195902, + 389.43148308037973 + ], + [ + 654.2085742940413, + 391.841714430724 + ], + [ + 656.511860200351, + 375.7937193367592 + ], + [ + 626.0780765292321, + 373.4675697841283 + ], + [ + 622.4766369231307, + 343.23877371966483 + ], + [ + 654.854374056544, + 345.6304141670594 + ], + [ + 657.2485336721631, + 329.7170317094127 + ], + [ + 625.4586392876079, + 327.41250735196854 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 2, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 95, + "semantic_pixel_counts": { + "1": 175843, + "2": 80459, + "5": 3792, + "6": 4914, + "10": 32, + "12": 2833, + "14": 73333, + "15": 9891, + "24": 40788, + "25": 529715 + }, + "instance_pixel_counts": { + "586": 2307, + "606": 1334, + "842": 1485, + "1118": 383, + "1630": 120, + "2142": 131, + "2644": 3118, + "2654": 635, + "3156": 1163, + "3166": 771, + "3678": 232, + "4190": 961, + "4702": 908, + "5214": 434, + "6238": 1004, + "6479": 2571, + "6991": 9891, + "7262": 359, + "7503": 5743, + "7774": 416, + "8015": 4286, + "8527": 4446, + "8798": 547, + "9310": 706, + "9822": 855, + "10334": 1003, + "10846": 1329, + "11358": 555, + "11676": 20613, + "11870": 3415, + "12188": 67240, + "12382": 2230, + "12700": 57759, + "13212": 613, + "13406": 48, + "13918": 78, + "14236": 10292, + "14430": 479, + "14942": 557, + "15454": 683, + "15966": 719, + "16284": 18779, + "16478": 1013, + "16990": 1267, + "18013": 357873, + "18525": 1991, + "19037": 171842, + "23418": 2407, + "23441": 4014, + "24442": 3037, + "24465": 3075, + "24954": 2761, + "24977": 12220, + "25466": 78, + "25489": 6539, + "25978": 442, + "26001": 7392, + "26513": 12945, + "27516": 434, + "28026": 610, + "28028": 588, + "29052": 3270, + "29564": 1927, + "30076": 7787, + "31100": 177, + "31612": 805, + "33660": 968, + "34560": 302, + "34816": 331, + "40860": 547, + "43008": 538, + "43264": 234, + "43520": 166, + "43776": 579, + "44032": 424, + "44288": 892, + "45824": 1001, + "46173": 5043, + "46685": 451, + "47104": 6125, + "47197": 2034, + "48896": 2976, + "54684": 43, + "57241": 1557, + "57753": 2082, + "58265": 12366, + "58777": 4498, + "59289": 28529, + "59997": 94, + "60825": 1578, + "61021": 280, + "61337": 5576, + "61533": 213, + "62045": 123, + "63385": 6326 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 538, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -32.68776321411133, + "z": 1.1421529054641724 + }, + "extent": { + "x": 0.3831951916217804, + "y": 0.3649939000606537, + "z": 0.9430311322212219 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.1249742521322, + "ymin": 327.09845476442285, + "xmax": 653.6308265927671, + "ymax": 392.16780014666983 + }, + "corners_3d": [ + [ + 10.197811126708984, + -33.07095718383789, + 0.19912177324295044 + ], + [ + 9.467823028564453, + -33.07095718383789, + 0.19912177324295044 + ], + [ + 9.467823028564453, + -32.304569244384766, + 0.19912177324295044 + ], + [ + 10.197811126708984, + -32.304569244384766, + 0.19912177324295044 + ], + [ + 10.197811126708984, + -33.07095718383789, + 2.085184097290039 + ], + [ + 9.467823028564453, + -33.07095718383789, + 2.085184097290039 + ], + [ + 9.467823028564453, + -32.304569244384766, + 2.085184097290039 + ], + [ + 10.197811126708984, + -32.304569244384766, + 2.085184097290039 + ] + ], + "corners_2d": [ + [ + 626.7279660913143, + 390.3154453352321 + ], + [ + 650.5151930332624, + 392.16780014666983 + ], + [ + 653.048427712924, + 374.9967287368073 + ], + [ + 629.7035658994147, + 373.21346953505866 + ], + [ + 626.1249742521322, + 344.05325153461905 + ], + [ + 650.993950186348, + 345.89140451312664 + ], + [ + 653.6308265927671, + 328.8650150729008 + ], + [ + 629.2449561412324, + 327.09845476442285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 234, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -29.6900577545166, + "z": 1.1379293203353882 + }, + "extent": { + "x": 0.20759156346321106, + "y": 0.31605958938598633, + "z": 0.5927618145942688 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 513.6732113583912, + "ymin": 270.4086057399795, + "xmax": 536.0991178520705, + "ymax": 307.90254739653994 + }, + "corners_3d": [ + [ + 14.2247953414917, + -29.958826065063477, + 0.5451675057411194 + ], + [ + 13.606489181518555, + -29.82740020751953, + 0.5451675057411194 + ], + [ + 13.692811012268066, + -29.421289443969727, + 0.5451675057411194 + ], + [ + 14.311117172241211, + -29.552715301513672, + 0.5451675057411194 + ], + [ + 14.2247953414917, + -29.958826065063477, + 1.7306911945343018 + ], + [ + 13.606489181518555, + -29.82740020751953, + 1.7306911945343018 + ], + [ + 13.692811012268066, + -29.421289443969727, + 1.7306911945343018 + ], + [ + 14.311117172241211, + -29.552715301513672, + 1.7306911945343018 + ] + ], + "corners_2d": [ + [ + 516.887939147598, + 307.90254739653994 + ], + [ + 536.0991178520705, + 306.70712833306266 + ], + [ + 535.8633236701378, + 298.852689594922 + ], + [ + 516.8348307738802, + 300.02545591376395 + ], + [ + 513.6964978241588, + 279.37012769892846 + ], + [ + 533.4096840224231, + 278.18608564826695 + ], + [ + 533.1940871714116, + 270.4086057399795 + ], + [ + 513.6732113583912, + 271.56963792589386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 166, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -25.74505043029785, + "z": 0.8428598046302795 + }, + "extent": { + "x": 0.30765774846076965, + "y": 0.3976195752620697, + "z": 0.560998797416687 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.4690124075175, + "ymin": 221.33705503114138, + "xmax": 737.8377969764986, + "ymax": 257.56338850822783 + }, + "corners_3d": [ + [ + 7.940274715423584, + -26.09258460998535, + 0.28186100721359253 + ], + [ + 7.149392127990723, + -26.00946044921875, + 0.28186100721359253 + ], + [ + 7.213710308074951, + -25.39751625061035, + 0.28186100721359253 + ], + [ + 8.004592895507812, + -25.480640411376953, + 0.28186100721359253 + ], + [ + 7.940274715423584, + -26.09258460998535, + 1.4038586616516113 + ], + [ + 7.149392127990723, + -26.00946044921875, + 1.4038586616516113 + ], + [ + 7.213710308074951, + -25.39751625061035, + 1.4038586616516113 + ], + [ + 8.004592895507812, + -25.480640411376953, + 1.4038586616516113 + ] + ], + "corners_2d": [ + [ + 713.3245522582032, + 257.4811502687669 + ], + [ + 735.6689208828776, + 257.56338850822783 + ], + [ + 734.5204809589853, + 247.3880104746765 + ], + [ + 712.4690124075175, + 247.30791337519167 + ], + [ + 714.986687065762, + 231.38826804547878 + ], + [ + 737.8377969764986, + 231.46954419919595 + ], + [ + 736.6346123594336, + 221.41616808478486 + ], + [ + 714.089747311258, + 221.33705503114138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 579, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -32.68776321411133, + "z": 1.1519185304641724 + }, + "extent": { + "x": 0.39345067739486694, + "y": 0.5388330221176147, + "z": 0.9007481336593628 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 935.4595466281813, + "ymin": 350.8360578576011, + "xmax": 990.6278249850566, + "ymax": 416.4696524778351 + }, + "corners_3d": [ + [ + 0.871649980545044, + -33.081214904785156, + 0.25117039680480957 + ], + [ + -0.20601606369018555, + -33.081214904785156, + 0.25117039680480957 + ], + [ + -0.20601582527160645, + -32.2943115234375, + 0.25117039680480957 + ], + [ + 0.871650218963623, + -32.2943115234375, + 0.25117039680480957 + ], + [ + 0.871649980545044, + -33.081214904785156, + 2.052666664123535 + ], + [ + -0.20601606369018555, + -33.081214904785156, + 2.052666664123535 + ], + [ + -0.20601582527160645, + -32.2943115234375, + 2.052666664123535 + ], + [ + 0.871650218963623, + -32.2943115234375, + 2.052666664123535 + ] + ], + "corners_2d": [ + [ + 938.5060388059774, + 413.5829345347474 + ], + [ + 975.6163588016218, + 416.4696524778351 + ], + [ + 971.8222468981469, + 397.8584096300231 + ], + [ + 935.4595466281813, + 395.0852514755313 + ], + [ + 951.8145910285247, + 369.2229954065717 + ], + [ + 990.6278249850566, + 372.0953647306462 + ], + [ + 986.355772288127, + 353.5905422961734 + ], + [ + 948.3595635227989, + 350.8360578576011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 424, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -43.81512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.4547226130962372, + "y": 0.57243412733078, + "z": 0.9301279783248901 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 718.5008431042877, + "ymin": 675.9272162757154, + "xmax": 784.3442088374476, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.834147930145264, + -44.20751953125, + 0.2168881893157959 + ], + [ + 5.69555139541626, + -44.32719039916992, + 0.2168881893157959 + ], + [ + 5.600488185882568, + -43.4227294921875, + 0.2168881893157959 + ], + [ + 6.739084720611572, + -43.30305862426758, + 0.2168881893157959 + ], + [ + 6.834147930145264, + -44.20751953125, + 2.077144145965576 + ], + [ + 5.69555139541626, + -44.32719039916992, + 2.077144145965576 + ], + [ + 5.600488185882568, + -43.4227294921875, + 2.077144145965576 + ], + [ + 6.739084720611572, + -43.30305862426758, + 2.077144145965576 + ] + ], + "corners_2d": [ + [ + 718.5008431042877, + 757.5935790756496 + ], + [ + 771.1145047713014, + 768.7475099671225 + ], + [ + 775.8436372406262, + 729.1923353868577 + ], + [ + 724.7928976401022, + 718.7103539668019 + ], + [ + 723.532068451786, + 715.8722331952117 + ], + [ + 779.5959872517476, + 727.3595496987703 + ], + [ + 784.3442088374476, + 686.6800978771435 + ], + [ + 730.0515856346741, + 675.9272162757154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 892, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -40.85797882080078, + "z": 1.137162685394287 + }, + "extent": { + "x": 0.34752440452575684, + "y": 0.5177502036094666, + "z": 0.889796257019043 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 113.63998202996811, + "ymin": 508.68236336359695, + "xmax": 191.58761688401864, + "ymax": 584.5865264458345 + }, + "corners_3d": [ + [ + 21.656845092773438, + -41.09026336669922, + 0.24736642837524414 + ], + [ + 20.643972396850586, + -41.30555725097656, + 0.24736642837524414 + ], + [ + 20.499462127685547, + -40.625694274902344, + 0.24736642837524414 + ], + [ + 21.5123348236084, + -40.410400390625, + 0.24736642837524414 + ], + [ + 21.656845092773438, + -41.09026336669922, + 2.02695894241333 + ], + [ + 20.643972396850586, + -41.30555725097656, + 2.02695894241333 + ], + [ + 20.499462127685547, + -40.625694274902344, + 2.02695894241333 + ], + [ + 21.5123348236084, + -40.410400390625, + 2.02695894241333 + ] + ], + "corners_2d": [ + [ + 139.63764056221208, + 573.6790401013315 + ], + [ + 173.8088561086708, + 584.5865264458345 + ], + [ + 191.58761688401864, + 562.7390875920375 + ], + [ + 157.9140874177068, + 552.2571719893812 + ], + [ + 113.63998202996811, + 530.3005556970114 + ], + [ + 149.3321461112589, + 541.3249370930664 + ], + [ + 168.53443335490482, + 519.254841963988 + ], + [ + 133.38212208617324, + 508.68236336359695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 1001, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 496.9101947403491, + "ymin": 0.0, + "xmax": 596.7457556742311, + "ymax": 17.660856747726427 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 507.0785398503872, + -0.30687696633566475 + ], + [ + 499.75959334824296, + 13.51364949882759 + ], + [ + 591.7779951302101, + 17.660856747726427 + ], + [ + 596.7457556742311, + 3.6270269646743145 + ], + [ + 504.4493366347364, + -28.174449296421358 + ], + [ + 496.9101947403491, + -14.83085117789966 + ], + [ + 590.7904345894113, + -10.824012765192435 + ], + [ + 595.8835620027769, + -24.377731683583647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 184, + "instance_id": 47104, + "pixel_count": 6125, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": 31.706411361694336, + "y": -28.793697357177734, + "z": 0.6945980191230774 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -88.46794891357422 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 188.72308270739458, + "xmax": 111.26579537328485, + "ymax": 315.04102460018794 + }, + "corners_3d": [ + [ + 30.618553161621094, + -26.143095016479492, + -0.010731322690844536 + ], + [ + 32.65102767944336, + -26.088735580444336, + -0.010731322690844536 + ], + [ + 32.79426574707031, + -31.444299697875977, + -0.010731322690844536 + ], + [ + 30.761791229248047, + -31.498661041259766, + -0.010731322690844536 + ], + [ + 30.618553161621094, + -26.143095016479492, + 1.3999274969100952 + ], + [ + 32.65102767944336, + -26.088735580444336, + 1.3999274969100952 + ], + [ + 32.79426574707031, + -31.444299697875977, + 1.3999274969100952 + ], + [ + 30.761791229248047, + -31.498661041259766, + 1.3999274969100952 + ] + ], + "corners_2d": [ + [ + 111.26579537328485, + 224.85122404531953 + ], + [ + 61.136722629482165, + 220.6470989065093 + ], + [ + -30.333578147520598, + 309.7590799314878 + ], + [ + 25.29110104232859, + 315.04102460018794 + ], + [ + 96.97362046506078, + 192.85446915829007 + ], + [ + 45.58033442350893, + 188.72308270739458 + ], + [ + -50.58433032568348, + 276.56433304494516 + ], + [ + 6.598802859603211, + 281.7888779647636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 2976, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 96.38009824571384, + "ymin": 27.201893985286404, + "xmax": 189.10814603759064, + "ymax": 100.61230740031328 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 189.10814603759064, + 61.56975437819244 + ], + [ + 152.67456889783182, + 59.625934391432224 + ], + [ + 109.99541339835764, + 98.39871338391265 + ], + [ + 148.72648159756443, + 100.61230740031328 + ], + [ + 178.23286582457848, + 29.08103072872325 + ], + [ + 140.96083502967662, + 27.201893985286404 + ], + [ + 96.38009824571384, + 64.7419019712234 + ], + [ + 136.0597096742589, + 66.88877112162265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.4421189121033, + "ymin": 251.83442697109348, + "xmax": 769.0673191886851, + "ymax": 437.46696037055744 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 768.691471659659, + 256.07369446558613 + ], + [ + 755.353752961385, + 255.19904279323396 + ], + [ + 748.4421189121033, + 436.1353059835499 + ], + [ + 764.8919994946791, + 437.46696037055744 + ], + [ + 769.0673191886851, + 252.70782041658504 + ], + [ + 755.6902659337533, + 251.83442697109348 + ], + [ + 748.8326765584, + 432.6330868811142 + ], + [ + 765.3424313264795, + 433.9646431384176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.4668933959028, + "ymin": 0.0, + "xmax": 774.9084354029828, + "ymax": 41.6393595996438 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 774.6553614078492, + -26.03890464036948 + ], + [ + 766.0556789155025, + -26.397381113392328 + ], + [ + 763.4668933959028, + 41.17572447728827 + ], + [ + 773.245270264107, + 41.6393595996438 + ], + [ + 774.9084354029828, + -28.735119455174242 + ], + [ + 766.2924178627762, + -29.092304500417697 + ], + [ + 763.7306515435644, + 38.254626827239235 + ], + [ + 773.5301537564762, + 38.71683002503494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.6755632069412, + "ymin": 101.09670998578031, + "xmax": 1280.0, + "ymax": 464.481693734846 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 1262.1937941712745, + 333.72457569058406 + ], + [ + 1246.6755632069412, + 332.64984752348397 + ], + [ + 1317.3844821631096, + 463.0524382411106 + ], + [ + 1335.3853787293842, + 464.481693734846 + ], + [ + 1396.3052598073682, + 102.0478688628935 + ], + [ + 1377.2418340917243, + 101.09670998578031 + ], + [ + 1491.2217112182514, + 220.40665814473115 + ], + [ + 1514.1687021055618, + 221.7594050129304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.5323817271328, + "ymin": 0.0, + "xmax": 774.8511349102408, + "ymax": 41.58102433898529 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 774.6013869899115, + -26.02972073738198 + ], + [ + 766.110969663166, + -26.383629945593498 + ], + [ + 763.5323817271328, + 41.12340797121698 + ], + [ + 773.185341199955, + 41.58102433898529 + ], + [ + 774.8511349102408, + -28.691549935677187 + ], + [ + 766.3447956003109, + -29.044200521723667 + ], + [ + 763.7928857716896, + 38.23976835313749 + ], + [ + 773.4664313019175, + 38.69598930568941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1.3712114990107693, + "ymin": 0.0, + "xmax": 313.5236884240703, + "ymax": 56.059377842663196 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 82.21953752378943, + 39.59549057322465 + ], + [ + 77.48780429641215, + 43.29460424054895 + ], + [ + 310.2512245535778, + 56.059377842663196 + ], + [ + 313.5236884240703, + 52.19096418842946 + ], + [ + 7.306517576849387, + -144.26411606059253 + ], + [ + 1.3712114990107693, + -141.4469574461457 + ], + [ + 264.4774139502192, + -131.68696349272545 + ], + [ + 268.55105013811465, + -134.65111398908186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.3292248244219, + "ymin": 251.736431293931, + "xmax": 769.1578848875249, + "ymax": 437.60542844789455 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 768.7769407719474, + 256.0303367634218 + ], + [ + 755.2681134660546, + 255.1445202166763 + ], + [ + 748.3292248244219, + 436.2562390146684 + ], + [ + 764.9934456491718, + 437.60542844789455 + ], + [ + 769.1578848875249, + 252.62095657999228 + ], + [ + 755.6087052540297, + 251.736431293931 + ], + [ + 748.7244798449796, + 432.7086450366021 + ], + [ + 765.4501490525905, + 434.05773486310386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.681523405947, + "ymin": 0.0, + "xmax": 778.2403675429392, + "ymax": 254.8961445785071 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 758.3887876838133, + 171.5733855493413 + ], + [ + 746.3330904393665, + 170.8683906241769 + ], + [ + 741.681523405947, + 254.01084734622316 + ], + [ + 755.1866713754714, + 254.8961445785071 + ], + [ + 778.2403675429392, + -35.846144698085595 + ], + [ + 764.1419024520159, + -36.421968718181574 + ], + [ + 761.1570948699947, + 32.87418662453916 + ], + [ + 777.2790677533071, + 33.6274164806332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.3576029815961, + "ymin": 240.977540212233, + "xmax": 774.3887380506806, + "ymax": 672.9786726431353 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 746.2977856762889, + 486.16497411715926 + ], + [ + 728.775572716029, + 484.67204203463183 + ], + [ + 718.3576029815961, + 670.8797648063646 + ], + [ + 739.1182684836247, + 672.9786726431353 + ], + [ + 774.3887380506806, + 242.40668570505642 + ], + [ + 752.1919503704075, + 240.977540212233 + ], + [ + 744.1217832599358, + 428.32848142195326 + ], + [ + 771.7850487480061, + 430.5502344414392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 490.33178424704715, + "ymin": 0.0, + "xmax": 561.4377215604904, + "ymax": 54.41826362458596 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 508.5085390726797, + 53.952576841000564 + ], + [ + 517.192704908932, + 54.41826362458596 + ], + [ + 561.4377215604904, + -36.35498814738986 + ], + [ + 554.0972775053517, + -36.6849299852596 + ], + [ + 490.33178424704715, + -133.30197428813045 + ], + [ + 500.2006984872104, + -132.9451340749245 + ], + [ + 552.4847270127934, + -201.01823303780247 + ], + [ + 544.3152180115985, + -201.26034158720438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 13560867462968823599, + "instance_id": 12239, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4969_4", + "bbox_3d": { + "center_world": { + "x": 44.08523941040039, + "y": -14.949827194213867, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 30.18094059181169, + "ymax": 88.90687107254854 + }, + "corners_3d": [ + [ + 42.286109924316406, + -17.45702362060547, + 0.5180595517158508 + ], + [ + 41.52307891845703, + -13.229876518249512, + 0.5180595517158508 + ], + [ + 45.73331832885742, + -12.46989631652832, + 0.47502389550209045 + ], + [ + 46.4963493347168, + -16.697044372558594, + 0.47502389550209045 + ], + [ + 42.43716049194336, + -17.429758071899414, + 15.777085304260254 + ], + [ + 41.674129486083984, + -13.20261001586914, + 15.777085304260254 + ], + [ + 45.884368896484375, + -12.442630767822266, + 15.734049797058105 + ], + [ + 46.64739990234375, + -16.66977882385254, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -40.00097016088205, + 88.90687107254854 + ], + [ + 30.18094059181169, + 48.951965079445756 + ], + [ + -41.320337888066206, + 38.935459756943885 + ], + [ + -114.94671609281784, + 77.35779745505408 + ], + [ + -256.7034113031417, + -325.19967768139986 + ], + [ + -148.13413933858112, + -341.57507110631195 + ], + [ + -235.06672855919498, + -344.52978574738336 + ], + [ + -348.4569187184288, + -328.8700079528671 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00003/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc5b6439934ac22770ba82e29b1d7cc1c30e2e1a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00003/meta.json @@ -0,0 +1,5215 @@ +{ + "frame_id": 3, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 1.5, + "sim_timestamp": 6717.727139120456 + }, + "drone_pose": { + "x": 7.377035542561276, + "y": -53.51057580938073, + "z": 20.545224276134935, + "pitch": -41.12265240112286, + "yaw": 88.43010257116323, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.020637810230255127, + -0.753020703792572, + 0.6576732397079468, + 26.63027572631836 + ], + [ + 0.9996246695518494, + 0.027396440505981445, + 0.0, + 8.84027099609375 + ], + [ + -0.018017977476119995, + 0.6574263572692871, + 0.7533034086227417, + -50.523128509521484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.301864022322264, + "y": -53.073336106433906, + "z": 20.730405299203056 + }, + "t1_image_uv": [ + 1046.1823151233066, + -1624.2209966894968 + ], + "t1_depth": 0.2059105786486132 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -32.18776321411133, + "z": 1.1421578121185303 + }, + "image_uv": [ + 577.7907020949565, + 378.42217303804074 + ], + "depth": 28.86807616040865, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 550, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -32.18776321411133, + "z": 1.142157793045044 + }, + "extent": { + "x": 0.3769381642341614, + "y": 0.34929320216178894, + "z": 0.9109914302825928 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 563.5157171653323, + "ymin": 347.0123058270414, + "xmax": 591.2250711784371, + "ymax": 409.16869998202213 + }, + "corners_3d": [ + [ + 10.182109832763672, + -32.564701080322266, + 0.23116636276245117 + ], + [ + 9.48352336883545, + -32.564701080322266, + 0.23116636276245117 + ], + [ + 9.483524322509766, + -31.81082534790039, + 0.23116636276245117 + ], + [ + 10.182110786437988, + -31.81082534790039, + 0.23116636276245117 + ], + [ + 10.182109832763672, + -32.564701080322266, + 2.0531492233276367 + ], + [ + 9.48352336883545, + -32.564701080322266, + 2.0531492233276367 + ], + [ + 9.483524322509766, + -31.81082534790039, + 2.0531492233276367 + ], + [ + 10.182110786437988, + -31.81082534790039, + 2.0531492233276367 + ] + ], + "corners_2d": [ + [ + 566.6553863772801, + 408.7304604308094 + ], + [ + 589.5965082784886, + 409.16869998202213 + ], + [ + 591.2250711784371, + 392.2339252506171 + ], + [ + 568.7207970142424, + 391.81225036318966 + ], + [ + 563.5157171653323, + 363.7461922596943 + ], + [ + 587.4377698049486, + 364.1800203464792 + ], + [ + 589.1776262439944, + 347.42905473401834 + ], + [ + 565.7301914964291, + 347.0123058270414 + ] + ], + "center_offset_px": [ + -62.20929790504351, + 18.42217303804074 + ] + }, + "trace_timestep_index": 3, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 100, + "semantic_pixel_counts": { + "1": 176499, + "2": 67149, + "5": 3712, + "6": 5711, + "7": 92, + "10": 2, + "12": 2577, + "14": 70019, + "15": 12214, + "24": 43164, + "25": 540461 + }, + "instance_pixel_counts": { + "586": 2523, + "606": 1836, + "842": 1189, + "1118": 353, + "1630": 116, + "2142": 114, + "2644": 3180, + "2654": 597, + "3156": 1194, + "3166": 724, + "3678": 226, + "4190": 1090, + "4692": 770, + "4702": 1352, + "5214": 417, + "6238": 1692, + "6479": 7703, + "6991": 12214, + "7262": 352, + "7503": 5323, + "7774": 407, + "8015": 3970, + "8527": 4484, + "8798": 541, + "9310": 691, + "9822": 849, + "10334": 1009, + "10846": 1348, + "11358": 566, + "11676": 35122, + "11870": 3472, + "12188": 63086, + "12382": 799, + "12700": 30353, + "13212": 891, + "13406": 51, + "13918": 78, + "14236": 14791, + "14430": 482, + "14942": 566, + "15454": 692, + "15966": 782, + "16284": 23311, + "16478": 1057, + "16990": 1335, + "18013": 344084, + "19037": 196377, + "23418": 3171, + "23441": 4027, + "24442": 2778, + "24465": 5736, + "24954": 1545, + "24977": 12422, + "25466": 49, + "25489": 6428, + "25978": 456, + "26001": 89, + "26513": 13872, + "27516": 454, + "28026": 717, + "28028": 572, + "29052": 3520, + "29564": 292, + "30076": 6335, + "31612": 806, + "33660": 1138, + "34816": 659, + "36252": 1724, + "37788": 65, + "38300": 1992, + "40860": 5164, + "43008": 550, + "43264": 238, + "43520": 147, + "43776": 551, + "44032": 240, + "44288": 851, + "44922": 152, + "45824": 2612, + "46173": 4799, + "46685": 481, + "47104": 36, + "47197": 2090, + "48896": 3317, + "52124": 37, + "52636": 497, + "54684": 812, + "57241": 1610, + "57753": 749, + "58265": 13243, + "58777": 82, + "59289": 25431, + "59997": 86, + "61021": 426, + "61337": 5485, + "61533": 507, + "62045": 442, + "62557": 345, + "63069": 180, + "63385": 7432 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 550, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -32.18776321411133, + "z": 1.142157793045044 + }, + "extent": { + "x": 0.3778097331523895, + "y": 0.38347533345222473, + "z": 0.9094167947769165 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 562.3460460973963, + "ymin": 347.01330035457346, + "xmax": 592.3269511045135, + "ymax": 409.17287480320266 + }, + "corners_3d": [ + [ + 10.216292381286621, + -32.565574645996094, + 0.23274099826812744 + ], + [ + 9.449341773986816, + -32.565574645996094, + 0.23274099826812744 + ], + [ + 9.449341773986816, + -31.809953689575195, + 0.23274099826812744 + ], + [ + 10.216292381286621, + -31.809953689575195, + 0.23274099826812744 + ], + [ + 10.216292381286621, + -32.565574645996094, + 2.05157470703125 + ], + [ + 9.449341773986816, + -32.565574645996094, + 2.05157470703125 + ], + [ + 9.449341773986816, + -31.809953689575195, + 2.05157470703125 + ], + [ + 10.216292381286621, + -31.809953689575195, + 2.05157470703125 + ] + ], + "corners_2d": [ + [ + 565.5283281916863, + 408.69173028533663 + ], + [ + 590.7159432558067, + 409.17287480320266 + ], + [ + 592.3269511045135, + 392.1981977371806 + ], + [ + 567.6200782245859, + 391.73528153813754 + ], + [ + 562.3460460973963, + 363.78529641599346 + ], + [ + 588.6087728812765, + 364.2616069147033 + ], + [ + 590.329288160942, + 347.47081733236496 + ], + [ + 564.5887940041423, + 347.01330035457346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 238, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -29.1900577545166, + "z": 1.1379684209823608 + }, + "extent": { + "x": 0.24161258339881897, + "y": 0.30902835726737976, + "z": 0.588679313659668 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 445.88977966148013, + "ymin": 294.3090056094952, + "xmax": 470.19357114518755, + "ymax": 333.9509401837164 + }, + "corners_3d": [ + [ + 14.210844039916992, + -29.49064064025879, + 0.5492891073226929 + ], + [ + 13.606293678283691, + -29.362138748168945, + 0.5492891073226929 + ], + [ + 13.706762313842773, + -28.889474868774414, + 0.5492891073226929 + ], + [ + 14.311312675476074, + -29.017976760864258, + 0.5492891073226929 + ], + [ + 14.210844039916992, + -29.49064064025879, + 1.7266477346420288 + ], + [ + 13.606293678283691, + -29.362138748168945, + 1.7266477346420288 + ], + [ + 13.706762313842773, + -28.889474868774414, + 1.7266477346420288 + ], + [ + 14.311312675476074, + -29.017976760864258, + 1.7266477346420288 + ] + ], + "corners_2d": [ + [ + 451.141450546645, + 333.9509401837164 + ], + [ + 470.19357114518755, + 331.7754546141321 + ], + [ + 469.46476495075615, + 322.6638678345915 + ], + [ + 450.6256179317131, + 324.79061524560876 + ], + [ + 446.36326601513343, + 305.4718755569102 + ], + [ + 465.9092110172758, + 303.31971820576234 + ], + [ + 465.2116304051976, + 294.3090056094952 + ], + [ + 445.88977966148013, + 296.41175029316446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 147, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -25.24505043029785, + "z": 0.8098269701004028 + }, + "extent": { + "x": 0.29898831248283386, + "y": 0.27013179659843445, + "z": 0.6219738125801086 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 647.7621633758697, + "ymin": 236.19224888166227, + "xmax": 664.7319828568553, + "ymax": 275.22429399632216 + }, + "corners_3d": [ + [ + 7.814391613006592, + -25.570636749267578, + 0.1878531575202942 + ], + [ + 7.277087688446045, + -25.514163970947266, + 0.1878531575202942 + ], + [ + 7.339593410491943, + -24.919464111328125, + 0.1878531575202942 + ], + [ + 7.87689733505249, + -24.975936889648438, + 0.1878531575202942 + ], + [ + 7.814391613006592, + -25.570636749267578, + 1.4318008422851562 + ], + [ + 7.277087688446045, + -25.514163970947266, + 1.4318008422851562 + ], + [ + 7.339593410491943, + -24.919464111328125, + 1.4318008422851562 + ], + [ + 7.87689733505249, + -24.975936889648438, + 1.4318008422851562 + ] + ], + "corners_2d": [ + [ + 649.1510259791456, + 275.22429399632216 + ], + [ + 664.1449652142288, + 274.5372069519008 + ], + [ + 662.564499506105, + 264.8563281998879 + ], + [ + 647.7621633758697, + 265.5258462895037 + ], + [ + 649.3737157510639, + 246.40279337067707 + ], + [ + 664.7319828568553, + 245.7259270718638 + ], + [ + 663.1058671771066, + 236.19224888166227 + ], + [ + 647.9485651129679, + 236.8513948910154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 551, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -32.18776321411133, + "z": 1.151923418045044 + }, + "extent": { + "x": 0.4239831864833832, + "y": 0.6074572801589966, + "z": 0.9482154846191406 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 867.8424620621591, + "ymin": 350.31699334319285, + "xmax": 924.8233148789242, + "ymax": 417.0801291318559 + }, + "corners_3d": [ + [ + 0.9402742385864258, + -32.61174774169922, + 0.20370793342590332 + ], + [ + -0.2746403217315674, + -32.61174774169922, + 0.20370793342590332 + ], + [ + -0.2746400833129883, + -31.76378059387207, + 0.20370793342590332 + ], + [ + 0.9402744770050049, + -31.76378059387207, + 0.20370793342590332 + ], + [ + 0.9402742385864258, + -32.61174774169922, + 2.1001389026641846 + ], + [ + -0.2746403217315674, + -32.61174774169922, + 2.1001389026641846 + ], + [ + -0.2746400833129883, + -31.76378059387207, + 2.1001389026641846 + ], + [ + 0.9402744770050049, + -31.76378059387207, + 2.1001389026641846 + ] + ], + "corners_2d": [ + [ + 872.0927539064701, + 416.3056682928752 + ], + [ + 912.5556178822296, + 417.0801291318559 + ], + [ + 907.4287329859262, + 397.7658385336585 + ], + [ + 867.8424620621591, + 397.0244215688492 + ], + [ + 882.5297782372379, + 369.3899768975485 + ], + [ + 924.8233148789242, + 370.156845036602 + ], + [ + 919.19454507866, + 351.04971902820273 + ], + [ + 877.8577758667068, + 350.31699334319285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 240, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -43.31512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.46377018094062805, + "y": 0.45283937454223633, + "z": 0.9338306784629822 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 683.0164362006489, + "ymin": 687.4382973820661, + "xmax": 733.0745844908151, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.716154098510742, + -43.72901916503906, + 0.21318548917770386 + ], + [ + 5.815436840057373, + -43.82368850708008, + 0.21318548917770386 + ], + [ + 5.71848201751709, + -42.90122985839844, + 0.21318548917770386 + ], + [ + 6.619199275970459, + -42.80656051635742, + 0.21318548917770386 + ], + [ + 6.716154098510742, + -43.72901916503906, + 2.0808467864990234 + ], + [ + 5.815436840057373, + -43.82368850708008, + 2.0808467864990234 + ], + [ + 5.71848201751709, + -42.90122985839844, + 2.0808467864990234 + ], + [ + 6.619199275970459, + -42.80656051635742, + 2.0808467864990234 + ] + ], + "corners_2d": [ + [ + 683.0164362006489, + 772.1592799478868 + ], + [ + 724.9733473517391, + 777.6052358027584 + ], + [ + 727.7139474232616, + 736.8225195972748 + ], + [ + 687.1024579733548, + 731.7238397691369 + ], + [ + 685.7266654825975, + 728.8479988372522 + ], + [ + 730.3518465287591, + 734.4380691250715 + ], + [ + 733.0745844908151, + 692.6505446490796 + ], + [ + 689.9683085912143, + 687.4382973820661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 851, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -40.35797882080078, + "z": 1.137162685394287 + }, + "extent": { + "x": 0.3559521436691284, + "y": 0.5204370021820068, + "z": 0.9004881978034973 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 37.56915460925006, + "ymin": 560.3656599088536, + "xmax": 123.95877639435469, + "ymax": 637.8762498739707 + }, + "corners_3d": [ + [ + 21.661224365234375, + -40.59794616699219, + 0.2366744875907898 + ], + [ + 20.643096923828125, + -40.81435775756836, + 0.2366744875907898 + ], + [ + 20.49508285522461, + -40.118011474609375, + 0.2366744875907898 + ], + [ + 21.51321029663086, + -39.9015998840332, + 0.2366744875907898 + ], + [ + 21.661224365234375, + -40.59794616699219, + 2.0376508235931396 + ], + [ + 20.643096923828125, + -40.81435775756836, + 2.0376508235931396 + ], + [ + 20.49508285522461, + -40.118011474609375, + 2.0376508235931396 + ], + [ + 21.51321029663086, + -39.9015998840332, + 2.0376508235931396 + ] + ], + "corners_2d": [ + [ + 68.09586529788737, + 629.0925271034394 + ], + [ + 105.44396550336705, + 637.8762498739707 + ], + [ + 123.95877639435469, + 613.340839334779 + ], + [ + 87.28290802252354, + 604.9376374705995 + ], + [ + 37.56915460925006, + 584.7627555058357 + ], + [ + 76.67225612880293, + 593.6486480690332 + ], + [ + 96.82634378335797, + 568.8466822102883 + ], + [ + 58.45753687534648, + 560.3656599088536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 2612, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 412.8403868009834, + "ymin": 3.7468544697205743, + "xmax": 515.3102907828124, + "ymax": 46.58574329596155 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 424.1461824320071, + 31.519813859839644 + ], + [ + 417.293777256054, + 45.620174254811786 + ], + [ + 510.972154994022, + 46.58574329596155 + ], + [ + 515.3102907828124, + 32.43404702149894 + ], + [ + 419.9482822696142, + 3.7468544697205743 + ], + [ + 412.8403868009834, + 17.345422482070887 + ], + [ + 508.387171402248, + 18.277165286129843 + ], + [ + 512.8809049499065, + 4.628108967957132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 184, + "instance_id": 47104, + "pixel_count": 36, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": 31.706411361694336, + "y": -28.793697357177734, + "z": 0.6945980191230774 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -88.46794891357422 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 244.52858514558704, + "xmax": 16.320385885188443, + "ymax": 378.59637815824595 + }, + "corners_3d": [ + [ + 30.618553161621094, + -26.143095016479492, + -0.010731322690844536 + ], + [ + 32.65102767944336, + -26.088735580444336, + -0.010731322690844536 + ], + [ + 32.79426574707031, + -31.444299697875977, + -0.010731322690844536 + ], + [ + 30.761791229248047, + -31.498661041259766, + -0.010731322690844536 + ], + [ + 30.618553161621094, + -26.143095016479492, + 1.3999274969100952 + ], + [ + 32.65102767944336, + -26.088735580444336, + 1.3999274969100952 + ], + [ + 32.79426574707031, + -31.444299697875977, + 1.3999274969100952 + ], + [ + 30.761791229248047, + -31.498661041259766, + 1.3999274969100952 + ] + ], + "corners_2d": [ + [ + 16.320385885188443, + 278.8328995779781 + ], + [ + -38.37341289519179, + 277.0243960481105 + ], + [ + -136.61486260164293, + 376.28044922115635 + ], + [ + -74.979049409283, + 378.59637815824595 + ], + [ + -0.8599172215180033, + 246.30693962241938 + ], + [ + -57.01447574309691, + 244.52858514558704 + ], + [ + -160.84800693588238, + 342.4773163056059 + ], + [ + -97.35130174193728, + 344.77122008940586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 3317, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 72.49999984980923, + "xmax": 94.75593476386928, + "ymax": 147.8336851926341 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 94.75593476386928, + 105.92395537660448 + ], + [ + 55.714786909986174, + 105.36394790213524 + ], + [ + 11.010138270988705, + 147.19046883929218 + ], + [ + 52.806848816343745, + 147.8336851926341 + ], + [ + 81.51111663005088, + 73.0413034583795 + ], + [ + 41.5355382488126, + 72.49999984980923 + ], + [ + -5.3766712318536065, + 112.99905324199364 + ], + [ + 37.49280542002225, + 113.62295756207229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 412.90407726141274, + "ymin": 9.973519298722579, + "xmax": 423.3611050263765, + "ymax": 31.67574058646312 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 423.3611050263765, + 28.436917474174834 + ], + [ + 417.45083797060875, + 28.372236946100372 + ], + [ + 415.80483250208096, + 31.610230375505637 + ], + [ + 421.75267633296926, + 31.67574058646312 + ], + [ + 420.57579076227216, + 10.036651689777216 + ], + [ + 414.5899057699039, + 9.973519298722579 + ], + [ + 412.90407726141274, + 13.134265493662156 + ], + [ + 418.92850982879764, + 13.198218221467528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 406821445578489144, + "instance_id": 14461, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.7619445258129, + "ymin": 109.5495234083437, + "xmax": 1280.0, + "ymax": 219.617007606917 + }, + "corners_3d": [ + [ + -9.94604778289795, + -28.27004051208496, + 8.10662841796875 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.10662841796875 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.94604778289795, + -28.27004051208496, + 8.197628021240234 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.197628021240234 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.197628021240234 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 1284.352412647545, + 112.69303033262213 + ], + [ + 1273.7619445258129, + 112.56033683668471 + ], + [ + 1382.1076113500121, + 219.4319032779608 + ], + [ + 1394.6434738844255, + 219.617007606917 + ], + [ + 1285.7929604104643, + 109.68183569535447 + ], + [ + 1275.1784967597628, + 109.5495234083437 + ], + [ + 1384.0672313988923, + 216.157121902711 + ], + [ + 1396.6367264960322, + 216.34184386286026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1764326376764121913, + "instance_id": 14755, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.640339328542, + "ymin": 109.4856245610822, + "xmax": 1280.0, + "ymax": 219.69977276064222 + }, + "corners_3d": [ + [ + -9.947937965393066, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947937965393066, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.198223114013672 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 1284.3669440413016, + 112.66973535931857 + ], + [ + 1273.640339328542, + 112.53530986494627 + ], + [ + 1382.0753914812362, + 219.5122378399961 + ], + [ + 1394.7743903894934, + 219.69977276064222 + ], + [ + 1285.8261004711198, + 109.61965883057715 + ], + [ + 1275.0748783540485, + 109.4856245610822 + ], + [ + 1384.0605125260533, + 216.19491183134937 + ], + [ + 1396.7940266529642, + 216.38205443597448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.3828945117357, + "ymin": 0.0, + "xmax": 749.9592546639552, + "ymax": 11.717841180250218 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 746.8295335441026, + 11.717841180250218 + ], + [ + 746.7746017923837, + 11.343610702272201 + ], + [ + 745.3828945117357, + 11.328994413480586 + ], + [ + 745.4367606140893, + 11.70320253327634 + ], + [ + 749.9592546639552, + -30.699628426996696 + ], + [ + 749.9002538594609, + -31.051459465840253 + ], + [ + 748.4677118054569, + -31.065200582031366 + ], + [ + 748.525583482517, + -30.713391178666882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 155.877896043041, + "ymax": 11.662733715417062 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 155.877896043041, + -59.41780348260971 + ], + [ + 149.33005223065504, + -59.49700856076373 + ], + [ + 58.19941981060913, + 11.554361970836567 + ], + [ + 65.83866126317582, + 11.662733715417062 + ], + [ + 108.67588944377485, + -207.52145800610128 + ], + [ + 101.49956131192982, + -207.5776372010431 + ], + [ + -9.256118773839148, + -156.3349102187933 + ], + [ + -0.7476040085273326, + -156.25543489944198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.642086498465, + "ymin": 276.06013790208453, + "xmax": 705.1915980372684, + "ymax": 465.04328132573585 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 699.0560629366162, + 279.66365174489744 + ], + [ + 685.642086498465, + 279.44532178707675 + ], + [ + 688.263064897197, + 464.70508897654656 + ], + [ + 704.9594526493519, + 465.04328132573585 + ], + [ + 699.2255110436874, + 276.27811591393424 + ], + [ + 685.77300837389, + 276.06013790208453 + ], + [ + 688.4354803916907, + 461.15094861126875 + ], + [ + 705.1915980372684, + 461.48907014103304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.9561191248916, + "ymin": 0.0, + "xmax": 738.1873027645103, + "ymax": 11.597608270481885 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 735.3933273984185, + 11.597608270481885 + ], + [ + 735.3471439283863, + 11.223561409193564 + ], + [ + 733.9561191248916, + 11.208952289057379 + ], + [ + 734.0012379901327, + 11.582976808616252 + ], + [ + 738.1873027645103, + -30.812666553581494 + ], + [ + 738.1375712385604, + -31.164319912621067 + ], + [ + 736.705752243115, + -31.178054092183174 + ], + [ + 736.7543557807834, + -30.826422352235625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.5981693811119, + "ymin": 0.0, + "xmax": 692.3760048718675, + "ymax": 64.53645947166308 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 690.1257385383269, + -2.4738982191760783 + ], + [ + 681.5981693811119, + -2.561035992341033 + ], + [ + 682.5381811251162, + 64.42304327818977 + ], + [ + 692.2673094341121, + 64.53645947166308 + ], + [ + 690.2170847488569, + -5.138279256178691 + ], + [ + 681.6739615363992, + -5.225086804614364 + ], + [ + 682.626625277193, + 61.52225101205846 + ], + [ + 692.3760048718675, + 61.63529541907246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.0427088867681, + "ymin": 0.0, + "xmax": 769.2498174554554, + "ymax": 18.089910630684415 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.5231831331567, + 18.089910630684415 + ], + [ + 765.4530703165294, + 17.705884597608588 + ], + [ + 764.0427088867681, + 17.69088587439012 + ], + [ + 764.1117272857524, + 18.074888665728963 + ], + [ + 769.2498174554554, + -24.706539026451367 + ], + [ + 769.1746551221287, + -25.067854434825335 + ], + [ + 767.7223404896826, + -25.081965823021733 + ], + [ + 767.7963423005327, + -24.72067293083336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.8025940942794, + "ymin": 100.83676418417105, + "xmax": 1280.0, + "ymax": 453.2313304351858 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 1181.4083127583274, + 329.41340565093145 + ], + [ + 1166.8025940942794, + 329.1626692458164 + ], + [ + 1242.193712278707, + 452.8979222212496 + ], + [ + 1259.065824265164, + 453.2313304351858 + ], + [ + 1290.803766367439, + 101.05291911903225 + ], + [ + 1273.2071312166986, + 100.83676418417105 + ], + [ + 1386.9500587694674, + 210.9073864768457 + ], + [ + 1407.9440242273267, + 211.21347645460045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.6534990138116, + "ymin": 0.0, + "xmax": 692.3118479030112, + "ymax": 64.48074646219271 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 690.0727261481564, + -2.4631487263471854 + ], + [ + 681.6534990138116, + -2.549160973520543 + ], + [ + 682.6003610931624, + 64.36882322762267 + ], + [ + 692.204679837458, + 64.48074646219271 + ], + [ + 690.1628130616747, + -5.093561234305582 + ], + [ + 681.7284251402483, + -5.179251701150122 + ], + [ + 682.6877949147292, + 61.50524217254849 + ], + [ + 692.3118479030112, + 61.61680316825186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 226.06108287072033, + "ymax": 95.55938982994275 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -20.802930383518856, + 87.43877335221094 + ], + [ + -25.81483557239153, + 91.44771953023843 + ], + [ + 222.77544700101208, + 95.55938982994275 + ], + [ + 226.06108287072033, + 91.49256226126226 + ], + [ + -110.9099467129613, + -99.66772529647812 + ], + [ + -117.33729114076539, + -96.61629631019815 + ], + [ + 164.9526573318107, + -93.48053886071398 + ], + [ + 169.15622462488489, + -96.58213065346172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.5534963204982, + "ymin": 275.9651997639283, + "xmax": 705.305141630526, + "ymax": 465.17894525751717 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 699.1395179455211, + 279.6152308792682 + ], + [ + 685.5534963204982, + 279.3941151876335 + ], + [ + 688.1555180248397, + 464.83629582643096 + ], + [ + 705.069556811933, + 465.17894525751717 + ], + [ + 699.3113908001485, + 276.18595428405985 + ], + [ + 685.6858463700927, + 275.9651997639283 + ], + [ + 688.3298018796048, + 461.2360927372663 + ], + [ + 705.305141630526, + 461.57866977656613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.8769790872063, + "ymin": 0.0, + "xmax": 802.998595148814, + "ymax": 15.118843865831877 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 798.3632432639738, + 15.118843865831877 + ], + [ + 798.2690224843475, + 14.74234011052198 + ], + [ + 796.8769790872063, + 14.727635024450592 + ], + [ + 796.9701337073595, + 15.1041163051691 + ], + [ + 802.998595148814, + -27.161394523836464 + ], + [ + 802.897976945025, + -27.51569302506391 + ], + [ + 801.4650790277324, + -27.529530520531978 + ], + [ + 801.5645675483579, + -27.175253787170732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.4963639232861, + "ymin": 0.0, + "xmax": 695.7792437724424, + "ymax": 277.02917941957 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 685.6748671755932, + 193.52908182028494 + ], + [ + 673.6542162156413, + 193.35561894367507 + ], + [ + 673.4963639232861, + 276.80991314823007 + ], + [ + 687.0113663799204, + 277.02917941957 + ], + [ + 693.0984602577981, + -12.245502548674438 + ], + [ + 679.1224357384635, + -12.385371820428816 + ], + [ + 679.7414671809769, + 56.29079604986265 + ], + [ + 695.7792437724424, + 56.47496335746064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.8233684658042, + "ymin": 0.0, + "xmax": 751.4509787821165, + "ymax": 12.528695415025766 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 748.2735484177606, + 12.528695415025766 + ], + [ + 748.2174207892488, + 12.153225419491378 + ], + [ + 746.8233684658042, + 12.138560739236198 + ], + [ + 746.8784268493115, + 12.51400826541743 + ], + [ + 751.4509787821165, + -29.937253565881633 + ], + [ + 751.3907025265191, + -30.2902841443464 + ], + [ + 749.9556756799902, + -30.30407208963095 + ], + [ + 750.0148188862272, + -29.951063257383794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.6873110674749, + "ymin": 265.3289265332959, + "xmax": 711.4313922761502, + "ymax": 704.3442965988805 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 690.7657601212214, + 511.66444150844774 + ], + [ + 673.0516846689819, + 511.28789329892396 + ], + [ + 672.6873110674749, + 703.8069161958397 + ], + [ + 693.8495586017025, + 704.3442965988805 + ], + [ + 703.939060821316, + 265.6852899913831 + ], + [ + 681.6242181798083, + 265.3289265332959 + ], + [ + 683.3532567661458, + 457.19288436310575 + ], + [ + 711.4313922761502, + 457.75698430316106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.0645951153529, + "ymin": 0.0, + "xmax": 732.1243274594065, + "ymax": 12.292632046629024 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 729.4991571184471, + 12.292632046629024 + ], + [ + 729.4574164181987, + 11.917523114753067 + ], + [ + 728.0645951153529, + 11.902872530907075 + ], + [ + 728.1052684577176, + 12.277959025832445 + ], + [ + 732.1243274594065, + -30.159210801726715 + ], + [ + 732.0792966336849, + -30.511891943650426 + ], + [ + 730.6455741293252, + -30.525666246941398 + ], + [ + 730.6894739639625, + -30.173006818956424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.25170624468643, + "ymin": 0.0, + "xmax": 477.7334882449794, + "ymax": 86.05406584624262 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 428.06272904323157, + 85.91029219593736 + ], + [ + 436.9564568991033, + 86.05406584624262 + ], + [ + 477.7334882449794, + -6.2241186275718405 + ], + [ + 470.2854194299656, + -6.324709819682596 + ], + [ + 399.25170624468643, + -100.82958352097398 + ], + [ + 409.34646634036574, + -100.72033202830994 + ], + [ + 459.67891491639875, + -169.31792124396657 + ], + [ + 451.4066100902571, + -169.39106986599268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.1869174120741, + "ymin": 0.0, + "xmax": 803.3303366477708, + "ymax": 12.262763403097154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.6763668049098, + 12.262763403097154 + ], + [ + 798.5817203860227, + 11.887700169112861 + ], + [ + 797.1869174120741, + 11.873051368374547 + ], + [ + 797.280493438617, + 12.248092169507345 + ], + [ + 803.3303366477708, + -30.18729417678651 + ], + [ + 803.2292526637784, + -30.53993109416035 + ], + [ + 801.7934306451878, + -30.55370367186549 + ], + [ + 801.8933803288635, + -30.201088464347094 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00007/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2e0b7d71e60e27930cd486dfcf5a79f21c24a6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00007/meta.json @@ -0,0 +1,5418 @@ +{ + "frame_id": 7, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 3.5, + "sim_timestamp": 6764.664646254387 + }, + "drone_pose": { + "x": 7.421250452765316, + "y": -51.612021725661094, + "z": 20.413771785570983, + "pitch": -41.3193832340188, + "yaw": 83.69893768450805, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08242887258529663, + -0.7465037107467651, + 0.6602557897567749, + 24.438528060913086 + ], + [ + 0.9939589500427246, + 0.1097528338432312, + -5.960464477539063e-08, + 13.04098129272461 + ], + [ + -0.07246491312980652, + 0.6562671065330505, + 0.7510408163070679, + -48.665069580078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.285481260895643, + "y": -50.84921052347558, + "z": 20.467737053676434 + }, + "t1_image_uv": [ + 1041.6745347568008, + -615.9448747378651 + ], + "t1_depth": 0.5226192253690912 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -30.187763214111328, + "z": 1.1421724599599838 + }, + "image_uv": [ + 638.4852118455935, + 367.9335460746955 + ], + "depth": 28.91625597826426, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 549, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -30.187763214111328, + "z": 1.1421724557876587 + }, + "extent": { + "x": 0.3666451871395111, + "y": 0.5668578743934631, + "z": 0.9177870154380798 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.804308763957, + "ymin": 335.45494638224136, + "xmax": 658.7728035835335, + "ymax": 399.7769713781414 + }, + "corners_3d": [ + [ + 10.399674415588379, + -30.55440902709961, + 0.22438544034957886 + ], + [ + 9.265958786010742, + -30.55440902709961, + 0.22438544034957886 + ], + [ + 9.265959739685059, + -29.821117401123047, + 0.22438544034957886 + ], + [ + 10.399675369262695, + -29.821117401123047, + 0.22438544034957886 + ], + [ + 10.399674415588379, + -30.55440902709961, + 2.0599594116210938 + ], + [ + 9.265958786010742, + -30.55440902709961, + 2.0599594116210938 + ], + [ + 9.265959739685059, + -29.821117401123047, + 2.0599594116210938 + ], + [ + 10.399675369262695, + -29.821117401123047, + 2.0599594116210938 + ] + ], + "corners_2d": [ + [ + 618.7225473225675, + 396.957894320456 + ], + [ + 655.6998437308793, + 399.7769713781414 + ], + [ + 658.0080212560348, + 383.5156990811066 + ], + [ + 621.7017728448918, + 380.7992538279528 + ], + [ + 617.804308763957, + 351.427060989407 + ], + [ + 656.3796400404243, + 354.2161872924817 + ], + [ + 658.7728035835335, + 338.1382675466664 + ], + [ + 620.927202250381, + 335.45494638224136 + ] + ], + "center_offset_px": [ + -1.5147881544064603, + 7.933546074695528 + ] + }, + "trace_timestep_index": 7, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 95, + "semantic_pixel_counts": { + "1": 211280, + "2": 76016, + "5": 3505, + "6": 6474, + "7": 219, + "10": 23, + "12": 2667, + "14": 54205, + "15": 8493, + "24": 39859, + "25": 518859 + }, + "instance_pixel_counts": { + "586": 2467, + "606": 1128, + "842": 1038, + "1118": 434, + "1630": 135, + "2142": 154, + "2644": 3817, + "2654": 744, + "3156": 1432, + "3166": 915, + "3678": 291, + "4190": 910, + "4702": 791, + "6238": 1014, + "6991": 8493, + "7262": 411, + "7503": 6467, + "7774": 480, + "8015": 4850, + "8527": 4887, + "8798": 682, + "9310": 833, + "9822": 1016, + "10334": 1296, + "10846": 1648, + "11358": 990, + "11676": 35115, + "11870": 2875, + "12188": 73144, + "12700": 44761, + "13212": 3326, + "13406": 52, + "13918": 97, + "14236": 16424, + "14430": 536, + "14942": 654, + "15454": 714, + "15966": 969, + "16284": 20838, + "16478": 1227, + "16990": 1559, + "18013": 355446, + "18525": 711, + "19037": 163413, + "23418": 3151, + "23441": 4484, + "24442": 3343, + "24465": 2276, + "24954": 2102, + "24977": 4198, + "25466": 102, + "25489": 7319, + "25978": 510, + "26513": 10440, + "27516": 493, + "28026": 641, + "28028": 628, + "29052": 3720, + "29564": 1485, + "30076": 6756, + "31100": 136, + "31612": 919, + "33660": 1059, + "34560": 739, + "34816": 705, + "36252": 1037, + "38300": 4639, + "40860": 11996, + "43008": 549, + "43264": 226, + "43520": 163, + "43776": 582, + "44032": 283, + "44288": 864, + "44922": 130, + "45312": 16, + "45824": 2736, + "46173": 4759, + "46685": 705, + "47104": 3271, + "48896": 3261, + "52636": 531, + "54684": 832, + "57241": 1712, + "57753": 2276, + "58265": 14130, + "58777": 3063, + "59289": 25305, + "59997": 109, + "60825": 945, + "61021": 230, + "61337": 6012, + "61533": 141, + "62045": 18, + "63385": 6666 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 549, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -30.187763214111328, + "z": 1.1421724557876587 + }, + "extent": { + "x": 0.36136138439178467, + "y": 0.5174389481544495, + "z": 0.9235503673553467 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.5003740160425, + "ymin": 335.5360814140277, + "xmax": 657.1030948496668, + "ymax": 399.6714490035152 + }, + "corners_3d": [ + [ + 10.350255966186523, + -30.54912567138672, + 0.218622088432312 + ], + [ + 9.315378189086914, + -30.549123764038086, + 0.218622088432312 + ], + [ + 9.315378189086914, + -29.826400756835938, + 0.218622088432312 + ], + [ + 10.350255966186523, + -29.82640266418457, + 0.218622088432312 + ], + [ + 10.350255966186523, + -30.54912567138672, + 2.065722942352295 + ], + [ + 9.315378189086914, + -30.549123764038086, + 2.065722942352295 + ], + [ + 9.315378189086914, + -29.826400756835938, + 2.065722942352295 + ], + [ + 10.350255966186523, + -29.82640266418457, + 2.065722942352295 + ] + ], + "corners_2d": [ + [ + 620.3536647252624, + 397.0988134020971 + ], + [ + 654.0983721321198, + 399.6714490035152 + ], + [ + 656.4020517926964, + 383.6485787178348 + ], + [ + 623.2609040176085, + 381.168265763767 + ], + [ + 619.5003740160425, + 351.28175939422886 + ], + [ + 654.7125664388872, + 353.8268599138836 + ], + [ + 657.1030948496668, + 337.98598661834757 + ], + [ + 622.5475877816998, + 335.5360814140277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 226, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -27.1900577545166, + "z": 1.1380952596664429 + }, + "extent": { + "x": 0.19896547496318817, + "y": 0.3155737519264221, + "z": 0.626774787902832 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 512.2950635013281, + "ymin": 278.7162890507059, + "xmax": 534.777463563662, + "ymax": 317.5899832425532 + }, + "corners_3d": [ + [ + 14.226113319396973, + -27.450286865234375, + 0.5113204717636108 + ], + [ + 13.608757972717285, + -27.319063186645508, + 0.5113204717636108 + ], + [ + 13.691493034362793, + -26.929828643798828, + 0.5113204717636108 + ], + [ + 14.30884838104248, + -27.061052322387695, + 0.5113204717636108 + ], + [ + 14.226113319396973, + -27.450286865234375, + 1.764870047569275 + ], + [ + 13.608757972717285, + -27.319063186645508, + 1.764870047569275 + ], + [ + 13.691493034362793, + -26.929828643798828, + 1.764870047569275 + ], + [ + 14.30884838104248, + -27.061052322387695, + 1.764870047569275 + ] + ], + "corners_2d": [ + [ + 515.6253047877851, + 317.5899832425532 + ], + [ + 534.777463563662, + 316.40297518425933 + ], + [ + 534.5703911091463, + 308.98423819282687 + ], + [ + 515.5957152514986, + 310.149326849559 + ], + [ + 512.2950635013281, + 287.2151680516989 + ], + [ + 531.9643219527729, + 286.04260974086975 + ], + [ + 531.778532302985, + 278.7162890507059 + ], + [ + 512.296423324207, + 279.8666237251506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 163, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -23.24505043029785, + "z": 0.8262312412261963 + }, + "extent": { + "x": 0.2619454562664032, + "y": 0.3489355146884918, + "z": 0.5918713212013245 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.2130911872326, + "ymin": 231.6783697710122, + "xmax": 734.6495238965538, + "ymax": 267.73656276930893 + }, + "corners_3d": [ + [ + 7.896636009216309, + -23.542034149169922, + 0.23435992002487183 + ], + [ + 7.202587604522705, + -23.469087600708008, + 0.23435992002487183 + ], + [ + 7.257349014282227, + -22.94806671142578, + 0.23435992002487183 + ], + [ + 7.95139741897583, + -23.021013259887695, + 0.23435992002487183 + ], + [ + 7.896636009216309, + -23.542034149169922, + 1.418102502822876 + ], + [ + 7.202587604522705, + -23.469087600708008, + 1.418102502822876 + ], + [ + 7.257349014282227, + -22.94806671142578, + 1.418102502822876 + ], + [ + 7.95139741897583, + -23.021013259887695, + 1.418102502822876 + ] + ], + "corners_2d": [ + [ + 712.9640300645437, + 267.6762229812406 + ], + [ + 732.4937059160941, + 267.73656276930893 + ], + [ + 731.5213133000635, + 259.21515291407877 + ], + [ + 712.2130911872326, + 259.15617337707846 + ], + [ + 714.6645160119037, + 240.0746008563317 + ], + [ + 734.6495238965538, + 240.1340795702925 + ], + [ + 733.6297278707775, + 231.7364769371564 + ], + [ + 713.8765591440958, + 231.6783697710122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 582, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -30.187763214111328, + "z": 1.1519380807876587 + }, + "extent": { + "x": 0.3868085443973541, + "y": 0.4671679437160492, + "z": 0.9432916045188904 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.3215812939609, + "ymin": 357.37488469774723, + "xmax": 986.8461754310769, + "ymax": 424.7222536074973 + }, + "corners_3d": [ + [ + 0.7999849319458008, + -30.57457160949707, + 0.2086464762687683 + ], + [ + -0.13435098528862, + -30.57457160949707, + 0.2086464762687683 + ], + [ + -0.1343507468700409, + -29.800954818725586, + 0.2086464762687683 + ], + [ + 0.7999851703643799, + -29.800954818725586, + 0.2086464762687683 + ], + [ + 0.7999849319458008, + -30.57457160949707, + 2.0952296257019043 + ], + [ + -0.13435098528862, + -30.57457160949707, + 2.0952296257019043 + ], + [ + -0.1343507468700409, + -29.800954818725586, + 2.0952296257019043 + ], + [ + 0.7999851703643799, + -29.800954818725586, + 2.0952296257019043 + ] + ], + "corners_2d": [ + [ + 939.4661480679242, + 422.26665175649373 + ], + [ + 971.6453887801883, + 424.7222536074973 + ], + [ + 967.8516468526029, + 406.6266451590401 + ], + [ + 936.3215812939609, + 404.26774524390555 + ], + [ + 953.1532287212679, + 375.2027661208496 + ], + [ + 986.8461754310769, + 377.63754438676784 + ], + [ + 982.5658700845114, + 359.7095288547741 + ], + [ + 949.5839097958442, + 357.37488469774723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 283, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -41.31512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.4126553535461426, + "y": 0.5918213725090027, + "z": 0.9195795059204102 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 716.9865966037543, + "ymin": 682.8737978392764, + "xmax": 784.3141812283991, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.849031448364258, + -41.663658142089844, + 0.22743666172027588 + ], + [ + 5.671873092651367, + -41.78738021850586, + 0.22743666172027588 + ], + [ + 5.585604667663574, + -40.966590881347656, + 0.22743666172027588 + ], + [ + 6.762763023376465, + -40.84286880493164, + 0.22743666172027588 + ], + [ + 6.849031448364258, + -41.663658142089844, + 2.0665955543518066 + ], + [ + 5.671873092651367, + -41.78738021850586, + 2.0665955543518066 + ], + [ + 5.585604667663574, + -40.966590881347656, + 2.0665955543518066 + ], + [ + 6.762763023376465, + -40.84286880493164, + 2.0665955543518066 + ] + ], + "corners_2d": [ + [ + 716.9865966037543, + 762.1015872342018 + ], + [ + 771.8060633361558, + 773.6032396623937 + ], + [ + 776.018143307905, + 737.5492992258005 + ], + [ + 722.7189430348216, + 726.6948462255452 + ], + [ + 721.7824346790572, + 719.1247545733422 + ], + [ + 780.0974068899063, + 730.9282766125598 + ], + [ + 784.3141812283991, + 693.973433258732 + ], + [ + 727.7166075694447, + 682.8737978392764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 864, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -38.35797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.33644652366638184, + "y": 0.3474096655845642, + "z": 0.8851587772369385 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.06986960139602, + "ymin": 517.0492287900454, + "xmax": 181.97755656455888, + "ymax": 589.400221354766 + }, + "corners_3d": [ + [ + 21.48792266845703, + -38.61484146118164, + 0.2520185708999634 + ], + [ + 20.808286666870117, + -38.75930404663086, + 0.2520185708999634 + ], + [ + 20.668384552001953, + -38.10111618041992, + 0.2520185708999634 + ], + [ + 21.348020553588867, + -37.9566535949707, + 0.2520185708999634 + ], + [ + 21.48792266845703, + -38.61484146118164, + 2.022336006164551 + ], + [ + 20.808286666870117, + -38.75930404663086, + 2.022336006164551 + ], + [ + 20.668384552001953, + -38.10111618041992, + 2.022336006164551 + ], + [ + 21.348020553588867, + -37.9566535949707, + 2.022336006164551 + ] + ], + "corners_2d": [ + [ + 141.40311328247606, + 582.1244329418951 + ], + [ + 164.37631062721442, + 589.400221354766 + ], + [ + 181.97755656455888, + 568.3708665353167 + ], + [ + 159.33447311593346, + 561.3764529988216 + ], + [ + 116.06986960139602, + 537.9268756870608 + ], + [ + 140.03694563137736, + 545.2579166952003 + ], + [ + 159.02113972982897, + 524.0827443371875 + ], + [ + 135.41126378349406, + 517.0492287900454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 16, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1159.8759854338116, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 3.7793779657657183 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1269.406290672931, + 3.7793779657657183 + ], + [ + 1257.358032681323, + -8.178713516331982 + ], + [ + 1159.8759854338116, + -11.90173958192571 + ], + [ + 1169.397170556565, + -0.13237812608713284 + ], + [ + 1281.883076533542, + -24.928844775087555 + ], + [ + 1269.2901406551252, + -36.40059882223409 + ], + [ + 1169.8438554811935, + -39.96993399679815 + ], + [ + 1179.8056437500986, + -28.682736172433067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 2736, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 485.56133654311463, + "ymin": 5.6092050874694905, + "xmax": 588.791975835235, + "ymax": 52.652285697431466 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 496.53499558003324, + 33.84962547298903 + ], + [ + 488.6610701041218, + 48.33549797384927 + ], + [ + 583.4560967852914, + 52.652285697431466 + ], + [ + 588.791975835235, + 37.9337517209234 + ], + [ + 493.6780964091688, + 5.6092050874694905 + ], + [ + 485.56133654311463, + 19.58555687055309 + ], + [ + 582.2883747396639, + 23.75352137601294 + ], + [ + 587.7640372286918, + 9.548101251105606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 184, + "instance_id": 47104, + "pixel_count": 3271, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": 31.706411361694336, + "y": -28.793697357177734, + "z": 0.6945980191230774 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -88.46794891357422 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 237.51122544322828, + "xmax": 74.7192677393507, + "ymax": 374.15287023489225 + }, + "corners_3d": [ + [ + 30.618553161621094, + -26.143095016479492, + -0.010731322690844536 + ], + [ + 32.65102767944336, + -26.088735580444336, + -0.010731322690844536 + ], + [ + 32.79426574707031, + -31.444299697875977, + -0.010731322690844536 + ], + [ + 30.761791229248047, + -31.498661041259766, + -0.010731322690844536 + ], + [ + 30.618553161621094, + -26.143095016479492, + 1.3999274969100952 + ], + [ + 32.65102767944336, + -26.088735580444336, + 1.3999274969100952 + ], + [ + 32.79426574707031, + -31.444299697875977, + 1.3999274969100952 + ], + [ + 30.761791229248047, + -31.498661041259766, + 1.3999274969100952 + ] + ], + "corners_2d": [ + [ + 74.7192677393507, + 274.74779752895984 + ], + [ + 22.260917236919, + 270.1867144099923 + ], + [ + -81.00804586214304, + 368.32286101865424 + ], + [ + -22.3830709560458, + 374.15287023489225 + ], + [ + 58.99288531259742, + 241.99607962320175 + ], + [ + 5.181290210597126, + 237.51122544322828 + ], + [ + -103.61837802610626, + 334.33947413049 + ], + [ + -43.3015402258045, + 340.11379420340813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 3261, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 66.83922919089719, + "ymin": 64.08852065659187, + "xmax": 165.70588542503998, + "ymax": 140.63159512739836 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 165.70588542503998, + 99.11623958350401 + ], + [ + 128.07123827974476, + 97.07387421106932 + ], + [ + 81.42732393503104, + 138.28861846727798 + ], + [ + 121.56604857313016, + 140.63159512739836 + ], + [ + 154.1177277396879, + 66.06200708164732 + ], + [ + 115.6084526941354, + 64.08852065659187 + ], + [ + 66.83922919089719, + 103.97877144150112 + ], + [ + 107.97392739259965, + 106.25059944300358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.7761847363722, + "ymin": 0.0, + "xmax": 861.1336474717244, + "ymax": 0.18313266487371038 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 859.1361562133557, + 0.18313266487371038 + ], + [ + 859.0475640976406, + -0.36678848256298124 + ], + [ + 845.7761847363722, + -0.9109038019687432 + ], + [ + 845.8496023052041, + -0.362220158597097 + ], + [ + 861.1336474717244, + -13.050608111864278 + ], + [ + 861.0419591823481, + -13.590367487433525 + ], + [ + 847.647618683281, + -14.124417317993334 + ], + [ + 847.7238498017642, + -13.585883625729707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4758596758241434763, + "instance_id": 35676, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.14504623413086, + "y": -10.815969467163086, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 27.049654758757242, + "ymin": 1.862676874700071, + "xmax": 45.20945004574514, + "ymax": 23.79667306114459 + }, + "corners_3d": [ + [ + 40.00571060180664, + -11.005927085876465, + 2.645533323287964 + ], + [ + 40.00571060180664, + -10.626011848449707, + 2.645533323287964 + ], + [ + 40.28438186645508, + -10.626011848449707, + 2.645533323287964 + ], + [ + 40.28438186645508, + -11.005927085876465, + 2.645533323287964 + ], + [ + 40.00571060180664, + -11.005927085876465, + 3.5146729946136475 + ], + [ + 40.00571060180664, + -10.626011848449707, + 3.5146729946136475 + ], + [ + 40.28438186645508, + -10.626011848449707, + 3.5146729946136475 + ], + [ + 40.28438186645508, + -11.005927085876465, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 40.54332141648251, + 23.79667306114459 + ], + [ + 45.20945004574514, + 20.59758290897571 + ], + [ + 39.60855451962618, + 20.340239882987248 + ], + [ + 34.909327005550836, + 23.536057199372237 + ], + [ + 32.75277990035784, + 5.235739318183164 + ], + [ + 37.528880584461376, + 2.1137921086728397 + ], + [ + 31.859665654469268, + 1.862676874700071 + ], + [ + 27.049654758757242, + 4.981388825741362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.9628611844794, + "ymin": 13.357727373696207, + "xmax": 494.85952771145554, + "ymax": 35.73721527372618 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 494.85952771145554, + 32.38639833283111 + ], + [ + 488.89313618427366, + 32.116900825296 + ], + [ + 486.99758035372946, + 35.464209521020905 + ], + [ + 493.00169461474616, + 35.73721527372618 + ], + [ + 492.9409498276226, + 13.620861621498875 + ], + [ + 486.8967462810618, + 13.357727373696207 + ], + [ + 484.9628611844794, + 16.626258391703345 + ], + [ + 491.04578065983037, + 16.89286376410297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.9067629403509, + "ymin": 0.0, + "xmax": 835.2069604782275, + "ymax": 23.907698308912643 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.4043718179462, + 23.907698308912643 + ], + [ + 829.3663479217164, + 23.5075780717126 + ], + [ + 827.9067629403509, + 23.44462357196585 + ], + [ + 827.9436314188663, + 23.844644500660138 + ], + [ + 835.2069604782275, + -19.84330337180154 + ], + [ + 835.1630611222274, + -20.22014739395246 + ], + [ + 833.6580612099392, + -20.279437982129025 + ], + [ + 833.7007321029516, + -19.90269035511966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 80.5301974200944, + "ymin": 0.0, + "xmax": 238.58985013224355, + "ymax": 1.7140955396243953 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 238.58985013224355, + -67.90064121789118 + ], + [ + 232.2617769580201, + -68.15622320706672 + ], + [ + 138.56324477799404, + 1.365869675101976 + ], + [ + 145.88291046533266, + 1.7140955396243953 + ], + [ + 199.41080405850528, + -216.24828296850762 + ], + [ + 192.4919201500748, + -216.4287756469422 + ], + [ + 80.5301974200944, + -166.52111955549003 + ], + [ + 88.65120957510419, + -166.2669740358932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.3123645841263, + "ymin": 327.41310399788904, + "xmax": 765.4947353948464, + "ymax": 550.6310562494991 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 765.1036764472337, + 331.93070023222907 + ], + [ + 750.5096236161661, + 330.9131008589186 + ], + [ + 742.3123645841263, + 548.9953474570527 + ], + [ + 760.8054061492737, + 550.6310562494991 + ], + [ + 765.4947353948464, + 328.42949984555787 + ], + [ + 750.8546311332154, + 327.41310399788904 + ], + [ + 742.7176039153595, + 545.4187228841753 + ], + [ + 761.2846535164895, + 547.0552345428757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.9330612272662, + "ymin": 0.0, + "xmax": 822.847901940785, + "ymax": 23.390272991357904 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 817.4182277446976, + 23.390272991357904 + ], + [ + 817.3896762198649, + 22.99096732469718 + ], + [ + 815.9330612272662, + 22.928140930263282 + ], + [ + 815.9604620253251, + 23.3273475915056 + ], + [ + 822.847901940785, + -20.33062503154889 + ], + [ + 822.8140732522844, + -20.706678412284873 + ], + [ + 821.3122293298751, + -20.7658446636226 + ], + [ + 821.3448346940069, + -20.389887374842488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.5911941547806, + "ymin": 11.00347244451109, + "xmax": 771.66026626558, + "ymax": 88.052234785942 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 771.4065529931878, + 14.162545441382349 + ], + [ + 762.37250098859, + 13.778172720002999 + ], + [ + 759.5911941547806, + 87.54542855733922 + ], + [ + 769.9628683792859, + 88.052234785942 + ], + [ + 771.66026626558, + 11.38644040911015 + ], + [ + 762.608589090459, + 11.00347244451109 + ], + [ + 759.8561866044186, + 84.52204454657368 + ], + [ + 770.2510985237227, + 85.0272876885528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.1818103345609, + "ymin": 0.0, + "xmax": 855.2099572184904, + "ymax": 31.338041258713872 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 848.7191786446688, + 31.338041258713872 + ], + [ + 848.665159284395, + 30.926132281125035 + ], + [ + 847.1818103345609, + 30.861323795728424 + ], + [ + 847.2346363513274, + 31.273129044016628 + ], + [ + 855.2099572184904, + -12.841899048712833 + ], + [ + 855.1489096098159, + -13.230193750606418 + ], + [ + 853.6186337980187, + -13.291285081253648 + ], + [ + 853.6784113401307, + -12.903091200990389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1274.0643724118218, + "ymin": 154.71883580555976, + "xmax": 1280.0, + "ymax": 542.2212303636447 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 1290.6000739231836, + 394.577699960014 + ], + [ + 1274.0643724118218, + 393.38954435618183 + ], + [ + 1356.77305213974, + 540.600646587726 + ], + [ + 1376.2184574594137, + 542.2212303636447 + ], + [ + 1437.5256862915185, + 155.77909747204743 + ], + [ + 1417.0183947643711, + 154.71883580555976 + ], + [ + 1552.9093769156284, + 291.2072321911064 + ], + [ + 1578.0818082683227, + 292.7695260198236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.6605922867719, + "ymin": 11.054561889687761, + "xmax": 771.6001662674082, + "ymax": 87.98920019634949 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 771.3497943995186, + 14.173377969956505 + ], + [ + 762.4304876130806, + 13.793899692571927 + ], + [ + 759.6605922867719, + 87.48897866874273 + ], + [ + 769.8991906620382, + 87.98920019634949 + ], + [ + 771.6001662674082, + 11.432671091252018 + ], + [ + 762.6636798595424, + 11.054561889687761 + ], + [ + 759.9223270331743, + 84.50437124776323 + ], + [ + 770.1835696525309, + 85.00306954231701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 294.98790210413057, + "ymax": 93.23801148875947 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 56.37357263873662, + 75.94370034533381 + ], + [ + 51.238510473099154, + 79.84866264544195 + ], + [ + 291.43456417737747, + 93.23801148875947 + ], + [ + 294.98790210413057, + 89.14605028903895 + ], + [ + -22.961948065722595, + -111.11110294371684 + ], + [ + -29.429711650910804, + -108.15444909689859 + ], + [ + 242.38264767425773, + -97.97391764835481 + ], + [ + 246.82828001229728, + -101.09226766056423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.1853001864378, + "ymin": 327.30110812558604, + "xmax": 765.5937380551015, + "ymax": 550.797629686821 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 765.1973460563257, + 331.8769016011613 + ], + [ + 750.4162401624186, + 330.8463357900112 + ], + [ + 742.1853001864378, + 549.1403340677748 + ], + [ + 760.9195652561541, + 550.797629686821 + ], + [ + 765.5937380551015, + 328.33043863323314 + ], + [ + 750.7653901445143, + 327.30110812558604 + ], + [ + 742.5953381821872, + 545.5174383873504 + ], + [ + 761.4055595694757, + 547.1755597166085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 881.9225981537567, + "ymin": 0.0, + "xmax": 890.9522024324401, + "ymax": 29.211757346939578 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 883.4734655414835, + 29.211757346939578 + ], + [ + 883.3926370445886, + 28.806423764122144 + ], + [ + 881.9225981537567, + 28.742649150943464 + ], + [ + 882.0022546837222, + 29.147881873838514 + ], + [ + 890.9522024324401, + -14.49180328732865 + ], + [ + 890.8628046626579, + -14.873997895689968 + ], + [ + 889.3466957479887, + -14.934130166836496 + ], + [ + 889.4348469252247, + -14.552033580172235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.6778365224652, + "ymin": 3.395355448272312, + "xmax": 775.132281172772, + "ymax": 307.628309470751 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 755.2753753991542, + 216.78581959823134 + ], + [ + 742.6600676287641, + 216.02969754796564 + ], + [ + 737.6778365224652, + 306.6635714173032 + ], + [ + 751.922482608534, + 307.628309470751 + ], + [ + 775.132281172772, + 4.01247248130079 + ], + [ + 760.3215434483934, + 3.395355448272312 + ], + [ + 757.0904202283832, + 79.03839001918885 + ], + [ + 774.1986049301686, + 79.86210436061214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.3758401869734, + "ymin": 0.0, + "xmax": 836.7360277877232, + "ymax": 24.81996816348186 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 830.8774823523856, + 24.81996816348186 + ], + [ + 830.8382275332585, + 24.418409713750748 + ], + [ + 829.3758401869734, + 24.35522903494433 + ], + [ + 829.4139351467269, + 24.75668764028626 + ], + [ + 836.7360277877232, + -18.984035013643563 + ], + [ + 836.6908033707205, + -19.362275178557354 + ], + [ + 835.1828240038661, + -19.421785320640197 + ], + [ + 835.2268150884665, + -19.043642087017417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 711.4464283398804, + "ymin": 315.70952179031644, + "xmax": 771.2733498988873, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 742.3275152228593, + 567.5581503590977 + ], + [ + 723.4284947275373, + 565.8566169859587 + ], + [ + 711.4464283398804, + 783.8227304524112 + ], + [ + 734.2535573482321, + 786.3050058383305 + ], + [ + 771.2733498988873, + 317.3722498315119 + ], + [ + 746.9793115670814, + 315.70952179031644 + ], + [ + 737.3186651963847, + 541.8619270250356 + ], + [ + 768.4758219304404, + 544.5997190547508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.7263928039466, + "ymin": 0.0, + "xmax": 816.4528011101556, + "ymax": 23.928555841880723 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 811.2074703582097, + 23.928555841880723 + ], + [ + 811.183781904987, + 23.52840272448509 + ], + [ + 809.7263928039466, + 23.46544305805969 + ], + [ + 809.7489293030626, + 23.86549685471232 + ], + [ + 816.4528011101556, + -19.823658686307567 + ], + [ + 816.4241282844577, + -20.200534623518763 + ], + [ + 814.9214606814056, + -20.25983022662956 + ], + [ + 814.9489088356142, + -19.88305069680166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.64839162212763, + "ymin": 0.0, + "xmax": 553.1670919691921, + "ymax": 91.41394345079448 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 496.71945697529486, + 90.92529050838039 + ], + [ + 505.6953849723982, + 91.41394345079448 + ], + [ + 553.1670919691921, + -3.770333301792732 + ], + [ + 545.6413587006813, + -4.110728668541469 + ], + [ + 476.64839162212763, + -99.7371308986709 + ], + [ + 486.86345399489363, + -99.36474860678891 + ], + [ + 543.236130794823, + -170.26477559146167 + ], + [ + 534.8582139414855, + -170.5125580664983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 882.4234615886843, + "ymin": 0.0, + "xmax": 891.4882445709138, + "ymax": 26.263393312891367 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 883.9780019808352, + 26.263393312891367 + ], + [ + 883.8966067791316, + 25.85955407737339 + ], + [ + 882.4234615886843, + 25.79601470305147 + ], + [ + 882.503679864195, + 26.199753242373845 + ], + [ + 891.4882445709138, + -17.624277452804108 + ], + [ + 891.3982186728971, + -18.004732161042398 + ], + [ + 889.8788055757082, + -18.064590565980154 + ], + [ + 889.9675794404442, + -17.68423364150493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 13560867462968823599, + "instance_id": 12239, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4969_4", + "bbox_3d": { + "center_world": { + "x": 44.08523941040039, + "y": -14.949827194213867, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 1.0724943734770704, + "ymax": 128.74150876438935 + }, + "corners_3d": [ + [ + 42.286109924316406, + -17.45702362060547, + 0.5180595517158508 + ], + [ + 41.52307891845703, + -13.229876518249512, + 0.5180595517158508 + ], + [ + 45.73331832885742, + -12.46989631652832, + 0.47502389550209045 + ], + [ + 46.4963493347168, + -16.697044372558594, + 0.47502389550209045 + ], + [ + 42.43716049194336, + -17.429758071899414, + 15.777085304260254 + ], + [ + 41.674129486083984, + -13.20261001586914, + 15.777085304260254 + ], + [ + 45.884368896484375, + -12.442630767822266, + 15.734049797058105 + ], + [ + 46.64739990234375, + -16.66977882385254, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -74.80561489980607, + 128.74150876438935 + ], + [ + 1.0724943734770704, + 86.25504524619862 + ], + [ + -72.15517973463159, + 75.65880096223287 + ], + [ + -151.68310766944785, + 116.42967998961248 + ], + [ + -307.4259673976703, + -295.5960644374884 + ], + [ + -188.68044768111417, + -312.45310669755565 + ], + [ + -277.5828966468167, + -315.45819387772656 + ], + [ + -401.3579527215966, + -299.3783247248556 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00014/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d1661f3f13a88d314a4b64fd74d8659af4749dd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00014/meta.json @@ -0,0 +1,7911 @@ +{ + "frame_id": 14, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 7.0, + "sim_timestamp": 6840.050884762313 + }, + "drone_pose": { + "x": 7.372131344975612, + "y": -47.79939041321383, + "z": 20.1706640166772, + "pitch": -39.702141716253536, + "yaw": 88.00388285406213, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.026798784732818604, + -0.7689088582992554, + 0.6387966275215149, + 23.67085838317871 + ], + [ + 0.9993932247161865, + 0.03483182191848755, + -2.9802322387695312e-08, + 9.032597541809082 + ], + [ + -0.022250473499298096, + 0.6384090185165405, + 0.7693756818771362, + -45.870338439941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.348197981720768, + "y": -47.57181668812931, + "z": 20.31163659024853 + }, + "t1_image_uv": [ + 1002.7011277685408, + -2523.936834865858 + ], + "t1_depth": 0.08428926179395203 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -26.687763214111328, + "z": 1.1423384737968445 + }, + "image_uv": [ + 581.8402126183313, + 397.35964780476166 + ], + "depth": 28.454088642368106, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 562, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -26.687763214111328, + "z": 1.142338514328003 + }, + "extent": { + "x": 0.37601104378700256, + "y": 0.5669445395469666, + "z": 0.9125112891197205 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 559.8690922529617, + "ymin": 365.19942246505326, + "xmax": 602.5267878298711, + "ymax": 428.8962062635099 + }, + "corners_3d": [ + [ + 10.399761199951172, + -27.06377410888672, + 0.22982722520828247 + ], + [ + 9.26587200164795, + -27.06377410888672, + 0.22982722520828247 + ], + [ + 9.265872955322266, + -26.311752319335938, + 0.22982722520828247 + ], + [ + 10.399762153625488, + -26.311752319335938, + 0.22982722520828247 + ], + [ + 10.399761199951172, + -27.06377410888672, + 2.054849863052368 + ], + [ + 9.26587200164795, + -27.06377410888672, + 2.054849863052368 + ], + [ + 9.265872955322266, + -26.311752319335938, + 2.054849863052368 + ], + [ + 10.399762153625488, + -26.311752319335938, + 2.054849863052368 + ] + ], + "corners_2d": [ + [ + 563.1169396518002, + 427.9813576120025 + ], + [ + 600.8974959408051, + 428.8962062635099 + ], + [ + 602.5267878298711, + 411.8127505880092 + ], + [ + 565.4890946654288, + 410.9336232373515 + ], + [ + 559.8690922529617, + 382.0090675234494 + ], + [ + 599.2438292470732, + 382.9119306856615 + ], + [ + 600.9745834755918, + 366.06558798137576 + ], + [ + 562.4060544916031, + 365.19942246505326 + ] + ], + "center_offset_px": [ + -58.15978738166871, + 37.359647804761664 + ] + }, + "trace_timestep_index": 14, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 92, + "semantic_pixel_counts": { + "1": 234089, + "2": 78017, + "5": 3513, + "6": 6081, + "7": 501, + "10": 2, + "12": 2409, + "14": 44894, + "15": 10264, + "24": 40399, + "25": 501431 + }, + "instance_pixel_counts": { + "381": 2528, + "586": 2892, + "606": 1614, + "842": 621, + "1118": 489, + "1630": 168, + "2142": 192, + "2644": 2406, + "2654": 897, + "3156": 1665, + "3166": 1144, + "3678": 417, + "4190": 1166, + "6238": 1462, + "6991": 10264, + "7262": 493, + "7503": 7382, + "7774": 586, + "8015": 5539, + "8527": 5887, + "8798": 881, + "9310": 1108, + "9822": 1389, + "10334": 1824, + "11676": 42595, + "11870": 2730, + "12188": 67119, + "12700": 10699, + "13212": 14, + "13406": 58, + "13918": 120, + "14236": 18921, + "14430": 711, + "14942": 792, + "15454": 1083, + "15966": 1364, + "16284": 26224, + "16478": 1799, + "18013": 332005, + "19037": 169426, + "19354": 82, + "19866": 92, + "21597": 34, + "22426": 220, + "23418": 3644, + "23441": 5578, + "23450": 1633, + "24442": 2830, + "24465": 4808, + "24954": 755, + "25466": 6, + "25489": 8780, + "25498": 4485, + "25978": 607, + "27516": 625, + "28026": 796, + "29052": 5087, + "30076": 3994, + "31612": 1177, + "33660": 1467, + "34560": 974, + "34816": 1537, + "36252": 25123, + "37788": 1699, + "38300": 17045, + "40860": 24650, + "43008": 562, + "43264": 246, + "43520": 147, + "43776": 580, + "44288": 874, + "44922": 1529, + "45312": 2522, + "45824": 3212, + "46173": 4240, + "48896": 1186, + "52124": 76, + "52636": 996, + "54684": 1412, + "57241": 2101, + "58265": 19360, + "59289": 16216, + "59772": 372, + "59997": 128, + "60284": 320, + "61021": 421, + "61337": 7214, + "61533": 318, + "62045": 154, + "63356": 522, + "63385": 8565, + "63868": 1923 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 562, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -26.687763214111328, + "z": 1.142338514328003 + }, + "extent": { + "x": 0.3647048771381378, + "y": 0.5626537799835205, + "z": 0.9190644025802612 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 560.0446812612672, + "ymin": 365.2792746858689, + "xmax": 602.3678078710448, + "ymax": 428.78918340272793 + }, + "corners_3d": [ + [ + 10.39547061920166, + -27.052467346191406, + 0.2232741117477417 + ], + [ + 9.270163536071777, + -27.052467346191406, + 0.2232741117477417 + ], + [ + 9.270163536071777, + -26.32305908203125, + 0.2232741117477417 + ], + [ + 10.39547061920166, + -26.32305908203125, + 0.2232741117477417 + ], + [ + 10.39547061920166, + -27.052467346191406, + 2.0614027976989746 + ], + [ + 9.270163536071777, + -27.052467346191406, + 2.0614027976989746 + ], + [ + 9.270163536071777, + -26.32305908203125, + 2.0614027976989746 + ], + [ + 10.39547061920166, + -26.32305908203125, + 2.0614027976989746 + ] + ], + "corners_2d": [ + [ + 563.3072364924825, + 427.88177392008004 + ], + [ + 600.7850910379852, + 428.78918340272793 + ], + [ + 602.3678078710448, + 412.21899767728064 + ], + [ + 565.6048147922129, + 411.3459691301428 + ], + [ + 560.0446812612672, + 381.5824755353982 + ], + [ + 599.11504111487, + 382.4778883303556 + ], + [ + 600.7971117783717, + 366.13936005983265 + ], + [ + 562.5030263191691, + 365.2792746858689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 246, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -23.6900577545166, + "z": 1.1383589506149292 + }, + "extent": { + "x": 0.20734132826328278, + "y": 0.3164587616920471, + "z": 0.5929703116416931 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 448.9743406955688, + "ymin": 312.5533657459927, + "xmax": 473.65224155844635, + "ymax": 351.54722815510996 + }, + "corners_3d": [ + [ + 14.225237846374512, + -23.958663940429688, + 0.5453886389732361 + ], + [ + 13.60615062713623, + -23.827072143554688, + 0.5453886389732361 + ], + [ + 13.692368507385254, + -23.421451568603516, + 0.5453886389732361 + ], + [ + 14.311455726623535, + -23.553043365478516, + 0.5453886389732361 + ], + [ + 14.225237846374512, + -23.958663940429688, + 1.7313292026519775 + ], + [ + 13.60615062713623, + -23.827072143554688, + 1.7313292026519775 + ], + [ + 13.692368507385254, + -23.421451568603516, + 1.7313292026519775 + ], + [ + 14.311455726623535, + -23.553043365478516, + 1.7313292026519775 + ] + ], + "corners_2d": [ + [ + 453.9290796869628, + 351.54722815510996 + ], + [ + 473.65224155844635, + 349.40470166627944 + ], + [ + 473.11520973976735, + 341.54766915109695 + ], + [ + 453.5881695913348, + 343.64754371627174 + ], + [ + 449.2759234898532, + 322.4213098057285 + ], + [ + 469.50389465261924, + 320.306456660334 + ], + [ + 468.99607333717086, + 312.5533657459927 + ], + [ + 448.9743406955688, + 314.62508263268205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 147, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -19.74505043029785, + "z": 0.8328677415847778 + }, + "extent": { + "x": 0.28102871775627136, + "y": 0.3098168671131134, + "z": 0.5801358819007874 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 652.3484208738707, + "ymin": 255.56872621847253, + "xmax": 671.6871591673361, + "ymax": 292.4428673968487 + }, + "corners_3d": [ + [ + 7.85573673248291, + -20.05692481994629, + 0.25273191928863525 + ], + [ + 7.239497184753418, + -19.992155075073242, + 0.25273191928863525 + ], + [ + 7.298248291015625, + -19.433176040649414, + 0.25273191928863525 + ], + [ + 7.914487838745117, + -19.49794578552246, + 0.25273191928863525 + ], + [ + 7.85573673248291, + -20.05692481994629, + 1.41300368309021 + ], + [ + 7.239497184753418, + -19.992155075073242, + 1.41300368309021 + ], + [ + 7.298248291015625, + -19.433176040649414, + 1.41300368309021 + ], + [ + 7.914487838745117, + -19.49794578552246, + 1.41300368309021 + ] + ], + "corners_2d": [ + [ + 653.6106726670325, + 292.4428673968487 + ], + [ + 670.9984494781594, + 291.7307611339707 + ], + [ + 669.52020751495, + 282.626657289773 + ], + [ + 652.3484208738707, + 283.32107503452926 + ], + [ + 653.9133705470807, + 265.2259844442957 + ], + [ + 671.6871591673361, + 264.5252147346274 + ], + [ + 670.1677015369036, + 255.56872621847253 + ], + [ + 652.6195372874452, + 256.2517094711242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 580, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -26.687763214111328, + "z": 1.1520308256149292 + }, + "extent": { + "x": 0.40167221426963806, + "y": 0.6304125785827637, + "z": 0.9201350212097168 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 875.9646860654561, + "ymin": 371.4404906016622, + "xmax": 935.1262012611609, + "ymax": 437.24566068274606 + }, + "corners_3d": [ + [ + 0.9632295370101929, + -27.089435577392578, + 0.2318958044052124 + ], + [ + -0.2975956201553345, + -27.089435577392578, + 0.2318958044052124 + ], + [ + -0.29759538173675537, + -26.286090850830078, + 0.2318958044052124 + ], + [ + 0.963229775428772, + -26.286090850830078, + 0.2318958044052124 + ], + [ + 0.9632295370101929, + -27.089435577392578, + 2.0721659660339355 + ], + [ + -0.2975956201553345, + -27.089435577392578, + 2.0721659660339355 + ], + [ + -0.29759538173675537, + -26.286090850830078, + 2.0721659660339355 + ], + [ + 0.963229775428772, + -26.286090850830078, + 2.0721659660339355 + ] + ], + "corners_2d": [ + [ + 880.1379510152657, + 436.20871294515575 + ], + [ + 922.9338327715451, + 437.24566068274606 + ], + [ + 917.8464573001337, + 418.66960340387743 + ], + [ + 875.9646860654561, + 417.67622545225225 + ], + [ + 890.4733302652492, + 389.7249790346929 + ], + [ + 935.1262012611609, + 390.74903726774033 + ], + [ + 929.5544911582997, + 372.419728847338 + ], + [ + 885.8958564688189, + 371.4404906016622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 874, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -34.85797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.34981322288513184, + "y": 0.3608935475349426, + "z": 0.8653913736343384 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 35.555748461668145, + "ymin": 581.6909271847816, + "xmax": 110.3762484892311, + "ymax": 656.6728181290549 + }, + "corners_3d": [ + [ + 21.503890991210938, + -35.12511444091797, + 0.2717859745025635 + ], + [ + 20.797876358032227, + -35.27518081665039, + 0.2717859745025635 + ], + [ + 20.652416229248047, + -34.590843200683594, + 0.2717859745025635 + ], + [ + 21.358430862426758, + -34.44077682495117, + 0.2717859745025635 + ], + [ + 21.503890991210938, + -35.12511444091797, + 2.0025687217712402 + ], + [ + 20.797876358032227, + -35.27518081665039, + 2.0025687217712402 + ], + [ + 20.652416229248047, + -34.590843200683594, + 2.0025687217712402 + ], + [ + 21.358430862426758, + -34.44077682495117, + 2.0025687217712402 + ] + ], + "corners_2d": [ + [ + 64.82102032737987, + 650.2399252951691 + ], + [ + 91.03533416117796, + 656.6728181290549 + ], + [ + 110.3762484892311, + 632.0745473881992 + ], + [ + 84.6368945927743, + 625.9269395963743 + ], + [ + 35.555748461668145, + 606.1777123030909 + ], + [ + 62.93014136079671, + 612.6659144150784 + ], + [ + 83.90154793099543, + 587.8772220322829 + ], + [ + 57.04310169949622, + 581.6909271847816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 2522, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1089.9846954115199, + "ymin": 0.0, + "xmax": 1210.0949492422508, + "ymax": 39.039711027188275 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1199.2446128291463, + 39.039711027188275 + ], + [ + 1186.0015844802804, + 26.88638667806208 + ], + [ + 1089.9846954115199, + 25.745264427008067 + ], + [ + 1100.6854778999736, + 37.838099585211864 + ], + [ + 1210.0949492422508, + 10.379453658821262 + ], + [ + 1196.3194611478364, + -1.2581151656698353 + ], + [ + 1098.4668171163244, + -2.3502194939500782 + ], + [ + 1109.600597697922, + 9.22832200046389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3212, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 395.2004300367349, + "ymin": 66.61901684685608, + "xmax": 507.70988893246937, + "ymax": 113.72976818675969 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 408.66433657527693, + 95.83699430774016 + ], + [ + 400.28661312939107, + 112.26380040415134 + ], + [ + 502.3710769197072, + 113.72976818675969 + ], + [ + 507.70988893246937, + 97.21648789493418 + ], + [ + 403.9057072440802, + 66.61901684685608 + ], + [ + 395.2004300367349, + 82.47460871302002 + ], + [ + 499.4429396243704, + 83.89057792025994 + ], + [ + 504.9814604827746, + 67.94976746263649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 1186, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 146.86581759790909, + "xmax": 40.847361445000274, + "ymax": 233.00485492038712 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 40.847361445000274, + 182.45658942377295 + ], + [ + -1.9794118691559106, + 181.62620944969925 + ], + [ + -58.180818092527716, + 232.0335465263036 + ], + [ + -11.941211222192123, + 233.00485492038712 + ], + [ + 25.220744122063707, + 147.6699844561989 + ], + [ + -18.69997586103318, + 146.86581759790909 + ], + [ + -77.88853316508744, + 195.78401371515432 + ], + [ + -30.371179353595835, + 196.72867077265954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583698286834, + "ymin": 28.77338866750341, + "xmax": 827.366428035714, + "ymax": 42.88430532459142 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818084277105, + 42.88430532459142 + ], + [ + 825.5106678859592, + 42.306646995300525 + ], + [ + 811.9583698286834, + 42.1261168361043 + ], + [ + 812.113121143815, + 42.70333989872046 + ], + [ + 827.366428035714, + 29.517137334094002 + ], + [ + 827.1916907491998, + 28.95047866699059 + ], + [ + 813.5159950994373, + 28.77338866750341 + ], + [ + 813.674043165161, + 29.33961648694708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583733799432, + "ymin": 28.77338871390822, + "xmax": 827.3664316264001, + "ymax": 42.884305372047606 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818119859461, + 42.884305372047606 + ], + [ + 825.5106714398952, + 42.30664704264257 + ], + [ + 811.9583733799432, + 42.1261168834107 + ], + [ + 812.1131246993677, + 42.70333994614094 + ], + [ + 827.3664316264001, + 29.517137380647114 + ], + [ + 827.1916943355077, + 28.950478713430527 + ], + [ + 813.5159986830201, + 28.77338871390822 + ], + [ + 813.6740467531155, + 29.339616533464778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 756.1465187643678, + "ymin": 28.904868961989337, + "xmax": 770.9632973710079, + "ymax": 43.01876438990689 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 769.7854708584291, + 43.01876438990689 + ], + [ + 769.6815766656584, + 42.440782575472895 + ], + [ + 756.1465187643678, + 42.26015139155788 + ], + [ + 756.2340652766471, + 42.83769757370413 + ], + [ + 770.9632973710079, + 29.649037830489817 + ], + [ + 770.8570306136264, + 29.082058959291544 + ], + [ + 757.1988886734908, + 28.904868961989337 + ], + [ + 757.2885088954629, + 29.471416620343916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.5466715051826, + "ymin": 28.023205685153755, + "xmax": 769.3183291921046, + "ymax": 42.117115543615796 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.1574810886912, + 42.117115543615796 + ], + [ + 768.0557380582957, + 41.54130137066841 + ], + [ + 754.5466715051826, + 41.361347094011705 + ], + [ + 754.6321296134206, + 41.93672808259225 + ], + [ + 769.3183291921046, + 28.764558934131912 + ], + [ + 769.2142581361379, + 28.19972567040611 + ], + [ + 755.582581909542, + 28.023205685153755 + ], + [ + 755.6700709153981, + 28.587610181012224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4847029097266, + "ymin": 22.212116285063246, + "xmax": 827.388489467517, + "ymax": 37.49357024766135 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.500186327561, + 37.49357024766135 + ], + [ + 825.4775845942908, + 37.41804199447131 + ], + [ + 813.4847029097266, + 37.259913859562914 + ], + [ + 813.5053887297963, + 37.33539177575176 + ], + [ + 827.388489467517, + 22.44066310300792 + ], + [ + 827.3653541071016, + 22.366786242109242 + ], + [ + 815.2498158226322, + 22.212116285063246 + ], + [ + 815.2709958771845, + 22.285943408647597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4848371159225, + "ymin": 22.212113248469734, + "xmax": 827.3886250146788, + "ymax": 37.49356714010452 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.5003205211868, + 37.49356714010452 + ], + [ + 825.4777187667072, + 37.41803888790355 + ], + [ + 813.4848371159225, + 37.25991075506539 + ], + [ + 813.5055229572124, + 37.33538867026624 + ], + [ + 827.3886250146788, + 22.440660063391533 + ], + [ + 827.365489632624, + 22.366783203470163 + ], + [ + 815.2499513826332, + 22.212113248469734 + ], + [ + 815.2711314588361, + 22.285940371077857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583698286834, + "ymin": 28.77338866750341, + "xmax": 827.366428035714, + "ymax": 42.88430532459142 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818084277105, + 42.88430532459142 + ], + [ + 825.5106678859592, + 42.306646995300525 + ], + [ + 811.9583698286834, + 42.1261168361043 + ], + [ + 812.113121143815, + 42.70333989872046 + ], + [ + 827.366428035714, + 29.517137334094002 + ], + [ + 827.1916907491998, + 28.95047866699059 + ], + [ + 813.5159950994373, + 28.77338866750341 + ], + [ + 813.674043165161, + 29.33961648694708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583698135214, + "ymin": 28.773388612026622, + "xmax": 827.3664280099713, + "ymax": 42.88430523949063 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818084024981, + 42.88430523949063 + ], + [ + 825.5106678691913, + 42.30664693870318 + ], + [ + 811.9583698135214, + 42.126116779549534 + ], + [ + 812.113121121017, + 42.70333981368384 + ], + [ + 827.3664280099713, + 29.51713725061279 + ], + [ + 827.1916907320797, + 28.950478611471624 + ], + [ + 813.5159950839522, + 28.773388612026622 + ], + [ + 813.6740431418772, + 29.33961640352942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583727880665, + "ymin": 28.773388706174103, + "xmax": 827.3664310193715, + "ymax": 42.88430533577127 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818113845027, + 42.88430533577127 + ], + [ + 825.5106708475726, + 42.306647034752245 + ], + [ + 811.9583727880665, + 42.126116875526236 + ], + [ + 812.1131240991764, + 42.703339909891895 + ], + [ + 827.3664310193715, + 29.517137345061144 + ], + [ + 827.1916937377897, + 28.950478705690557 + ], + [ + 813.5159980857562, + 28.773388706174103 + ], + [ + 813.6740461473618, + 29.339616497905865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.2825213535089, + "ymin": 34.98628219615131, + "xmax": 790.499882039756, + "ymax": 49.23734307476923 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 789.1288197282918, + 49.23734307476923 + ], + [ + 788.9999924284957, + 48.644300068302414 + ], + [ + 775.2825213535089, + 48.45896578647307 + ], + [ + 775.3945571328021, + 49.05155602580277 + ], + [ + 790.499882039756, + 35.750018297798874 + ], + [ + 790.3681844379348, + 35.168128322792825 + ], + [ + 776.5242743718223, + 34.98628219615131 + ], + [ + 776.6388692897087, + 35.56772383946094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4845208707864, + "ymin": 22.21210927952501, + "xmax": 827.3883052727373, + "ymax": 37.49356307840799 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.5000040174282, + 37.49356307840799 + ], + [ + 825.4774023135147, + 37.41803482749981 + ], + [ + 813.4845208707864, + 37.25990669736757 + ], + [ + 813.5052066615766, + 37.33538461127688 + ], + [ + 827.3883052727373, + 22.440656090495793 + ], + [ + 827.3651699422885, + 22.366779231851808 + ], + [ + 815.2496319046206, + 22.21210927952501 + ], + [ + 815.2708119292859, + 22.285936400856997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583733799432, + "ymin": 28.77338871390822, + "xmax": 827.3664316264001, + "ymax": 42.884305372047606 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818119859461, + 42.884305372047606 + ], + [ + 825.5106714398952, + 42.30664704264257 + ], + [ + 811.9583733799432, + 42.1261168834107 + ], + [ + 812.1131246993677, + 42.70333994614094 + ], + [ + 827.3664316264001, + 29.517137380647114 + ], + [ + 827.1916943355077, + 28.950478713430527 + ], + [ + 813.5159986830201, + 28.77338871390822 + ], + [ + 813.6740467531155, + 29.339616533464778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.3306369274718, + "ymin": 21.975085080601843, + "xmax": 829.3539960743915, + "ymax": 38.10184944727632 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 827.3473636874787, + 38.10184944727632 + ], + [ + 827.3199142731416, + 38.01118342634658 + ], + [ + 811.3306369274718, + 37.800109415875056 + ], + [ + 811.3550240418076, + 37.890694882592015 + ], + [ + 829.3539960743915, + 22.26989375905964 + ], + [ + 829.3258657318114, + 22.18131003067998 + ], + [ + 813.1645402429349, + 21.975085080601843 + ], + [ + 813.1895420237239, + 22.063589262494816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.484619728815, + "ymin": 22.21209636181129, + "xmax": 827.3884047950345, + "ymax": 37.49354985881513 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.5001025894463, + 37.49354985881513 + ], + [ + 825.4775008704743, + 37.41802161211456 + ], + [ + 813.484619728815, + 37.25989349078918 + ], + [ + 813.50530553476, + 37.33537140049509 + ], + [ + 827.3884047950345, + 22.440643159922615 + ], + [ + 827.365269449236, + 22.3667663054361 + ], + [ + 815.2497317188306, + 22.21209636181129 + ], + [ + 815.2709117589447, + 22.285923478990014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583698135214, + "ymin": 28.773388612026622, + "xmax": 827.3664280099713, + "ymax": 42.88430523949063 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818084024981, + 42.88430523949063 + ], + [ + 825.5106678691913, + 42.30664693870318 + ], + [ + 811.9583698135214, + 42.126116779549534 + ], + [ + 812.113121121017, + 42.70333981368384 + ], + [ + 827.3664280099713, + 29.51713725061279 + ], + [ + 827.1916907320797, + 28.950478611471624 + ], + [ + 813.5159950839522, + 28.773388612026622 + ], + [ + 813.6740431418772, + 29.33961640352942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.3306436490188, + "ymin": 21.97510947396745, + "xmax": 829.3540038218828, + "ymax": 38.10187441792033 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 827.3473712474174, + 38.10187441792033 + ], + [ + 827.3199218387153, + 38.011208415603335 + ], + [ + 811.3306436490188, + 37.80013438293173 + ], + [ + 811.355030758347, + 37.89071983104816 + ], + [ + 829.3540038218828, + 22.269918156262065 + ], + [ + 829.3258734850458, + 22.181334445967934 + ], + [ + 813.1645471338815, + 21.97510947396745 + ], + [ + 813.1895489095648, + 22.063613637786943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.3307571496409, + "ymin": 21.975083291754117, + "xmax": 829.3541175824259, + "ymax": 38.10184758587866 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 827.3474839157224, + 38.10184758587866 + ], + [ + 827.320034487072, + 38.011181593800245 + ], + [ + 811.3307571496409, + 37.80010758495672 + ], + [ + 811.3551442792439, + 37.89069302284827 + ], + [ + 829.3541175824259, + 22.269891940408286 + ], + [ + 829.3259872252553, + 22.181308240224723 + ], + [ + 813.1646617448017, + 21.975083291754117 + ], + [ + 813.1896635411558, + 22.0635874454768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9583680075673, + "ymin": 28.773388477870526, + "xmax": 827.3664261803048, + "ymax": 42.88430510229489 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.6818065897637, + 42.88430510229489 + ], + [ + 825.5106660586874, + 42.30664680183747 + ], + [ + 811.9583680075673, + 42.12611664278694 + ], + [ + 812.1131193128433, + 42.703339676591554 + ], + [ + 827.3664261803048, + 29.517137116027982 + ], + [ + 827.1916889046855, + 28.950478477213494 + ], + [ + 813.515993261191, + 28.773388477870526 + ], + [ + 813.6740413168548, + 29.339616269046928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.3306331449038, + "ymin": 21.975060615655195, + "xmax": 829.3539912876985, + "ymax": 38.10182437512299 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 827.3473590573908, + 38.10182437512299 + ], + [ + 827.3199096453852, + 38.01115836376027 + ], + [ + 811.3306331449038, + 37.80008437555398 + ], + [ + 811.3550202572318, + 37.89066983271664 + ], + [ + 829.3539912876985, + 22.269869262679038 + ], + [ + 829.3258609475414, + 22.181285543746753 + ], + [ + 813.1645363221398, + 21.975060615655195 + ], + [ + 813.1895381008401, + 22.06356478811358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.8904855546314, + "ymin": 27.857795055942574, + "xmax": 756.5221159161985, + "ymax": 41.947952530705834 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 755.4765044646908, + 41.947952530705834 + ], + [ + 755.3900300728094, + 41.37254462055489 + ], + [ + 741.8904855546314, + 41.19271720077802 + ], + [ + 741.9606979653162, + 41.76769238483109 + ], + [ + 756.5221159161985, + 28.598620623400222 + ], + [ + 756.4335920908193, + 28.034189480325324 + ], + [ + 742.8116111870047, + 27.857795055942574 + ], + [ + 742.8835765326926, + 28.42179788884897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.3306357549083, + "ymin": 21.975085120223355, + "xmax": 829.3539948813379, + "ymax": 38.10184945972935 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 827.3473625070158, + 38.10184945972935 + ], + [ + 827.319913101423, + 38.011183466936075 + ], + [ + 811.3306357549083, + 37.800109456428515 + ], + [ + 811.3550228614502, + 37.89069489503396 + ], + [ + 829.3539948813379, + 22.269893771226634 + ], + [ + 829.3258645477183, + 22.181310070337133 + ], + [ + 813.1645390579786, + 21.975085120223355 + ], + [ + 813.1895408307782, + 22.06358927465095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.6950259353191, + "ymin": 32.330714934302364, + "xmax": 827.0795448628568, + "ymax": 46.39649159968235 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 825.3997479588057, + 46.39649159968235 + ], + [ + 825.2291743987739, + 45.81538114331062 + ], + [ + 811.6950259353191, + 45.633771731606146 + ], + [ + 811.8492541634507, + 46.21444490334352 + ], + [ + 827.0795448628568, + 33.079134663609295 + ], + [ + 826.9053903724136, + 32.50891743332659 + ], + [ + 813.2481761227292, + 32.330714934302364 + ], + [ + 813.4056864969825, + 32.900499193946985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4847029097266, + "ymin": 22.212116285063246, + "xmax": 827.388489467517, + "ymax": 37.49357024766135 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.500186327561, + 37.49357024766135 + ], + [ + 825.4775845942908, + 37.41804199447131 + ], + [ + 813.4847029097266, + 37.259913859562914 + ], + [ + 813.5053887297963, + 37.33539177575176 + ], + [ + 827.388489467517, + 22.44066310300792 + ], + [ + 827.3653541071016, + 22.366786242109242 + ], + [ + 815.2498158226322, + 22.212116285063246 + ], + [ + 815.2709958771845, + 22.285943408647597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.3656531005927, + "ymin": 28.59126340653188, + "xmax": 749.9508158167066, + "ymax": 42.69805290180784 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.9626269355616, + 42.69805290180784 + ], + [ + 748.8838541924536, + 42.12084258154226 + ], + [ + 735.3656531005927, + 41.94045231497648 + ], + [ + 735.4281188454805, + 42.517227874726814 + ], + [ + 749.9508158167066, + 29.334430143412817 + ], + [ + 749.8701298789508, + 28.768214936635673 + ], + [ + 736.2291520780568, + 28.59126340653188 + ], + [ + 736.2932332809803, + 29.15704827120817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4848168334536, + "ymin": 22.212112740300824, + "xmax": 827.3886045002598, + "ymax": 37.493566620059994 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 825.5003002155597, + 37.493566620059994 + ], + [ + 825.4776984643365, + 37.418038368024554 + ], + [ + 813.4848168334536, + 37.25991023553286 + ], + [ + 813.5055026714934, + 37.335388150568235 + ], + [ + 827.3886045002598, + 22.440659554716717 + ], + [ + 827.3654691215288, + 22.366782694958886 + ], + [ + 815.2499308918482, + 22.212112740300824 + ], + [ + 815.2711109647339, + 22.285939862745522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.28631041550966, + "ymin": 15.809752610950682, + "xmax": 117.38486864833715, + "ymax": 41.245280806778396 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 113.0503869137267, + 41.245280806778396 + ], + [ + 117.38486864833715, + 37.61080944567226 + ], + [ + 110.57005464754138, + 37.51911422807825 + ], + [ + 106.18424782310967, + 41.15217618637098 + ], + [ + 105.25249541689902, + 19.418088735094273 + ], + [ + 109.7107474949504, + 15.898538219207467 + ], + [ + 102.79738804932504, + 15.809752610950682 + ], + [ + 98.28631041550966, + 19.327918175293632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.04394107498285, + "ymin": 78.86996747812157, + "xmax": 404.003826392889, + "ymax": 102.36940192605886 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 404.003826392889, + 98.5099104346973 + ], + [ + 397.49987922842075, + 98.411976018573 + ], + [ + 395.43936399100994, + 102.27005108147443 + ], + [ + 401.98980045731435, + 102.36940192605886 + ], + [ + 400.7504685004078, + 78.96562865630659 + ], + [ + 394.1574799942505, + 78.86996747812157 + ], + [ + 392.04394107498285, + 82.6388542941956 + ], + [ + 398.6847051087003, + 82.73591830353928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18360097670761586227, + "instance_id": 13214, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 32.24429702758789, + "y": -10.91596508026123, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.577752231525096, + "ymin": 15.010523421884614, + "xmax": 56.01266082932466, + "ymax": 40.40683659287754 + }, + "corners_3d": [ + [ + 32.105709075927734, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -11.10592269897461, + 6.416468620300293 + ], + [ + 32.105709075927734, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -11.10592269897461, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 51.21669243541396, + 40.40683659287754 + ], + [ + 56.01266082932466, + 36.78504768836842 + ], + [ + 49.22144114189166, + 36.693669935280525 + ], + [ + 44.374507596982994, + 40.314056787718414 + ], + [ + 42.51927388090894, + 18.606085630667508 + ], + [ + 47.45248188945288, + 15.098997119940805 + ], + [ + 40.56340984169117, + 15.010523421884614 + ], + [ + 35.577752231525096, + 18.516234310657353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.0354801893831, + "ymin": 28.7200168805756, + "xmax": 763.3081896902642, + "ymax": 73.74031169739237 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 759.6105416899004, + 73.74031169739237 + ], + [ + 759.5461352387858, + 73.3081209654568 + ], + [ + 758.0354801893831, + 73.28665678929195 + ], + [ + 758.0986047481126, + 73.7188111545151 + ], + [ + 763.3081896902642, + 29.146856089288917 + ], + [ + 763.2385687289333, + 28.74021177360231 + ], + [ + 761.6810958644503, + 28.7200168805756 + ], + [ + 761.7493542107893, + 29.12662592189446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 129.20675287594628, + "ymax": 71.6674854364723 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 129.20675287594628, + -8.583169443922316 + ], + [ + 122.26763638507623, + -8.689345979967754 + ], + [ + 15.107398298474209, + 71.51782469310683 + ], + [ + 23.31460895651594, + 71.6674854364723 + ], + [ + 77.53830687904804, + -162.82389671451062 + ], + [ + 69.91156499085605, + -162.898725259922 + ], + [ + -61.365125031331104, + -105.28274853376638 + ], + [ + -52.17846653864103, + -105.17316251818619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.913861113024, + "ymin": 481.35566504164217, + "xmax": 721.0760588711867, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 711.1155528577407, + 485.4831590963394 + ], + [ + 693.913861113024, + 485.0407682395158 + ], + [ + 697.5240701029066, + 804.2742506448681 + ], + [ + 720.6871558709015, + 805.0761078921889 + ], + [ + 711.3698150034293, + 481.7978633093064 + ], + [ + 694.1065286301761, + 481.35566504164217 + ], + [ + 697.8011497945395, + 800.8448932038725 + ], + [ + 721.0760588711867, + 801.6483894083926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.6334629352511, + "ymin": 28.554188714018835, + "xmax": 750.5096724831451, + "ymax": 73.56374541368092 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 747.1969596401988, + 73.56374541368092 + ], + [ + 747.1430748362766, + 73.13185328638428 + ], + [ + 745.6334629352511, + 73.11040393343586 + ], + [ + 745.6860676155894, + 73.54225973170202 + ], + [ + 750.5096724831451, + 28.9807239141565 + ], + [ + 750.4512355236067, + 28.57436922986716 + ], + [ + 748.8948713364068, + 28.554188714018835 + ], + [ + 748.9519476190909, + 28.960508161618975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.2947166691138, + "ymin": 79.186934688142, + "xmax": 701.8958417892687, + "ymax": 170.2930001498972 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 699.1013180364967, + 82.24724819005064 + ], + [ + 689.2947166691138, + 82.10523143383801 + ], + [ + 690.279248370821, + 170.09875458432018 + ], + [ + 701.7487957120827, + 170.2930001498972 + ], + [ + 699.2216154776683, + 79.32844060390056 + ], + [ + 689.395025824562, + 79.186934688142 + ], + [ + 690.3989429492128, + 166.89414170323232 + ], + [ + 701.8958417892687, + 167.0878221719964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 778.3974000954078, + "ymin": 35.70077926972789, + "xmax": 784.4070566579472, + "ymax": 81.16979264310862 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 780.0137331322101, + 81.16979264310862 + ], + [ + 779.930876909153, + 80.72494406306294 + ], + [ + 778.3974000954078, + 80.70285152958724 + ], + [ + 778.4789353889928, + 81.14766213366448 + ], + [ + 784.4070566579472, + 36.140514321286105 + ], + [ + 784.317713491894, + 35.7215840337758 + ], + [ + 782.7359712165791, + 35.70077926972789 + ], + [ + 782.8239089561433, + 36.1196726722651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.1412833634806, + "ymin": 0.0, + "xmax": 1253.5433842451957, + "ymax": 20.240613944642632 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1171.5683096609207, + -3.1745375132714457 + ], + [ + 1164.1412833634806, + -3.2632279424290687 + ], + [ + 1190.0743689636856, + 20.142090849975375 + ], + [ + 1197.9077877952086, + 20.240613944642632 + ], + [ + 1221.607615801869, + -146.2047558089452 + ], + [ + 1213.4704100536608, + -146.26980548351082 + ], + [ + 1244.9158062729957, + -129.01597792615394 + ], + [ + 1253.5433842451957, + -128.94297686978825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.8041943859064, + "ymin": 225.40712580463062, + "xmax": 1280.0, + "ymax": 644.9865862184183 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 1274.0226521019372, + 472.78851235749175 + ], + [ + 1256.8041943859064, + 472.35853102467354 + ], + [ + 1365.2486970783762, + 644.3786402920878 + ], + [ + 1385.786784392891, + 644.9865862184183 + ], + [ + 1424.1016548529783, + 225.7944897091918 + ], + [ + 1402.7221081240218, + 225.40712580463062 + ], + [ + 1578.8322165795284, + 387.618834245425 + ], + [ + 1605.5785634404292, + 388.2190699804792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.3583724908641, + "ymin": 79.24267041441158, + "xmax": 701.8199486909451, + "ymax": 170.2221392895036 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 699.0404946556902, + 82.26397223496917 + ], + [ + 689.3583724908641, + 82.12377966038662 + ], + [ + 690.3526939514663, + 170.03044573977527 + ], + [ + 701.6749708787577, + 170.2221392895036 + ], + [ + 699.1591380511178, + 79.38236518682521 + ], + [ + 689.4575325832092, + 79.24267041441158 + ], + [ + 690.4710193208408, + 166.86695136357426 + ], + [ + 701.8199486909451, + 167.05809428955095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 186.9820745736734, + "ymax": 170.5870656745738 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -82.90688946851424, + 159.94771278249257 + ], + [ + -89.09155026860003, + 164.69671828057895 + ], + [ + 182.90469797921048, + 170.5870656745738 + ], + [ + 186.9820745736734, + 165.74500907039436 + ], + [ + -189.01404014989544, + -39.12641741790105 + ], + [ + -197.0838214656676, + -35.49209788438628 + ], + [ + 114.4382353222685, + -30.97251008919136 + ], + [ + 119.74729801094486, + -34.6887167270271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.800132395103, + "ymin": 481.21486207264644, + "xmax": 721.2355942149027, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 711.2218630886227, + 485.3956556122043 + ], + [ + 693.800132395103, + 484.94764964749004 + ], + [ + 697.3748270578983, + 804.4972604946754 + ], + [ + 720.8408233400633, + 805.30975318693 + ], + [ + 711.4797786444537, + 481.6626700763968 + ], + [ + 693.9948637185686, + 481.21486207264644 + ], + [ + 697.65482205071, + 801.0238950111492 + ], + [ + 721.2355942149027, + 801.8380712529782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9298246310864, + "ymin": 32.65684096750846, + "xmax": 820.9779288512275, + "ymax": 77.53943502649628 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 815.5537332191358, + 77.53943502649628 + ], + [ + 815.442051236329, + 77.10425412538166 + ], + [ + 813.9298246310864, + 77.08264143655975 + ], + [ + 814.040222063303, + 77.51778573821969 + ], + [ + 820.9779288512275, + 33.08705907901896 + ], + [ + 820.8580705589718, + 32.67719573480599 + ], + [ + 819.2989277950663, + 32.65684096750846 + ], + [ + 819.4174205606337, + 33.06666877700167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.2089374532709, + "ymin": 0.0, + "xmax": 774.5178951356355, + "ymax": 14.763755086825313 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 758.468039123645, + -8.107926861468798 + ], + [ + 751.2089374532709, + -8.194611940692369 + ], + [ + 754.8190941451055, + 14.667577703176164 + ], + [ + 762.4660122732828, + 14.763755086825313 + ], + [ + 769.4814685866702, + -149.81933324936153 + ], + [ + 761.5452381503071, + -149.8827762546232 + ], + [ + 766.1158018012767, + -133.06741537569735 + ], + [ + 774.5178951356355, + -132.99632225853514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.7454081632401, + "ymin": 71.12407565346342, + "xmax": 705.9619709202165, + "ymax": 400.361482512594 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 692.9547599754692, + 293.37241728616834 + ], + [ + 679.350809775189, + 293.0952676748901 + ], + [ + 678.7454081632401, + 399.99721784917074 + ], + [ + 694.3416927035767, + 400.361482512594 + ], + [ + 702.5690968765366, + 71.35199283083648 + ], + [ + 686.4920439541548, + 71.12407565346342 + ], + [ + 687.026245620136, + 161.4294499331184 + ], + [ + 705.9619709202165, + 161.74559070393795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.6092311535331, + "ymin": 29.60391001569809, + "xmax": 764.9421438355896, + "ymax": 74.68137919198932 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 761.1885958974038, + 74.68137919198932 + ], + [ + 761.1227332491537, + 74.24759518066185 + ], + [ + 759.6092311535331, + 74.22605191312113 + ], + [ + 759.6738070711178, + 74.65979935645663 + ], + [ + 764.9421438355896, + 30.03237149993697 + ], + [ + 764.8709628683373, + 29.62418162797246 + ], + [ + 763.3104635910996, + 29.60391001569809 + ], + [ + 763.3802766405246, + 30.012064412005543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.2314587538027, + "ymin": 468.15677588388206, + "xmax": 729.9996957988075, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 698.5472607471929, + 724.8924189240072 + ], + [ + 676.9080212397663, + 724.1913968511773 + ], + [ + 675.2314587538027, + 1020.1749379382568 + ], + [ + 702.3890488251895, + 1021.2790266262629 + ], + [ + 717.4882031881137, + 468.8800249654763 + ], + [ + 688.8388033719143, + 468.15677588388206 + ], + [ + 690.806328969003, + 800.8790995319423 + ], + [ + 729.9996957988075, + 802.232127467367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.2463851707267, + "ymin": 29.289518370046096, + "xmax": 743.9267501686039, + "ymax": 74.3466631368122 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 740.8065948633273, + 74.3466631368122 + ], + [ + 740.7580407563859, + 73.9134461434275 + ], + [ + 739.2463851707267, + 73.89193102350788 + ], + [ + 739.2936556834023, + 74.32511152057504 + ], + [ + 743.9267501686039, + 29.717402484638797 + ], + [ + 743.8739697265823, + 29.309762677410106 + ], + [ + 742.3154331679907, + 29.289518370046096 + ], + [ + 742.3668491294104, + 29.697122773300805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 375.58040853352327, + "ymin": 0.0, + "xmax": 468.8244091968471, + "ymax": 160.0916066229264 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 409.4204653589145, + 159.88542528035893 + ], + [ + 419.19030657742456, + 160.0916066229264 + ], + [ + 468.8244091968471, + 52.47029237256214 + ], + [ + 460.800759885277, + 52.331724227454 + ], + [ + 375.58040853352327, + -39.17402842184896 + ], + [ + 386.7712442305682, + -39.016423000736836 + ], + [ + 448.75297746869035, + -119.16578232857324 + ], + [ + 439.79514890029157, + -119.26631534508857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.2919893227347, + "ymin": 29.472094946317952, + "xmax": 821.3667838189035, + "ymax": 74.5410442729451 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.9196047317841, + 74.5410442729451 + ], + [ + 815.8073801440563, + 74.10749806738374 + ], + [ + 814.2919893227347, + 74.08596660340532 + ], + [ + 814.4029239764072, + 74.5194762710392 + ], + [ + 821.3667838189035, + 29.90031428133659 + ], + [ + 821.2463285035225, + 29.492355108214838 + ], + [ + 819.6838219277171, + 29.472094946317952 + ], + [ + 819.8029058153941, + 29.880018673851396 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00016/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5cd189fde8602e8cf6effb48a40c50281ed232c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00016/meta.json @@ -0,0 +1,7593 @@ +{ + "frame_id": 16, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.0, + "sim_timestamp": 6862.743657821324 + }, + "drone_pose": { + "x": 7.346799496869593, + "y": -47.000076308083244, + "z": 20.066190137107473, + "pitch": -41.40679902113797, + "yaw": 83.34668612424913, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08689981698989868, + -0.7449814081192017, + 0.6614009141921997, + 21.103952407836914 + ], + [ + 0.9932653903961182, + 0.11586141586303711, + 0.0, + 12.742816925048828 + ], + [ + -0.07663080096244812, + 0.65694659948349, + 0.7500326037406921, + -45.36384582519531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.569070617307676, + "y": -46.558937855926274, + "z": 20.179066170376593 + }, + "t1_image_uv": [ + 44.03454009570976, + -1015.1900345603776 + ], + "t1_depth": 0.2732989668363472 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -25.687763214111328, + "z": 1.1449361336231232 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.607845530409005, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 544, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -25.687763214111328, + "z": 1.1449360847473145 + }, + "extent": { + "x": 0.3925747573375702, + "y": 0.30959227681159973, + "z": 0.9387911558151245 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.7757912817027, + "ymin": 326.5686084188123, + "xmax": 651.9944077160692, + "ymax": 392.73394695899765 + }, + "corners_3d": [ + [ + 10.142409324645996, + -26.080337524414062, + 0.20614492893218994 + ], + [ + 9.523224830627441, + -26.080337524414062, + 0.20614492893218994 + ], + [ + 9.523224830627441, + -25.295188903808594, + 0.20614492893218994 + ], + [ + 10.142409324645996, + -25.295188903808594, + 0.20614492893218994 + ], + [ + 10.142409324645996, + -26.080337524414062, + 2.0837273597717285 + ], + [ + 9.523224830627441, + -26.080337524414062, + 2.0837273597717285 + ], + [ + 9.523224830627441, + -25.295188903808594, + 2.0837273597717285 + ], + [ + 10.142409324645996, + -25.295188903808594, + 2.0837273597717285 + ] + ], + "corners_2d": [ + [ + 628.2999199351145, + 391.10042582771604 + ], + [ + 648.7010497755094, + 392.73394695899765 + ], + [ + 651.489392809341, + 375.2961670028366 + ], + [ + 631.4870367855964, + 373.7267364441145 + ], + [ + 627.7757912817027, + 343.7255503803411 + ], + [ + 649.0915888607035, + 345.340257468539 + ], + [ + 651.9944077160692, + 328.1172101515046 + ], + [ + 631.1135617764762, + 326.5686084188123 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 16, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 242994, + "2": 73623, + "5": 3487, + "6": 5172, + "7": 111, + "10": 1, + "12": 2649, + "14": 45404, + "15": 3344, + "24": 39051, + "25": 505764 + }, + "instance_pixel_counts": { + "381": 179, + "586": 2818, + "606": 588, + "842": 669, + "1118": 572, + "1630": 192, + "2142": 221, + "2644": 2365, + "2654": 925, + "3156": 1808, + "3166": 890, + "3678": 498, + "4190": 581, + "6238": 425, + "6991": 3344, + "7262": 542, + "7503": 8204, + "7774": 644, + "8015": 6459, + "8527": 6149, + "8798": 968, + "9310": 1221, + "9822": 1539, + "10334": 2014, + "11676": 44531, + "11870": 2860, + "12188": 82950, + "12700": 22471, + "13212": 2995, + "13406": 40, + "13918": 129, + "14236": 20405, + "14430": 748, + "14942": 891, + "15454": 1152, + "15966": 1448, + "16284": 23145, + "16478": 1885, + "16990": 246, + "18013": 355646, + "19037": 150118, + "23418": 4057, + "23441": 5909, + "24442": 3572, + "24954": 1301, + "25466": 130, + "25489": 9558, + "25978": 637, + "27516": 652, + "28026": 710, + "28028": 779, + "29052": 5015, + "29564": 560, + "30076": 5114, + "31100": 21, + "31612": 1290, + "33660": 1297, + "34560": 21, + "34816": 1089, + "36252": 10775, + "37788": 1100, + "38300": 13728, + "40860": 20894, + "43008": 544, + "43264": 234, + "43520": 170, + "43776": 609, + "44032": 283, + "44288": 809, + "44922": 710, + "45312": 1703, + "45824": 3329, + "46173": 4502, + "48896": 4093, + "52124": 92, + "52636": 817, + "54684": 1136, + "57241": 2162, + "57753": 1963, + "58265": 19188, + "58777": 469, + "59289": 19600, + "59997": 140, + "61021": 28, + "61337": 7768, + "63385": 7566 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 544, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -25.687763214111328, + "z": 1.1449360847473145 + }, + "extent": { + "x": 0.40173521637916565, + "y": 0.3641931116580963, + "z": 0.9317057728767395 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.8622574400893, + "ymin": 326.4221172441132, + "xmax": 653.8699517965667, + "ymax": 392.91477565945695 + }, + "corners_3d": [ + [ + 10.197010040283203, + -26.08949851989746, + 0.21323031187057495 + ], + [ + 9.468624114990234, + -26.08949851989746, + 0.21323031187057495 + ], + [ + 9.468624114990234, + -25.286027908325195, + 0.21323031187057495 + ], + [ + 10.197010040283203, + -25.286027908325195, + 0.21323031187057495 + ], + [ + 10.197010040283203, + -26.08949851989746, + 2.076641798019409 + ], + [ + 9.468624114990234, + -26.08949851989746, + 2.076641798019409 + ], + [ + 9.468624114990234, + -25.286027908325195, + 2.076641798019409 + ], + [ + 10.197010040283203, + -25.286027908325195, + 2.076641798019409 + ] + ], + "corners_2d": [ + [ + 626.4639968287624, + 390.9923170208314 + ], + [ + 650.4726180004576, + 392.91477565945695 + ], + [ + 653.2903249720266, + 375.06482578987493 + ], + [ + 629.7619102009202, + 373.2195306849395 + ], + [ + 625.8622574400893, + 343.97461500294526 + ], + [ + 650.9392407701341, + 345.87513980319886 + ], + [ + 653.8699517965667, + 328.2430712054219 + ], + [ + 629.3163974471706, + 326.4221172441132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 234, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -22.6900577545166, + "z": 1.1385250091552734 + }, + "extent": { + "x": 0.22826966643333435, + "y": 0.20855103433132172, + "z": 0.5991560816764832 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 516.5692711565727, + "ymin": 270.380881373566, + "xmax": 532.4736128761525, + "ymax": 309.0240393931003 + }, + "corners_3d": [ + [ + 14.115336418151855, + -22.95669937133789, + 0.5393689274787903 + ], + [ + 13.70734977722168, + -22.869977951049805, + 0.5393689274787903 + ], + [ + 13.80226993560791, + -22.423416137695312, + 0.5393689274787903 + ], + [ + 14.210256576538086, + -22.5101375579834, + 0.5393689274787903 + ], + [ + 14.115336418151855, + -22.95669937133789, + 1.7376811504364014 + ], + [ + 13.70734977722168, + -22.869977951049805, + 1.7376811504364014 + ], + [ + 13.80226993560791, + -22.423416137695312, + 1.7376811504364014 + ], + [ + 14.210256576538086, + -22.5101375579834, + 1.7376811504364014 + ] + ], + "corners_2d": [ + [ + 519.6832772455396, + 309.0240393931003 + ], + [ + 532.4736128761525, + 308.28645958286205 + ], + [ + 532.3420702293378, + 299.76095482486755 + ], + [ + 519.6889292599876, + 300.48278970627433 + ], + [ + 516.5692711565727, + 279.5286455882937 + ], + [ + 529.6932897188042, + 278.80004622785646 + ], + [ + 529.5889676166017, + 270.380881373566 + ], + [ + 516.6093551577367, + 271.0935317849488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 170, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -18.74505043029785, + "z": 0.8045777082443237 + }, + "extent": { + "x": 0.30086851119995117, + "y": 0.2740411162376404, + "z": 0.6320399045944214 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 717.3021017851198, + "ymin": 222.7081145548126, + "xmax": 735.9799760476861, + "ymax": 262.36708198768963 + }, + "corners_3d": [ + [ + 7.8180832862854, + -19.07291603088379, + 0.17253780364990234 + ], + [ + 7.273003101348877, + -19.015625, + 0.17253780364990234 + ], + [ + 7.335901737213135, + -18.417184829711914, + 0.17253780364990234 + ], + [ + 7.880981922149658, + -18.474475860595703, + 0.17253780364990234 + ], + [ + 7.8180832862854, + -19.07291603088379, + 1.4366176128387451 + ], + [ + 7.273003101348877, + -19.015625, + 1.4366176128387451 + ], + [ + 7.335901737213135, + -18.417184829711914, + 1.4366176128387451 + ], + [ + 7.880981922149658, + -18.474475860595703, + 1.4366176128387451 + ] + ], + "corners_2d": [ + [ + 718.1343374886369, + 262.2638604130291 + ], + [ + 733.6197604222543, + 262.36708198768963 + ], + [ + 732.5845561801439, + 252.55636513019226 + ], + [ + 717.3021017851198, + 252.45583001648657 + ], + [ + 720.1038770982151, + 232.3586189001706 + ], + [ + 735.9799760476861, + 232.46021652625495 + ], + [ + 734.887336747552, + 222.80700266705765 + ], + [ + 719.2245062321714, + 222.7081145548126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 609, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -25.687763214111328, + "z": 1.1520943641662598 + }, + "extent": { + "x": 0.3949146568775177, + "y": 0.42439329624176025, + "z": 0.9419499039649963 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 942.7264629022598, + "ymin": 350.36605366587537, + "xmax": 991.1599452038682, + "ymax": 418.86227383203595 + }, + "corners_3d": [ + [ + 0.7572102546691895, + -26.082677841186523, + 0.21014446020126343 + ], + [ + -0.09157633781433105, + -26.082677841186523, + 0.21014446020126343 + ], + [ + -0.09157609939575195, + -25.292848587036133, + 0.21014446020126343 + ], + [ + 0.7572104930877686, + -25.292848587036133, + 0.21014446020126343 + ], + [ + 0.7572102546691895, + -26.082677841186523, + 2.0940442085266113 + ], + [ + -0.09157633781433105, + -26.082677841186523, + 2.0940442085266113 + ], + [ + -0.09157609939575195, + -25.292848587036133, + 2.0940442085266113 + ], + [ + 0.7572104930877686, + -25.292848587036133, + 2.0940442085266113 + ] + ], + "corners_2d": [ + [ + 945.9342173445334, + 416.4893007941652 + ], + [ + 975.5718490092991, + 418.86227383203595 + ], + [ + 971.7473142113632, + 400.2720842160932 + ], + [ + 942.7264629022598, + 397.99543276665054 + ], + [ + 960.1066049608356, + 368.674701325286 + ], + [ + 991.1599452038682, + 371.02642347847666 + ], + [ + 986.826959974353, + 352.6180304595607 + ], + [ + 956.4500324538951, + 350.36605366587537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 283, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -36.81512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.40935060381889343, + "y": 0.5924683213233948, + "z": 0.9238758087158203 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 716.8590654509906, + "ymin": 677.4036283825027, + "xmax": 785.4991687934967, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.849329471588135, + -37.160301208496094, + 0.22314035892486572 + ], + [ + 5.670884132385254, + -37.28416442871094, + 0.22314035892486572 + ], + [ + 5.585306644439697, + -36.469947814941406, + 0.22314035892486572 + ], + [ + 6.763751983642578, + -36.34608459472656, + 0.22314035892486572 + ], + [ + 6.849329471588135, + -37.160301208496094, + 2.070891857147217 + ], + [ + 5.670884132385254, + -37.28416442871094, + 2.070891857147217 + ], + [ + 5.585306644439697, + -36.469947814941406, + 2.070891857147217 + ], + [ + 6.763751983642578, + -36.34608459472656, + 2.070891857147217 + ] + ], + "corners_2d": [ + [ + 716.8590654509906, + 757.7465038047529 + ], + [ + 772.4998058076353, + 769.728847535634 + ], + [ + 776.9568865124738, + 733.5694389117726 + ], + [ + 722.8615042464443, + 722.2638355810227 + ], + [ + 721.753964256871, + 713.7454201684207 + ], + [ + 781.0247674761231, + 726.0477190394797 + ], + [ + 785.4991687934967, + 688.9686573673141 + ], + [ + 727.9789003313324, + 677.4036283825027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 809, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -33.85797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.3146142363548279, + "y": 0.5866735577583313, + "z": 0.8928539156913757 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.9126786324731, + "ymin": 505.1938101221669, + "xmax": 184.96482782035537, + "ymax": 582.6027650478338 + }, + "corners_3d": [ + [ + 21.717418670654297, + -34.04374313354492, + 0.24432343244552612 + ], + [ + 20.569711685180664, + -34.28769302368164, + 0.24432343244552612 + ], + [ + 20.438888549804688, + -33.67221450805664, + 0.24432343244552612 + ], + [ + 21.58659553527832, + -33.42826461791992, + 0.24432343244552612 + ], + [ + 21.717418670654297, + -34.04374313354492, + 2.030031204223633 + ], + [ + 20.569711685180664, + -34.28769302368164, + 2.030031204223633 + ], + [ + 20.438888549804688, + -33.67221450805664, + 2.030031204223633 + ], + [ + 21.58659553527832, + -33.42826461791992, + 2.030031204223633 + ] + ], + "corners_2d": [ + [ + 129.3310237343107, + 570.0694569303839 + ], + [ + 168.24860601909728, + 582.6027650478338 + ], + [ + 184.96482782035537, + 562.8286855174142 + ], + [ + 146.56636733455156, + 550.7520785301896 + ], + [ + 102.9126786324731, + 524.6182267695103 + ], + [ + 143.53893085628079, + 537.240647455853 + ], + [ + 161.5941763149367, + 517.3330305095593 + ], + [ + 121.53001703838288, + 505.1938101221669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 1703, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1193.6112412090783, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 30.768520840597546 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1312.801935494263, + 30.768520840597546 + ], + [ + 1298.9414859713752, + 17.153678730726767 + ], + [ + 1193.6112412090783, + 12.68347399718067 + ], + [ + 1204.5243487149778, + 26.05452957807637 + ], + [ + 1327.2214302325028, + 0.38056716834046256 + ], + [ + 1312.6845006157941, + -12.701805680474479 + ], + [ + 1205.0528819211138, + -16.993967230016437 + ], + [ + 1216.510648725243, + -4.150732364400369 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3329, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 466.0018296625577, + "ymin": 33.08116845264294, + "xmax": 578.3229260415909, + "ymax": 84.7460252397081 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 479.0447933688355, + 62.93035332682092 + ], + [ + 469.78149836015655, + 79.50495545151489 + ], + [ + 571.9962354236974, + 84.7460252397081 + ], + [ + 578.3229260415909, + 67.86765293805843 + ], + [ + 475.57771669629716, + 33.08116845264294 + ], + [ + 466.0018296625577, + 49.103449364426126 + ], + [ + 570.4719307433209, + 54.174205699247125 + ], + [ + 576.98216593306, + 37.85176296559109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4093, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 2.4601227032472934, + "ymin": 99.8118731366036, + "xmax": 116.32682957210966, + "ymax": 185.65262986003486 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 116.32682957210966, + 137.1926614672353 + ], + [ + 75.76842498862788, + 134.6946547786878 + ], + [ + 20.22324524554392, + 182.75229436706243 + ], + [ + 63.692086043784684, + 185.65262986003486 + ], + [ + 102.36696058345206, + 102.23247043574679 + ], + [ + 60.789202347765695, + 99.8118731366036 + ], + [ + 2.4601227032472934, + 146.47113120270228 + ], + [ + 47.10116761101699, + 149.29321807398682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244790575068, + "ymin": 7.251083777830274, + "xmax": 912.0634119416047, + "ymax": 22.42874713476209 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302847813855, + 22.42874713476209 + ], + [ + 909.2846464774102, + 21.81167740041508 + ], + [ + 895.0244790575068, + 21.16683147488567 + ], + [ + 895.1526450377276, + 21.782335794362666 + ], + [ + 912.0634119416047, + 8.490407293192732 + ], + [ + 911.9131286248469, + 7.884377488344626 + ], + [ + 897.5105796387254, + 7.251083777830274 + ], + [ + 897.643039846402, + 7.855561187527542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244827909236, + "ymin": 7.251083943629169, + "xmax": 912.0634157266131, + "ymax": 22.428747304427702 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302885288835, + 22.428747304427702 + ], + [ + 909.2846502203165, + 21.81167756966954 + ], + [ + 895.0244827909236, + 21.166831643711134 + ], + [ + 895.152648775713, + 21.78233596359769 + ], + [ + 912.0634157266131, + 8.490407459825008 + ], + [ + 911.9131324051712, + 7.884377654569107 + ], + [ + 897.5105834093721, + 7.251083943629169 + ], + [ + 897.6430436217088, + 7.855561353732639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.5123783002243, + "ymin": 5.562831476133283, + "xmax": 852.776690084173, + "ymax": 20.70107890042192 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 850.7243511181425, + 20.70107890042192 + ], + [ + 850.6501376069208, + 20.088188652905842 + ], + [ + 836.5123783002243, + 19.447704924209063 + ], + [ + 836.5694170127379, + 20.059045623965005 + ], + [ + 852.776690084173, + 6.793684770129232 + ], + [ + 852.699250810092, + 6.191799561783455 + ], + [ + 838.4215254663698, + 5.562831476133283 + ], + [ + 838.4814480117714, + 6.163180177005017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.8951939580426, + "ymin": 4.580927961065015, + "xmax": 851.1072176093029, + "ymax": 19.696211670085404 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 849.0750152957188, + 19.696211670085404 + ], + [ + 849.0029374748627, + 19.08574577407262 + ], + [ + 834.8951939580426, + 18.44779245447205 + ], + [ + 834.9501698496468, + 19.056717981977954 + ], + [ + 851.1072176093029, + 5.806868332814247 + ], + [ + 851.0319657210256, + 5.20738704894751 + ], + [ + 836.7848520475361, + 4.580927961065015 + ], + [ + 836.8426622584486, + 5.178881927647694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.9404392189267, + "ymin": 0.4417571981831543, + "xmax": 912.5404532864973, + "ymax": 16.779882886627092 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.583489382037, + 16.779882886627092 + ], + [ + 909.5642021026422, + 16.69917253988774 + ], + [ + 896.9404392189267, + 16.134079855290224 + ], + [ + 896.9576825566808, + 16.21460903413879 + ], + [ + 912.5404532864973, + 1.0742628612247813 + ], + [ + 912.5204751348232, + 0.9952134025681403 + ], + [ + 899.7550704736298, + 0.4417571981831543 + ], + [ + 899.7729585663722, + 0.5206272742892679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.9405806659265, + "ymin": 0.44175833694350786, + "xmax": 912.5405965052125, + "ymax": 16.779884052333728 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.5836310400335, + 16.779884052333728 + ], + [ + 909.5643437378792, + 16.699173705220574 + ], + [ + 896.9405806659265, + 16.13408101800752 + ], + [ + 896.9578240263797, + 16.214610197228637 + ], + [ + 912.5405965052125, + 1.0742640029450854 + ], + [ + 912.5206183302746, + 0.99521454391828 + ], + [ + 899.7552134766797, + 0.44175833694350786 + ], + [ + 899.7731015926233, + 0.5206284134185353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244790575068, + "ymin": 7.251083777830274, + "xmax": 912.0634119416047, + "ymax": 22.42874713476209 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302847813855, + 22.42874713476209 + ], + [ + 909.2846464774102, + 21.81167740041508 + ], + [ + 895.0244790575068, + 21.16683147488567 + ], + [ + 895.1526450377276, + 21.782335794362666 + ], + [ + 912.0634119416047, + 8.490407293192732 + ], + [ + 911.9131286248469, + 7.884377488344626 + ], + [ + 897.5105796387254, + 7.251083777830274 + ], + [ + 897.643039846402, + 7.855561187527542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244790449495, + "ymin": 7.25108371860631, + "xmax": 912.0634119194647, + "ymax": 22.428747043854344 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302847599298, + 22.428747043854344 + ], + [ + 909.2846464631411, + 21.81167733995676 + ], + [ + 895.0244790449495, + 21.16683141458077 + ], + [ + 895.152645018846, + 21.782335703685874 + ], + [ + 912.0634119194647, + 8.490407203910593 + ], + [ + 911.9131286101228, + 7.884377428968776 + ], + [ + 897.5105796257476, + 7.25108371860631 + ], + [ + 897.6430398268876, + 7.855561098474027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244821686874, + "ymin": 7.251083915996048, + "xmax": 912.0634150883984, + "ymax": 22.42874724584749 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302878971486, + 22.42874724584749 + ], + [ + 909.2846495964988, + 21.811677541460426 + ], + [ + 895.0244821686874, + 21.166831615573585 + ], + [ + 895.1526481464216, + 21.782335905166235 + ], + [ + 912.0634150883984, + 8.490407402292192 + ], + [ + 911.9131317751171, + 7.884377626865046 + ], + [ + 897.5105827809309, + 7.251083915996048 + ], + [ + 897.6430429859863, + 7.855561296347389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 856.1529401936577, + "ymin": 12.609517657598474, + "xmax": 872.894598160545, + "ymax": 27.911722771917255 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 870.6162794867815, + 27.911722771917255 + ], + [ + 870.5166367749403, + 27.281294840423413 + ], + [ + 856.1529401936577, + 26.62250713073115 + ], + [ + 856.2348547848936, + 27.251318574692846 + ], + [ + 872.894598160545, + 13.8759183679108 + ], + [ + 872.7911528768775, + 13.256639129789278 + ], + [ + 858.2829677950883, + 12.609517657598474 + ], + [ + 858.3683263227067, + 13.22719334755027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.9402480410408, + "ymin": 0.4417438704264214, + "xmax": 912.5402593358688, + "ymax": 16.77986924349807 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.5832976158512, + 16.77986924349807 + ], + [ + 909.564010367729, + 16.6991589011339 + ], + [ + 896.9402480410408, + 16.134066247148326 + ], + [ + 896.957491347702, + 16.214595421636602 + ], + [ + 912.5402593358688, + 1.07424949882585 + ], + [ + 912.5202812161832, + 0.9952000445012459 + ], + [ + 899.7548771244744, + 0.4417438704264214 + ], + [ + 899.7727651854137, + 0.5206139422152773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244827909236, + "ymin": 7.251083943629169, + "xmax": 912.0634157266131, + "ymax": 22.428747304427702 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302885288835, + 22.428747304427702 + ], + [ + 909.2846502203165, + 21.81167756966954 + ], + [ + 895.0244827909236, + 21.166831643711134 + ], + [ + 895.152648775713, + 21.78233596359769 + ], + [ + 912.0634157266131, + 8.490407459825008 + ], + [ + 911.9131324051712, + 7.884377654569107 + ], + [ + 897.5105834093721, + 7.251083943629169 + ], + [ + 897.6430436217088, + 7.855561353732639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6384550625737, + "ymin": 0.12378230774197618, + "xmax": 914.6250820129465, + "ymax": 17.475888852885248 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 911.4913763831087, + 17.475888852885248 + ], + [ + 911.4678842360051, + 17.37898379598937 + ], + [ + 894.6384550625737, + 16.624737875263236 + ], + [ + 894.6586806442926, + 16.72135304355419 + ], + [ + 914.6250820129465, + 0.9565235420170666 + ], + [ + 914.6007093210419, + 0.8617128296442615 + ], + [ + 897.5726142922132, + 0.12378230774197618 + ], + [ + 897.5936428527184, + 0.2183061306897116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.9403528880916, + "ymin": 0.44173339587609917, + "xmax": 912.5403651331557, + "ymax": 16.779858521090432 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.5834023282675, + 16.779858521090432 + ], + [ + 909.5641150637655, + 16.69914818216455 + ], + [ + 896.9403528880916, + 16.134055552237726 + ], + [ + 896.957596211182, + 16.21458472329914 + ], + [ + 912.5403651331557, + 1.074238997049406 + ], + [ + 912.5203869967495, + 0.9951895461293248 + ], + [ + 899.7549830595246, + 0.44173339587609917 + ], + [ + 899.7728711372356, + 0.5206034642719715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244790449495, + "ymin": 7.25108371860631, + "xmax": 912.0634119194647, + "ymax": 22.428747043854344 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302847599298, + 22.428747043854344 + ], + [ + 909.2846464631411, + 21.81167733995676 + ], + [ + 895.0244790449495, + 21.16683141458077 + ], + [ + 895.152645018846, + 21.782335703685874 + ], + [ + 912.0634119194647, + 8.490407203910593 + ], + [ + 911.9131286101228, + 7.884377428968776 + ], + [ + 897.5105796257476, + 7.25108371860631 + ], + [ + 897.6430398268876, + 7.855561098474027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6384606371172, + "ymin": 0.1238083601932658, + "xmax": 914.6250887255388, + "ymax": 17.47591554188267 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 911.4913828531719, + 17.47591554188267 + ], + [ + 911.4678907108724, + 17.379010504802693 + ], + [ + 894.6384606371172, + 16.62476450418552 + ], + [ + 894.6586862146969, + 16.72137965270457 + ], + [ + 914.6250887255388, + 0.956549654261039 + ], + [ + 914.6007160385885, + 0.8617389611598014 + ], + [ + 897.5726200880596, + 0.1238083601932658 + ], + [ + 897.5936486442869, + 0.21833216391218002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6385816736336, + "ymin": 0.12378431354335362, + "xmax": 914.6252103770079, + "ymax": 17.475890879922588 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 911.4915032698243, + 17.475890879922588 + ], + [ + 911.4680111055228, + 17.37898585232483 + ], + [ + 894.6385816736336, + 16.624739925447784 + ], + [ + 894.6588072734653, + 16.72135506452713 + ], + [ + 914.6252103770079, + 0.9565255252499014 + ], + [ + 914.600837667605, + 0.8617148415331144 + ], + [ + 897.5727423742854, + 0.12378431354335362 + ], + [ + 897.5937709532242, + 0.21830810792067723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.0244771531268, + "ymin": 7.251083517259076, + "xmax": 912.0634099974402, + "ymax": 22.42874683781133 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 909.4302828575733, + 22.42874683781133 + ], + [ + 909.2846445631499, + 21.811677134413003 + ], + [ + 895.0244771531268, + 21.166831209558154 + ], + [ + 895.152643124678, + 21.782335498165878 + ], + [ + 912.0634099974402, + 8.490407001551318 + ], + [ + 911.9131266905126, + 7.884377227104665 + ], + [ + 897.5105777144687, + 7.251083517259076 + ], + [ + 897.6430379132149, + 7.8555608966336194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6384525849039, + "ymin": 0.12375627482902019, + "xmax": 914.6250784315082, + "ymax": 17.475862153837454 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 911.491373008533, + 17.475862153837454 + ], + [ + 911.4678808633225, + 17.378957107206816 + ], + [ + 894.6384525849039, + 16.624711266311635 + ], + [ + 894.6586781650772, + 16.721326424383392 + ], + [ + 914.6250784315082, + 0.9564974199402059 + ], + [ + 914.600705741606, + 0.8616867177265704 + ], + [ + 897.572611629043, + 0.12375627482902019 + ], + [ + 897.5936401879057, + 0.21828008766357243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 821.7007928042648, + "ymin": 3.9950018647823526, + "xmax": 837.732436049527, + "ymax": 19.09656881485131 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 835.831239308256, + 19.09656881485131 + ], + [ + 835.7751979086947, + 18.487547384011066 + ], + [ + 821.7007928042648, + 17.851101679202657 + ], + [ + 821.7398128910804, + 18.458588201980888 + ], + [ + 837.732436049527, + 5.218015219538984 + ], + [ + 837.6735391883683, + 4.619966163547133 + ], + [ + 823.4604193353358, + 3.9950018647823526 + ], + [ + 823.5019575259917, + 4.591529070103775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6384538263355, + "ymin": 0.12378231166292153, + "xmax": 914.6250807529173, + "ymax": 17.475888826817595 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 911.4913751376195, + 17.475888826817595 + ], + [ + 911.4678829980483, + 17.378983800009166 + ], + [ + 894.6384538263355, + 16.624737879270924 + ], + [ + 894.6586794015373, + 16.721353017564525 + ], + [ + 914.6250807529173, + 0.9565235165128456 + ], + [ + 914.6007080688238, + 0.861712833577144 + ], + [ + 897.5726130417538, + 0.12378231166292153 + ], + [ + 897.5936415954868, + 0.21830610526245664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.5266055360041, + "ymin": 10.96952579479921, + "xmax": 911.5337961809014, + "ymax": 26.09786538040538 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 908.9097110122659, + 26.09786538040538 + ], + [ + 908.7649196338541, + 25.47727234965464 + ], + [ + 894.5266055360041, + 24.828742105803485 + ], + [ + 894.6539781192446, + 25.44776312351223 + ], + [ + 911.5337961809014, + 12.216302913090487 + ], + [ + 911.3843860770388, + 11.606629481508776 + ], + [ + 897.0041283678238, + 10.96952579479921 + ], + [ + 897.1357705089592, + 11.57763984152433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.9404392189267, + "ymin": 0.4417571981831543, + "xmax": 912.5404532864973, + "ymax": 16.779882886627092 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.583489382037, + 16.779882886627092 + ], + [ + 909.5642021026422, + 16.69917253988774 + ], + [ + 896.9404392189267, + 16.134079855290224 + ], + [ + 896.9576825566808, + 16.21460903413879 + ], + [ + 912.5404532864973, + 1.0742628612247813 + ], + [ + 912.5204751348232, + 0.9952134025681403 + ], + [ + 899.7550704736298, + 0.4417571981831543 + ], + [ + 899.7729585663722, + 0.5206272742892679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.8574706488967, + "ymin": 4.555583663485493, + "xmax": 830.8238855858933, + "ymax": 19.670274235715112 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 828.9870328343736, + 19.670274235715112 + ], + [ + 828.9391806085953, + 19.05987088373155 + ], + [ + 814.8574706488967, + 18.421982812410192 + ], + [ + 814.8882838105635, + 19.030846032416548 + ], + [ + 830.8238855858933, + 5.781397326059732 + ], + [ + 830.7733324672869, + 5.181978057108438 + ], + [ + 816.5527601858447, + 4.555583663485493 + ], + [ + 816.5859363417569, + 5.153475851954454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.940559348499, + "ymin": 0.44175714049208636, + "xmax": 912.5405748878995, + "ymax": 16.77988282757076 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 909.5836096644555, + 16.77988282757076 + ], + [ + 909.5643223657758, + 16.69917248085045 + ], + [ + 896.940559348499, + 16.134079796385436 + ], + [ + 896.9578027054953, + 16.214608975215242 + ], + [ + 912.5405748878995, + 1.0742628033837036 + ], + [ + 912.520596716515, + 0.9952133447458209 + ], + [ + 899.7551919188174, + 0.44175714049208636 + ], + [ + 899.7730800312258, + 0.5206272165794985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 462.21599292891506, + "ymin": 45.95544484579784, + "xmax": 473.5263866760288, + "ymax": 70.17337869049601 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 473.5263866760288, + 66.2667154771832 + ], + [ + 467.0421394614504, + 65.93500859477041 + ], + [ + 464.7661873757488, + 69.83696848907886 + ], + [ + 471.29488105416624, + 70.17337869049601 + ], + [ + 471.119450989796, + 46.27977882473982 + ], + [ + 464.5429743373236, + 45.95544484579784 + ], + [ + 462.21599292891506, + 49.77103151680171 + ], + [ + 468.83819322619615, + 50.10003145936133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.6057150662518, + "ymin": 5.510829530510534, + "xmax": 844.7948694097271, + "ymax": 52.316029840807005 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 838.2218345093588, + 52.316029840807005 + ], + [ + 838.1803786085932, + 51.859378767631426 + ], + [ + 836.6057150662518, + 51.78348359020606 + ], + [ + 836.6458297741312, + 52.240005878638044 + ], + [ + 844.7948694097271, + 6.0137424519903675 + ], + [ + 844.7462853721486, + 5.582499536329237 + ], + [ + 843.1185031172786, + 5.510829530510534 + ], + [ + 843.1656539163636, + 5.94194679679282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 29.772682600524945, + "ymin": 0.0, + "xmax": 210.95113482738515, + "ymax": 25.44188839503863 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 210.95113482738515, + -52.22899472648055 + ], + [ + 204.27746212878264, + -52.52610326522813 + ], + [ + 97.67833842118387, + 25.02906925912407 + ], + [ + 105.45945193107616, + 25.44188839503863 + ], + [ + 166.18812661254674, + -208.81645239846648 + ], + [ + 158.85252343354477, + -209.02625187427918 + ], + [ + 29.772682600524945, + -153.22607886456512 + ], + [ + 38.46731323385541, + -152.92339101589596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.044448292483, + "ymin": 488.8249319722952, + "xmax": 763.2098941863701, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 762.7348153824879, + 494.11204314828547 + ], + [ + 744.7203080524945, + 492.5198480153331 + ], + [ + 729.044448292483, + 836.8061720475149 + ], + [ + 753.3731058249441, + 839.7166840591951 + ], + [ + 763.2098941863701, + 490.4172581217549 + ], + [ + 745.1249960992983, + 488.8249319722952 + ], + [ + 729.510194390421, + 833.6059509519366 + ], + [ + 753.967413756307, + 836.5246447840132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.689976255433, + "ymin": 4.922963241529203, + "xmax": 831.4283788684068, + "ymax": 51.69224864037187 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 825.291462980151, + 51.69224864037187 + ], + [ + 825.2609998055129, + 51.236653717384115 + ], + [ + 823.689976255433, + 51.16093398496412 + ], + [ + 823.7191044217526, + 51.61640056970174 + ], + [ + 831.4283788684068, + 5.424674621048837 + ], + [ + 831.3915412025597, + 4.994462090737045 + ], + [ + 829.7676461613838, + 4.922963241529203 + ], + [ + 829.8030574142305, + 5.353050572488655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.9860593760735, + "ymin": 58.864260248428195, + "xmax": 774.7888487458481, + "ymax": 156.25866145815888 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 774.4941608214215, + 62.40564426072217 + ], + [ + 764.2619268612036, + 61.89993090289846 + ], + [ + 759.9860593760735, + 155.5653577887656 + ], + [ + 771.9630255506114, + 156.25866145815888 + ], + [ + 774.7888487458481, + 59.36827644197359 + ], + [ + 764.5339437402408, + 58.864260248428195 + ], + [ + 760.2936876795043, + 152.25007144288375 + ], + [ + 772.301727444089, + 152.9415658475878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.4307162101346, + "ymin": 13.566204897503667, + "xmax": 866.4775763848802, + "ymax": 60.85886962652887 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 859.0933837372002, + 60.85886962652887 + ], + [ + 859.033304098984, + 60.38763153566566 + ], + [ + 857.4307162101346, + 60.30931320355438 + ], + [ + 857.4894066720071, + 60.78041629033714 + ], + [ + 866.4775763848802, + 14.085726987409771 + ], + [ + 866.4089029865272, + 13.640240831600863 + ], + [ + 864.7512667919758, + 13.566204897503667 + ], + [ + 864.8184539078461, + 14.011559128275678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1276.801296587231, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 10.388627024615516 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1284.9847897837458, + -15.821778211190122 + ], + [ + 1276.801296587231, + -16.153354687221395 + ], + [ + 1303.9251335939243, + 10.019109414569584 + ], + [ + 1312.5844691328252, + 10.388627024615516 + ], + [ + 1352.461164298606, + -169.02998515230547 + ], + [ + 1343.3697071106149, + -169.2770250626868 + ], + [ + 1377.619085765024, + -149.66468861176315 + ], + [ + 1387.301309499395, + -149.38614766332495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.0668246251832, + "ymin": 58.92535553304333, + "xmax": 774.7203507065522, + "ymax": 156.18058582211762 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 774.4295563233753, + 62.42162854790183 + ], + [ + 764.3271881513608, + 61.92234416398293 + ], + [ + 760.0668246251832, + 155.49630053456792 + ], + [ + 771.8900174649526, + 156.18058582211762 + ], + [ + 774.7203507065522, + 59.42298587197229 + ], + [ + 764.5958842394998, + 58.92535553304333 + ], + [ + 760.3706956572807, + 152.22353408993544 + ], + [ + 772.2241678668875, + 152.9060561726295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 257.4163494875304, + "ymax": 130.779022979144 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 0.7405664993499386, + 109.99590210791348 + ], + [ + -5.2905207914836865, + 114.4926685152154 + ], + [ + 253.20902780891896, + 130.779022979144 + ], + [ + 257.4163494875304, + 126.03622512788809 + ], + [ + -94.57927397853621, + -89.60990512051484 + ], + [ + -102.34403418529575, + -86.1677242583192 + ], + [ + 193.21374361859108, + -73.63575872510313 + ], + [ + 198.5996658571728, + -77.29580214050753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.8742047872807, + "ymin": 488.66813819889734, + "xmax": 763.3334930476267, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 762.8518447591869, + 494.02332188023587 + ], + [ + 744.6069578072893, + 492.41092775802827 + ], + [ + 728.8742047872807, + 837.0311900792965 + ], + [ + 753.5209911783703, + 839.9803075710761 + ], + [ + 763.3334930476267, + 490.280665135689 + ], + [ + 745.0163988751528, + 488.66813819889734 + ], + [ + 729.3451711184197, + 833.7900933830067 + ], + [ + 754.1239144139247, + 836.7476140612212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.886757275246, + "ymin": 11.511326651826948, + "xmax": 905.0999359258781, + "ymax": 58.27105640896872 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 896.5655995467671, + 58.27105640896872 + ], + [ + 896.4744269400492, + 57.80796187216424 + ], + [ + 894.886757275246, + 57.73099602469608 + ], + [ + 894.9765665297746, + 58.19395956429673 + ], + [ + 905.0999359258781, + 12.021965247904632 + ], + [ + 904.9982381049706, + 11.584097442407256 + ], + [ + 903.3565654677158, + 11.511326651826948 + ], + [ + 903.4568055919901, + 11.9490664787171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.1654681624375, + "ymin": 50.32946755164801, + "xmax": 778.7544419710714, + "ymax": 391.4529680805642 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 756.0595109918556, + 279.72001462627776 + ], + [ + 742.045662758897, + 278.75161208268645 + ], + [ + 735.1654681624375, + 390.1817990856939 + ], + [ + 751.2127403412835, + 391.4529680805642 + ], + [ + 778.7544419710714, + 51.14167651138274 + ], + [ + 761.9701048644695, + 50.32946755164801 + ], + [ + 757.0748457874787, + 146.49794959671672 + ], + [ + 776.8622700280367, + 147.62749461230828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.191537043949, + "ymin": 6.4959858188755675, + "xmax": 846.4514187578303, + "ymax": 53.36126903519653 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 839.8123630405921, + 53.36126903519653 + ], + [ + 839.7694763366223, + 52.90284545356849 + ], + [ + 838.191537043949, + 52.82665583738617 + ], + [ + 838.2330769682917, + 53.284949883776676 + ], + [ + 846.4514187578303, + 7.000915559611769 + ], + [ + 846.4012842280104, + 6.567943110676538 + ], + [ + 844.7700015284807, + 6.4959858188755675 + ], + [ + 844.8186966482808, + 6.928831861844344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.439296704041, + "ymin": 474.882501049801, + "xmax": 770.3913835121913, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 736.5435480918059, + 729.5889409829927 + ], + [ + 714.3579813480396, + 727.1516658682845 + ], + [ + 695.439296704041, + 1033.5486964434726 + ], + [ + 723.192032145279, + 1037.3738029933834 + ], + [ + 770.3913835121913, + 477.49008102833955 + ], + [ + 740.3571195536684, + 474.882501049801 + ], + [ + 722.0674534059426, + 834.1725945616756 + ], + [ + 763.2991824007306, + 839.0982280707522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.9947426689448, + "ymin": 5.485416147298736, + "xmax": 824.5131653450395, + "ymax": 52.28906485062805 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 818.5913822934863, + 52.28906485062805 + ], + [ + 818.5665628645761, + 51.83245942714842 + ], + [ + 816.9947426689448, + 51.75657183810887 + ], + [ + 817.0182257300235, + 52.21304849615865 + ], + [ + 824.5131653450395, + 5.988277125973013 + ], + [ + 824.4823394396719, + 5.557078749807374 + ], + [ + 822.857592132463, + 5.485416147298736 + ], + [ + 822.886990120455, + 5.916488893554003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 450.9097079238717, + "ymin": 0.0, + "xmax": 541.6943676336348, + "ymax": 129.34761550196592 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 476.21766139335875, + 128.75035497809105 + ], + [ + 485.9452568940883, + 129.34761550196592 + ], + [ + 541.6943676336348, + 20.309394964635487 + ], + [ + 533.6430495213207, + 19.90482247358483 + ], + [ + 450.9097079238717, + -75.20236014345181 + ], + [ + 462.1137485375148, + -74.74130254866878 + ], + [ + 529.5128670567349, + -156.68230317903135 + ], + [ + 520.4756950460228, + -156.97820108946644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.4568580305788, + "ymin": 8.189852243705275, + "xmax": 905.7132588269674, + "ymax": 55.158136922703534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.1400260133189, + 55.158136922703534 + ], + [ + 897.0481601080235, + 54.69665829420131 + ], + [ + 895.4568580305788, + 54.6199611792872 + ], + [ + 895.5473543367746, + 55.08130897560278 + ], + [ + 905.7132588269674, + 8.698259044680583 + ], + [ + 905.6107860444608, + 8.26230483533368 + ], + [ + 903.9652295177771, + 8.189852243705275 + ], + [ + 904.0662376967596, + 8.625678739147986 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00018/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8e79de147a1323813357737a4be2ebd96a83196 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00018/meta.json @@ -0,0 +1,7902 @@ +{ + "frame_id": 18, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.0, + "sim_timestamp": 6884.580858122092 + }, + "drone_pose": { + "x": 7.538101944132741, + "y": -45.8876985396884, + "z": 20.170681022547825, + "pitch": -41.74405792234881, + "yaw": 83.82226427765069, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08029288053512573, + -0.7417936325073242, + 0.6658042669296265, + 20.004215240478516 + ], + [ + 0.9941928386688232, + 0.1076129674911499, + 2.9802322387695312e-08, + 12.432439804077148 + ], + [ + -0.07164919376373291, + 0.6619378328323364, + 0.7461264133453369, + -44.88458251953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.612971044597488, + "y": -45.37682137115782, + "z": 20.15198190726383 + }, + "t1_image_uv": [ + 593.0001742304952, + -436.1166507640912 + ], + "t1_depth": 0.3974268067810658 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 9.83281707763672, + "y": -24.687763214111328, + "z": 1.142465431690216 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.579292572153346, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 565, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -24.687763214111328, + "z": 1.1424654722213745 + }, + "extent": { + "x": 0.37363401055336, + "y": 0.3596130311489105, + "z": 0.9138668775558472 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.2269966382223, + "ymin": 327.57947262125265, + "xmax": 653.5306405332037, + "ymax": 391.74157000106754 + }, + "corners_3d": [ + [ + 10.192429542541504, + -25.061397552490234, + 0.22859859466552734 + ], + [ + 9.473203659057617, + -25.061397552490234, + 0.22859859466552734 + ], + [ + 9.473204612731934, + -24.314128875732422, + 0.22859859466552734 + ], + [ + 10.19243049621582, + -24.314128875732422, + 0.22859859466552734 + ], + [ + 10.192429542541504, + -25.061397552490234, + 2.0563323497772217 + ], + [ + 9.473203659057617, + -25.061397552490234, + 2.0563323497772217 + ], + [ + 9.473204612731934, + -24.314128875732422, + 2.0563323497772217 + ], + [ + 10.19243049621582, + -24.314128875732422, + 2.0563323497772217 + ] + ], + "corners_2d": [ + [ + 626.8061554848485, + 389.9687751951857 + ], + [ + 650.547312682933, + 391.74157000106754 + ], + [ + 652.9712712960403, + 375.0119168204968 + ], + [ + 629.6715697777446, + 373.3051973216051 + ], + [ + 626.2269966382223, + 344.0602202140203 + ], + [ + 651.0112654560847, + 345.8151647270075 + ], + [ + 653.5306405332037, + 329.2662172069464 + ], + [ + 629.2270792547441, + 327.57947262125265 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 18, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 83, + "semantic_pixel_counts": { + "1": 250405, + "2": 72915, + "5": 3555, + "6": 4848, + "7": 237, + "10": 1, + "12": 2714, + "14": 47452, + "15": 1891, + "24": 39495, + "25": 498087 + }, + "instance_pixel_counts": { + "381": 412, + "586": 2943, + "606": 499, + "842": 612, + "1118": 624, + "1630": 211, + "2142": 240, + "2644": 1814, + "2654": 923, + "3156": 1919, + "3166": 866, + "3678": 574, + "4190": 6, + "6238": 472, + "6991": 1891, + "7262": 576, + "7503": 7958, + "7774": 698, + "8015": 6835, + "8527": 6508, + "8798": 1042, + "9310": 1321, + "9822": 1587, + "10334": 2199, + "11676": 47719, + "11870": 2659, + "12188": 83849, + "12700": 18463, + "13212": 1950, + "13406": 56, + "13918": 137, + "14236": 21707, + "14430": 737, + "14942": 993, + "15454": 1253, + "15966": 1582, + "16284": 24181, + "16478": 2095, + "18013": 349346, + "19037": 148741, + "23418": 4351, + "23441": 6337, + "24442": 3619, + "24954": 1130, + "25466": 82, + "25489": 10135, + "25978": 682, + "27516": 710, + "28026": 741, + "28028": 809, + "29052": 5493, + "29564": 217, + "30076": 4500, + "31612": 1409, + "33660": 1406, + "34560": 121, + "34816": 1231, + "36252": 13273, + "37788": 1486, + "38300": 15516, + "40860": 22261, + "43008": 565, + "43264": 242, + "43520": 162, + "43776": 602, + "44032": 221, + "44288": 922, + "44922": 842, + "45312": 1838, + "45824": 3491, + "46173": 4417, + "48896": 4350, + "52124": 74, + "52636": 866, + "54684": 1228, + "57241": 2339, + "57753": 1075, + "58265": 20965, + "58777": 66, + "59289": 17289, + "59997": 113, + "61337": 8311, + "63385": 7914 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 565, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": -24.687763214111328, + "z": 1.1424654722213745 + }, + "extent": { + "x": 0.3822994828224182, + "y": 0.34218138456344604, + "z": 0.9087236523628235 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.7927275415242, + "ymin": 327.56712381947455, + "xmax": 652.9676335526489, + "ymax": 391.77244873194786 + }, + "corners_3d": [ + [ + 10.17499828338623, + -25.0700626373291, + 0.23374181985855103 + ], + [ + 9.490635871887207, + -25.0700626373291, + 0.23374181985855103 + ], + [ + 9.490635871887207, + -24.305463790893555, + 0.23374181985855103 + ], + [ + 10.17499828338623, + -24.305463790893555, + 0.23374181985855103 + ], + [ + 10.17499828338623, + -25.0700626373291, + 2.0511891841888428 + ], + [ + 9.490635871887207, + -25.0700626373291, + 2.0511891841888428 + ], + [ + 9.490635871887207, + -24.305463790893555, + 2.0511891841888428 + ], + [ + 10.17499828338623, + -24.305463790893555, + 2.0511891841888428 + ] + ], + "corners_2d": [ + [ + 627.345186441824, + 390.0848729198673 + ], + [ + 649.943163116954, + 391.77244873194786 + ], + [ + 652.4346363795225, + 374.65677979208704 + ], + [ + 630.2665605310933, + 373.0335410513166 + ], + [ + 626.7927275415242, + 344.43250583528044 + ], + [ + 650.3781043718776, + 346.1032181635561 + ], + [ + 652.9676335526489, + 329.1714420859935 + ], + [ + 629.8501577414955, + 327.56712381947455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 242, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.958803176879883, + "y": -21.6900577545166, + "z": 1.1386959552764893 + }, + "extent": { + "x": 0.24095095694065094, + "y": 0.2806421220302582, + "z": 0.587871253490448 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 513.1595057099744, + "ymin": 270.2125134414, + "xmax": 533.6339039549302, + "ymax": 309.13417258249547 + }, + "corners_3d": [ + [ + 14.183216094970703, + -21.984092712402344, + 0.5508247017860413 + ], + [ + 13.634197235107422, + -21.867393493652344, + 0.5508247017860413 + ], + [ + 13.734390258789062, + -21.39602279663086, + 0.5508247017860413 + ], + [ + 14.283409118652344, + -21.51272201538086, + 0.5508247017860413 + ], + [ + 14.183216094970703, + -21.984092712402344, + 1.726567268371582 + ], + [ + 13.634197235107422, + -21.867393493652344, + 1.726567268371582 + ], + [ + 13.734390258789062, + -21.39602279663086, + 1.726567268371582 + ], + [ + 14.283409118652344, + -21.51272201538086, + 1.726567268371582 + ] + ], + "corners_2d": [ + [ + 516.3787033440204, + 309.13417258249547 + ], + [ + 533.6339039549302, + 308.0429133176922 + ], + [ + 533.3539486052676, + 298.97076079026834 + ], + [ + 516.2931686074525, + 300.0375367322069 + ], + [ + 513.2105353419929, + 280.2596169708422 + ], + [ + 530.9117386005104, + 279.18053462480816 + ], + [ + 530.6561673745132, + 270.2125134414 + ], + [ + 513.1595057099744, + 271.2667763738348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 162, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 7.576992511749268, + "y": -17.74505043029785, + "z": 0.8063414692878723 + }, + "extent": { + "x": 0.297683984041214, + "y": 0.30126890540122986, + "z": 0.6281114816665649 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 715.0276129473675, + "ymin": 221.31217663201795, + "xmax": 735.3362654848006, + "ymax": 260.6364123821393 + }, + "corners_3d": [ + [ + 7.845494747161865, + -18.072595596313477, + 0.17822998762130737 + ], + [ + 7.246257781982422, + -18.009613037109375, + 0.17822998762130737 + ], + [ + 7.30849027633667, + -17.417505264282227, + 0.17822998762130737 + ], + [ + 7.907727241516113, + -17.480487823486328, + 0.17822998762130737 + ], + [ + 7.845494747161865, + -18.072595596313477, + 1.434453010559082 + ], + [ + 7.246257781982422, + -18.009613037109375, + 1.434453010559082 + ], + [ + 7.30849027633667, + -17.417505264282227, + 1.434453010559082 + ], + [ + 7.907727241516113, + -17.480487823486328, + 1.434453010559082 + ] + ], + "corners_2d": [ + [ + 715.9565576413644, + 260.6053252800858 + ], + [ + 732.9887469706512, + 260.6364123821393 + ], + [ + 731.8398966768362, + 250.860577259266 + ], + [ + 715.0276129473675, + 250.83028756546443 + ], + [ + 717.8740146099027, + 230.9382162889263 + ], + [ + 735.3362654848006, + 230.9688395467641 + ], + [ + 734.1277370260135, + 221.3419949422673 + ], + [ + 716.8965618220301, + 221.31217663201795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 602, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -24.687763214111328, + "z": 1.1521576642990112 + }, + "extent": { + "x": 0.39478644728660583, + "y": 0.41172605752944946, + "z": 0.8915061950683594 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 943.3415642363575, + "ymin": 350.1511082420475, + "xmax": 990.2793998072922, + "ymax": 415.7117623530426 + }, + "corners_3d": [ + [ + 0.7445430159568787, + -25.082550048828125, + 0.26065146923065186 + ], + [ + -0.07890909910202026, + -25.082550048828125, + 0.26065146923065186 + ], + [ + -0.07890886068344116, + -24.29297637939453, + 0.26065146923065186 + ], + [ + 0.7445432543754578, + -24.29297637939453, + 0.26065146923065186 + ], + [ + 0.7445430159568787, + -25.082550048828125, + 2.04366397857666 + ], + [ + -0.07890909910202026, + -25.082550048828125, + 2.04366397857666 + ], + [ + -0.07890886068344116, + -24.29297637939453, + 2.04366397857666 + ], + [ + 0.7445432543754578, + -24.29297637939453, + 2.04366397857666 + ] + ], + "corners_2d": [ + [ + 946.7560922194581, + 413.56837169234296 + ], + [ + 975.4694428754041, + 415.7117623530426 + ], + [ + 971.4603176433566, + 397.06872343675263 + ], + [ + 943.3415642363575, + 395.0119340518777 + ], + [ + 960.2652262653737, + 368.55003489834036 + ], + [ + 990.2793998072922, + 370.6773606224477 + ], + [ + 985.7813588784569, + 352.1888124796456 + ], + [ + 956.4162472461578, + 350.1511082420475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 221, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.217318058013916, + "y": -35.81512451171875, + "z": 1.147016167640686 + }, + "extent": { + "x": 0.4491845965385437, + "y": 0.5574719905853271, + "z": 0.9350265264511108 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 722.6414248288754, + "ymin": 677.3270451520607, + "xmax": 788.3665356812803, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.818688869476318, + -36.203575134277344, + 0.2119896411895752 + ], + [ + 5.709852695465088, + -36.32012176513672, + 0.2119896411895752 + ], + [ + 5.615947246551514, + -35.426673889160156, + 0.2119896411895752 + ], + [ + 6.724783420562744, + -35.31012725830078, + 0.2119896411895752 + ], + [ + 6.818688869476318, + -36.203575134277344, + 2.082042694091797 + ], + [ + 5.709852695465088, + -36.32012176513672, + 2.082042694091797 + ], + [ + 5.615947246551514, + -35.426673889160156, + 2.082042694091797 + ], + [ + 6.724783420562744, + -35.31012725830078, + 2.082042694091797 + ] + ], + "corners_2d": [ + [ + 722.6414248288754, + 761.2672567730203 + ], + [ + 775.0533838564261, + 772.174273368248 + ], + [ + 779.5253319765197, + 732.3854708626463 + ], + [ + 728.70600883465, + 722.1490290120142 + ], + [ + 728.0091581859142, + 717.4540551731902 + ], + [ + 783.9064284888128, + 728.671258235202 + ], + [ + 788.3665356812803, + 687.8118288196033 + ], + [ + 734.2772238561914, + 677.3270451520607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 922, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.078153610229492, + "y": -32.85797882080078, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.336029052734375, + "y": 0.5035119652748108, + "z": 0.9023955464363098 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 105.41815591860563, + "ymin": 509.7565745091861, + "xmax": 183.75184209597, + "ymax": 586.990085521843 + }, + "corners_3d": [ + [ + 21.640527725219727, + -33.08197784423828, + 0.23478180170059204 + ], + [ + 20.65550994873047, + -33.291351318359375, + 0.23478180170059204 + ], + [ + 20.515779495239258, + -32.63397979736328, + 0.23478180170059204 + ], + [ + 21.500797271728516, + -32.42460632324219, + 0.23478180170059204 + ], + [ + 21.640527725219727, + -33.08197784423828, + 2.0395729541778564 + ], + [ + 20.65550994873047, + -33.291351318359375, + 2.0395729541778564 + ], + [ + 20.515779495239258, + -32.63397979736328, + 2.0395729541778564 + ], + [ + 21.500797271728516, + -32.42460632324219, + 2.0395729541778564 + ] + ], + "corners_2d": [ + [ + 132.2901692879226, + 576.3643222029675 + ], + [ + 166.0658170787732, + 586.990085521843 + ], + [ + 183.75184209597, + 565.609998416109 + ], + [ + 150.4661415559026, + 555.3974116313848 + ], + [ + 105.41815591860563, + 530.8754748637217 + ], + [ + 140.71979077415523, + 541.5949520665534 + ], + [ + 159.85828748436728, + 520.0377388043447 + ], + [ + 125.0886745868612, + 509.7565745091861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 1838, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1194.5590568097268, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 33.106467575657916 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1315.3054011660179, + 33.106467575657916 + ], + [ + 1300.9894376189243, + 19.041247177148307 + ], + [ + 1194.5590568097268, + 14.76148179555679 + ], + [ + 1205.8749276874428, + 28.591085442827307 + ], + [ + 1330.0769286085897, + 2.423863470543438 + ], + [ + 1315.0557784707607, + -11.108711351700947 + ], + [ + 1206.2604741079829, + -15.223286682290052 + ], + [ + 1218.1449999937424, + -1.9222352589069374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3491, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.09009742599187, + "ymin": 39.3381820817296, + "xmax": 570.9013699699615, + "ymax": 91.99980661254784 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 469.5854645178984, + 69.56716830525926 + ], + [ + 460.19311480201935, + 86.91751164687167 + ], + [ + 564.5588584932955, + 91.99980661254784 + ], + [ + 570.9013699699615, + 74.35050871617057 + ], + [ + 465.81494539684405, + 39.3381820817296 + ], + [ + 456.09009742599187, + 56.137019206929835 + ], + [ + 562.8220278212808, + 61.06208312750499 + ], + [ + 569.3593195677449, + 43.96720227447264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4350, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 111.01455907346372, + "xmax": 98.05157595731112, + "ymax": 200.0058203128703 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 98.05157595731112, + 148.79307534461384 + ], + [ + 56.376956761546126, + 146.34121816325148 + ], + [ + -1.1031142190556693, + 197.1502989371074 + ], + [ + 43.64168134819499, + 200.0058203128703 + ], + [ + 83.14607025655437, + 113.39543914498586 + ], + [ + 40.38789713599249, + 111.01455907346372 + ], + [ + -20.095906540021474, + 160.4546784090668 + ], + [ + 25.89958438690553, + 163.23963056299715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695972673, + "ymin": 11.383266250861539, + "xmax": 910.2464038732048, + "ymax": 26.73172099369083 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.568152658979, + 26.73172099369083 + ], + [ + 907.4106117902575, + 26.0890484976822 + ], + [ + 892.9196695972673, + 25.465804027220656 + ], + [ + 893.0592281671571, + 26.106944034140042 + ], + [ + 910.2464038732048, + 12.627368644857995 + ], + [ + 910.0839664991431, + 11.995763301030081 + ], + [ + 895.4451108939681, + 11.383266250861539 + ], + [ + 895.5891968400007, + 12.013350456967714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919673391392, + "ymin": 11.383266411228135, + "xmax": 910.2464077200812, + "ymax": 26.73172115766556 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681564668921, + 26.73172115766556 + ], + [ + 907.4106155934455, + 26.089048661254537 + ], + [ + 892.919673391392, + 25.46580419040299 + ], + [ + 893.0592319659846, + 26.106944197723465 + ], + [ + 910.2464077200812, + 12.62736880601102 + ], + [ + 910.0839703411973, + 11.995763461783667 + ], + [ + 895.4451147267749, + 11.383266411228135 + ], + [ + 895.5892006776066, + 12.013350617732215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.4501710091151, + "ymin": 9.818807279341058, + "xmax": 849.9848083774314, + "ymax": 25.132025892151717 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 847.9101345089197, + 25.132025892151717 + ], + [ + 847.826105854769, + 24.493273602224008 + ], + [ + 833.4501710091151, + 23.87382622003065 + ], + [ + 833.5165005397365, + 24.51106001306158 + ], + [ + 849.9848083774314, + 11.05524989266496 + ], + [ + 849.8973772068091, + 10.427535608467224 + ], + [ + 835.3758520395991, + 9.818807279341058 + ], + [ + 835.4452235859112, + 10.445014452360567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.7929733063827, + "ymin": 8.799761860289664, + "xmax": 848.2737203460962, + "ymax": 24.08998901409035 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 846.2200617053268, + 24.08998901409035 + ], + [ + 846.1382654542194, + 23.45378384116549 + ], + [ + 831.7929733063827, + 22.836803654052687 + ], + [ + 831.857145826919, + 23.471499398523292 + ], + [ + 848.2737203460962, + 10.031227906837614 + ], + [ + 848.1885765669176, + 9.406041611136061 + ], + [ + 833.6983165589021, + 8.799761860289664 + ], + [ + 833.7654784168901, + 9.423450134603002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8725271773096, + "ymin": 4.500291618672065, + "xmax": 910.7307306440413, + "ymax": 21.01436743879458 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226952621602, + 21.01436743879458 + ], + [ + 907.7018309345328, + 20.930284512746425 + ], + [ + 894.8725271773096, + 20.38396425247521 + ], + [ + 894.8912875244108, + 20.46786975546013 + ], + [ + 910.7307306440413, + 5.118193880045567 + ], + [ + 910.7091378582625, + 5.035777345148915 + ], + [ + 897.732656297715, + 4.500291618672065 + ], + [ + 897.7520965587298, + 4.582532296085219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8726708570091, + "ymin": 4.5002923364629055, + "xmax": 910.7308761379662, + "ymax": 21.014368172904142 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7228391352653, + 21.014368172904142 + ], + [ + 907.7019747842396, + 20.930285246617473 + ], + [ + 894.8726708570091, + 20.3839649847979 + ], + [ + 894.8914312274534, + 20.46787048802048 + ], + [ + 910.7308761379662, + 5.118194599607477 + ], + [ + 910.7092833282591, + 5.035778064474471 + ], + [ + 897.7328015938563, + 4.5002923364629055 + ], + [ + 897.7522418787423, + 4.582533014111618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695972673, + "ymin": 11.383266250861539, + "xmax": 910.2464038732048, + "ymax": 26.73172099369083 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.568152658979, + 26.73172099369083 + ], + [ + 907.4106117902575, + 26.0890484976822 + ], + [ + 892.9196695972673, + 25.465804027220656 + ], + [ + 893.0592281671571, + 26.106944034140042 + ], + [ + 910.2464038732048, + 12.627368644857995 + ], + [ + 910.0839664991431, + 11.995763301030081 + ], + [ + 895.4451108939681, + 11.383266250861539 + ], + [ + 895.5891968400007, + 12.013350456967714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695835941, + "ymin": 11.383266189129813, + "xmax": 910.2464038492736, + "ymax": 26.731720899009815 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681526357694, + 26.731720899009815 + ], + [ + 907.4106117748224, + 26.08904843471646 + ], + [ + 892.9196695835941, + 25.46580396440487 + ], + [ + 893.0592281465969, + 26.106943939684925 + ], + [ + 910.2464038492736, + 12.627368551806228 + ], + [ + 910.0839664832286, + 11.995763239149483 + ], + [ + 895.4451108798514, + 11.383266189129813 + ], + [ + 895.5891968187732, + 12.013350364140251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919672759038, + "ymin": 11.383266384500246, + "xmax": 910.2464070709581, + "ymax": 26.731721098776006 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681558245035, + 26.731721098776006 + ], + [ + 907.4106149595809, + 26.08904863399232 + ], + [ + 892.919672759038, + 25.465804163205917 + ], + [ + 893.0592313259933, + 26.106944138974484 + ], + [ + 910.2464070709581, + 12.627368748134813 + ], + [ + 910.0839697008548, + 11.995763434991261 + ], + [ + 895.4451140879738, + 11.383266384500246 + ], + [ + 895.5892000309299, + 12.013350559995558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.5103400583374, + "ymin": 17.105668742948524, + "xmax": 870.5362013146375, + "ymax": 32.58238052095021 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 868.2259547075389, + 32.58238052095021 + ], + [ + 868.1155031007349, + 31.92526829925066 + ], + [ + 853.5103400583374, + 31.28803795375586 + ], + [ + 853.6025236027376, + 31.943565780467736 + ], + [ + 870.5362013146375, + 18.377990916148065 + ], + [ + 870.4217355930273, + 17.732050141987997 + ], + [ + 855.6662867740033, + 17.105668742948524 + ], + [ + 855.7621063521939, + 17.750036331229694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8723327953505, + "ymin": 4.500278347546214, + "xmax": 910.7305334179512, + "ymax": 21.014353865955 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7225003062782, + 21.014353865955 + ], + [ + 907.7016360108637, + 20.93027094431568 + ], + [ + 894.8723327953505, + 20.383950712672856 + ], + [ + 894.8910931104158, + 20.467856211262813 + ], + [ + 910.7305334179512, + 5.118180576173984 + ], + [ + 910.7089406651394, + 5.0357640456473405 + ], + [ + 897.7324596587007, + 4.500278347546214 + ], + [ + 897.7518998869317, + 4.582519020603286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.919673391392, + "ymin": 11.383266411228135, + "xmax": 910.2464077200812, + "ymax": 26.73172115766556 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681564668921, + 26.73172115766556 + ], + [ + 907.4106155934455, + 26.089048661254537 + ], + [ + 892.919673391392, + 25.46580419040299 + ], + [ + 893.0592319659846, + 26.106944197723465 + ], + [ + 910.2464077200812, + 12.62736880601102 + ], + [ + 910.0839703411973, + 11.995763461783667 + ], + [ + 895.4451147267749, + 11.383266411228135 + ], + [ + 895.5892006776066, + 12.013350617732215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294704387454, + "ymin": 4.175690329662757, + "xmax": 912.8462417631324, + "ymax": 21.707935279419814 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579866491037, + 21.707935279419814 + ], + [ + 909.6325943302072, + 21.60698838188108 + ], + [ + 892.5294704387454, + 20.877836308526867 + ], + [ + 892.5515003657415, + 20.978499329699957 + ], + [ + 912.8462417631324, + 4.988497558304459 + ], + [ + 912.8199210544917, + 4.889651835682855 + ], + [ + 895.5103716996275, + 4.175690329662757 + ], + [ + 895.533248371425, + 4.27425480554524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8724391184267, + "ymin": 4.500267069033271, + "xmax": 910.7306407093968, + "ymax": 21.014342331029525 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226064726563, + 21.014342331029525 + ], + [ + 907.7017421604625, + 20.930259413137094 + ], + [ + 894.8724391184267, + 20.383939205824277 + ], + [ + 894.8911994503286, + 20.467844700679166 + ], + [ + 910.7306407093968, + 5.118169269831924 + ], + [ + 910.7090479394487, + 5.035752743019202 + ], + [ + 897.7325671105459, + 4.500267069033271 + ], + [ + 897.7520073559724, + 4.582507738388358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196695835941, + "ymin": 11.383266189129813, + "xmax": 910.2464038492736, + "ymax": 26.731720899009815 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681526357694, + 26.731720899009815 + ], + [ + 907.4106117748224, + 26.08904843471646 + ], + [ + 892.9196695835941, + 25.46580396440487 + ], + [ + 893.0592281465969, + 26.106943939684925 + ], + [ + 910.2464038492736, + 12.627368551806228 + ], + [ + 910.0839664832286, + 11.995763239149483 + ], + [ + 895.4451108798514, + 11.383266189129813 + ], + [ + 895.5891968187732, + 12.013350364140251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294765105845, + "ymin": 4.175717495720107, + "xmax": 912.8462490122554, + "ymax": 21.707963081665127 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.657993642518, + 21.707963081665127 + ], + [ + 909.6326013287793, + 21.607016204630895 + ], + [ + 892.5294765105845, + 20.877864053042913 + ], + [ + 892.5515064331025, + 20.978527053753965 + ], + [ + 912.8462490122554, + 4.988524781918386 + ], + [ + 912.8199283089277, + 4.889679079249049 + ], + [ + 895.51037800483, + 4.175717495720107 + ], + [ + 895.5332546720063, + 4.274281951691762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5295990646375, + "ymin": 4.175692001547077, + "xmax": 912.8463721783199, + "ymax": 21.707936961042037 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6581155300244, + 21.707936961042037 + ], + [ + 909.6327231938283, + 21.606990094180276 + ], + [ + 892.5295990646375, + 20.87783801601131 + ], + [ + 892.5516290098844, + 20.978501006592808 + ], + [ + 912.8463721783199, + 4.988499204928019 + ], + [ + 912.8200514520647, + 4.889653512337247 + ], + [ + 895.5105018537927, + 4.175692001547077 + ], + [ + 895.5333785441779, + 4.274256447483253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.9196676591853, + "ymin": 11.383265985483035, + "xmax": 910.2464018939272, + "ymax": 26.731720690781287 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 907.5681507008669, + 26.731720690781287 + ], + [ + 907.4106098423583, + 26.089048226998898 + ], + [ + 892.9196676591853, + 25.465803757182243 + ], + [ + 893.0592262197695, + 26.10694373195321 + ], + [ + 910.2464018939272, + 12.62736834716111 + ], + [ + 910.0839645303722, + 11.995763035011407 + ], + [ + 895.4451089352149, + 11.383265985483035 + ], + [ + 895.5891948716669, + 12.013350159988079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294675125976, + "ymin": 4.175663173693522, + "xmax": 912.8462376942355, + "ymax": 21.707907456166254 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579827988833, + 21.707907456166254 + ], + [ + 909.6325904820993, + 21.606960569463183 + ], + [ + 892.5294675125976, + 20.877808574313633 + ], + [ + 892.5514974378436, + 20.978471584696706 + ], + [ + 912.8462376942355, + 4.988470314119638 + ], + [ + 912.8199169878258, + 4.889624602233482 + ], + [ + 895.5103685773086, + 4.175663173693522 + ], + [ + 895.5332452472509, + 4.274227638886089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.3744412927316, + "ymin": 8.232623219676725, + "xmax": 834.6705165129221, + "ymax": 23.510041123559347 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 832.7531284303136, + 23.510041123559347 + ], + [ + 832.6878577379364, + 22.87525140113536 + ], + [ + 818.3744412927316, + 22.2596422119895 + ], + [ + 818.42216636645, + 22.892927537479636 + ], + [ + 834.6705165129221, + 9.461323921639234 + ], + [ + 834.6022341885055, + 8.837542380829234 + ], + [ + 820.1444915249026, + 8.232623219676725 + ], + [ + 820.1948724118309, + 8.854911782150111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5294691832042, + "ymin": 4.175690337865603, + "xmax": 912.8462404828696, + "ymax": 21.70793525647997 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 909.6579853839421, + 21.70793525647997 + ], + [ + 909.6325930731743, + 21.606988390282197 + ], + [ + 892.5294691832042, + 20.877836316904336 + ], + [ + 892.5514991031162, + 20.978499306824688 + ], + [ + 912.8462404828696, + 4.9884975358421 + ], + [ + 912.8199197826516, + 4.889651843909007 + ], + [ + 895.5103704293145, + 4.175690337865603 + ], + [ + 895.5332470937591, + 4.274254783146716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4202250349975, + "ymin": 15.158941028203685, + "xmax": 909.7138920213126, + "ymax": 30.455619894508175 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 907.045020444866, + 30.455619894508175 + ], + [ + 906.8883624157186, + 29.809366803388684 + ], + [ + 892.4202250349975, + 29.18264762250925 + ], + [ + 892.5589573403383, + 29.82736204549184 + ], + [ + 909.7138920213126, + 16.410346892406892 + ], + [ + 909.5523654935844, + 15.775034925683372 + ], + [ + 894.9367820141932, + 15.158941028203685 + ], + [ + 895.0800154375007, + 15.79272529595363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.8725271773096, + "ymin": 4.500291618672065, + "xmax": 910.7307306440413, + "ymax": 21.01436743879458 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7226952621602, + 21.01436743879458 + ], + [ + 907.7018309345328, + 20.930284512746425 + ], + [ + 894.8725271773096, + 20.38396425247521 + ], + [ + 894.8912875244108, + 20.46786975546013 + ], + [ + 910.7307306440413, + 5.118193880045567 + ], + [ + 910.7091378582625, + 5.035777345148915 + ], + [ + 897.732656297715, + 4.500291618672065 + ], + [ + 897.7520965587298, + 4.582532296085219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.4256461222583, + "ymin": 8.840472669237556, + "xmax": 827.6552516986178, + "ymax": 24.131618900711203 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 825.8047511315829, + 24.131618900711203 + ], + [ + 825.7478922131464, + 23.495312096597843 + ], + [ + 811.4256461222583, + 22.878233437823496 + ], + [ + 811.4649376834169, + 23.51303045195823 + ], + [ + 827.6552516986178, + 10.072137306963668 + ], + [ + 827.5955437281938, + 9.446850145909082 + ], + [ + 813.1287898813061, + 8.840472669237556 + ], + [ + 813.1705740014816, + 9.464261446541684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.872649186889, + "ymin": 4.500291158915502, + "xmax": 910.7308541603427, + "ymax": 21.01436696858559 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 907.7228174088289, + 21.01436696858559 + ], + [ + 907.7019530613804, + 20.93028404269029 + ], + [ + 894.872649186889, + 20.383963783410877 + ], + [ + 894.891409553773, + 20.467869286243342 + ], + [ + 910.7308541603427, + 5.118193419154466 + ], + [ + 910.7092613542961, + 5.0357768844093584 + ], + [ + 897.732779673838, + 4.500291158915502 + ], + [ + 897.7522199550813, + 4.582531836177623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.49946037713607, + "ymin": 0.0, + "xmax": 176.35494804580475, + "ymax": 7.694696039103746 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 171.80091056343593, + 7.694696039103746 + ], + [ + 176.35494804580475, + 3.913716970878795 + ], + [ + 169.59631122596755, + 3.6175502875512393 + ], + [ + 164.99396839191303, + 7.394039681136462 + ], + [ + 164.40932466314837, + -14.851405565789946 + ], + [ + 169.0909916231323, + -18.51995073149368 + ], + [ + 162.23089554081054, + -18.807273720811907 + ], + [ + 157.49946037713607, + -15.143153170722996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8654652936407312004, + "instance_id": 33894, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 35.24429702758789, + "y": -10.915966987609863, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.09512814628772, + "ymin": 0.0, + "xmax": 43.72026661007612, + "ymax": 1.7950045030782462 + }, + "corners_3d": [ + [ + 35.105709075927734, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -11.105924606323242, + 6.416468620300293 + ], + [ + 35.105709075927734, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -11.105924606323242, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 38.229379247001475, + 1.7950045030782462 + ], + [ + 43.72026661007612, + -1.8983587108381812 + ], + [ + 37.11753163336232, + -2.1876937241020755 + ], + [ + 31.580618768644626, + 1.501334861156181 + ], + [ + 28.841928337816626, + -20.5752800816515 + ], + [ + 34.48846271022012, + -24.15750149648244 + ], + [ + 27.789045003210504, + -24.438094778879986 + ], + [ + 22.09512814628772, + -20.860142833679674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 452.00526941980206, + "ymin": 54.41209994807491, + "xmax": 463.7375215455039, + "ymax": 79.10389908183942 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 463.7375215455039, + 74.99037653063067 + ], + [ + 457.0984799726113, + 74.666305123023 + ], + [ + 454.78148461636556, + 78.77514823236623 + ], + [ + 461.4669766549937, + 79.10389908183942 + ], + [ + 461.11318296331956, + 54.72933649409066 + ], + [ + 454.3768607368984, + 54.41209994807491 + ], + [ + 452.00526941980206, + 58.43468160860317 + ], + [ + 458.7894176213927, + 58.75656783422255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18360097670761586227, + "instance_id": 13214, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 32.24429702758789, + "y": -10.91596508026123, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.55084288262378, + "ymin": 0.0, + "xmax": 115.68224838676076, + "ymax": 4.995801608756267 + }, + "corners_3d": [ + [ + 32.105709075927734, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -11.10592269897461, + 6.416468620300293 + ], + [ + 32.105709075927734, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -11.10592269897461, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 110.69674892892715, + 4.995801608756267 + ], + [ + 115.68224838676076, + 1.2550301136597568 + ], + [ + 108.99510306577895, + 0.9619962102391355 + ], + [ + 103.96234926353304, + 4.6983493745020155 + ], + [ + 102.38591356987354, + -17.470132428018758 + ], + [ + 107.51203894010894, + -21.09905708461315 + ], + [ + 100.72563638901829, + -21.383293562181336 + ], + [ + 95.55084288262378, + -17.758722116754313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.5771642097272, + "ymin": 9.743461566976578, + "xmax": 841.8583959060959, + "ymax": 57.10472251522725 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 835.2255387136569, + 57.10472251522725 + ], + [ + 835.1775199454084, + 56.629521693137406 + ], + [ + 833.5771642097272, + 56.55623475941309 + ], + [ + 833.6238022901102, + 57.03130964729036 + ], + [ + 841.8583959060959, + 10.262594321789209 + ], + [ + 841.80286201702, + 9.812824170215663 + ], + [ + 840.1472819418043, + 9.743461566976578 + ], + [ + 840.2013381744329, + 10.193108476729208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.067508983584389, + "ymin": 0.0, + "xmax": 195.70605787195348, + "ymax": 31.75434097651049 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 195.70605787195348, + -49.56326057624989 + ], + [ + 188.88869925297524, + -49.85273167756941 + ], + [ + 79.48595455780014, + 31.350047270438665 + ], + [ + 87.45950128926484, + 31.75434097651049 + ], + [ + 148.04355171833873, + -208.90999362067566 + ], + [ + 140.52953927739634, + -209.116266378678 + ], + [ + 7.067508983584389, + -150.1067331887881 + ], + [ + 16.00950779505331, + -149.80706818815412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.7052573592583, + "ymin": 542.4102329668195, + "xmax": 768.4659302691512, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 767.9422498909861, + 547.6917873311655 + ], + [ + 749.0125471599666, + 546.0463778307031 + ], + [ + 737.7052573592583, + 935.7585752406126 + ], + [ + 763.7008101631473, + 938.8656194278792 + ], + [ + 768.4659302691512, + 544.0566158705607 + ], + [ + 749.4580405004206, + 542.4102329668195 + ], + [ + 738.2546149250497, + 932.9469654084494 + ], + [ + 764.3978474733324, + 936.0653843442383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.4496646407761, + "ymin": 9.17447320369422, + "xmax": 828.2626296855883, + "ymax": 56.50232551156711 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 822.0832447079307, + 56.50232551156711 + ], + [ + 822.04654376344, + 56.02815756292915 + ], + [ + 820.4496646407761, + 55.955029843334785 + ], + [ + 820.4849908802845, + 56.429072268096604 + ], + [ + 828.2626296855883, + 9.692439421569475 + ], + [ + 828.2192077182755, + 9.243680012131279 + ], + [ + 826.5673460981759, + 9.17447320369422 + ], + [ + 826.6092970272161, + 9.623109786480768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.6529495967793, + "ymin": 72.83135956916192, + "xmax": 773.4213542896028, + "ymax": 177.2844139139941 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 773.1190546062733, + 76.41902764799767 + ], + [ + 762.5857839531479, + 75.91683311372213 + ], + [ + 759.6529495967793, + 176.58998865457522 + ], + [ + 772.0371344148427, + 177.2844139139941 + ], + [ + 773.4213542896028, + 73.33198216028313 + ], + [ + 762.8639191591976, + 72.83135956916192 + ], + [ + 759.9722914404113, + 173.22924560025965 + ], + [ + 772.3898928702831, + 173.92205038967967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.8406853998686, + "ymin": 18.076662171117903, + "xmax": 864.0148275529682, + "ymax": 65.92227409595341 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 856.5367248058637, + 65.92227409595341 + ], + [ + 856.469363253845, + 65.43182632153844 + ], + [ + 854.8406853998686, + 65.35618912297554 + ], + [ + 854.9066169683676, + 65.84650485426073 + ], + [ + 864.0148275529682, + 18.613029938821455 + ], + [ + 863.9383974950808, + 18.148326560546195 + ], + [ + 862.2524920024788, + 18.076662171117903 + ], + [ + 862.32738978442, + 18.541236119524342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.941615003092, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.065419481285517 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1286.2015747178948, + -14.98731526441577 + ], + [ + 1277.941615003092, + -15.304755057276793 + ], + [ + 1305.9301633378395, + 11.71132996414974 + ], + [ + 1314.6735407339827, + 12.065419481285517 + ], + [ + 1355.2511142966005, + -170.01191681177738 + ], + [ + 1346.0588188106467, + -170.25017443346064 + ], + [ + 1381.4795110777354, + -149.85216507528378 + ], + [ + 1391.274184994592, + -149.58318303637031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.7356443426777, + "ymin": 72.89545089795939, + "xmax": 773.3514725857166, + "ymax": 177.20186663452864 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 773.0531709037945, + 76.43741508084003 + ], + [ + 762.6535631802183, + 75.94160449139508 + ], + [ + 759.7356443426777, + 176.51647944380662 + ], + [ + 771.960804385745, + 177.20186663452864 + ], + [ + 773.3514725857166, + 73.38972950289212 + ], + [ + 762.9283107799304, + 72.89545089795939 + ], + [ + 760.0510904452796, + 173.198834141026 + ], + [ + 772.3088128288869, + 173.882642079578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 242.91502349705746, + "ymax": 141.48504723195188 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -20.60807519199284, + 120.71690126778228 + ], + [ + -26.847209654940684, + 125.46377130240532 + ], + [ + 238.5935395433039, + 141.48504723195188 + ], + [ + 242.91502349705746, + 136.49152217804715 + ], + [ + -122.63572142676924, + -82.39328655543068 + ], + [ + -130.75373279521796, + -78.71179168688582 + ], + [ + 174.17813134551284, + -66.2213956673346 + ], + [ + 179.77102708756843, + -70.12519550976725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.5264258552479, + "ymin": 542.2394977688801, + "xmax": 768.5939669059637, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 768.063052369691, + 547.5890908711979 + ], + [ + 748.8914061247699, + 545.9228317565586 + ], + [ + 737.5264258552479, + 936.0134497623628 + ], + [ + 763.8621258668863, + 939.1617561336054 + ], + [ + 768.5939669059637, + 543.9067535849074 + ], + [ + 749.3421169193407, + 542.2394977688801 + ], + [ + 738.0819937003006, + 933.1662938079766 + ], + [ + 764.5692767380029, + 936.3262820342557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.791353488055, + "ymin": 15.697160304474778, + "xmax": 903.1735587604458, + "ymax": 62.994026003853605 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 894.5029724105532, + 62.994026003853605 + ], + [ + 894.4038229618182, + 62.51249641862984 + ], + [ + 892.791353488055, + 62.43823363900867 + ], + [ + 892.889101354004, + 62.91963527396899 + ], + [ + 903.1735587604458, + 16.22383957873842 + ], + [ + 903.0633201827927, + 15.767531045176781 + ], + [ + 901.394783170242, + 15.697160304474778 + ], + [ + 901.5035209763605, + 16.153343461322095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.114666118061, + "ymin": 64.07840562385445, + "xmax": 777.4774118844339, + "ymax": 414.0425779344607 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 754.3084036320354, + 295.9273912394483 + ], + [ + 739.9636920953847, + 294.9800320642569 + ], + [ + 734.114666118061, + 412.7920396484793 + ], + [ + 750.5890692986665, + 414.0425779344607 + ], + [ + 777.4774118844339, + 64.88545300238201 + ], + [ + 760.1960711708674, + 64.07840562385445 + ], + [ + 756.6776698559598, + 167.53333194377745 + ], + [ + 777.1468494967341, + 168.66595203166585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.2013771115769, + "ymin": 10.765832448525146, + "xmax": 843.556308211766, + "ymax": 58.1870144247672 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 836.854586774893, + 58.1870144247672 + ], + [ + 836.80507355738, + 57.70995504538695 + ], + [ + 835.2013771115769, + 57.6363816266865 + ], + [ + 835.2495038700229, + 58.113314332374046 + ], + [ + 843.556308211766, + 11.287064593929301 + ], + [ + 843.4991526424254, + 10.835475427499773 + ], + [ + 841.8399973167943, + 10.765832448525146 + ], + [ + 841.895668839937, + 11.217297624789694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.6886138757536, + "ymin": 528.0229301362433, + "xmax": 775.9915398418884, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 739.203600809935, + 775.5633725034106 + ], + [ + 716.2236828268977, + 773.1244165246053 + ], + [ + 699.6886138757536, + 1106.1683571436283 + ], + [ + 728.6703324539063, + 1110.0564598231103 + ], + [ + 775.9915398418884, + 530.7209641897539 + ], + [ + 744.415685659155, + 528.0229301362433 + ], + [ + 730.5489941983743, + 935.7341691960332 + ], + [ + 774.6838436671824, + 941.0119362934884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.6553532874179, + "ymin": 9.784320165850431, + "xmax": 821.2399240799277, + "ymax": 57.14797853415939 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.2841032589486, + 57.14797853415939 + ], + [ + 815.2531945620685, + 56.67270346943883 + ], + [ + 813.6553532874179, + 56.59940509646401 + ], + [ + 813.6848856164836, + 57.07455419746418 + ], + [ + 821.2399240799277, + 10.303536770013352 + ], + [ + 821.2026812676023, + 9.853693963331239 + ], + [ + 819.5497891152647, + 9.784320165850431 + ], + [ + 819.5855590460617, + 10.234039700854282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.3545809678935, + "ymin": 0.0, + "xmax": 533.2734876645889, + "ymax": 139.00685872649294 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 466.96731756443654, + 138.42189838647192 + ], + [ + 476.91611356948664, + 139.00685872649294 + ], + [ + 533.2734876645889, + 24.8930039273842 + ], + [ + 525.0667914235834, + 24.49915281734195 + ], + [ + 439.3545809678935, + -68.61724232670656 + ], + [ + 450.8632153980201, + -68.15999963375742 + ], + [ + 519.6745315640853, + -154.8847110182926 + ], + [ + 510.4346155242806, + -155.17565881241683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3700282771189, + "ymin": 12.335414533815367, + "xmax": 903.7971936504487, + "ymax": 59.84831845765012 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 895.0861458164266, + 59.84831845765012 + ], + [ + 894.98626645047, + 59.3683992482911 + ], + [ + 893.3700282771189, + 59.294384993569224 + ], + [ + 893.4684994994132, + 59.7741763885449 + ], + [ + 903.7971936504487, + 12.85987791690593 + ], + [ + 903.6861379134778, + 12.405489056835222 + ], + [ + 902.0135653522483, + 12.335414533815367 + ], + [ + 902.1231130475988, + 12.7896782489683 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..15600275be90645d7f336b8ff3275d74bea21c74 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00020/meta.json @@ -0,0 +1,4563 @@ +{ + "frame_id": 20, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 6908.007702318486 + }, + "drone_pose": { + "x": 7.68960582580301, + "y": -44.865584045990055, + "z": 20.13465699541277, + "pitch": -45.32884972801378, + "yaw": 82.49468546303503, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.09182935953140259, + -0.6970135569572449, + 0.711153507232666, + 16.24695587158203 + ], + [ + 0.9914327263832092, + 0.13061821460723877, + 0.0, + 13.483987808227539 + ], + [ + -0.09288957715034485, + 0.7050608992576599, + 0.7030367255210876, + -45.07408905029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.76283635709468, + "y": -44.28855849400574, + "z": 20.269685106220365 + }, + "t1_image_uv": [ + 648.4891171591404, + -1200.3621823598617 + ], + "t1_depth": 0.3128936591440531 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -23.687763214111328, + "z": 1.1420552772283554 + }, + "image_uv": [ + 644.9039989225379, + 298.559815263362 + ], + "depth": 28.510610231350178, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 572, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -23.687763214111328, + "z": 1.1420552730560303 + }, + "extent": { + "x": 0.3715057373046875, + "y": 0.5708691477775574, + "z": 0.9161892533302307 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.7227270198463, + "ymin": 265.13417484480175, + "xmax": 666.0012396485165, + "ymax": 331.197203777349 + }, + "corners_3d": [ + [ + 10.9036865234375, + -24.059268951416016, + 0.22586601972579956 + ], + [ + 9.761947631835938, + -24.059268951416016, + 0.22586601972579956 + ], + [ + 9.761947631835938, + -23.31625747680664, + 0.22586601972579956 + ], + [ + 10.9036865234375, + -23.31625747680664, + 0.22586601972579956 + ], + [ + 10.9036865234375, + -24.059268951416016, + 2.058244466781616 + ], + [ + 9.761947631835938, + -24.059268951416016, + 2.058244466781616 + ], + [ + 9.761947631835938, + -23.31625747680664, + 2.058244466781616 + ], + [ + 10.9036865234375, + -23.31625747680664, + 2.058244466781616 + ] + ], + "corners_2d": [ + [ + 624.4552597745208, + 327.7853098459743 + ], + [ + 662.0642500907308, + 331.197203777349 + ], + [ + 664.8475522783505, + 314.58096792392627 + ], + [ + 627.8895010231415, + 311.2881338615086 + ], + [ + 623.7227270198463, + 281.5443742689744 + ], + [ + 663.107966513443, + 284.94167204407375 + ], + [ + 666.0012396485165, + 268.40747898718314 + ], + [ + 627.3292957622808, + 265.13417484480175 + ] + ], + "center_offset_px": [ + 4.90399892253788, + -61.440184736638 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 197551, + "2": 81582, + "5": 3782, + "6": 4749, + "7": 114, + "10": 4, + "12": 3386, + "14": 44554, + "15": 13, + "24": 38412, + "25": 547453 + }, + "instance_pixel_counts": { + "586": 3034, + "842": 748, + "1118": 703, + "1630": 234, + "2142": 270, + "2644": 1969, + "2654": 761, + "3156": 2130, + "3166": 669, + "3678": 501, + "4190": 168, + "6238": 394, + "6991": 13, + "7262": 639, + "7503": 5786, + "7774": 759, + "8015": 6466, + "8527": 6940, + "8798": 1141, + "9310": 1441, + "9822": 1629, + "10334": 2311, + "11676": 36680, + "11870": 3358, + "12188": 91157, + "12700": 21085, + "13212": 88, + "13406": 63, + "13918": 146, + "14236": 21127, + "14430": 818, + "14942": 1071, + "15454": 1343, + "15966": 1677, + "16284": 23903, + "16478": 2188, + "18013": 395705, + "19037": 151748, + "23418": 3891, + "23441": 6929, + "24442": 3953, + "24954": 1230, + "25489": 10930, + "25978": 764, + "27516": 782, + "28026": 725, + "28028": 905, + "29052": 5875, + "29564": 328, + "30076": 5583, + "31612": 1624, + "33660": 1411, + "34816": 764, + "38300": 16, + "40860": 3495, + "43008": 572, + "43264": 244, + "43520": 139, + "43776": 610, + "44032": 1097, + "44288": 724, + "45824": 2843, + "46173": 4989, + "48896": 4660, + "54684": 576, + "57241": 2564, + "57753": 1419, + "58265": 22344, + "58777": 145, + "59289": 21448, + "61337": 9325, + "63385": 7829 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 572, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -23.687763214111328, + "z": 1.1420552730560303 + }, + "extent": { + "x": 0.3577410876750946, + "y": 0.4765368402004242, + "z": 0.9416788220405579 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.0239251205955, + "ymin": 265.03018327142075, + "xmax": 662.7561290918695, + "ymax": 331.2152760574003 + }, + "corners_3d": [ + [ + 10.809353828430176, + -24.045503616333008, + 0.2003764510154724 + ], + [ + 9.856280326843262, + -24.045503616333008, + 0.2003764510154724 + ], + [ + 9.856280326843262, + -23.33002281188965, + 0.2003764510154724 + ], + [ + 10.809353828430176, + -23.33002281188965, + 0.2003764510154724 + ], + [ + 10.809353828430176, + -24.045503616333008, + 2.0837340354919434 + ], + [ + 9.856280326843262, + -24.045503616333008, + 2.0837340354919434 + ], + [ + 9.856280326843262, + -23.33002281188965, + 2.0837340354919434 + ], + [ + 10.809353828430176, + -23.33002281188965, + 2.0837340354919434 + ] + ], + "corners_2d": [ + [ + 627.6237446323016, + 328.36899564140623 + ], + [ + 658.988136290657, + 331.2152760574003 + ], + [ + 661.7189449079365, + 315.2237744766844 + ], + [ + 630.8771403264914, + 312.4731402385047 + ], + [ + 627.0239251205955, + 280.84029413184993 + ], + [ + 659.9113266163271, + 283.67395888723394 + ], + [ + 662.7561290918695, + 267.7641261734402 + ], + [ + 630.4428351198077, + 265.03018327142075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 244, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -20.6900577545166, + "z": 1.1383931636810303 + }, + "extent": { + "x": 0.2645367681980133, + "y": 0.3129565715789795, + "z": 0.6052150726318359 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 518.3822336633315, + "ymin": 205.5007638625573, + "xmax": 541.0399093426089, + "ymax": 246.5427778315303 + }, + "corners_3d": [ + [ + 14.709919929504395, + -21.01388168334961, + 0.5331780910491943 + ], + [ + 14.097684860229492, + -20.883745193481445, + 0.5331780910491943 + ], + [ + 14.207686424255371, + -20.366233825683594, + 0.5331780910491943 + ], + [ + 14.819921493530273, + -20.496370315551758, + 0.5331780910491943 + ], + [ + 14.709919929504395, + -21.01388168334961, + 1.7436082363128662 + ], + [ + 14.097684860229492, + -20.883745193481445, + 1.7436082363128662 + ], + [ + 14.207686424255371, + -20.366233825683594, + 1.7436082363128662 + ], + [ + 14.819921493530273, + -20.496370315551758, + 1.7436082363128662 + ] + ], + "corners_2d": [ + [ + 521.7366440963052, + 246.5427778315303 + ], + [ + 541.0399093426089, + 245.59616088940516 + ], + [ + 540.9415847861352, + 235.54799389182347 + ], + [ + 521.8648712437099, + 236.47252296529754 + ], + [ + 518.3822336633315, + 216.4061265077865 + ], + [ + 538.2362007896882, + 215.466896452746 + ], + [ + 538.1689298350014, + 205.5007638625573 + ], + [ + 518.5545451392576, + 206.41746837314906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 139, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -16.74505043029785, + "z": 0.804355263710022 + }, + "extent": { + "x": 0.2992095649242401, + "y": 0.28869810700416565, + "z": 0.630240261554718 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 724.8224498525353, + "ymin": 159.19909103020976, + "xmax": 744.7384194736823, + "ymax": 199.74253358162827 + }, + "corners_3d": [ + [ + 8.332833290100098, + -17.072797775268555, + 0.17411494255065918 + ], + [ + 7.75860071182251, + -17.01244354248047, + 0.17411494255065918 + ], + [ + 7.821152210235596, + -16.41730308532715, + 0.17411494255065918 + ], + [ + 8.3953857421875, + -16.477657318115234, + 0.17411494255065918 + ], + [ + 8.332833290100098, + -17.072797775268555, + 1.4345954656600952 + ], + [ + 7.75860071182251, + -17.01244354248047, + 1.4345954656600952 + ], + [ + 7.821152210235596, + -16.41730308532715, + 1.4345954656600952 + ], + [ + 8.3953857421875, + -16.477657318115234, + 1.4345954656600952 + ] + ], + "corners_2d": [ + [ + 725.4345516484228, + 199.48539956655017 + ], + [ + 741.9454401669421, + 199.74253358162827 + ], + [ + 741.1291566378925, + 189.7235580423034 + ], + [ + 724.8224498525353, + 189.47273627960743 + ], + [ + 727.7744227631503, + 169.0969734120133 + ], + [ + 744.7384194736823, + 169.35124795590625 + ], + [ + 743.8646112324856, + 159.44695572400832 + ], + [ + 727.116084339391, + 159.19909103020976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 610, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -23.687763214111328, + "z": 1.1517330408096313 + }, + "extent": { + "x": 0.4089505672454834, + "y": 0.6413049101829529, + "z": 0.9182778596878052 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 941.1907082021557, + "ymin": 291.74700304531103, + "xmax": 1005.7221319166307, + "ymax": 361.52729384296885 + }, + "corners_3d": [ + [ + 1.4741218090057373, + -24.09671401977539, + 0.23345518112182617 + ], + [ + 0.19151204824447632, + -24.09671401977539, + 0.23345518112182617 + ], + [ + 0.19151228666305542, + -23.278812408447266, + 0.23345518112182617 + ], + [ + 1.4741220474243164, + -23.278812408447266, + 0.23345518112182617 + ], + [ + 1.4741218090057373, + -24.09671401977539, + 2.0700109004974365 + ], + [ + 0.19151204824447632, + -24.09671401977539, + 2.0700109004974365 + ], + [ + 0.19151228666305542, + -23.278812408447266, + 2.0700109004974365 + ], + [ + 1.4741220474243164, + -23.278812408447266, + 2.0700109004974365 + ] + ], + "corners_2d": [ + [ + 943.6550874498868, + 357.4445238468528 + ], + [ + 988.6264931130183, + 361.52729384296885 + ], + [ + 985.252697792874, + 342.0792447911087 + ], + [ + 941.1907082021557, + 338.15778903338645 + ], + [ + 958.4799005286492, + 310.9863258706341 + ], + [ + 1005.7221319166307, + 315.06385799335607 + ], + [ + 1001.8281112807576, + 295.65579134441464 + ], + [ + 955.588392571529, + 291.74700304531103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1097, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -34.81512451171875, + "z": 1.1453462839126587 + }, + "extent": { + "x": 0.46119388937950134, + "y": 0.564633846282959, + "z": 0.93924880027771 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 714.5339234932258, + "ymin": 611.4859300431353, + "xmax": 780.9824595838707, + "ymax": 704.7834779133996 + }, + "corners_3d": [ + [ + 7.327066898345947, + -35.21477127075195, + 0.20609748363494873 + ], + [ + 6.203985214233398, + -35.33281326293945, + 0.20609748363494873 + ], + [ + 6.107569217681885, + -34.41547775268555, + 0.20609748363494873 + ], + [ + 7.230650901794434, + -34.29743576049805, + 0.20609748363494873 + ], + [ + 7.327066898345947, + -35.21477127075195, + 2.084595203399658 + ], + [ + 6.203985214233398, + -35.33281326293945, + 2.084595203399658 + ], + [ + 6.107569217681885, + -34.41547775268555, + 2.084595203399658 + ], + [ + 7.230650901794434, + -34.29743576049805, + 2.084595203399658 + ] + ], + "corners_2d": [ + [ + 714.5339234932258, + 693.0909392745195 + ], + [ + 766.1742971009096, + 704.7834779133996 + ], + [ + 772.1447796613932, + 665.8498532285222 + ], + [ + 721.9676566243195, + 654.836096065842 + ], + [ + 719.6322748328109, + 650.9579158532154 + ], + [ + 774.8877320806798, + 663.0540974069174 + ], + [ + 780.9824595838707, + 622.8338948238863 + ], + [ + 727.3991370965932, + 611.4859300431353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 724, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -31.85797691345215, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.33491209149360657, + "y": 0.5291039943695068, + "z": 0.9065424203872681 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 113.21125040297477, + "ymin": 437.73417419935004, + "xmax": 192.680151945366, + "ymax": 514.317850554073 + }, + "corners_3d": [ + [ + 22.165327072143555, + -32.0755615234375, + 0.2306349277496338 + ], + [ + 21.1302433013916, + -32.29557800292969, + 0.2306349277496338 + ], + [ + 20.99098014831543, + -31.640390396118164, + 0.2306349277496338 + ], + [ + 22.026063919067383, + -31.42037582397461, + 0.2306349277496338 + ], + [ + 22.165327072143555, + -32.0755615234375, + 2.04371976852417 + ], + [ + 21.1302433013916, + -32.29557800292969, + 2.04371976852417 + ], + [ + 20.99098014831543, + -31.640390396118164, + 2.04371976852417 + ], + [ + 22.026063919067383, + -31.42037582397461, + 2.04371976852417 + ] + ], + "corners_2d": [ + [ + 141.04983726091353, + 502.86013697306157 + ], + [ + 175.56820237708405, + 514.317850554073 + ], + [ + 192.680151945366, + 494.0063180908546 + ], + [ + 158.60741439441722, + 482.9564838928916 + ], + [ + 113.21125040297477, + 457.8797145439896 + ], + [ + 149.37398153796823, + 469.4948996615496 + ], + [ + 167.93158845102363, + 448.9133384697935 + ], + [ + 132.25462132277198, + 437.73417419935004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 2843, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 471.71541654879826, + "ymin": 0.0, + "xmax": 590.4861960228349, + "ymax": 35.39448424268096 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 485.72372973541076, + 10.244675338380546 + ], + [ + 475.86573607508564, + 28.76072618614279 + ], + [ + 583.680408085231, + 35.39448424268096 + ], + [ + 590.4861960228349, + 16.498169703285384 + ], + [ + 481.9383405832149, + -21.623198650885797 + ], + [ + 471.71541654879826, + -3.6126491880664844 + ], + [ + 582.2411617425329, + 2.846417517222676 + ], + [ + 589.2587732966001, + -15.54337545926694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4660, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 50.647412942016615, + "xmax": 104.86692667486943, + "ymax": 144.01906384400812 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 104.86692667486943, + 90.50709482199966 + ], + [ + 62.522007600071674, + 87.39899235085545 + ], + [ + 4.663621319191179, + 140.41996444670403 + ], + [ + 49.961285631357896, + 144.01906384400812 + ], + [ + 88.69433807967175, + 53.68096805968031 + ], + [ + 45.14932802880719, + 50.647412942016615 + ], + [ + -15.947586845762771, + 102.50818800584659 + ], + [ + 30.72493552671267, + 106.0371382546472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 467.137933532701, + "ymin": 0.0, + "xmax": 479.27293601421553, + "ymax": 21.873439269963797 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 479.27293601421553, + 17.4620371043992 + ], + [ + 472.4050560405288, + 17.03899616117468 + ], + [ + 469.9678340181398, + 21.44444135026322 + ], + [ + 476.8822627207269, + 21.873439269963797 + ], + [ + 476.6150239109964, + -3.896583799697794 + ], + [ + 469.6354673120394, + -4.312002780089813 + ], + [ + 467.137933532701, + 0.014522461561170985 + ], + [ + 474.1655693822555, + 0.4358888284120326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.365804178791, + "ymin": 0.0, + "xmax": 874.6671530909118, + "ymax": 0.7322665585631398 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 866.0778032262631, + 0.7322665585631398 + ], + [ + 866.0389717555615, + 0.21777239400279313 + ], + [ + 864.365804178791, + 0.12119571859534517 + ], + [ + 864.4032215315873, + 0.6355272625023076 + ], + [ + 874.6671530909118, + -48.974240093227024 + ], + [ + 874.6193503634775, + -49.46487793280414 + ], + [ + 872.8812731870757, + -49.55697299750631 + ], + [ + 872.9275499099745, + -49.06649612603127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.8140452648149, + "ymin": 537.4708026878859, + "xmax": 789.7180412744895, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 789.037144708844, + 543.1449250524795 + ], + [ + 769.2553316910964, + 540.9732016402376 + ], + [ + 750.8140452648149, + 960.4876858066863 + ], + [ + 777.770367026181, + 964.5317972980894 + ], + [ + 789.7180412744895, + 539.6458154368487 + ], + [ + 769.8447361873647, + 537.4708026878859 + ], + [ + 751.5045103531158, + 958.3158924062528 + ], + [ + 778.6310155439658, + 962.379643804734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.8959198240715, + "ymin": 23.684393981978587, + "xmax": 803.3072495642369, + "ymax": 138.69621674714458 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 802.890959286763, + 27.631623985433635 + ], + [ + 791.7793906706763, + 26.957472703795247 + ], + [ + 786.8959198240715, + 137.76739875451486 + ], + [ + 799.9335942391638, + 138.69621674714458 + ], + [ + 803.3072495642369, + 24.356800991798593 + ], + [ + 792.1668733456895, + 23.684393981978587 + ], + [ + 787.3362602840591, + 134.25634142171134 + ], + [ + 800.4136133222473, + 135.18357921632153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.4094402823345, + "ymin": 0.0, + "xmax": 897.7562524391485, + "ymax": 10.500232908582802 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 888.1711629539743, + 10.500232908582802 + ], + [ + 888.1128367344356, + 9.969186564021015 + ], + [ + 886.4094402823345, + 9.869504403017402 + ], + [ + 886.4663008354687, + 10.400380217069653 + ], + [ + 897.7562524391485, + -39.653248227963275 + ], + [ + 897.6871705274286, + -40.16028514415109 + ], + [ + 895.9164572816244, + -40.25545679026277 + ], + [ + 895.9839553594979, + -39.74858897887657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.9846247310547, + "ymin": 23.75502919446319, + "xmax": 803.2321289577314, + "ymax": 138.60558979707346 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 802.8213180667835, + 27.65196850821036 + ], + [ + 791.8507386702134, + 26.9863786388633 + ], + [ + 786.9846247310547, + 137.68884512612925 + ], + [ + 799.8549262733101, + 138.60558979707346 + ], + [ + 803.2321289577314, + 24.41891917718226 + ], + [ + 792.2334696877973, + 23.75502919446319 + ], + [ + 787.4195555218921, + 134.22278226552072 + ], + [ + 800.3285214155801, + 135.1379867579003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 252.49246020725747, + "ymax": 84.45891369131402 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -15.758927075479733, + 59.309019331879256 + ], + [ + -22.03566705270657, + 64.27104656185986 + ], + [ + 248.07291066856175, + 84.45891369131402 + ], + [ + 252.49246020725747, + 79.1969590861761 + ], + [ + -128.28856792815498, + -155.14800112543912 + ], + [ + -136.6288397094985, + -151.18918303047155 + ], + [ + 177.8421538062853, + -134.97848447241836 + ], + [ + 183.67227525547634, + -139.2200185626802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.6235647005356, + "ymin": 537.2859377445083, + "xmax": 789.8552346504733, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 789.1649865578574, + 543.033193087307 + ], + [ + 769.1303475439249, + 540.8339531227025 + ], + [ + 750.6235647005356, + 960.7501457555936 + ], + [ + 777.9323572217728, + 964.8478952619175 + ], + [ + 789.8552346504733, + 539.4885492888066 + ], + [ + 769.726743167856, + 537.2859377445083 + ], + [ + 751.321910939299, + 958.5514375411976 + ], + [ + 778.8053832297198, + 962.6693549696529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.2066762504976, + "ymin": 0.0, + "xmax": 938.9659550776194, + "ymax": 7.676034388668256 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 927.9864477046276, + 7.676034388668256 + ], + [ + 927.8952510385491, + 7.153958545350633 + ], + [ + 926.2066762504976, + 7.055959026695973 + ], + [ + 926.2964327435936, + 7.577869300252814 + ], + [ + 938.9659550776194, + -41.93868636040622 + ], + [ + 938.8616677849636, + -42.437192140083766 + ], + [ + 937.1069783735438, + -42.53076371719061 + ], + [ + 937.2097104895145, + -42.03242205557763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.4864582167152, + "ymin": 14.279095950078272, + "xmax": 807.841194478405, + "ymax": 380.55949290886235 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 776.6484731261281, + 255.79026090000298 + ], + [ + 761.8306503028755, + 254.56705667690807 + ], + [ + 753.4864582167152, + 378.9591621739079 + ], + [ + 770.4235238398282, + 380.55949290886235 + ], + [ + 807.841194478405, + 15.364476557449052 + ], + [ + 789.5927261077495, + 14.279095950078272 + ], + [ + 784.0645050227351, + 128.35530373662334 + ], + [ + 805.6372723085271, + 129.87326339062355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.0397327667517, + "ymin": 0.0, + "xmax": 876.4273157025469, + "ymax": 1.9204679679365881 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.7567334848777, + 1.9204679679365881 + ], + [ + 867.7164120586942, + 1.4039742833143691 + ], + [ + 866.0397327667517, + 1.3070224688844974 + ], + [ + 866.0786341321157, + 1.8233525840049083 + ], + [ + 876.4273157025469, + -47.841013988448935 + ], + [ + 876.3778772298508, + -48.33363126446602 + ], + [ + 874.6360107410887, + -48.426097679268935 + ], + [ + 874.6839165476581, + -47.933642346368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.8446965477726, + "ymin": 522.738243989595, + "xmax": 798.0049426356212, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 751.7075098653338, + 755.6612313212333 + ], + [ + 728.4196147725565, + 752.6232657810352 + ], + [ + 705.8446965477726, + 1089.1560428030248 + ], + [ + 734.8327654512203, + 1093.8810218433205 + ], + [ + 798.0049426356212, + 526.3109307252588 + ], + [ + 764.9502178123357, + 522.738243989595 + ], + [ + 743.6124124889541, + 963.0316152552997 + ], + [ + 789.4659340772727, + 969.9262310555407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.5226067435183, + "ymin": 0.0, + "xmax": 853.0077109633551, + "ymax": 0.5632273009437654 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 845.2132999104032, + 0.5632273009437654 + ], + [ + 845.1920198961005, + 0.04901724286452236 + ], + [ + 843.5226067435183, + -0.047506122421168584 + ], + [ + 843.5424789633983, + 0.4665414496810172 + ], + [ + 853.0077109633551, + -49.13544471136163 + ], + [ + 852.9788219845966, + -49.625801332169715 + ], + [ + 851.2447903755096, + -49.71784363184565 + ], + [ + 851.272160423186, + -49.22764784077236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 454.1488960170211, + "ymin": 0.0, + "xmax": 552.1134302480195, + "ymax": 84.71689177034273 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 482.37150500566815, + 83.97060646737742 + ], + [ + 492.6152548992867, + 84.71689177034273 + ], + [ + 552.1134302480195, + -37.17072096109189 + ], + [ + 543.6099055483592, + -37.67853800463638 + ], + [ + 454.1488960170211, + -135.37258111188913 + ], + [ + 466.19332612080774, + -134.7702388481298 + ], + [ + 539.5135369291065, + -230.17117775031636 + ], + [ + 529.8048797404173, + -230.55649317429788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.9371710350366, + "ymin": 0.0, + "xmax": 939.7589814546125, + "ymax": 4.35117215440647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.7222242819037, + 4.35117215440647 + ], + [ + 928.6301724213924, + 3.8305760876801855 + ], + [ + 926.9371710350366, + 3.7328545899656547 + ], + [ + 927.0277751605989, + 4.253285134687417 + ], + [ + 939.7589814546125, + -45.52225171580187 + ], + [ + 939.653721334993, + -46.01893154126731 + ], + [ + 937.8942516732286, + -46.11216012202908 + ], + [ + 937.9979481299486, + -45.61564424692892 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f29ad05382721ac8b480f413561f2267da31550 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00023/meta.json @@ -0,0 +1,7479 @@ +{ + "frame_id": 23, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 6943.287724462803 + }, + "drone_pose": { + "x": 7.865136161341766, + "y": -43.34400596029598, + "z": 20.09089972723227, + "pitch": -43.86541017231033, + "yaw": 78.3470375421831, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1456238031387329, + -0.7061096429824829, + 0.6929666996002197, + 15.537942886352539 + ], + [ + 0.979388952255249, + 0.2019832730293274, + 0.0, + 16.457794189453125 + ], + [ + -0.139967679977417, + 0.6786839365959167, + 0.720969557762146, + -42.800941467285156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.903448055042877, + "y": -42.83837650293907, + "z": 20.07903536354407 + }, + "t1_image_uv": [ + 807.2521571063503, + -520.1116909136168 + ], + "t1_depth": 0.37083057755435117 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -22.187763214111328, + "z": 1.142304305434227 + }, + "image_uv": [ + 702.6877627532268, + 324.7983096567029 + ], + "depth": 28.42872616057158, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 536, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -22.187763214111328, + "z": 1.1423043012619019 + }, + "extent": { + "x": 0.3749322295188904, + "y": 0.4295983910560608, + "z": 0.9140743613243103 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 685.236317156398, + "ymin": 291.17976077869525, + "xmax": 720.6768093469824, + "ymax": 357.7005640348201 + }, + "corners_3d": [ + [ + 10.762414932250977, + -22.56269645690918, + 0.22822993993759155 + ], + [ + 9.903218269348145, + -22.562694549560547, + 0.22822993993759155 + ], + [ + 9.903219223022461, + -21.812829971313477, + 0.22822993993759155 + ], + [ + 10.762415885925293, + -21.81283187866211, + 0.22822993993759155 + ], + [ + 10.762414932250977, + -22.56269645690918, + 2.0563786029815674 + ], + [ + 9.903218269348145, + -22.562694549560547, + 2.0563786029815674 + ], + [ + 9.903219223022461, + -21.812829971313477, + 2.0563786029815674 + ], + [ + 10.762415885925293, + -21.81283187866211, + 2.0563786029815674 + ] + ], + "corners_2d": [ + [ + 685.236317156398, + 353.71024524879266 + ], + [ + 713.5464897666099, + 357.7005640348201 + ], + [ + 717.1843291609439, + 341.0472953505774 + ], + [ + 689.368711601614, + 337.1997641008867 + ], + [ + 687.3131919923226, + 307.5651838253767 + ], + [ + 716.9385126664845, + 311.5293461579153 + ], + [ + 720.6768093469824, + 294.99572818594197 + ], + [ + 691.5926364767803, + 291.17976077869525 + ] + ], + "center_offset_px": [ + 62.68776275322682, + -35.201690343297116 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 77, + "semantic_pixel_counts": { + "1": 265371, + "2": 86852, + "5": 3456, + "6": 5730, + "7": 290, + "10": 22, + "12": 3363, + "14": 37275, + "24": 37289, + "25": 481952 + }, + "instance_pixel_counts": { + "381": 62, + "586": 2983, + "842": 473, + "1118": 461, + "1630": 292, + "2142": 339, + "2644": 1627, + "2654": 226, + "3156": 2375, + "3166": 2, + "7262": 729, + "7503": 161, + "7774": 880, + "8015": 1215, + "8527": 7141, + "8798": 1363, + "9310": 1738, + "9822": 2229, + "11676": 49225, + "11870": 3335, + "12188": 106729, + "12700": 28100, + "13212": 3016, + "13406": 74, + "13918": 172, + "14236": 26341, + "14430": 1003, + "14942": 1226, + "15454": 1564, + "15966": 1976, + "16284": 19858, + "16478": 944, + "18013": 366417, + "18525": 619, + "19037": 115535, + "23418": 4450, + "23441": 7580, + "24442": 4613, + "24954": 1434, + "25466": 114, + "25489": 12548, + "25978": 833, + "27516": 824, + "28026": 616, + "28028": 935, + "29052": 5895, + "29564": 1501, + "30076": 5027, + "31100": 221, + "31612": 1808, + "33660": 1220, + "34560": 897, + "34816": 1121, + "36252": 2014, + "38300": 12554, + "40860": 17534, + "43008": 536, + "43264": 240, + "43520": 185, + "43776": 640, + "44032": 1049, + "44288": 713, + "44922": 266, + "45824": 3952, + "46173": 4540, + "47104": 178, + "48896": 4500, + "52636": 941, + "54684": 929, + "57241": 2688, + "57753": 3186, + "58265": 23650, + "58777": 3084, + "59289": 18205, + "60825": 1187, + "61337": 10178, + "63385": 6562 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 536, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -22.187763214111328, + "z": 1.1423043012619019 + }, + "extent": { + "x": 0.36126279830932617, + "y": 0.5135571360588074, + "z": 0.9414747357368469 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 682.5326609253427, + "ymin": 290.38027764766946, + "xmax": 723.5235858413175, + "ymax": 358.4441341988444 + }, + "corners_3d": [ + [ + 10.84637451171875, + -22.549026489257812, + 0.20082956552505493 + ], + [ + 9.819259643554688, + -22.549026489257812, + 0.20082956552505493 + ], + [ + 9.819259643554688, + -21.826499938964844, + 0.20082956552505493 + ], + [ + 10.84637451171875, + -21.826499938964844, + 0.20082956552505493 + ], + [ + 10.84637451171875, + -22.549026489257812, + 2.0837790966033936 + ], + [ + 9.819259643554688, + -22.549026489257812, + 2.0837790966033936 + ], + [ + 9.819259643554688, + -21.826499938964844, + 2.0837790966033936 + ], + [ + 10.84637451171875, + -21.826499938964844, + 2.0837790966033936 + ] + ], + "corners_2d": [ + [ + 682.5326609253427, + 353.67680795635505 + ], + [ + 716.342271609407, + 358.4441341988444 + ], + [ + 719.7991160927057, + 342.3834527258202 + ], + [ + 686.558409254299, + 337.7805017536811 + ], + [ + 684.5437314586956, + 306.1518937930236 + ], + [ + 719.9716323549819, + 310.8868695053548 + ], + [ + 723.5235858413175, + 294.94446367076284 + ], + [ + 688.7198690021994, + 290.38027764766946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 240, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -19.1900577545166, + "z": 1.138261318206787 + }, + "extent": { + "x": 0.24400027096271515, + "y": 0.3504919707775116, + "z": 0.5852727293968201 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 579.444133870827, + "ymin": 228.23572649932072, + "xmax": 602.7865737370033, + "ymax": 266.40835864892836 + }, + "corners_3d": [ + [ + 14.75090503692627, + -19.501598358154297, + 0.552988588809967 + ], + [ + 14.065239906311035, + -19.355854034423828, + 0.552988588809967 + ], + [ + 14.166701316833496, + -18.878517150878906, + 0.552988588809967 + ], + [ + 14.85236644744873, + -19.024261474609375, + 0.552988588809967 + ], + [ + 14.75090503692627, + -19.501598358154297, + 1.723534107208252 + ], + [ + 14.065239906311035, + -19.355854034423828, + 1.723534107208252 + ], + [ + 14.166701316833496, + -18.878517150878906, + 1.723534107208252 + ], + [ + 14.85236644744873, + -19.024261474609375, + 1.723534107208252 + ] + ], + "corners_2d": [ + [ + 581.0095960988142, + 266.40835864892836 + ], + [ + 602.4597807807502, + 266.3274476420235 + ], + [ + 602.7865737370033, + 257.1355202203818 + ], + [ + 581.5742709495429, + 257.2146468980452 + ], + [ + 579.444133870827, + 237.41910020178193 + ], + [ + 601.4636542209074, + 237.3389462529191 + ], + [ + 601.8103541472431, + 228.23572649932072 + ], + [ + 580.0414373411558, + 228.3140667070115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 185, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -15.245049476623535, + "z": 0.815211296081543 + }, + "extent": { + "x": 0.26524075865745544, + "y": 0.3572435975074768, + "z": 0.6090997457504272 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 785.6612745448336, + "ymin": 189.95846411779036, + "xmax": 810.7660591525189, + "ymax": 229.17879590188102 + }, + "corners_3d": [ + [ + 8.40455436706543, + -15.54617977142334, + 0.20611155033111572 + ], + [ + 7.693981170654297, + -15.471494674682617, + 0.20611155033111572 + ], + [ + 7.749431610107422, + -14.94391918182373, + 0.20611155033111572 + ], + [ + 8.460004806518555, + -15.018604278564453, + 0.20611155033111572 + ], + [ + 8.40455436706543, + -15.54617977142334, + 1.4243110418319702 + ], + [ + 7.693981170654297, + -15.471494674682617, + 1.4243110418319702 + ], + [ + 7.749431610107422, + -14.94391918182373, + 1.4243110418319702 + ], + [ + 8.460004806518555, + -15.018604278564453, + 1.4243110418319702 + ] + ], + "corners_2d": [ + [ + 785.8188039775252, + 227.97887434913375 + ], + [ + 806.4546132736261, + 229.17879590188102 + ], + [ + 806.0645917581373, + 220.2660657540298 + ], + [ + 785.6612745448336, + 219.09298239247624 + ], + [ + 789.5898776929625, + 198.7344550513226 + ], + [ + 810.7660591525189, + 199.9199268813121 + ], + [ + 810.3162844236176, + 191.11674654926475 + ], + [ + 789.3848581337935, + 189.95846411779036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 640, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -22.187763214111328, + "z": 1.1519722938537598 + }, + "extent": { + "x": 0.3788031041622162, + "y": 0.5549291968345642, + "z": 0.9325922131538391 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 1006.2043919010241, + "ymin": 333.9059884081326, + "xmax": 1068.5991607081678, + "ymax": 405.2112402377752 + }, + "corners_3d": [ + [ + 1.3877460956573486, + -22.566566467285156, + 0.21938008069992065 + ], + [ + 0.277887761592865, + -22.566566467285156, + 0.21938008069992065 + ], + [ + 0.2778880000114441, + -21.8089599609375, + 0.21938008069992065 + ], + [ + 1.3877463340759277, + -21.8089599609375, + 0.21938008069992065 + ], + [ + 1.3877460956573486, + -22.566566467285156, + 2.084564447402954 + ], + [ + 0.277887761592865, + -22.566566467285156, + 2.084564447402954 + ], + [ + 0.2778880000114441, + -21.8089599609375, + 2.084564447402954 + ], + [ + 1.3877463340759277, + -21.8089599609375, + 2.084564447402954 + ] + ], + "corners_2d": [ + [ + 1007.9863109825731, + 399.5222225472604 + ], + [ + 1048.3344009031841, + 405.2112402377752 + ], + [ + 1045.7677259067627, + 386.63334195686116 + ], + [ + 1006.2043919010241, + 381.15999586163906 + ], + [ + 1026.1360497067963, + 352.2092464305294 + ], + [ + 1068.5991607081678, + 357.8869873205472 + ], + [ + 1065.4998039169936, + 339.3581553534136 + ], + [ + 1023.9049111763236, + 333.9059884081326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1049, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -33.31512451171875, + "z": 1.1453609466552734 + }, + "extent": { + "x": 0.4393121600151062, + "y": 0.4885730743408203, + "z": 0.9463855028152466 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 759.4412356893739, + "ymin": 647.9785706511228, + "xmax": 823.7730124675303, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.249135494232178, + -33.700958251953125, + 0.19897544384002686 + ], + [ + 6.277342319488525, + -33.8031005859375, + 0.19897544384002686 + ], + [ + 6.185500621795654, + -32.929290771484375, + 0.19897544384002686 + ], + [ + 7.157293796539307, + -32.8271484375, + 0.19897544384002686 + ], + [ + 7.249135494232178, + -33.700958251953125, + 2.0917463302612305 + ], + [ + 6.277342319488525, + -33.8031005859375, + 2.0917463302612305 + ], + [ + 6.185500621795654, + -32.929290771484375, + 2.0917463302612305 + ], + [ + 7.157293796539307, + -32.8271484375, + 2.0917463302612305 + ] + ], + "corners_2d": [ + [ + 759.4412356893739, + 729.0921639649753 + ], + [ + 804.7540974756641, + 742.6938985383119 + ], + [ + 812.2364827527254, + 704.9800685064517 + ], + [ + 768.143747575965, + 692.1490398753829 + ], + [ + 767.6040679993841, + 686.0572070527112 + ], + [ + 816.1404420959959, + 700.1145314216693 + ], + [ + 823.7730124675303, + 661.1871344272442 + ], + [ + 776.6342814303032, + 647.9785706511228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 713, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -30.35797691345215, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.3272131383419037, + "y": 0.3236730992794037, + "z": 0.8803204894065857 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 182.36115671161355, + "ymin": 439.9943606895036, + "xmax": 241.95142330080353, + "ymax": 510.80826239549947 + }, + "corners_3d": [ + [ + 21.962785720825195, + -30.61074447631836, + 0.25685685873031616 + ], + [ + 21.329586029052734, + -30.74533462524414, + 0.25685685873031616 + ], + [ + 21.19352149963379, + -30.105209350585938, + 0.25685685873031616 + ], + [ + 21.82672119140625, + -29.970619201660156, + 0.25685685873031616 + ], + [ + 21.962785720825195, + -30.61074447631836, + 2.0174977779388428 + ], + [ + 21.329586029052734, + -30.74533462524414, + 2.0174977779388428 + ], + [ + 21.19352149963379, + -30.105209350585938, + 2.0174977779388428 + ], + [ + 21.82672119140625, + -29.970619201660156, + 2.0174977779388428 + ] + ], + "corners_2d": [ + [ + 204.8858129647516, + 502.6991827061212 + ], + [ + 224.71306453579012, + 510.80826239549947 + ], + [ + 241.95142330080353, + 492.2745860376073 + ], + [ + 222.3359531355821, + 484.4420643448178 + ], + [ + 182.36115671161355, + 458.3815383592143 + ], + [ + 203.04264398203213, + 466.55885189009166 + ], + [ + 221.55750048473755, + 447.87868581033445 + ], + [ + 201.10398419110635, + 439.9943606895036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3952, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 535.4934935618423, + "ymin": 16.305257886256868, + "xmax": 654.7151535294215, + "ymax": 77.18574597479125 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 549.0853450330293, + 47.95047815261859 + ], + [ + 538.0321148691881, + 66.58881794981261 + ], + [ + 646.3906311798894, + 77.18574597479125 + ], + [ + 654.3626219100997, + 57.9240148329302 + ], + [ + 546.8905637428265, + 16.305257886256868 + ], + [ + 535.4934935618423, + 34.4177185560157 + ], + [ + 646.5524811576955, + 44.72757075577266 + ], + [ + 654.7151535294215, + 25.994070826794882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 184, + "instance_id": 47104, + "pixel_count": 178, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": 31.706411361694336, + "y": -28.793697357177734, + "z": 0.6945980191230774 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -88.46794891357422 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 303.076880655965, + "xmax": 25.559724794691192, + "ymax": 481.6895905387628 + }, + "corners_3d": [ + [ + 30.618553161621094, + -26.143095016479492, + -0.010731322690844536 + ], + [ + 32.65102767944336, + -26.088735580444336, + -0.010731322690844536 + ], + [ + 32.79426574707031, + -31.444299697875977, + -0.010731322690844536 + ], + [ + 30.761791229248047, + -31.498661041259766, + -0.010731322690844536 + ], + [ + 30.618553161621094, + -26.143095016479492, + 1.3999274969100952 + ], + [ + 32.65102767944336, + -26.088735580444336, + 1.3999274969100952 + ], + [ + 32.79426574707031, + -31.444299697875977, + 1.3999274969100952 + ], + [ + 30.761791229248047, + -31.498661041259766, + 1.3999274969100952 + ] + ], + "corners_2d": [ + [ + 25.559724794691192, + 348.04248274894445 + ], + [ + -31.46541289829645, + 337.79729720574585 + ], + [ + -173.91520821123333, + 468.2391183038584 + ], + [ + -110.3805661071525, + 481.6895905387628 + ], + [ + 4.418918884430354, + 313.265959833476 + ], + [ + -54.29953619885464, + 303.076880655965 + ], + [ + -205.75969560478006, + 433.39610839888405 + ], + [ + -140.13747836192078, + 446.9073578761022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4500, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 49.23130791249514, + "ymin": 75.36380899625613, + "xmax": 168.16412152586804, + "ymax": 168.49181609989122 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 168.16412152586804, + 116.29132430521912 + ], + [ + 127.60677636889432, + 111.60236861497975 + ], + [ + 67.1849360919914, + 163.05706693584702 + ], + [ + 110.4078848248721, + 168.49181609989122 + ], + [ + 154.3562725801204, + 79.93061805887436 + ], + [ + 112.71861028812725, + 75.36380899625613 + ], + [ + 49.23130791249514, + 125.57933089954076 + ], + [ + 93.68076225391985, + 130.89622936091078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681230733914, + "ymin": 4.648185085550551, + "xmax": 1025.6203834982207, + "ymax": 21.839557416895104 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093032520572, + 21.839557416895104 + ], + [ + 1021.1741348571898, + 21.099044482929173 + ], + [ + 1005.1681230733914, + 19.732414937133285 + ], + [ + 1005.2827200590937, + 20.469462847902093 + ], + [ + 1025.6203834982207, + 6.723962938672003 + ], + [ + 1025.478165892901, + 5.994453191370042 + ], + [ + 1009.281661243089, + 4.648185085550551 + ], + [ + 1009.4028149261632, + 5.374242864257781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681272593834, + "ymin": 4.648185437625671, + "xmax": 1025.6203877595926, + "ymax": 21.839557776895333 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093074631337, + 21.839557776895333 + ], + [ + 1021.1741390628486, + 21.099044842017918 + ], + [ + 1005.1681272593834, + 19.732415294542818 + ], + [ + 1005.2827242504532, + 20.469463206216687 + ], + [ + 1025.6203877595926, + 6.723963293328097 + ], + [ + 1025.4781701487252, + 5.994453545118006 + ], + [ + 1009.281665478788, + 4.648185437625671 + ], + [ + 1009.4028191673578, + 5.374243217234664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.8024471844205, + "ymin": 0.2350190970766448, + "xmax": 959.1245061799641, + "ymax": 17.326787338065685 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 955.5843656651009, + 17.326787338065685 + ], + [ + 955.5328580443953, + 16.597656756097763 + ], + [ + 939.8024471844205, + 15.251996025786411 + ], + [ + 939.8340824858476, + 15.977741075757535 + ], + [ + 959.1245061799641, + 2.278571863642128 + ], + [ + 959.0679215567325, + 1.5604005537946364 + ], + [ + 943.1533861691778, + 0.2350190970766448 + ], + [ + 943.1896303440668, + 0.9498185098604495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.0536675409382, + "ymin": 0.0, + "xmax": 957.3074115186205, + "ymax": 16.067855888314682 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 953.7950684109303, + 16.067855888314682 + ], + [ + 953.7459167752822, + 15.341884898195929 + ], + [ + 938.0536675409382, + 14.002045076227375 + ], + [ + 938.0830431706361, + 14.724652491289532 + ], + [ + 957.3074115186205, + 1.0385756173687923 + ], + [ + 957.2532556023828, + 0.32355118299471997 + ], + [ + 941.377775066991, + -0.9960331415559267 + ], + [ + 941.411690251057, + -0.284358491933574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8187080142095, + "ymin": 0.0, + "xmax": 1026.8680962559188, + "ymax": 15.664740287537882 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0171246968414, + 15.664740287537882 + ], + [ + 1021.9991179478326, + 15.567776553651129 + ], + [ + 1007.8187080142095, + 14.368636889582547 + ], + [ + 1007.8343046364682, + 14.465198873270708 + ], + [ + 1026.8680962559188, + -1.390727105838721 + ], + [ + 1026.8490373107688, + -1.4860262930879458 + ], + [ + 1012.4787844296188, + -2.6645471588586815 + ], + [ + 1012.4953683292902, + -2.56964782284399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8188669952676, + "ymin": 0.0, + "xmax": 1026.8682578609855, + "ymax": 15.66474759154039 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0172842142686, + 15.66474759154039 + ], + [ + 1021.9992774382897, + 15.567783855204937 + ], + [ + 1007.8188669952676, + 14.36864416088622 + ], + [ + 1007.8344636443248, + 14.465206147007848 + ], + [ + 1026.8682578609855, + -1.390719927206419 + ], + [ + 1026.8491988881553, + -1.4860191168930328 + ], + [ + 1012.4789454843478, + -2.664540012770715 + ], + [ + 1012.4955294115211, + -2.5696406743341527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681230733914, + "ymin": 4.648185085550551, + "xmax": 1025.6203834982207, + "ymax": 21.839557416895104 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093032520572, + 21.839557416895104 + ], + [ + 1021.1741348571898, + 21.099044482929173 + ], + [ + 1005.1681230733914, + 19.732414937133285 + ], + [ + 1005.2827200590937, + 20.469462847902093 + ], + [ + 1025.6203834982207, + 6.723962938672003 + ], + [ + 1025.478165892901, + 5.994453191370042 + ], + [ + 1009.281661243089, + 4.648185085550551 + ], + [ + 1009.4028149261632, + 5.374242864257781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681230621643, + "ymin": 4.64818501441863, + "xmax": 1025.6203834772675, + "ymax": 21.8395573077957 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093032321428, + 21.8395573077957 + ], + [ + 1021.1741348439472, + 21.09904441038043 + ], + [ + 1005.1681230621643, + 19.732414864923612 + ], + [ + 1005.2827200422103, + 20.46946273931343 + ], + [ + 1025.6203834772675, + 6.723962831192125 + ], + [ + 1025.478165878968, + 5.994453119900129 + ], + [ + 1009.2816612312197, + 4.64818501441863 + ], + [ + 1009.4028149083135, + 5.374242757286822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.168126561718, + "ymin": 4.6481853789464935, + "xmax": 1025.6203870423794, + "ymax": 21.839557680528856 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093067546495, + 21.839557680528856 + ], + [ + 1021.1741383619053, + 21.099044782169813 + ], + [ + 1005.168126561718, + 19.732415234974553 + ], + [ + 1005.2827235462654, + 20.469463110301376 + ], + [ + 1025.6203870423794, + 6.723963198392141 + ], + [ + 1025.4781694394212, + 5.994453486160012 + ], + [ + 1009.2816647728382, + 4.6481853789464935 + ], + [ + 1009.4028184545422, + 5.374243122748226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.3457941264952, + "ymin": 9.417792149052673, + "xmax": 981.3093078417453, + "ymax": 26.716216939853496 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.4617748638614, + 26.716216939853496 + ], + [ + 977.3814892157561, + 25.963304633128246 + ], + [ + 961.3457941264952, + 24.5738338487065 + ], + [ + 961.4054289776793, + 25.323193843835554 + ], + [ + 981.3093078417453, + 11.528682796608678 + ], + [ + 981.2231373685305, + 10.786818156173467 + ], + [ + 964.9961145917304, + 9.417792149052673 + ], + [ + 965.0611384119795, + 10.156116863426234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8184937041692, + "ymin": 0.0, + "xmax": 1026.8678779278189, + "ymax": 15.664716025465339 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0169093098668, + 15.664716025465339 + ], + [ + 1021.9989025977225, + 15.567752299712936 + ], + [ + 1007.8184937041692, + 14.368612736127204 + ], + [ + 1007.8340902899149, + 14.46517471173155 + ], + [ + 1026.8678779278189, + -1.3907509514624508 + ], + [ + 1026.8488190205455, + -1.486050130615581 + ], + [ + 1012.4785672068631, + -2.6645708963786205 + ], + [ + 1012.4951510690231, + -2.5696715684091487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681272593834, + "ymin": 4.648185437625671, + "xmax": 1025.6203877595926, + "ymax": 21.839557776895333 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093074631337, + 21.839557776895333 + ], + [ + 1021.1741390628486, + 21.099044842017918 + ], + [ + 1005.1681272593834, + 19.732415294542818 + ], + [ + 1005.2827242504532, + 20.469463206216687 + ], + [ + 1025.6203877595926, + 6.723963293328097 + ], + [ + 1025.4781701487252, + 5.994453545118006 + ], + [ + 1009.281665478788, + 4.648185437625671 + ], + [ + 1009.4028191673578, + 5.374243217234664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1692177848677, + "ymin": 0.0, + "xmax": 1029.2266502302793, + "ymax": 16.492573124913463 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1024.0933856065926, + 16.492573124913463 + ], + [ + 1024.071377172211, + 16.376141947962026 + ], + [ + 1005.1692177848677, + 14.775966932095116 + ], + [ + 1005.1873754435965, + 14.89175547407649 + ], + [ + 1029.2266502302793, + -1.4467806644767052 + ], + [ + 1029.2033020510328, + -1.5611132524443292 + ], + [ + 1010.0349112323923, + -3.132384017510617 + ], + [ + 1010.0542994720512, + -3.018690878984046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8186120923209, + "ymin": 0.0, + "xmax": 1026.8679978083192, + "ymax": 15.664707623130994 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0170277576474, + 15.664707623130994 + ], + [ + 1021.999021025907, + 15.567743900195694 + ], + [ + 1007.8186120923209, + 14.368604371408765 + ], + [ + 1007.8342086976501, + 14.465166344213571 + ], + [ + 1026.8679978083192, + -1.3907592095740142 + ], + [ + 1026.848938880973, + -1.4860583859232293 + ], + [ + 1012.4786870265294, + -2.6645791170520283 + ], + [ + 1012.4952709087494, + -2.569679791868907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681230621643, + "ymin": 4.64818501441863, + "xmax": 1025.6203834772675, + "ymax": 21.8395573077957 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093032321428, + 21.8395573077957 + ], + [ + 1021.1741348439472, + 21.09904441038043 + ], + [ + 1005.1681230621643, + 19.732414864923612 + ], + [ + 1005.2827200422103, + 20.46946273931343 + ], + [ + 1025.6203834772675, + 6.723962831192125 + ], + [ + 1025.478165878968, + 5.994453119900129 + ], + [ + 1009.2816612312197, + 4.64818501441863 + ], + [ + 1009.4028149083135, + 5.374242757286822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1692227894107, + "ymin": 0.0, + "xmax": 1029.2266566607655, + "ymax": 16.492605191956272 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1024.0933916680738, + 16.492605191956272 + ], + [ + 1024.0713832380866, + 16.376174038251634 + ], + [ + 1005.1692227894107, + 14.775998845281947 + ], + [ + 1005.1873804445088, + 14.891787364109348 + ], + [ + 1029.2266566607655, + -1.4467491753349009 + ], + [ + 1029.2033084861462, + -1.561081740644056 + ], + [ + 1010.034916576089, + -3.1323526819343783 + ], + [ + 1010.0543048118996, + -3.0186595659753834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1693599806463, + "ymin": 0.0, + "xmax": 1029.226795074041, + "ymax": 16.492580846090277 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1024.0935284716718, + 16.492580846090277 + ], + [ + 1024.0715200151094, + 16.37614970217271 + ], + [ + 1005.1693599806463, + 14.775974643511177 + ], + [ + 1005.1875176624903, + 14.89176315263245 + ], + [ + 1029.226795074041, + -1.4467730824482032 + ], + [ + 1029.2034468722209, + -1.5611056380182617 + ], + [ + 1010.0350553886963, + -3.132376445666864 + ], + [ + 1010.0544436518863, + -3.018683339365282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1681209467138, + "ymin": 4.648184696117596, + "xmax": 1025.620381318644, + "ymax": 21.839556982329725 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1021.3093011000523, + 21.839556982329725 + ], + [ + 1021.1741327146326, + 21.09904408573857 + ], + [ + 1005.1681209467138, + 19.732414541799983 + ], + [ + 1005.2827179240192, + 20.469462415371368 + ], + [ + 1025.620381318644, + 6.723962510557612 + ], + [ + 1025.47816372319, + 5.994452800086776 + ], + [ + 1009.2816590896314, + 4.648184696117596 + ], + [ + 1009.4028127639165, + 5.3742424381705405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1692162598245, + "ymin": 0.0, + "xmax": 1029.226647335493, + "ymax": 16.49254117534599 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1024.0933830331398, + 16.49254117534599 + ], + [ + 1024.0713746004894, + 16.376110011238154 + ], + [ + 1005.1692162598245, + 14.775935171626429 + ], + [ + 1005.1873739172486, + 14.89172370087033 + ], + [ + 1029.226647335493, + -1.4468120382602478 + ], + [ + 1029.2032991581411, + -1.5611446134473113 + ], + [ + 1010.0349094158619, + -3.132415203132723 + ], + [ + 1010.054297654071, + -3.01872207727979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 923.4073505737066, + "ymin": 0.0, + "xmax": 942.4022152948328, + "ymax": 14.808308482779466 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 939.0621455069986, + 14.808308482779466 + ], + [ + 939.0315401991667, + 14.085491844235207 + ], + [ + 923.4073505737066, + 12.751463212890258 + ], + [ + 923.4183508530327, + 13.47093814934783 + ], + [ + 942.4022152948328, + -0.2019668979963285 + ], + [ + 942.3670415964646, + -0.9138499060894674 + ], + [ + 926.5611816568482, + -2.2276471972543845 + ], + [ + 926.5762915198405, + -1.5190919483068797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.1692163953221, + "ymin": 0.0, + "xmax": 1029.2266488087498, + "ymax": 16.492573041772573 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1024.0933842045474, + 16.492573041772573 + ], + [ + 1024.071375777282, + 16.37614190099231 + ], + [ + 1005.1692163953221, + 14.775966885384548 + ], + [ + 1005.1873740481328, + 14.89175539139444 + ], + [ + 1029.2266488087498, + -1.4467807461192592 + ], + [ + 1029.203300637043, + -1.5611132985674203 + ], + [ + 1010.0349098239329, + -3.1323840633757527 + ], + [ + 1010.054298057284, + -3.0186909601699767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.2820623876478, + "ymin": 8.729421339926262, + "xmax": 1024.6836829877147, + "ymax": 25.8588958750654 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 1020.3908527412518, + 25.8588958750654 + ], + [ + 1020.2570898797547, + 25.11463793076399 + ], + [ + 1004.2820623876478, + 23.741087881618455 + ], + [ + 1004.3953333820443, + 24.48186955086453 + ], + [ + 1024.6836829877147, + 10.816307426304434 + ], + [ + 1024.5429229707443, + 10.082897004642916 + ], + [ + 1008.3781411516115, + 8.729421339926262 + ], + [ + 1008.4979196491306, + 9.459367655671599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8187080142095, + "ymin": 0.0, + "xmax": 1026.8680962559188, + "ymax": 15.664740287537882 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0171246968414, + 15.664740287537882 + ], + [ + 1021.9991179478326, + 15.567776553651129 + ], + [ + 1007.8187080142095, + 14.368636889582547 + ], + [ + 1007.8343046364682, + 14.465198873270708 + ], + [ + 1026.8680962559188, + -1.390727105838721 + ], + [ + 1026.8490373107688, + -1.4860262930879458 + ], + [ + 1012.4787844296188, + -2.6645471588586815 + ], + [ + 1012.4953683292902, + -2.56964782284399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7750250638115, + "ymin": 0.0, + "xmax": 934.6701201924939, + "ymax": 15.203231021875013 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 931.4132267316173, + 15.203231021875013 + ], + [ + 931.3921803263124, + 14.479426107103222 + ], + [ + 915.7750250638115, + 13.143576768935532 + ], + [ + 915.7764840167415, + 13.864033133769396 + ], + [ + 934.6701201924939, + 0.18699028300841292 + ], + [ + 934.644714274782, + -0.5258769272008408 + ], + [ + 918.8460360236293, + -1.8414873111959196 + ], + [ + 918.8513962373663, + -1.131954755540562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.8188430845485, + "ymin": 0.0, + "xmax": 1026.868233513815, + "ymax": 15.664745239773083 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1022.0172601921139, + 15.664745239773083 + ], + [ + 1021.9992534202356, + 15.56778150422599 + ], + [ + 1007.8188430845485, + 14.368641819647166 + ], + [ + 1007.8344397295414, + 14.465203804985379 + ], + [ + 1026.868233513815, + -1.3907222386066564 + ], + [ + 1026.8491745451968, + -1.48602142750849 + ], + [ + 1012.4789212515462, + -2.6645423136923228 + ], + [ + 1012.4955051745451, + -2.569642976035425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4758596758241434763, + "instance_id": 35676, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.14504623413086, + "y": -10.815969467163086, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.885363064448597, + "ymin": 0.0, + "xmax": 41.212400650464815, + "ymax": 23.827984527316687 + }, + "corners_3d": [ + [ + 40.00571060180664, + -11.005927085876465, + 2.645533323287964 + ], + [ + 40.00571060180664, + -10.626011848449707, + 2.645533323287964 + ], + [ + 40.28438186645508, + -10.626011848449707, + 2.645533323287964 + ], + [ + 40.28438186645508, + -11.005927085876465, + 2.645533323287964 + ], + [ + 40.00571060180664, + -11.005927085876465, + 3.5146729946136475 + ], + [ + 40.00571060180664, + -10.626011848449707, + 3.5146729946136475 + ], + [ + 40.28438186645508, + -10.626011848449707, + 3.5146729946136475 + ], + [ + 40.28438186645508, + -11.005927085876465, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 35.29631695411342, + 23.827984527316687 + ], + [ + 41.212400650464815, + 19.88169079736707 + ], + [ + 35.256608174761254, + 19.289336478418647 + ], + [ + 29.306279202762312, + 23.227582361031807 + ], + [ + 25.95810025939329, + 3.2125989693342376 + ], + [ + 32.02871161466885, + -0.6533904034624811 + ], + [ + 25.991149213036806, + -1.2336213856835343 + ], + [ + 19.885363064448597, + 2.6243627599420734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.9206840888645, + "ymin": 35.44593352438028, + "xmax": 541.3201251662647, + "ymax": 61.84240061191508 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 541.3201251662647, + 57.36996397376794 + ], + [ + 534.4403330038912, + 56.698979455353935 + ], + [ + 531.7013017520554, + 61.161707357723344 + ], + [ + 538.6277269079451, + 61.84240061191508 + ], + [ + 539.7076796267828, + 36.10448326457441 + ], + [ + 532.717367436216, + 35.44593352438028 + ], + [ + 529.9206840888645, + 39.82639522272933 + ], + [ + 536.9591431744988, + 40.494631104356415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.0664921038829, + "ymin": 0.34630671664621104, + "xmax": 950.2378346685097, + "ymax": 50.92947567797614 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 938.8320702155481, + 50.92947567797614 + ], + [ + 938.810799689155, + 50.39063229738724 + ], + [ + 937.0664921038829, + 50.23231998890219 + ], + [ + 937.086224495544, + 50.77088500875345 + ], + [ + 950.2378346685097, + 1.0111660077295141 + ], + [ + 950.2053556383929, + 0.49727999747921103 + ], + [ + 948.3914957733294, + 0.34630671664621104 + ], + [ + 948.4223115258931, + 0.8599171352278177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3257208310972036529, + "instance_id": 45365, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.4948903260828, + "ymin": 667.3453627972933, + "xmax": 838.3928256323883, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.10662841796875 + ], + [ + 6.553951263427734, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.846060276031494, + -36.57275390625, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -42.03266143798828, + 8.197628021240234 + ], + [ + 6.553940296173096, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 837.4226369068243, + 674.7844270438834 + ], + [ + 815.5450113985573, + 670.715594306507 + ], + [ + 773.4948903260828, + 1194.2896979033674 + ], + [ + 804.5051039154523, + 1202.5575982051155 + ], + [ + 838.3928256323883, + 671.4230185385146 + ], + [ + 816.4048371697825, + 667.3453627972933 + ], + [ + 774.428249769451, + 1193.1395309737309 + ], + [ + 805.660728595153, + 1201.4600617418319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.7747223706826, + "ymin": 0.0, + "xmax": 935.3559720196388, + "ymax": 49.62936609707225 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 924.5203389698901, + 49.62936609707225 + ], + [ + 924.5116540890041, + 49.09280256846995 + ], + [ + 922.7747223706826, + 48.93515970157131 + ], + [ + 922.7818820876537, + 49.471446633959886 + ], + [ + 935.3559720196388, + -0.2286682692521822 + ], + [ + 935.3371007229177, + -0.7402973470202596 + ], + [ + 933.5312023058711, + -0.8906079592222795 + ], + [ + 933.5484248714695, + -0.37925265980589984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.644480877868, + "ymin": 83.36859542744963, + "xmax": 874.7171636310426, + "ymax": 209.26537502465425 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 874.1059804074553, + 87.82453027165917 + ], + [ + 862.3746663412479, + 86.68386912051739 + ], + [ + 852.644480877868, + 207.65961711294085 + ], + [ + 866.5454879825347, + 209.26537502465425 + ], + [ + 874.7171636310426, + 84.50639605786785 + ], + [ + 862.9542018781362, + 83.36859542744963 + ], + [ + 853.3022150713639, + 204.0990249183752 + ], + [ + 867.2476847392097, + 205.7023153406137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.7692208227902, + "ymin": 10.805366405163966, + "xmax": 974.0954552055344, + "ymax": 61.91476608153613 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 961.5926899341281, + 61.91476608153613 + ], + [ + 961.5506952678663, + 61.35646647579415 + ], + [ + 959.7692208227902, + 61.19244120386247 + ], + [ + 959.8096111337743, + 61.75044723925026 + ], + [ + 974.0954552055344, + 11.49517012321229 + ], + [ + 974.0402202254242, + 10.962001340979327 + ], + [ + 972.1861593463598, + 10.805366405163966 + ], + [ + 972.2396565534356, + 11.338243941517476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.7427754028762, + "ymin": 83.44609213843461, + "xmax": 874.634912903783, + "ymax": 209.16351083141677 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 874.0317080461784, + 87.8453153420827 + ], + [ + 862.4491916591337, + 86.71910950168905 + ], + [ + 852.7427754028762, + 207.57861480872666 + ], + [ + 866.4652651945516, + 209.16351083141677 + ], + [ + 874.634912903783, + 84.56951021969064 + ], + [ + 863.0215480641866, + 83.44609213843461 + ], + [ + 853.3923364151184, + 204.063644838728 + ], + [ + 867.1581517148857, + 205.64613568937915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 312.877972971821, + "ymax": 115.42083000902187 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 55.2469261260494, + 80.58767443305652 + ], + [ + 48.805052493040876, + 85.34157954193222 + ], + [ + 308.12928421294424, + 115.42083000902187 + ], + [ + 312.877972971821, + 110.21715789527246 + ], + [ + -40.541939525104226, + -128.79627799797862 + ], + [ + -48.872969607436175, + -125.05989551566819 + ], + [ + 250.30873541441457, + -101.20721527632998 + ], + [ + 256.39761829058784, + -105.36003593086468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10579821898544115971, + "instance_id": 1009, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.2604420616804, + "ymin": 667.1201521946613, + "xmax": 838.5529298039696, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.10604476928711 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.10604476928711 + ], + [ + 6.552061080932617, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847949981689453, + -36.570133209228516, + 8.198223114013672 + ], + [ + 6.847939491271973, + -42.035282135009766, + 8.198223114013672 + ], + [ + 6.552050590515137, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 837.5695318577606, + 674.6547290563693 + ], + [ + 815.4126539430657, + 670.5344833937316 + ], + [ + 773.2604420616804, + 1194.6018018939162 + ], + [ + 804.6767919718861, + 1202.9797716582361 + ], + [ + 838.5529298039696, + 671.2494423236628 + ], + [ + 816.2828447684369, + 667.1201521946613 + ], + [ + 774.2044391567425, + 1193.4386906416075 + ], + [ + 805.8489388779302, + 1201.8707090667763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.6067858055594, + "ymin": 9.619968959560879, + "xmax": 1017.433717958211, + "ymax": 60.23010076577509 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1003.4588485574685, + 60.23010076577509 + ], + [ + 1003.3802745232265, + 59.679203988512086 + ], + [ + 1001.6067858055594, + 59.517351696930064 + ], + [ + 1001.6837700327321, + 60.06796186472582 + ], + [ + 1017.433717958211, + 10.300769169733542 + ], + [ + 1017.3392921964355, + 9.774560992487295 + ], + [ + 1015.4939250244133, + 9.619968959560879 + ], + [ + 1015.5866295336302, + 10.145892854750741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.4237212770639, + "ymin": 73.5817438942911, + "xmax": 879.9671900551524, + "ymax": 453.3878036909755 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 834.5842783244992, + 318.1317608129408 + ], + [ + 819.0561800026115, + 316.0752627851075 + ], + [ + 804.4237212770639, + 450.6522359912514 + ], + [ + 822.2966999493633, + 453.3878036909755 + ], + [ + 879.9671900551524, + 75.41805604583908 + ], + [ + 860.6972977213659, + 73.5817438942911 + ], + [ + 850.146050569462, + 198.1196639931643 + ], + [ + 873.1641076491874, + 200.7466242923733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.7707292873051, + "ymin": 1.5826566060307528, + "xmax": 952.0382341191807, + "ymax": 52.22878830327045 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 940.5419882756593, + 52.22878830327045 + ], + [ + 940.5191680832738, + 51.68766160675938 + ], + [ + 938.7707292873051, + 51.528678852830524 + ], + [ + 938.7920040499637, + 52.069525417665204 + ], + [ + 952.0382341191807, + 2.250440628101728 + ], + [ + 952.0040389180007, + 1.7342937098372886 + ], + [ + 950.1857130193686, + 1.5826566060307528 + ], + [ + 950.2182367431276, + 2.098526112130344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16519279929878563630, + "instance_id": 11979, + "pixel_count": null, + "type_id": "BP_StreetLight_doble9_29_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.02392319832, + "ymin": 651.1429329700478, + "xmax": 848.3495551823387, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -36.46865463256836, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -36.468658447265625, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -42.13676071166992, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -42.136756896972656, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -36.46865463256836, + 8.406628608703613 + ], + [ + 6.941591739654541, + -36.468658447265625, + 8.406628608703613 + ], + [ + 6.941580772399902, + -42.13676071166992, + 8.406628608703613 + ], + [ + 6.458408832550049, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 784.0768402482822, + 874.0758783359413 + ], + [ + 758.9775072279084, + 868.6125234548658 + ], + [ + 716.02392319832, + 1263.6589546416012 + ], + [ + 747.8750325582657, + 1272.5636445946752 + ], + [ + 848.3495551823387, + 657.8431141238693 + ], + [ + 811.7620458975176, + 651.1429329700478 + ], + [ + 765.0661383817601, + 1202.2885230105846 + ], + [ + 818.0239782527431, + 1216.4899576639123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.3259533651312, + "ymin": 0.0, + "xmax": 927.623242366689, + "ymax": 50.0370487646843 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.064272346116, + 50.0370487646843 + ], + [ + 917.0621193941267, + 49.499770813170414 + ], + [ + 915.3259533651312, + 49.34191817807596 + ], + [ + 915.3265824954088, + 49.87891898085019 + ], + [ + 927.623242366689, + 0.16009195333020898 + ], + [ + 927.6113964938804, + -0.3522443050207471 + ], + [ + 925.806319220206, + -0.5027625458659486 + ], + [ + 925.8165178525626, + 0.009299366392497177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 523.5689603395874, + "ymin": 0.0, + "xmax": 618.6497127273997, + "ymax": 124.83534608597864 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 541.0547373337265, + 123.67555246535224 + ], + [ + 551.3271051982349, + 124.83534608597864 + ], + [ + 618.6497127273997, + 1.6131260588973646 + ], + [ + 610.1225660727928, + 0.8315616810419897 + ], + [ + 523.5689603395874, + -94.59665923184002 + ], + [ + 535.6255117237032, + -93.66562003466868 + ], + [ + 615.6421456862879, + -189.5698614884368 + ], + [ + 605.9204477749141, + -190.1593300603016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5371801271181, + "ymin": 6.014949360895912, + "xmax": 1018.4434313297036, + "ymax": 56.885131062269465 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1004.395082095184, + 56.885131062269465 + ], + [ + 1004.315475757071, + 56.33578220934044 + ], + [ + 1002.5371801271181, + 56.17438517028535 + ], + [ + 1002.6151880300888, + 56.72344748348138 + ], + [ + 1018.4434313297036, + 6.6932711462075645 + ], + [ + 1018.3478234770628, + 6.16897822955292 + ], + [ + 1016.4972523796147, + 6.014949360895912 + ], + [ + 1016.5911292611424, + 6.5389582731179985 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17882e9858e9cd881f88671b706587fefa06fbb7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00026/meta.json @@ -0,0 +1,8864 @@ +{ + "frame_id": 26, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 6980.696503838059 + }, + "drone_pose": { + "x": 7.960356100665148, + "y": -41.82828309281636, + "z": 20.059321389592075, + "pitch": -36.65866703731675, + "yaw": 82.43861914804056, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10556089878082275, + -0.7952309846878052, + 0.5970466136932373, + 20.446491241455078 + ], + [ + 0.9913045167922974, + 0.1315881609916687, + -2.9802322387695312e-08, + 13.395245552062988 + ], + [ + -0.07856428623199463, + 0.5918549299240112, + 0.8022065758705139, + -40.22259521484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.994034450395311, + "y": -41.18559525215554, + "z": 20.107883414764736 + }, + "t1_image_uv": [ + 741.1790977712164, + -474.14865690500244 + ], + "t1_depth": 0.48564658338888705 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -20.687763214111328, + "z": 1.142597262263298 + }, + "image_uv": [ + 654.5580982380643, + 443.84563860514356 + ], + "depth": 28.356200468239532, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 79, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -20.687763214111328, + "z": 1.1425973176956177 + }, + "extent": { + "x": 0.39586973190307617, + "y": 0.306497186422348, + "z": 0.9366840720176697 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 642.4840559837006, + "ymin": 410.0333227507993, + "xmax": 666.8701777270338, + "ymax": 477.1559299756796 + }, + "corners_3d": [ + [ + 10.639313697814941, + -21.083633422851562, + 0.205913245677948 + ], + [ + 10.02631950378418, + -21.083633422851562, + 0.205913245677948 + ], + [ + 10.026320457458496, + -20.291893005371094, + 0.205913245677948 + ], + [ + 10.639314651489258, + -20.291893005371094, + 0.205913245677948 + ], + [ + 10.639313697814941, + -21.083633422851562, + 2.0792813301086426 + ], + [ + 10.02631950378418, + -21.083633422851562, + 2.0792813301086426 + ], + [ + 10.026320457458496, + -20.291893005371094, + 2.0792813301086426 + ], + [ + 10.639314651489258, + -20.291893005371094, + 2.0792813301086426 + ] + ], + "corners_2d": [ + [ + 642.4840559837006, + 475.27648790158935 + ], + [ + 662.9094375730388, + 477.1559299756796 + ], + [ + 665.8408580277379, + 459.2226170063731 + ], + [ + 645.8484683385255, + 457.42326900136203 + ], + [ + 642.5850349824857, + 427.5278622902827 + ], + [ + 663.8429211450934, + 429.37132607165364 + ], + [ + 666.8701777270338, + 411.79513537153684 + ], + [ + 646.0808949383396, + 410.0333227507993 + ] + ], + "center_offset_px": [ + 14.558098238064304, + 83.84563860514356 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 107, + "semantic_pixel_counts": { + "1": 296286, + "2": 140172, + "3": 27397, + "5": 4206, + "6": 7351, + "7": 1546, + "9": 259, + "10": 1631, + "12": 1980, + "14": 47595, + "20": 1658, + "24": 32284, + "25": 359235 + }, + "instance_pixel_counts": { + "381": 2627, + "586": 3205, + "1118": 741, + "1630": 322, + "2142": 377, + "2654": 424, + "3146": 1490, + "3156": 2530, + "7262": 775, + "7503": 2050, + "7774": 971, + "8015": 4035, + "8527": 8326, + "8798": 1606, + "9310": 262, + "11676": 54847, + "11870": 2202, + "12188": 92845, + "12700": 1853, + "13212": 2129, + "13406": 75, + "13918": 186, + "14236": 25624, + "14430": 1157, + "14737": 12, + "14942": 1476, + "15454": 1971, + "16284": 24431, + "18013": 254626, + "18330": 920, + "19037": 104609, + "19038": 1601, + "19354": 1301, + "19866": 1140, + "20061": 564, + "20378": 1652, + "20573": 4402, + "20594": 20, + "20890": 2472, + "21085": 23794, + "21597": 19255, + "22426": 2285, + "23418": 5051, + "23441": 8121, + "23450": 4227, + "24442": 3912, + "24954": 93, + "25466": 92, + "25489": 14044, + "25498": 5161, + "25978": 814, + "27516": 870, + "28026": 759, + "28028": 920, + "28530": 232, + "28786": 10100, + "29052": 7232, + "29554": 9214, + "29564": 2, + "30076": 315, + "31612": 1865, + "33660": 1552, + "34304": 854, + "34560": 1639, + "34816": 3136, + "34899": 30, + "35072": 444, + "35228": 317, + "36252": 32681, + "36764": 10874, + "37788": 5309, + "38300": 21866, + "38483": 252, + "40860": 23510, + "43008": 79, + "43264": 246, + "43520": 161, + "43776": 625, + "43898": 26, + "44288": 869, + "44544": 2484, + "44922": 2736, + "45312": 569, + "45434": 413, + "45824": 3916, + "46173": 3026, + "48896": 4050, + "49778": 7831, + "51309": 259, + "51587": 168, + "52124": 192, + "52636": 1276, + "54684": 1349, + "57241": 2832, + "57753": 582, + "58265": 28921, + "58697": 1001, + "58748": 250, + "59289": 739, + "59772": 786, + "60284": 676, + "60796": 494, + "61308": 747, + "61337": 10274, + "63356": 834, + "63385": 8180, + "63868": 2301 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 79, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -20.687763214111328, + "z": 1.1425973176956177 + }, + "extent": { + "x": 0.4027346670627594, + "y": 0.4070880115032196, + "z": 0.9309256672859192 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 639.0746139211927, + "ymin": 409.7482428713157, + "xmax": 670.3121172225324, + "ymax": 477.48304466389885 + }, + "corners_3d": [ + [ + 10.73990535736084, + -21.090497970581055, + 0.2116716504096985 + ], + [ + 9.925728797912598, + -21.090497970581055, + 0.2116716504096985 + ], + [ + 9.925728797912598, + -20.2850284576416, + 0.2116716504096985 + ], + [ + 10.73990535736084, + -20.2850284576416, + 0.2116716504096985 + ], + [ + 10.73990535736084, + -21.090497970581055, + 2.0735230445861816 + ], + [ + 9.925728797912598, + -21.090497970581055, + 2.0735230445861816 + ], + [ + 9.925728797912598, + -20.2850284576416, + 2.0735230445861816 + ], + [ + 10.73990535736084, + -20.2850284576416, + 2.0735230445861816 + ] + ], + "corners_2d": [ + [ + 639.1105378132423, + 474.9859451122038 + ], + [ + 666.2478409569655, + 477.48304466389885 + ], + [ + 669.1577451359332, + 459.22621170130714 + ], + [ + 642.605655872682, + 456.83734577609596 + ], + [ + 639.0746139211927, + 427.533947649563 + ], + [ + 667.3112681317998, + 429.9835762360565 + ], + [ + 670.3121172225324, + 412.08754656394245 + ], + [ + 642.7085004986086, + 409.7482428713157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 246, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -17.6900577545166, + "z": 1.1377339363098145 + }, + "extent": { + "x": 0.2632623612880707, + "y": 0.3154639005661011, + "z": 0.6050633192062378 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 528.2737199937644, + "ymin": 351.51159646742235, + "xmax": 550.2513853499611, + "ymax": 391.8517361848951 + }, + "corners_3d": [ + [ + 14.712637901306152, + -18.01315689086914, + 0.5326706171035767 + ], + [ + 14.095497131347656, + -17.88197898864746, + 0.5326706171035767 + ], + [ + 14.204968452453613, + -17.366958618164062, + 0.5326706171035767 + ], + [ + 14.82210922241211, + -17.498136520385742, + 0.5326706171035767 + ], + [ + 14.712637901306152, + -18.01315689086914, + 1.7427972555160522 + ], + [ + 14.095497131347656, + -17.88197898864746, + 1.7427972555160522 + ], + [ + 14.204968452453613, + -17.366958618164062, + 1.7427972555160522 + ], + [ + 14.82210922241211, + -17.498136520385742, + 1.7427972555160522 + ] + ], + "corners_2d": [ + [ + 530.851919662549, + 391.8517361848951 + ], + [ + 550.2513853499611, + 390.9191777207338 + ], + [ + 550.2097028894722, + 381.0387045130351 + ], + [ + 531.067646690364, + 381.9466893003008 + ], + [ + 528.2737199937644, + 362.1357087292748 + ], + [ + 548.1341341598292, + 361.21915690169806 + ], + [ + 548.120199354373, + 351.51159646742235 + ], + [ + 528.5294874928206, + 352.4034378558924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 161, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -13.745049476623535, + "z": 0.8117741346359253 + }, + "extent": { + "x": 0.2732464373111725, + "y": 0.3555852770805359, + "z": 0.6144946217536926 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 730.1098800958, + "ymin": 307.246832072868, + "xmax": 753.4286969181135, + "ymax": 345.080416040451 + }, + "corners_3d": [ + [ + 8.402068138122559, + -14.053967475891113, + 0.19727951288223267 + ], + [ + 7.694793701171875, + -13.979630470275879, + 0.19727951288223267 + ], + [ + 7.751917839050293, + -13.436131477355957, + 0.19727951288223267 + ], + [ + 8.459192276000977, + -13.510468482971191, + 0.19727951288223267 + ], + [ + 8.402068138122559, + -14.053967475891113, + 1.4262688159942627 + ], + [ + 7.694793701171875, + -13.979630470275879, + 1.4262688159942627 + ], + [ + 7.751917839050293, + -13.436131477355957, + 1.4262688159942627 + ], + [ + 8.459192276000977, + -13.510468482971191, + 1.4262688159942627 + ] + ], + "corners_2d": [ + [ + 730.8510641801703, + 344.7604871290581 + ], + [ + 750.9790763446445, + 345.080416040451 + ], + [ + 749.9812483922188, + 336.172183310192 + ], + [ + 730.1098800958, + 335.86034862176575 + ], + [ + 732.8554655484253, + 315.96629725453965 + ], + [ + 753.4286969181135, + 316.27982277272577 + ], + [ + 752.3772577596693, + 307.5522537368985 + ], + [ + 732.0720737937314, + 307.246832072868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 625, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -20.687763214111328, + "z": 1.1522554159164429 + }, + "extent": { + "x": 0.37640997767448425, + "y": 0.552492082118988, + "z": 0.9278216361999512 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 957.6054057732972, + "ymin": 437.9535716069644, + "xmax": 1015.6899828164273, + "ymax": 507.2806261955011 + }, + "corners_3d": [ + [ + 1.3853089809417725, + -21.064172744750977, + 0.2244337797164917 + ], + [ + 0.28032487630844116, + -21.064172744750977, + 0.2244337797164917 + ], + [ + 0.28032511472702026, + -20.31135368347168, + 0.2244337797164917 + ], + [ + 1.3853092193603516, + -20.31135368347168, + 0.2244337797164917 + ], + [ + 1.3853089809417725, + -21.064172744750977, + 2.0800771713256836 + ], + [ + 0.28032487630844116, + -21.064172744750977, + 2.0800771713256836 + ], + [ + 0.28032511472702026, + -20.31135368347168, + 2.0800771713256836 + ], + [ + 1.3853092193603516, + -20.31135368347168, + 2.0800771713256836 + ] + ], + "corners_2d": [ + [ + 961.0413400646014, + 503.6466015605388 + ], + [ + 1000.5785073920206, + 507.2806261955011 + ], + [ + 996.2872745576406, + 488.9486435566547 + ], + [ + 957.6054057732972, + 485.467272302803 + ], + [ + 974.4367489837614, + 455.82017072338033 + ], + [ + 1015.6899828164273, + 459.3954697200914 + ], + [ + 1010.8882574836746, + 441.3726110852995 + ], + [ + 970.5652535612267, + 437.9535716069644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 869, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -28.85797882080078, + "z": 1.1365963220596313 + }, + "extent": { + "x": 0.3237353563308716, + "y": 0.594073474407196, + "z": 0.8970013856887817 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 106.653943699215, + "ymin": 586.741024708894, + "xmax": 188.82414221169302, + "ymax": 668.6947875253031 + }, + "corners_3d": [ + [ + 22.226552963256836, + -29.051124572753906, + 0.2395949363708496 + ], + [ + 21.06437110900879, + -29.298154830932617, + 0.2395949363708496 + ], + [ + 20.92975425720215, + -28.664833068847656, + 0.2395949363708496 + ], + [ + 22.091936111450195, + -28.417802810668945, + 0.2395949363708496 + ], + [ + 22.226552963256836, + -29.051124572753906, + 2.033597707748413 + ], + [ + 21.06437110900879, + -29.298154830932617, + 2.033597707748413 + ], + [ + 20.92975425720215, + -28.664833068847656, + 2.033597707748413 + ], + [ + 22.091936111450195, + -28.417802810668945, + 2.033597707748413 + ] + ], + "corners_2d": [ + [ + 130.96320277340521, + 654.8001546455919 + ], + [ + 170.3205536018212, + 668.6947875253031 + ], + [ + 188.82414221169302, + 647.5387083494326 + ], + [ + 150.02359997397724, + 634.2089851194158 + ], + [ + 106.653943699215, + 607.27972531329 + ], + [ + 147.56707606570728, + 621.1615823255006 + ], + [ + 167.44041925797075, + 600.0322154793929 + ], + [ + 127.12426914296441, + 586.741024708894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 2484, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 382.4792689850449, + "ymin": 12.383993818733188, + "xmax": 459.03440703638876, + "ymax": 85.0641776468591 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 388.35989190161, + 83.17913890312616 + ], + [ + 428.95536470994614, + 85.0641776468591 + ], + [ + 459.03440703638876, + 48.239670274661876 + ], + [ + 421.7083361544044, + 46.65668122588818 + ], + [ + 382.4792689850449, + 46.56663123193073 + ], + [ + 424.001684023639, + 48.334522997359386 + ], + [ + 455.15024531027836, + 13.862809404767006 + ], + [ + 417.04183514992485, + 12.383993818733188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 569, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1244.8668317716997, + "ymin": 113.12082666509053, + "xmax": 1280.0, + "ymax": 164.46296677601848 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1376.4683704564804, + 164.46296677601848 + ], + [ + 1359.0291026549035, + 148.8749405133718 + ], + [ + 1244.8668317716997, + 143.07369962299683 + ], + [ + 1258.605583150194, + 158.29905742027194 + ], + [ + 1391.7505746638055, + 133.63958971065864 + ], + [ + 1373.4922428403052, + 118.68250103987285 + ], + [ + 1256.8906085726287, + 113.12082666509053 + ], + [ + 1271.2864636161798, + 127.72294122400262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 3916, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 467.2772144943085, + "ymin": 164.6884050470312, + "xmax": 587.7645006016483, + "ymax": 220.84497992982722 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 481.78263588580137, + 194.93163640629456 + ], + [ + 470.91607858265513, + 213.93876221463296 + ], + [ + 580.4769591589518, + 220.84497992982722 + ], + [ + 587.7645006016483, + 201.38108908302803 + ], + [ + 478.49385577376245, + 164.6884050470312 + ], + [ + 467.2772144943085, + 183.035800124048 + ], + [ + 579.1800576839835, + 189.70884766112815 + ], + [ + 586.665695163719, + 170.91104094144467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 4050, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 239.39928036693334, + "xmax": 84.63952961286577, + "ymax": 336.1223658001017 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 84.63952961286577, + 278.4293004144964 + ], + [ + 41.40170537508959, + 275.102468475663 + ], + [ + -27.63137883490174, + 332.1632677213426 + ], + [ + 19.14983614901621, + 336.1223658001017 + ], + [ + 70.13852611189031, + 242.61939223146396 + ], + [ + 25.856010706960205, + 239.39928036693334 + ], + [ + -46.58591039615487, + 294.7523565081622 + ], + [ + 1.4189235069801498, + 298.6026575358747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024618856766, + "ymin": 140.1071370267107, + "xmax": 946.2653520368008, + "ymax": 155.7621192114057 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953266061019, + 155.7621192114057 + ], + [ + 943.1947229445248, + 155.05397096789844 + ], + [ + 927.8024618856766, + 154.2123059245253 + ], + [ + 927.9813772288232, + 154.9181150185564 + ], + [ + 946.2653520368008, + 141.62823131705943 + ], + [ + 946.0588325856277, + 140.93319465244642 + ], + [ + 930.5166363565247, + 140.1071370267107 + ], + [ + 930.7010427922085, + 140.79985620348637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.802465913937, + "ymin": 140.10713724289224, + "xmax": 946.2653561236508, + "ymax": 155.76211943301936 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953306534073, + 155.76211943301936 + ], + [ + 943.1947269861262, + 155.0539711888974 + ], + [ + 927.802465913937, + 154.2123061447948 + ], + [ + 927.9813812627503, + 154.91811523943755 + ], + [ + 946.2653561236508, + 141.6282315345727 + ], + [ + 946.0588366666618, + 140.93319486935064 + ], + [ + 930.5166404239607, + 140.10713724289224 + ], + [ + 930.7010468654221, + 140.79985642027393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.8139066894937, + "ymin": 137.76370529470645, + "xmax": 882.4032321146485, + "ymax": 153.35973040758995 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 880.1423564803239, + 153.35973040758995 + ], + [ + 880.0300690862982, + 152.65823024087118 + ], + [ + 864.8139066894937, + 151.824454761806 + ], + [ + 864.9049962960855, + 152.52364861447785 + ], + [ + 882.4032321146485, + 139.27039752764318 + ], + [ + 882.2867366681825, + 138.58194709041305 + ], + [ + 866.9240104186243, + 137.76370529470645 + ], + [ + 867.0188975435618, + 138.44987107980916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.0293495950248, + "ymin": 136.63124959392272, + "xmax": 880.5558739034961, + "ymax": 152.19873234386358 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 878.3173576905813, + 152.19873234386358 + ], + [ + 878.2078418063695, + 151.50043370846726 + ], + [ + 863.0293495950248, + 150.67045774808915 + ], + [ + 863.1177725267456, + 151.36646582701601 + ], + [ + 880.5558739034961, + 138.13100675632435 + ], + [ + 880.4422167644955, + 137.44572775194217 + ], + [ + 865.1178875499371, + 136.63124959392272 + ], + [ + 865.2100442528026, + 137.31425970181408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.9097005879288, + "ymin": 133.27196155119702, + "xmax": 946.7848112394174, + "ymax": 150.00518029852572 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.5625815234872, + 150.00518029852572 + ], + [ + 943.5360189230753, + 149.91257713415402 + ], + [ + 929.9097005879288, + 149.1750209955031 + ], + [ + 929.9337263221179, + 149.26735351496595 + ], + [ + 946.7848112394174, + 134.08444226228156 + ], + [ + 946.757368994351, + 133.99380971483149 + ], + [ + 932.9818913927911, + 133.27196155119702 + ], + [ + 933.0067409490437, + 133.36232640793278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.9098528653224, + "ymin": 133.27196384401176, + "xmax": 946.784965466305, + "ymax": 150.00518264899947 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.5627341154826, + 150.00518264899947 + ], + [ + 943.5361714869375, + 149.91257948376497 + ], + [ + 929.9098528653224, + 149.17502333824766 + ], + [ + 929.9338786275391, + 149.26735585856954 + ], + [ + 946.784965466305, + 134.0844445627412 + ], + [ + 946.7575231924997, + 133.9938120144377 + ], + [ + 932.9820452983191, + 133.27196384401176 + ], + [ + 933.006894883202, + 133.3623287015972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024618856766, + "ymin": 140.1071370267107, + "xmax": 946.2653520368008, + "ymax": 155.7621192114057 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953266061019, + 155.7621192114057 + ], + [ + 943.1947229445248, + 155.05397096789844 + ], + [ + 927.8024618856766, + 154.2123059245253 + ], + [ + 927.9813772288232, + 154.9181150185564 + ], + [ + 946.2653520368008, + 141.62823131705943 + ], + [ + 946.0588325856277, + 140.93319465244642 + ], + [ + 930.5166363565247, + 140.1071370267107 + ], + [ + 930.7010427922085, + 140.79985620348637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024618681502, + "ymin": 140.10713695885323, + "xmax": 946.2653520063703, + "ymax": 155.7621191070619 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953265765435, + 155.7621191070619 + ], + [ + 943.1947229248739, + 155.05397089852886 + ], + [ + 927.8024618681502, + 154.2123058553847 + ], + [ + 927.9813772024606, + 154.91811491455746 + ], + [ + 946.2653520063703, + 141.62823121464623 + ], + [ + 946.0588325653976, + 140.9331945843621 + ], + [ + 930.5166363384606, + 140.10713695885323 + ], + [ + 930.7010427650364, + 140.7998561014149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024652425602, + "ymin": 140.10713720686198, + "xmax": 946.2653554323656, + "ymax": 155.7621193613025 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953299690036, + 155.7621193613025 + ], + [ + 943.194726312526, + 155.05397115206426 + ], + [ + 927.8024652425602, + 154.21230610808323 + ], + [ + 927.9813805816416, + 154.9181151679577 + ], + [ + 946.2653554323656, + 141.6282314641828 + ], + [ + 946.0588359864894, + 140.93319483319996 + ], + [ + 930.5166397460547, + 140.10713720686198 + ], + [ + 930.7010461774958, + 140.79985635011883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.3005795901652, + "ymin": 145.96891207051522, + "xmax": 904.4565539702062, + "ymax": 161.77073719937374 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 901.9491371244163, + 161.77073719937374 + ], + [ + 901.8043720694535, + 161.0458241989489 + ], + [ + 886.3005795901652, + 160.18426447351393 + ], + [ + 886.423338229043, + 160.9067548395933 + ], + [ + 904.4565539702062, + 147.52633237683324 + ], + [ + 904.3068506636381, + 146.8146830406949 + ], + [ + 888.6508918663746, + 145.96891207051522 + ], + [ + 888.7781544690536, + 146.67816040721922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.9094939540566, + "ymin": 133.2719449638751, + "xmax": 946.7846014931525, + "ymax": 150.00516329407088 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.5623740888436, + 150.00516329407088 + ], + [ + 943.5358115274031, + 149.91256013594116 + ], + [ + 929.9094939540566, + 149.1750040469652 + ], + [ + 929.9335196495563, + 149.26733656021347 + ], + [ + 946.7846014931525, + 134.0844256196531 + ], + [ + 946.7571592879301, + 133.993793078377 + ], + [ + 932.9816824647303, + 133.2719449638751 + ], + [ + 933.0065319814304, + 133.36230981446425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.802465913937, + "ymin": 140.10713724289224, + "xmax": 946.2653561236508, + "ymax": 155.76211943301936 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953306534073, + 155.76211943301936 + ], + [ + 943.1947269861262, + 155.0539711888974 + ], + [ + 927.802465913937, + 154.2123061447948 + ], + [ + 927.9813812627503, + 154.91811523943755 + ], + [ + 946.2653561236508, + 141.6282315345727 + ], + [ + 946.0588366666618, + 140.93319486935064 + ], + [ + 930.5166404239607, + 140.10713724289224 + ], + [ + 930.7010468654221, + 140.79985642027393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.4086824750383, + "ymin": 132.8931753731015, + "xmax": 949.019612225608, + "ymax": 150.71002044111503 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 945.6059739320353, + 150.71002044111503 + ], + [ + 945.5736755199199, + 150.5988336656242 + ], + [ + 927.4086824750383, + 149.61448873308964 + ], + [ + 927.4369269683302, + 149.72524250544103 + ], + [ + 949.019612225608, + 133.96419883060008 + ], + [ + 948.9861934317489, + 133.85549705994214 + ], + [ + 930.6120164695831, + 132.8931753731015 + ], + [ + 930.6412874716982, + 133.00144910408844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.9096060439249, + "ymin": 133.27193371276604, + "xmax": 946.7847145696289, + "ymax": 150.00515176002227 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.5624860513215, + 150.00515176002227 + ], + [ + 943.5359234699366, + 149.91254860612653 + ], + [ + 929.9096060439249, + 149.1749925508449 + ], + [ + 929.9336317594248, + 149.26732505987766 + ], + [ + 946.7847145696289, + 134.08441433102973 + ], + [ + 946.7572723440642, + 133.9937817939415 + ], + [ + 932.9817956715556, + 133.27193371276604 + ], + [ + 933.0066452086555, + 133.36229855918583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024618681502, + "ymin": 140.10713695885323, + "xmax": 946.2653520063703, + "ymax": 155.7621191070619 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953265765435, + 155.7621191070619 + ], + [ + 943.1947229248739, + 155.05397089852886 + ], + [ + 927.8024618681502, + 154.2123058553847 + ], + [ + 927.9813772024606, + 154.91811491455746 + ], + [ + 946.2653520063703, + 141.62823121464623 + ], + [ + 946.0588325653976, + 140.9331945843621 + ], + [ + 930.5166363384606, + 140.10713695885323 + ], + [ + 930.7010427650364, + 140.7998561014149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.4086902595261, + "ymin": 132.8932052144397, + "xmax": 949.0196214298865, + "ymax": 150.71005106434836 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 945.6059828277139, + 150.71005106434836 + ], + [ + 945.5736844217079, + 150.59886430988885 + ], + [ + 927.4086902595261, + 149.61451925802712 + ], + [ + 927.4369347474689, + 149.7252730094029 + ], + [ + 949.0196214298865, + 133.96422876948319 + ], + [ + 948.9862026423034, + 133.85552701923928 + ], + [ + 930.612024536968, + 132.8932052144397 + ], + [ + 930.6412955335791, + 133.0014789250668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.408818828706, + "ymin": 132.89317855334758, + "xmax": 949.0197505329435, + "ymax": 150.71002367384372 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 945.6061106896914, + 150.71002367384372 + ], + [ + 945.5738122572952, + 150.5988369314395 + ], + [ + 927.408818828706, + 149.61449198618814 + ], + [ + 927.4370633433678, + 149.72524572557896 + ], + [ + 949.0197505329435, + 133.9642019910856 + ], + [ + 948.986331718461, + 133.85550025275924 + ], + [ + 930.6121543638927, + 132.89317855334758 + ], + [ + 930.6414253877439, + 133.0014522521275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.8024598189671, + "ymin": 140.10713671504755, + "xmax": 946.2653499223713, + "ymax": 155.76211885712988 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.3953245134795, + 155.76211885712988 + ], + [ + 943.1947208647713, + 155.05397064929014 + ], + [ + 927.8024598189671, + 154.21230560696867 + ], + [ + 927.9813751503468, + 154.9181146654516 + ], + [ + 946.2653499223713, + 141.6282309693386 + ], + [ + 946.0588304844201, + 140.9331943397413 + ], + [ + 930.5166342686146, + 140.10713671504755 + ], + [ + 930.7010406922002, + 140.79985585692575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.4086780237006, + "ymin": 132.8931455757797, + "xmax": 949.019606390615, + "ymax": 150.70998982857765 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 945.6059683683507, + 150.70998982857765 + ], + [ + 945.5736699594164, + 150.59880306656015 + ], + [ + 927.4086780237006, + 149.61445825317685 + ], + [ + 927.4369225143064, + 149.7252120121335 + ], + [ + 949.019606390615, + 133.96416890217392 + ], + [ + 948.9861876001016, + 133.85546714483536 + ], + [ + 930.6120117727874, + 132.8931455757797 + ], + [ + 930.6412827720692, + 133.00141929352588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.843930659569, + "ymin": 135.87003897020776, + "xmax": 866.1669184977741, + "ymax": 151.41831724625325 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 864.065541735024, + 151.41831724625325 + ], + [ + 863.9758055747589, + 150.7221666061746 + ], + [ + 848.843930659569, + 149.89473980135088 + ], + [ + 848.9127028739919, + 150.5886104369048 + ], + [ + 866.1669184977741, + 137.36514349972626 + ], + [ + 866.0734232354887, + 136.68199218151813 + ], + [ + 850.7965993001092, + 135.87003897020776 + ], + [ + 850.8687268388964, + 136.550931941811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.4086811452851, + "ymin": 132.89317536893856, + "xmax": 949.0196108675173, + "ymax": 150.71002040231355 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 945.6059725892094, + 150.71002040231355 + ], + [ + 945.5736741874164, + 150.59883366134918 + ], + [ + 927.4086811452851, + 149.61448872883136 + ], + [ + 927.4369256295145, + 149.7252424667908 + ], + [ + 949.0196108675173, + 133.9641987926657 + ], + [ + 948.9861920843352, + 133.8554970557627 + ], + [ + 930.6120151249816, + 132.89317536893856 + ], + [ + 930.6412861177088, + 133.00144906630356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.2841944316745, + "ymin": 143.9283139927083, + "xmax": 945.7163314369757, + "ymax": 159.53877664171665 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 942.8551812963581, + 159.53877664171665 + ], + [ + 942.6555871235581, + 158.82631448952586 + ], + [ + 927.2841944316745, + 157.9795187874913 + ], + [ + 927.4621590617747, + 158.68963059481462 + ], + [ + 945.7163314369757, + 145.4591455634733 + ], + [ + 945.5108511801793, + 144.75966117312586 + ], + [ + 929.9899310654721, + 143.9283139927083 + ], + [ + 930.1733588139932, + 144.6254691204188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.9097005879288, + "ymin": 133.27196155119702, + "xmax": 946.7848112394174, + "ymax": 150.00518029852572 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.5625815234872, + 150.00518029852572 + ], + [ + 943.5360189230753, + 149.91257713415402 + ], + [ + 929.9097005879288, + 149.1750209955031 + ], + [ + 929.9337263221179, + 149.26735351496595 + ], + [ + 946.7848112394174, + 134.08444226228156 + ], + [ + 946.757368994351, + 133.99380971483149 + ], + [ + 932.9818913927911, + 133.27196155119702 + ], + [ + 933.0067409490437, + 133.36232640793278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.5277451384736, + "ymin": 136.4615820243312, + "xmax": 858.7806630957987, + "ymax": 152.02478554461348 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 856.7454771649531, + 152.02478554461348 + ], + [ + 856.6657184421556, + 151.32696598883837 + ], + [ + 841.5277451384736, + 150.4975585479687 + ], + [ + 841.5865228090233, + 151.19308990209456 + ], + [ + 858.7806630957987, + 137.96030149919264 + ], + [ + 858.6973263302892, + 137.275497052512 + ], + [ + 843.4142813112364, + 136.4615820243312 + ], + [ + 843.4762327282187, + 137.1441199289337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.909829844558, + "ymin": 133.27196232586658, + "xmax": 946.7849421102238, + "ymax": 150.0051810926764 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.562711014656, + 150.0051810926764 + ], + [ + 943.5361483904331, + 149.91257792801318 + ], + [ + 929.909829844558, + 149.17502178704237 + ], + [ + 929.9338556024805, + 149.26735430679548 + ], + [ + 946.7849421102238, + 134.08444303953408 + ], + [ + 946.7574998408367, + 133.99381049179567 + ], + [ + 932.9820220240401, + 133.27196232586658 + ], + [ + 933.0068716045337, + 133.36232718288943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 507.43009342268624, + "ymin": 42.06897823305195, + "xmax": 517.4362972958338, + "ymax": 65.46043705827049 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 517.4362972958338, + 62.415075995428026 + ], + [ + 511.1954345641311, + 62.12249851593987 + ], + [ + 509.0956496794903, + 65.16356914362166 + ], + [ + 515.3806137341275, + 65.46043705827049 + ], + [ + 515.8872055523796, + 42.35099232857402 + ], + [ + 509.56862102022455, + 42.06897823305195 + ], + [ + 507.43009342268624, + 45.00049658477218 + ], + [ + 513.7938880060306, + 45.286699018831314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.9488337434057, + "ymin": 23.801977769009568, + "xmax": 530.2537362548502, + "ymax": 46.20009565187479 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 530.2537362548502, + 43.42675113857092 + ], + [ + 524.2883467478421, + 43.16020948821233 + ], + [ + 522.375992955632, + 45.92982708014506 + ], + [ + 528.3816690662004, + 46.20009565187479 + ], + [ + 528.9305838340886, + 24.05860070913252 + ], + [ + 522.8942185441683, + 23.801977769009568 + ], + [ + 520.9488337434057, + 26.468732915041812 + ], + [ + 527.0264529018099, + 26.728987795363082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.36385551406954, + "ymin": 66.46134579400609, + "xmax": 500.34256065890645, + "ymax": 91.16662411477375 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 500.34256065890645, + 87.73854046626985 + ], + [ + 493.7356204237002, + 87.40935388693435 + ], + [ + 491.3721498833085, + 90.83231602625739 + ], + [ + 498.0285322963474, + 91.16662411477375 + ], + [ + 498.4687627135918, + 66.77913464113328 + ], + [ + 491.7746569022984, + 66.46134579400609 + ], + [ + 489.36385551406954, + 69.76610174304022 + ], + [ + 496.1087209110242, + 70.08890186639371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5713144510553482594, + "instance_id": 25189, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 40.71598434448242, + "y": 2.4942996501922607, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858504593372345, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 89.21980879531952, + "ymin": 0.0, + "xmax": 104.97453925848902, + "ymax": 13.462299817285952 + }, + "corners_3d": [ + [ + 40.85456848144531, + 2.3043413162231445, + 5.545533180236816 + ], + [ + 40.57740020751953, + 2.3043408393859863, + 5.545533180236816 + ], + [ + 40.57740020751953, + 2.684257984161377, + 5.545533180236816 + ], + [ + 40.85456848144531, + 2.684258460998535, + 5.545533180236816 + ], + [ + 40.85456848144531, + 2.3043413162231445, + 6.416468620300293 + ], + [ + 40.57740020751953, + 2.3043408393859863, + 6.416468620300293 + ], + [ + 40.57740020751953, + 2.684257984161377, + 6.416468620300293 + ], + [ + 40.85456848144531, + 2.684258460998535, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 95.28331000527669, + 13.234376208333117 + ], + [ + 100.53349028309299, + 13.462299817285952 + ], + [ + 104.97453925848902, + 11.122291805262137 + ], + [ + 99.7549940984311, + 10.897257108549525 + ], + [ + 89.21980879531952, + -4.983903594080573 + ], + [ + 94.52466775937398, + -4.764859281681765 + ], + [ + 99.0535018426242, + -7.0135630422524855 + ], + [ + 93.77991355440156, + -7.229800369728878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 562.615292464455, + "ymin": 13.415883149736601, + "xmax": 569.5105440866013, + "ymax": 31.39921824971583 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 564.6678992121788, + 29.044665538615334 + ], + [ + 563.3584748883759, + 31.189138562436483 + ], + [ + 568.2274984742065, + 31.39921824971583 + ], + [ + 569.5105440866013, + 29.252414870972757 + ], + [ + 563.9415149937494, + 13.415883149736601 + ], + [ + 562.615292464455, + 15.492916519016148 + ], + [ + 567.5311475313, + 15.696401639737644 + ], + [ + 568.8304829895939, + 13.617089357637838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.2941813458101, + "ymin": 109.42399348739008, + "xmax": 172.84504585475457, + "ymax": 136.40828798935686 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 167.49963331995423, + 136.40828798935686 + ], + [ + 172.84504585475457, + 132.25209120609293 + ], + [ + 165.8419175086167, + 131.85332317323855 + ], + [ + 160.44117212044029, + 136.00268364528068 + ], + [ + 160.45192663663494, + 113.83369644286964 + ], + [ + 165.9369375424386, + 109.80999570803957 + ], + [ + 158.83607892701804, + 109.42399348739008 + ], + [ + 153.2941813458101, + 113.44097767404799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8654652936407312004, + "instance_id": 33894, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 35.24429702758789, + "y": -10.915966987609863, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 13.702957839334204, + "ymin": 101.89506118664144, + "xmax": 35.9928047603064, + "ymax": 128.4832078531724 + }, + "corners_3d": [ + [ + 35.105709075927734, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -10.726009368896484, + 5.545533180236816 + ], + [ + 35.38288497924805, + -11.105924606323242, + 5.545533180236816 + ], + [ + 35.105709075927734, + -11.105924606323242, + 6.416468620300293 + ], + [ + 35.105709075927734, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -10.726009368896484, + 6.416468620300293 + ], + [ + 35.38288497924805, + -11.105924606323242, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 29.58398881150697, + 128.4832078531724 + ], + [ + 35.9928047603064, + 124.45957474022501 + ], + [ + 29.21193578673831, + 124.07346243516753 + ], + [ + 22.75140979772641, + 128.09058346861204 + ], + [ + 20.628310740969255, + 106.16213959302848 + ], + [ + 27.206054042862093, + 102.26863606857933 + ], + [ + 20.333808156182045, + 101.89506118664144 + ], + [ + 13.702957839334204, + 105.78217129169283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.76184659662016, + "ymin": 5.362153333755316, + "xmax": 201.82471698244285, + "ymax": 22.980507031805928 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 193.99153126789082, + 22.77948626233814 + ], + [ + 198.55751321961998, + 22.980507031805928 + ], + [ + 201.82471698244285, + 20.926089286413344 + ], + [ + 197.28184246070032, + 20.727250161408506 + ], + [ + 189.76184659662016, + 7.349014793897652 + ], + [ + 194.3688778353855, + 7.543643005455976 + ], + [ + 197.68992464737119, + 5.554649406229089 + ], + [ + 193.10641539040796, + 5.362153333755316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 460.75182687075323, + "ymin": 186.0144163255391, + "xmax": 473.01160259927514, + "ymax": 211.51316866330774 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 473.01160259927514, + 206.90655436553334 + ], + [ + 466.0052052105613, + 206.46203150381453 + ], + [ + 463.2761364165244, + 211.06132356074684 + ], + [ + 470.33784582536407, + 211.51316866330774 + ], + [ + 470.64412526223805, + 186.44880795975817 + ], + [ + 463.54037564992416, + 186.0144163255391 + ], + [ + 460.75182687075323, + 190.50935644367712 + ], + [ + 467.9124412781848, + 190.95100610737077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17806890728056802169, + "instance_id": 31179, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 40.71598815917969, + "y": -0.005700168665498495, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.67595800144761, + "ymin": 8.10241708265255, + "xmax": 74.66824050917444, + "ymax": 29.64036022506673 + }, + "corners_3d": [ + [ + 40.85457229614258, + -0.1956583857536316, + 5.545533180236816 + ], + [ + 40.5774040222168, + -0.19565893709659576, + 5.545533180236816 + ], + [ + 40.5774040222168, + 0.18425805866718292, + 5.545533180236816 + ], + [ + 40.85457229614258, + 0.1842586100101471, + 5.545533180236816 + ], + [ + 40.85457229614258, + -0.1956583857536316, + 6.416468620300293 + ], + [ + 40.5774040222168, + -0.19565893709659576, + 6.416468620300293 + ], + [ + 40.5774040222168, + 0.18425805866718292, + 6.416468620300293 + ], + [ + 40.85457229614258, + 0.1842586100101471, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 64.36841204416658, + 29.391959383764004 + ], + [ + 69.82942883903888, + 29.64036022506673 + ], + [ + 74.66824050917444, + 27.090769605695755 + ], + [ + 69.24033898112884, + 26.845654234703773 + ], + [ + 57.67595800144761, + 10.551714779872896 + ], + [ + 63.19612670657796, + 10.79067243421548 + ], + [ + 68.13539119619554, + 8.338177778813815 + ], + [ + 62.64905180135338, + 8.10241708265255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18360097670761586227, + "instance_id": 13214, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 32.24429702758789, + "y": -10.91596508026123, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 89.27204848871213, + "ymin": 105.97118783621633, + "xmax": 110.09153156862646, + "ymax": 132.77398024252653 + }, + "corners_3d": [ + [ + 32.105709075927734, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -11.10592269897461, + 6.416468620300293 + ], + [ + 32.105709075927734, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -11.10592269897461, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 104.25381524810632, + 132.77398024252653 + ], + [ + 110.09153156862646, + 128.6788393891556 + ], + [ + 103.19071290046281, + 128.2858969961403 + ], + [ + 97.29934330417257, + 132.3743514734018 + ], + [ + 96.32278581241394, + 110.31519157423102 + ], + [ + 102.31381920538627, + 106.35146841130219 + ], + [ + 95.31821573910884, + 105.97118783621633 + ], + [ + 89.27204848871213, + 109.92834391508296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.7599785701461, + "ymin": 137.71462128524868, + "xmax": 873.7792585789973, + "ymax": 185.23119124648042 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 866.5210430466399, + 185.23119124648042 + ], + [ + 866.4554570016123, + 184.7080817111425 + ], + [ + 864.7599785701461, + 184.60916096874166 + ], + [ + 864.8239079696372, + 185.13207848860378 + ], + [ + 873.7792585789973, + 138.30074003303926 + ], + [ + 873.7043130497393, + 137.80782816468934 + ], + [ + 871.953200061703, + 137.71462128524868 + ], + [ + 872.0263784052839, + 138.2073464297776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.096008857429524, + "ymin": 0.0, + "xmax": 211.4091432005202, + "ymax": 149.74781237221796 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 211.4091432005202, + 65.3189339365083 + ], + [ + 204.58557437636182, + 64.96133682896902 + ], + [ + 83.01374748833723, + 149.23200860714624 + ], + [ + 91.08515481936934, + 149.74781237221796 + ], + [ + 169.9536802576821, + -87.94775442214285 + ], + [ + 162.50944304350236, + -88.19673616503735 + ], + [ + 17.096008857429524, + -28.365380383110335 + ], + [ + 26.048241401981613, + -27.991868697435052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.8587253619771, + "ymin": 136.9504143282574, + "xmax": 859.4027236997716, + "ymax": 184.4182208497099 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 852.601121458493, + 184.4182208497099 + ], + [ + 852.5491054176779, + 183.89668527726334 + ], + [ + 850.8587253619771, + 183.79806200222745 + ], + [ + 850.9090946783517, + 184.3194064250882 + ], + [ + 859.4027236997716, + 137.53471335110152 + ], + [ + 859.3422524323195, + 137.04333197244586 + ], + [ + 857.5965732617747, + 136.9504143282574 + ], + [ + 857.6552882601724, + 137.44160985199989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.0272007967455, + "ymin": 230.8894734640659, + "xmax": 810.8753684483854, + "ymax": 363.40390817501446 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 808.3347789760385, + 234.86023624110874 + ], + [ + 796.5320913319697, + 234.10280822784785 + ], + [ + 796.0272007967455, + 362.2803527180049 + ], + [ + 810.4034119439664, + 363.40390817501446 + ], + [ + 808.7173347675084, + 231.64447830362136 + ], + [ + 796.8873662369848, + 230.8894734640659 + ], + [ + 796.4586621339533, + 358.71975978647555 + ], + [ + 810.8753684483854, + 359.84083027617714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.5832869936321, + "ymin": 147.08937295478535, + "xmax": 897.5475121446568, + "ymax": 195.19800051696987 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 889.4036934093883, + 195.19800051696987 + ], + [ + 889.3143097077955, + 194.65540221852152 + ], + [ + 887.5832869936321, + 194.55279827254608 + ], + [ + 887.6709438980145, + 195.09519372670385 + ], + [ + 897.5475121446568, + 147.69804514394806 + ], + [ + 897.4469116791427, + 147.1861645515936 + ], + [ + 895.6578650224128, + 147.08937295478535 + ], + [ + 895.7566209565524, + 147.60105594277508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.2429918256813, + "ymin": 0.0, + "xmax": 606.4647561383343, + "ymax": 5.2869574573542195 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 605.4498951553167, + 5.2869574573542195 + ], + [ + 606.4647561383343, + 3.399092296306492 + ], + [ + 552.1903718161699, + 1.2364677911761532 + ], + [ + 550.8971134925168, + 3.1015264417646335 + ], + [ + 602.8527707342229, + -118.33674980922018 + ], + [ + 603.9581351570592, + -119.66853541956328 + ], + [ + 545.6695714127408, + -121.19285868680117 + ], + [ + 544.2429918256813, + -119.87835604609887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.1219063934935, + "ymin": 230.96539875043896, + "xmax": 810.77884743255, + "ymax": 363.2991483838522 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 808.2625082794591, + 234.88564500349912 + ], + [ + 796.6094265398159, + 234.13781645194797 + ], + [ + 796.1219063934935, + 362.1902476794618 + ], + [ + 810.313234526498, + 363.2991483838522 + ], + [ + 808.6400337684809, + 231.71086567422253 + ], + [ + 796.9603595120589, + 230.96539875043896 + ], + [ + 796.5480609796949, + 358.675335580614 + ], + [ + 810.77884743255, + 359.7818144300368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 42.91264933526037, + "xmax": 238.33303082619454, + "ymax": 272.0941127538831 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -34.391926711683595, + 245.4504187553346 + ], + [ + -41.7069622874659, + 250.64965122873406 + ], + [ + 233.20600168977091, + 272.0941127538831 + ], + [ + 238.33303082619454, + 266.5215554279515 + ], + [ + -131.6483963992805, + 42.91264933526037 + ], + [ + -140.9944466904352, + 46.85822453454102 + ], + [ + 171.5404625953912, + 63.23682115486508 + ], + [ + 178.06745969980045, + 58.964358183276886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10834688347023166444, + "instance_id": 60491, + "pixel_count": null, + "type_id": "BP_StreetLight_wall31_47_SM_0", + "bbox_3d": { + "center_world": { + "x": 52.57762145996094, + "y": 10.682640075683594, + "z": 3.281118154525757 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 19.74466290546934, + "ymax": 14.114058325860015 + }, + "corners_3d": [ + [ + 52.89280700683594, + 11.792374610900879, + 2.869962453842163 + ], + [ + 52.49423599243164, + 9.532032012939453, + 2.869962453842163 + ], + [ + 52.26243591308594, + 9.572905540466309, + 2.869962453842163 + ], + [ + 52.661006927490234, + 11.833248138427734, + 2.869962453842163 + ], + [ + 52.89280700683594, + 11.792374610900879, + 3.6922738552093506 + ], + [ + 52.49423599243164, + 9.532032012939453, + 3.6922738552093506 + ], + [ + 52.26243591308594, + 9.572905540466309, + 3.6922738552093506 + ], + [ + 52.661006927490234, + 11.833248138427734, + 3.6922738552093506 + ] + ], + "corners_2d": [ + [ + 15.742008705520675, + 2.3516744265034504 + ], + [ + -3.1552145715706956, + 14.114058325860015 + ], + [ + 0.9820801228833034, + 14.060996791998377 + ], + [ + 19.74466290546934, + 2.301945127665306 + ], + [ + 10.37974368956327, + -11.800298264493108 + ], + [ + -8.86352620112018, + -0.40414814179331415 + ], + [ + -4.688687331316032, + -0.45557204563880305 + ], + [ + 14.417528854972716, + -11.848465491196464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.6014106117941, + "ymin": 144.57093097269964, + "xmax": 938.7629491561937, + "ymax": 192.10476641026582 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 929.4435965945194, + 192.10476641026582 + ], + [ + 929.3164301631896, + 191.57250886439166 + ], + [ + 927.6014106117941, + 191.47185876530384 + ], + [ + 927.7268822123042, + 192.00392002080758 + ], + [ + 938.7629491561937, + 145.16809555881065 + ], + [ + 938.6223255198279, + 144.6658939437225 + ], + [ + 936.8503822307259, + 144.57093097269964 + ], + [ + 936.9891966538856, + 145.07294142322252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.7673275537894, + "ymin": 0.0, + "xmax": 894.0636818400822, + "ymax": 116.08542623356291 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 866.7436541358857, + 89.35855745898226 + ], + [ + 858.7673275537894, + 88.97550074648558 + ], + [ + 862.3720307998598, + 115.65486646119925 + ], + [ + 870.8319682254561, + 116.08542623356291 + ], + [ + 888.1454532164859, + -57.93535769827895 + ], + [ + 879.3967585433477, + -58.215427621236415 + ], + [ + 884.7297713650307, + -38.59925129549333 + ], + [ + 894.0636818400822, + -38.2808439077142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 762.4054562643801, + "ymin": 221.4079788340815, + "xmax": 816.6261326233853, + "ymax": 613.3283986344583 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 784.0943009525666, + 463.2245668963514 + ], + [ + 768.0480296518062, + 461.792010595988 + ], + [ + 762.4054562643801, + 611.322277641217 + ], + [ + 781.3855592662501, + 613.3283986344583 + ], + [ + 813.3102275699392, + 222.62358628716237 + ], + [ + 793.9557982229272, + 221.4079788340815 + ], + [ + 792.8362449554894, + 353.1301734449874 + ], + [ + 816.6261326233853, + 354.96634699726326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.5120109256483, + "ymin": 138.8515374449945, + "xmax": 875.6105089809025, + "ymax": 186.44051352135972 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 868.2790474575418, + 186.44051352135972 + ], + [ + 868.2116068690398, + 185.91505824128927 + ], + [ + 866.5120109256483, + 185.81569417867266 + ], + [ + 866.5777868129688, + 186.34095615038322 + ], + [ + 875.6105089809025, + 139.44036868617346 + ], + [ + 875.533554349208, + 138.9451754536843 + ], + [ + 873.7780493890049, + 138.8515374449945 + ], + [ + 873.8532279603681, + 139.34654265596137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.6931567504741, + "ymin": 137.54430370878438, + "xmax": 852.0094422137659, + "ymax": 185.05001241159243 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 845.4293304085453, + 185.05001241159243 + ], + [ + 845.3842022284568, + 184.5272538196434 + ], + [ + 843.6931567504741, + 184.4283994096322 + ], + [ + 843.7366368950168, + 184.95096617929076 + ], + [ + 852.0094422137659, + 138.13001668574066 + ], + [ + 851.9562904616755, + 137.63744608789827 + ], + [ + 850.2098995912863, + 137.54430370878438 + ], + [ + 850.2612936241791, + 138.0366877766793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 348.76905356445747, + "ymin": 0.0, + "xmax": 574.9008210541402, + "ymax": 75.92876938214255 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 573.4535605294975, + 75.92876938214255 + ], + [ + 574.9008210541402, + 73.29191536973843 + ], + [ + 377.08059957161856, + 63.18688752871634 + ], + [ + 374.4773295940586, + 65.70027048106965 + ], + [ + 566.8380053387459, + -80.54180241221536 + ], + [ + 568.4727043277919, + -82.38578523373047 + ], + [ + 351.79129104646063, + -89.43161347988706 + ], + [ + 348.76905356445747, + -87.68219857219106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.93905800241123, + "ymin": 0.0, + "xmax": 550.3350283993902, + "ymax": 272.49718374900493 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 474.9419361180064, + 271.6999023535445 + ], + [ + 485.47717654560057, + 272.49718374900493 + ], + [ + 550.3350283993902, + 147.07099996158064 + ], + [ + 541.8391973831622, + 146.5606724638975 + ], + [ + 449.93905800241123, + 62.93420261320887 + ], + [ + 462.0358454106054, + 63.54630128699944 + ], + [ + 539.7743210263461, + -29.9292592483273 + ], + [ + 530.2910016161561, + -30.298341437369345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.2245589512725, + "ymin": 141.20424280294208, + "xmax": 939.4319467476278, + "ymax": 188.9425238643148 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.0714650103367, + 188.9425238643148 + ], + [ + 929.9434102658395, + 188.4121988554313 + ], + [ + 928.2245589512725, + 188.31191445169765 + ], + [ + 928.3509112825741, + 188.84204345898019 + ], + [ + 939.4319467476278, + 141.79870701580307 + ], + [ + 939.2903346267112, + 141.29877613944538 + ], + [ + 937.5143009376133, + 141.20424280294208 + ], + [ + 937.6540954823658, + 141.70398295330943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.10102591304042, + "ymin": 0.0, + "xmax": 241.0117082850586, + "ymax": 44.60528008551347 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 197.1652108438106, + 44.60528008551347 + ], + [ + 241.0117082850586, + 23.443529372479702 + ], + [ + 185.69954691658359, + 17.810918539968952 + ], + [ + 139.60121956459363, + 38.28189358673501 + ], + [ + 113.2038907348333, + -251.00715494830183 + ], + [ + 169.80102262621182, + -257.43682824842745 + ], + [ + 106.5948711354913, + -258.416382816182 + ], + [ + 47.10102591304042, + -252.18677121875146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 608.1823504787295, + "ymin": 0.0, + "xmax": 747.5529729278442, + "ymax": 42.55283502617141 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 735.140454710438, + 39.362260523442956 + ], + [ + 718.3707362610703, + 5.2739253258294525 + ], + [ + 611.5613567866759, + 7.934233444338645 + ], + [ + 618.2644232957044, + 42.55283502617141 + ], + [ + 747.5529729278442, + -170.75421901606683 + ], + [ + 727.606137859311, + -188.5304943324452 + ], + [ + 608.1823504787295, + -187.1574993810856 + ], + [ + 615.4026899948308, + -169.06984045334013 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00028/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4eea66dd01c8903482477dce428acda28775f2f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00028/meta.json @@ -0,0 +1,7585 @@ +{ + "frame_id": 28, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.0, + "sim_timestamp": 7004.1040756232105 + }, + "drone_pose": { + "x": 8.006883241291238, + "y": -40.81895680861139, + "z": 20.043841476100418, + "pitch": -41.64047272020297, + "yaw": 83.71867621146251, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08176553249359131, + -0.742842435836792, + 0.6644543409347534, + 16.34914779663086 + ], + [ + 0.9939967393875122, + 0.1094103455543518, + -2.9802322387695312e-08, + 12.424832344055176 + ], + [ + -0.0726982057094574, + 0.6604653596878052, + 0.7473288774490356, + -41.35676574707031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.139198334552002, + "y": -40.25291147297868, + "z": 19.95301582307065 + }, + "t1_image_uv": [ + 504.11904280697433, + -256.23395043850496 + ], + "t1_depth": 0.4916508104095706 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -19.687763214111328, + "z": 1.1425093752145767 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.44639987990176, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 377, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -19.687763214111328, + "z": 1.1425093412399292 + }, + "extent": { + "x": 0.36647918820381165, + "y": 0.44755369424819946, + "z": 0.9194742441177368 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.1315875507507, + "ymin": 327.19532959148705, + "xmax": 656.585209187373, + "ymax": 392.1151854241266 + }, + "corners_3d": [ + [ + 10.780370712280273, + -20.054243087768555, + 0.22303509712219238 + ], + [ + 9.885263442993164, + -20.054243087768555, + 0.22303509712219238 + ], + [ + 9.885263442993164, + -19.3212833404541, + 0.22303509712219238 + ], + [ + 10.780370712280273, + -19.3212833404541, + 0.22303509712219238 + ], + [ + 10.780370712280273, + -20.054243087768555, + 2.061983585357666 + ], + [ + 9.885263442993164, + -20.054243087768555, + 2.061983585357666 + ], + [ + 9.885263442993164, + -19.3212833404541, + 2.061983585357666 + ], + [ + 10.780370712280273, + -19.3212833404541, + 2.061983585357666 + ] + ], + "corners_2d": [ + [ + 623.846724457863, + 389.86617867666564 + ], + [ + 653.516500231285, + 392.1151854241266 + ], + [ + 655.8933911138005, + 375.65334297691226 + ], + [ + 626.7677939962919, + 373.4870623026698 + ], + [ + 623.1315875507507, + 343.3863638300255 + ], + [ + 654.1164930246191, + 345.6116208113115 + ], + [ + 656.585209187373, + 329.3352105809446 + ], + [ + 626.1933115839034, + 327.19532959148705 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 28, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 291987, + "2": 95398, + "5": 3423, + "6": 5669, + "7": 700, + "12": 2490, + "14": 45698, + "20": 915, + "24": 35977, + "25": 439343 + }, + "instance_pixel_counts": { + "381": 2895, + "586": 3423, + "1118": 834, + "1630": 338, + "2142": 387, + "2654": 570, + "3146": 915, + "3156": 2710, + "3166": 249, + "6238": 1, + "7262": 829, + "7503": 3225, + "7774": 1014, + "8015": 4936, + "8527": 8690, + "8798": 1632, + "9310": 2156, + "11676": 59821, + "11870": 2971, + "12188": 87752, + "12700": 2908, + "13212": 234, + "13406": 85, + "13918": 205, + "14236": 28414, + "14430": 1215, + "14942": 1545, + "15454": 2006, + "16284": 26913, + "18013": 313459, + "19037": 125884, + "19866": 254, + "21085": 568, + "21597": 5051, + "23418": 5220, + "23441": 8374, + "23450": 4374, + "24442": 3770, + "24954": 336, + "25466": 29, + "25489": 14256, + "25498": 5752, + "25978": 875, + "27516": 997, + "28026": 823, + "29052": 7905, + "30076": 1357, + "31612": 2077, + "33660": 1736, + "34560": 1183, + "34816": 2443, + "36252": 31953, + "37788": 3489, + "38300": 24508, + "38483": 33, + "40860": 25995, + "43008": 377, + "43264": 251, + "43520": 177, + "43776": 596, + "44032": 286, + "44288": 803, + "44922": 2019, + "45312": 725, + "45824": 4376, + "46173": 3789, + "48896": 1116, + "52124": 158, + "52636": 1429, + "54684": 1492, + "57241": 3142, + "58265": 31110, + "59289": 4777, + "59772": 47, + "60284": 459, + "61337": 11307, + "63356": 22, + "63385": 8990, + "63868": 2578 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 377, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -19.687763214111328, + "z": 1.1425093412399292 + }, + "extent": { + "x": 0.3773379325866699, + "y": 0.3490356504917145, + "z": 0.9103413224220276 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.4915216115439, + "ymin": 327.43484347502067, + "xmax": 653.266360169132, + "ymax": 391.8943349342198 + }, + "corners_3d": [ + [ + 10.681852340698242, + -20.065101623535156, + 0.2321680188179016 + ], + [ + 9.983780860900879, + -20.065101623535156, + 0.2321680188179016 + ], + [ + 9.983781814575195, + -19.3104248046875, + 0.2321680188179016 + ], + [ + 10.681853294372559, + -19.3104248046875, + 0.2321680188179016 + ], + [ + 10.681852340698242, + -20.065101623535156, + 2.0528507232666016 + ], + [ + 9.983780860900879, + -20.065101623535156, + 2.0528507232666016 + ], + [ + 9.983781814575195, + -19.3104248046875, + 2.0528507232666016 + ], + [ + 10.681853294372559, + -19.3104248046875, + 2.0528507232666016 + ] + ], + "corners_2d": [ + [ + 627.0589624778094, + 390.1394778507428 + ], + [ + 650.2089419048945, + 391.8943349342198 + ], + [ + 652.7186656249886, + 374.9547777114765 + ], + [ + 630.005835889649, + 373.2663598004332 + ], + [ + 626.4915216115439, + 344.1165500598669 + ], + [ + 650.6575133791952, + 345.8531035380187 + ], + [ + 653.266360169132, + 329.10285090865915 + ], + [ + 629.5763371788715, + 327.43484347502067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 251, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -16.6900577545166, + "z": 1.1373871564865112 + }, + "extent": { + "x": 0.20921143889427185, + "y": 0.2826501727104187, + "z": 0.6150926351547241 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 512.7281257210743, + "ymin": 269.78447196678394, + "xmax": 533.4964554446683, + "ymax": 309.0200923563917 + }, + "corners_3d": [ + [ + 14.691779136657715, + -16.95346450805664, + 0.5222945213317871 + ], + [ + 14.138832092285156, + -16.8359317779541, + 0.5222945213317871 + ], + [ + 14.22582721710205, + -16.426651000976562, + 0.5222945213317871 + ], + [ + 14.77877426147461, + -16.5441837310791, + 0.5222945213317871 + ], + [ + 14.691779136657715, + -16.95346450805664, + 1.7524797916412354 + ], + [ + 14.138832092285156, + -16.8359317779541, + 1.7524797916412354 + ], + [ + 14.22582721710205, + -16.426651000976562, + 1.7524797916412354 + ], + [ + 14.77877426147461, + -16.5441837310791, + 1.7524797916412354 + ] + ], + "corners_2d": [ + [ + 516.0712001585489, + 309.0200923563917 + ], + [ + 533.4964554446683, + 307.94029503134175 + ], + [ + 533.278488063721, + 300.0484626489408 + ], + [ + 516.0247496232452, + 301.10708605536024 + ], + [ + 512.7421148585865, + 278.6457766038127 + ], + [ + 530.6394153528651, + 277.578975947729 + ], + [ + 530.4445389668181, + 269.78447196678394 + ], + [ + 512.7281257210743, + 270.82980050484224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 177, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -12.745049476623535, + "z": 0.8361849784851074 + }, + "extent": { + "x": 0.2526525557041168, + "y": 0.2974798381328583, + "z": 0.5685163140296936 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 715.9691992955413, + "ymin": 222.57605439487878, + "xmax": 735.7852058693204, + "ymax": 257.8181671845564 + }, + "corners_3d": [ + [ + 8.346433639526367, + -13.027413368225098, + 0.2676686644554138 + ], + [ + 7.754733562469482, + -12.96522331237793, + 0.2676686644554138 + ], + [ + 7.807552337646484, + -12.462685585021973, + 0.2676686644554138 + ], + [ + 8.399252891540527, + -12.52487564086914, + 0.2676686644554138 + ], + [ + 8.346433639526367, + -13.027413368225098, + 1.4047012329101562 + ], + [ + 7.754733562469482, + -12.96522331237793, + 1.4047012329101562 + ], + [ + 7.807552337646484, + -12.462685585021973, + 1.4047012329101562 + ], + [ + 8.399252891540527, + -12.52487564086914, + 1.4047012329101562 + ] + ], + "corners_2d": [ + [ + 716.7472007378834, + 257.7696533163829 + ], + [ + 733.6448670856718, + 257.8181671845564 + ], + [ + 732.6801870851878, + 249.51906614898525 + ], + [ + 715.9691992955413, + 249.47161719558216 + ], + [ + 718.5012121076958, + 230.75650024746562 + ], + [ + 735.7852058693204, + 230.80433877561995 + ], + [ + 734.7745510375261, + 222.62281921911034 + ], + [ + 717.6858203766295, + 222.57605439487878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 596, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -19.687763214111328, + "z": 1.1519087553024292 + }, + "extent": { + "x": 0.38968244194984436, + "y": 0.545365571975708, + "z": 0.9299128651618958 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 940.0409563644296, + "ymin": 349.188016182147, + "xmax": 997.327436845948, + "ymax": 417.55691429184395 + }, + "corners_3d": [ + [ + 1.3781825304031372, + -20.07744598388672, + 0.22199589014053345 + ], + [ + 0.2874513864517212, + -20.07744598388672, + 0.22199589014053345 + ], + [ + 0.2874516248703003, + -19.298080444335938, + 0.22199589014053345 + ], + [ + 1.3781827688217163, + -19.298080444335938, + 0.22199589014053345 + ], + [ + 1.3781825304031372, + -20.07744598388672, + 2.0818216800689697 + ], + [ + 0.2874513864517212, + -20.07744598388672, + 2.0818216800689697 + ], + [ + 0.2874516248703003, + -19.298080444335938, + 2.0818216800689697 + ], + [ + 1.3781827688217163, + -19.298080444335938, + 2.0818216800689697 + ] + ], + "corners_2d": [ + [ + 943.3169808346174, + 414.65869708126013 + ], + [ + 981.5271343949297, + 417.55691429184395 + ], + [ + 977.4653824259434, + 399.06593092715974 + ], + [ + 940.0409563644296, + 396.2839805395236 + ], + [ + 957.3028449029048, + 367.39262083816186 + ], + [ + 997.327436845948, + 370.2671082073769 + ], + [ + 992.7465675895955, + 351.94203123966815 + ], + [ + 953.5832243088647, + 349.188016182147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 286, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -30.81512451171875, + "z": 1.1453707218170166 + }, + "extent": { + "x": 0.4502057135105133, + "y": 0.43570682406425476, + "z": 0.9451565146446228 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 727.9268219766811, + "ymin": 679.9374344121275, + "xmax": 782.5573621718914, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.197697639465332, + -31.21731948852539, + 0.2002142071723938 + ], + [ + 6.331057548522949, + -31.308406829833984, + 0.2002142071723938 + ], + [ + 6.2369384765625, + -30.41292953491211, + 0.2002142071723938 + ], + [ + 7.103578567504883, + -30.321842193603516, + 0.2002142071723938 + ], + [ + 7.197697639465332, + -31.21731948852539, + 2.090527296066284 + ], + [ + 6.331057548522949, + -31.308406829833984, + 2.090527296066284 + ], + [ + 6.2369384765625, + -30.41292953491211, + 2.090527296066284 + ], + [ + 7.103578567504883, + -30.321842193603516, + 2.090527296066284 + ] + ], + "corners_2d": [ + [ + 727.9268219766811, + 765.1603519713545 + ], + [ + 769.1734144180909, + 773.829441810447 + ], + [ + 773.9366824261825, + 733.7100494343667 + ], + [ + 733.9555684187069, + 725.5793625742056 + ], + [ + 733.7407488235959, + 720.5557790346144 + ], + [ + 777.7774069775586, + 729.4746315718859 + ], + [ + 782.5573621718914, + 688.2674512742506 + ], + [ + 739.9602850955874, + 679.9374344121275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 803, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -27.85797882080078, + "z": 1.1366695165634155 + }, + "extent": { + "x": 0.3356652855873108, + "y": 0.5026281476020813, + "z": 0.8756668567657471 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.43417487176475, + "ymin": 510.27510069252264, + "xmax": 180.4860182085386, + "ymax": 586.6299262572568 + }, + "corners_3d": [ + [ + 22.13958740234375, + -28.081806182861328, + 0.26100265979766846 + ], + [ + 21.15629768371582, + -28.29081153869629, + 0.26100265979766846 + ], + [ + 21.016719818115234, + -27.634151458740234, + 0.26100265979766846 + ], + [ + 22.000009536743164, + -27.425146102905273, + 0.26100265979766846 + ], + [ + 22.13958740234375, + -28.081806182861328, + 2.012336254119873 + ], + [ + 21.15629768371582, + -28.29081153869629, + 2.012336254119873 + ], + [ + 21.016719818115234, + -27.634151458740234, + 2.012336254119873 + ], + [ + 22.000009536743164, + -27.425146102905273, + 2.012336254119873 + ] + ], + "corners_2d": [ + [ + 128.75997764249854, + 575.9174629280678 + ], + [ + 162.58841052899692, + 586.6299262572568 + ], + [ + 180.4860182085386, + 565.1918061178912 + ], + [ + 147.14844069052208, + 554.8983168190061 + ], + [ + 102.43417487176475, + 531.4359327071579 + ], + [ + 137.74550637187394, + 542.2370926558606 + ], + [ + 157.07319794046094, + 520.6326273652612 + ], + [ + 122.29348567180944, + 510.27510069252264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 725, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1240.6951893447622, + "ymin": 24.404459313466305, + "xmax": 1280.0, + "ymax": 77.55821564988287 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1373.7364425126152, + 77.55821564988287 + ], + [ + 1356.5721964564718, + 61.09742658168807 + ], + [ + 1240.6951893447622, + 56.01845175787503 + ], + [ + 1254.2910111998058, + 72.17475863800155 + ], + [ + 1391.1728766499652, + 45.187548935846564 + ], + [ + 1373.098608219385, + 29.301659591687496 + ], + [ + 1254.4193498116097, + 24.404459313466305 + ], + [ + 1268.7481111735583, + 39.989717110451124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 4376, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 437.89138971008265, + "ymin": 87.86843084545131, + "xmax": 564.236435750906, + "ymax": 146.52040077266892 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 453.72078938292043, + 119.75178602549258 + ], + [ + 442.81819836050636, + 140.35665412359478 + ], + [ + 556.9769862335968, + 146.52040077266892 + ], + [ + 564.236435750906, + 125.51951439353479 + ], + [ + 449.2213397681769, + 87.86843084545131 + ], + [ + 437.89138971008265, + 107.89018166932249 + ], + [ + 554.8818832434326, + 113.88581546670886 + ], + [ + 562.3887874241748, + 93.46965687327469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 191, + "instance_id": 48896, + "pixel_count": 1116, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 34.909706115722656, + "y": -14.62653636932373, + "z": 0.801037609577179 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.80089569091797 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 174.18539662440517, + "xmax": 40.20731457379327, + "ymax": 277.15170027591404 + }, + "corners_3d": [ + [ + 33.977359771728516, + -12.635921478271484, + -0.007517170161008835 + ], + [ + 35.82819366455078, + -12.62948989868164, + -0.007517170161008835 + ], + [ + 35.8420524597168, + -16.617151260375977, + -0.007517170161008835 + ], + [ + 33.991214752197266, + -16.62358283996582, + -0.007517170161008835 + ], + [ + 33.977359771728516, + -12.635921478271484, + 1.6095924377441406 + ], + [ + 35.82819366455078, + -12.62948989868164, + 1.6095924377441406 + ], + [ + 35.8420524597168, + -16.617151260375977, + 1.6095924377441406 + ], + [ + 33.991214752197266, + -16.62358283996582, + 1.6095924377441406 + ] + ], + "corners_2d": [ + [ + 40.20731457379327, + 214.42669956631104 + ], + [ + -5.547972076562587, + 211.4018709964333 + ], + [ + -75.34446705746882, + 273.5684855486647 + ], + [ + -25.86124501439531, + 277.15170027591404 + ], + [ + 21.954259525858106, + 177.13772629957248 + ], + [ + -25.106985048524507, + 174.18539662440517 + ], + [ + -98.99271652911443, + 235.01665296877232 + ], + [ + -47.97988777115427, + 238.5328355589544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536015221546, + "ymin": 56.99262984699453, + "xmax": 935.3085005668856, + "ymax": 73.40450756695486 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179175769005, + 73.40450756695486 + ], + [ + 931.9154776505168, + 72.64302978292642 + ], + [ + 916.0536015221546, + 71.89227727466562 + ], + [ + 916.234467882542, + 72.65173562542105 + ], + [ + 935.3085005668856, + 58.481093319893716 + ], + [ + 935.0995204581698, + 57.73157238671121 + ], + [ + 919.0605962137472, + 56.99262984699453 + ], + [ + 919.247518267619, + 57.740141404349174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536056746714, + "ymin": 56.9926300404411, + "xmax": 935.3085047827683, + "ymax": 73.40450776454867 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179217461217, + 73.40450776454867 + ], + [ + 931.9154818140678, + 72.64302997998976 + ], + [ + 916.0536056746714, + 71.8922774712068 + ], + [ + 916.2344720406991, + 72.65173582249054 + ], + [ + 935.3085047827683, + 58.48109351438774 + ], + [ + 935.0995246682548, + 57.73157258067744 + ], + [ + 919.060600412553, + 56.9926300404411 + ], + [ + 919.2475224721916, + 57.74014159832143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 851.0338458914835, + "ymin": 55.086979738535206, + "xmax": 869.3390365673231, + "ymax": 71.45794797073256 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 866.8697107195121, + 71.45794797073256 + ], + [ + 866.7553007849108, + 70.70168669633097 + ], + [ + 851.0338458914835, + 69.9560703591066 + ], + [ + 851.1270606757647, + 70.71033290217878 + ], + [ + 869.3390365673231, + 56.56514266807744 + ], + [ + 869.2200418797283, + 55.82081208551125 + ], + [ + 853.3246368356193, + 55.086979738535206 + ], + [ + 853.4219644840532, + 55.82932176724012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.190657961954, + "ymin": 53.87799741329508, + "xmax": 867.4304293948351, + "ymax": 70.22295511134888 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 864.9870063998736, + 70.22295511134888 + ], + [ + 864.875360737823, + 69.4699941023253 + ], + [ + 849.190657961954, + 68.72762729984055 + ], + [ + 849.281207476953, + 69.47860263816182 + ], + [ + 867.4304293948351, + 55.34964412526057 + ], + [ + 867.3142740474849, + 54.60859695748309 + ], + [ + 851.4564369382115, + 53.87799741329508 + ], + [ + 851.5510275663313, + 54.61706916195482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.305324531595, + "ymin": 49.7587021176563, + "xmax": 935.9677238402801, + "ymax": 67.33632974343465 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.3815362808155, + 67.33632974343465 + ], + [ + 932.354699683927, + 67.23663869756183 + ], + [ + 918.305324531595, + 66.5780468108963 + ], + [ + 918.3296349428338, + 66.67750381410764 + ], + [ + 935.9677238402801, + 50.5032366115459 + ], + [ + 935.9399129101043, + 50.40535165570219 + ], + [ + 921.714189706108, + 49.7587021176563 + ], + [ + 921.7394106475294, + 49.856354457609655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3054816123529, + "ymin": 49.75870309131841, + "xmax": 935.9678830946611, + "ymax": 67.33633073777935 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.3816935991821, + 67.33633073777935 + ], + [ + 932.3548569742841, + 67.23663969155325 + ], + [ + 918.3054816123529, + 66.57804780255435 + ], + [ + 918.3297920515266, + 66.67750480611767 + ], + [ + 935.9678830946611, + 50.5032375878784 + ], + [ + 935.9400721357823, + 50.405352631683456 + ], + [ + 921.7143487170024, + 49.75870309131841 + ], + [ + 921.7395696870497, + 49.856355431621694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536015221546, + "ymin": 56.99262984699453, + "xmax": 935.3085005668856, + "ymax": 73.40450756695486 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179175769005, + 73.40450756695486 + ], + [ + 931.9154776505168, + 72.64302978292642 + ], + [ + 916.0536015221546, + 71.89227727466562 + ], + [ + 916.234467882542, + 72.65173562542105 + ], + [ + 935.3085005668856, + 58.481093319893716 + ], + [ + 935.0995204581698, + 57.73157238671121 + ], + [ + 919.0605962137472, + 56.99262984699453 + ], + [ + 919.247518267619, + 57.740141404349174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536015044363, + "ymin": 56.99262977376662, + "xmax": 935.3085005360939, + "ymax": 73.40450745475806 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179175470729, + 73.40450745475806 + ], + [ + 931.915477630685, + 72.64302970832938 + ], + [ + 916.0536015044363, + 71.89227720026634 + ], + [ + 916.2344678558932, + 72.651735513522 + ], + [ + 935.3085005360939, + 58.481093209457015 + ], + [ + 935.0995204376977, + 57.73157231328662 + ], + [ + 919.0605961954359, + 56.99262977376662 + ], + [ + 919.2475182400774, + 57.74014129420874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536049825853, + "ymin": 56.992630008200024, + "xmax": 935.3085040698572, + "ymax": 73.4045076942175 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179210413089, + 73.4045076942175 + ], + [ + 931.9154811201427, + 72.64302994714586 + ], + [ + 916.0536049825853, + 71.89227743844998 + ], + [ + 916.23447133879, + 72.65173575234599 + ], + [ + 935.3085040698572, + 58.481093445159786 + ], + [ + 935.099523966574, + 57.73157254834979 + ], + [ + 919.060599712752, + 56.992630008200024 + ], + [ + 919.2475217622489, + 57.7401415292793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.2122336182215, + "ymin": 63.752686320910186, + "xmax": 892.113274870356, + "ymax": 80.3088020786185 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 889.3562116433611, + 80.3088020786185 + ], + [ + 889.2094423970314, + 79.52867722751199 + ], + [ + 873.2122336182215, + 78.75956540585207 + ], + [ + 873.33705775504, + 79.53759624427835 + ], + [ + 892.113274870356, + 65.27797921035477 + ], + [ + 891.961095572021, + 64.50989997347801 + ], + [ + 875.7837591395021, + 63.752686320910186 + ], + [ + 875.913496082437, + 64.51868114458102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3051114505904, + "ymin": 49.75868619797643, + "xmax": 935.9675073354895, + "ymax": 67.33631348558572 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.381322503325, + 67.33631348558572 + ], + [ + 932.3544859452113, + 67.23662244549189 + ], + [ + 918.3051114505904, + 66.57803059697761 + ], + [ + 918.3294218232899, + 66.67748759443032 + ], + [ + 935.9675073354895, + 50.50322064820364 + ], + [ + 935.9396964450832, + 50.405335698103784 + ], + [ + 921.7139739152624, + 49.75868619797643 + ], + [ + 921.7391948171586, + 49.856338532206394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536056746714, + "ymin": 56.9926300404411, + "xmax": 935.3085047827683, + "ymax": 73.40450776454867 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179217461217, + 73.40450776454867 + ], + [ + 931.9154818140678, + 72.64302997998976 + ], + [ + 916.0536056746714, + 71.8922774712068 + ], + [ + 916.2344720406991, + 72.65173582249054 + ], + [ + 935.3085047827683, + 58.48109351438774 + ], + [ + 935.0995246682548, + 57.73157258067744 + ], + [ + 919.060600412553, + 56.9926300404411 + ], + [ + 919.2475224721916, + 57.74014159832143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7151099303719, + "ymin": 49.371591832139984, + "xmax": 938.2761999907384, + "ymax": 68.0549962860265 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 934.4754874021951, + 68.0549962860265 + ], + [ + 934.442867738059, + 67.93532699636893 + ], + [ + 915.7151099303719, + 67.05648639701684 + ], + [ + 915.743693269132, + 67.17578131991633 + ], + [ + 938.2761999907384, + 50.351083168254206 + ], + [ + 938.2423390686404, + 50.23369084077166 + ], + [ + 919.2672789713506, + 49.371591832139984 + ], + [ + 919.2969962827032, + 49.48861218785612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3052271441722, + "ymin": 49.75867289820661, + "xmax": 935.9676241736881, + "ymax": 67.33629990329979 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.38143801266, + 67.33629990329979 + ], + [ + 932.3546014346654, + 67.23660886803373 + ], + [ + 918.3052271441722, + 66.57801705139212 + ], + [ + 918.3295375368267, + 66.677474044034 + ], + [ + 935.9676241736881, + 50.503207311957226 + ], + [ + 935.9398132629422, + 50.405322366655696 + ], + [ + 921.714090942487, + 49.75867289820661 + ], + [ + 921.7393118648, + 49.85632522765525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0536015044363, + "ymin": 56.99262977376662, + "xmax": 935.3085005360939, + "ymax": 73.40450745475806 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.1179175470729, + 73.40450745475806 + ], + [ + 931.915477630685, + 72.64302970832938 + ], + [ + 916.0536015044363, + 71.89227720026634 + ], + [ + 916.2344678558932, + 72.651735513522 + ], + [ + 935.3085005360939, + 58.481093209457015 + ], + [ + 935.0995204376977, + 57.73157231328662 + ], + [ + 919.0605961954359, + 56.99262977376662 + ], + [ + 919.2475182400774, + 57.74014129420874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7151178083036, + "ymin": 49.37162408434972, + "xmax": 938.2762093167262, + "ymax": 68.05502924529623 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 934.4754963862905, + 68.05502924529623 + ], + [ + 934.4428767284502, + 67.93535997873607 + ], + [ + 915.7151178083036, + 67.05651927621471 + ], + [ + 915.7437011415416, + 67.1758141760672 + ], + [ + 938.2762093167262, + 50.35111550049288 + ], + [ + 938.2423484011123, + 50.23372319549031 + ], + [ + 919.2672871617972, + 49.37162408434972 + ], + [ + 919.2970044674533, + 49.4886444176351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7152505831318, + "ymin": 49.37159392548415, + "xmax": 938.2763427892546, + "ymax": 68.05499839051646 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 934.475628366893, + 68.05499839051646 + ], + [ + 934.4430086827213, + 67.93532913710436 + ], + [ + 915.7152505831318, + 67.05648853105595 + ], + [ + 915.7438339430564, + 67.17578341782195 + ], + [ + 938.2763427892546, + 50.351085232707476 + ], + [ + 938.2424818467164, + 50.23369294076929 + ], + [ + 919.2674214499036, + 49.37159392548415 + ], + [ + 919.2971387828532, + 49.48861424576711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0535993927413, + "ymin": 56.99262953058752, + "xmax": 935.308498387097, + "ymax": 73.40450720636551 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 932.117915422692, + 73.40450720636551 + ], + [ + 931.9154755092461, + 72.64302946060366 + ], + [ + 916.0535993927413, + 71.8922769531971 + ], + [ + 916.2344657412827, + 72.6517352657886 + ], + [ + 935.308498387097, + 58.481092964961135 + ], + [ + 935.0995182917111, + 57.73157206945422 + ], + [ + 919.0605940594104, + 56.99262953058752 + ], + [ + 919.2475161010689, + 57.74014105036878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7151054908541, + "ymin": 49.37155959456527, + "xmax": 938.2761941438416, + "ymax": 68.0549633045714 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 934.4754818530093, + 68.0549633045714 + ], + [ + 934.442862191971, + 67.9352940289682 + ], + [ + 915.7151054908541, + 67.05645353273866 + ], + [ + 915.7436888269933, + 67.17574844164966 + ], + [ + 938.2761941438416, + 50.351050814252346 + ], + [ + 938.2423332250194, + 50.23365850073475 + ], + [ + 919.2672742637125, + 49.37155959456527 + ], + [ + 919.2969915722853, + 49.488579936382905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.5230060490829, + "ymin": 53.19474430719549, + "xmax": 852.5414729146612, + "ymax": 69.52498266018875 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 850.2608380630115, + 69.52498266018875 + ], + [ + 850.1689743307641, + 68.77388370955225 + ], + [ + 834.5230060490829, + 68.0333502980319 + ], + [ + 834.5938774758365, + 68.78247093430906 + ], + [ + 852.5414729146612, + 54.66271472279283 + ], + [ + 852.445538915145, + 53.92352000208575 + ], + [ + 836.6272875269958, + 53.19474430719549 + ], + [ + 836.7017640928581, + 53.93197100632233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7151085585552, + "ymin": 49.37159184081543, + "xmax": 938.2761985885882, + "ymax": 68.05499625774405 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 934.4754860181029, + 68.05499625774405 + ], + [ + 934.4428663643877, + 67.93532700524077 + ], + [ + 915.7151085585552, + 67.056486405861 + ], + [ + 915.7436918881485, + 67.17578129172239 + ], + [ + 938.2761985885882, + 50.351083140509786 + ], + [ + 938.242337677304, + 50.233690849474726 + ], + [ + 919.2672775819171, + 49.37159184081543 + ], + [ + 919.2969948837431, + 49.48861216019964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.4692673652671, + "ymin": 61.04305022563824, + "xmax": 934.6837173309243, + "ymax": 77.3946488775361 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 931.5052011494945, + 77.3946488775361 + ], + [ + 931.3039203685323, + 76.62909052903831 + ], + [ + 915.4692673652671, + 75.87431153179568 + ], + [ + 915.6490485943407, + 76.63784300624758 + ], + [ + 934.6837173309243, + 62.53993384489149 + ], + [ + 934.4759363706155, + 61.786174639307376 + ], + [ + 918.4648454429923, + 61.04305022563824 + ], + [ + 918.6506448659547, + 61.79479209469599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.305324531595, + "ymin": 49.7587021176563, + "xmax": 935.9677238402801, + "ymax": 67.33632974343465 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.3815362808155, + 67.33632974343465 + ], + [ + 932.354699683927, + 67.23663869756183 + ], + [ + 918.305324531595, + 66.5780468108963 + ], + [ + 918.3296349428338, + 66.67750381410764 + ], + [ + 935.9677238402801, + 50.5032366115459 + ], + [ + 935.9399129101043, + 50.40535165570219 + ], + [ + 921.714189706108, + 49.7587021176563 + ], + [ + 921.7394106475294, + 49.856354457609655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.9547202544618, + "ymin": 53.908916139108214, + "xmax": 844.8942413120839, + "ymax": 70.25453954856135 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 842.6928149232521, + 70.25453954856135 + ], + [ + 842.6109407059865, + 69.50149426234424 + ], + [ + 826.9547202544618, + 68.75904444231412 + ], + [ + 827.015574499145, + 69.51010372461349 + ], + [ + 844.8942413120839, + 55.380729282658024 + ], + [ + 844.8085067961911, + 54.639598270520366 + ], + [ + 828.9797724436219, + 53.908916139108214 + ], + [ + 829.0440209189273, + 54.64807139703635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3054578715901, + "ymin": 49.75870167502444, + "xmax": 935.9678589840673, + "ymax": 67.33632929140009 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 932.3816697899799, + 67.33632929140009 + ], + [ + 932.354833169383, + 67.23663824568814 + ], + [ + 918.3054578715901, + 66.57804636008342 + ], + [ + 918.3297683064857, + 66.67750336313452 + ], + [ + 935.9678589840673, + 50.50323616769998 + ], + [ + 935.940048029599, + 50.40535121201606 + ], + [ + 921.7143246765609, + 49.75870167502444 + ], + [ + 921.7395456422214, + 49.856354014818635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.0888891444397, + "ymin": 0.0, + "xmax": 469.3622140302845, + "ymax": 9.658858015703402 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 469.3622140302845, + 5.850930398842536 + ], + [ + 462.3781188304763, + 5.547642047393765 + ], + [ + 459.9470674157395, + 9.350928233921081 + ], + [ + 466.9829286294293, + 9.658858015703402 + ], + [ + 466.67264186962996, + -16.74980599393757 + ], + [ + 459.5801912602391, + -17.043929816441505 + ], + [ + 457.0888891444397, + -13.355160853011 + ], + [ + 464.2347298862959, + -13.056464101174186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 100.61974961829333, + "ymin": 33.76431736992663, + "xmax": 123.03284684330879, + "ymax": 62.875464346152 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 117.48184393976283, + 62.875464346152 + ], + [ + 123.03284684330879, + 58.22323978460366 + ], + [ + 115.54918742570862, + 57.85302064945819 + ], + [ + 109.93888440331853, + 62.498977987292506 + ], + [ + 108.28899429713294, + 38.651847535192985 + ], + [ + 114.01502976368533, + 34.124538642706966 + ], + [ + 106.40707298180484, + 33.76431736992663 + ], + [ + 100.61974961829333, + 38.2854205817257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.54076974825784, + "ymin": 112.53470492997334, + "xmax": 444.06002804883394, + "ymax": 139.47965369471615 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 444.06002804883394, + 134.45976185242327 + ], + [ + 436.71808128073894, + 134.0579478380808 + ], + [ + 433.9647056496576, + 139.0713923382683 + ], + [ + 441.36356295124745, + 139.47965369471615 + ], + [ + 440.82798666389874, + 112.9291395513184 + ], + [ + 433.3671148620406, + 112.53470492997334 + ], + [ + 430.54076974825784, + 117.45667273375773 + ], + [ + 438.06041700893707, + 117.85754192618867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18360097670761586227, + "instance_id": 13214, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 32.24429702758789, + "y": -10.91596508026123, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 31.919952932359024, + "ymin": 30.537351657679892, + "xmax": 55.89407373105348, + "ymax": 59.49803821749947 + }, + "corners_3d": [ + [ + 32.105709075927734, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -10.726007461547852, + 5.545533180236816 + ], + [ + 32.38288497924805, + -11.10592269897461, + 5.545533180236816 + ], + [ + 32.105709075927734, + -11.10592269897461, + 6.416468620300293 + ], + [ + 32.105709075927734, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -10.726007461547852, + 6.416468620300293 + ], + [ + 32.38288497924805, + -11.10592269897461, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 49.81411807058885, + 59.49803821749947 + ], + [ + 55.89407373105348, + 54.901886597089 + ], + [ + 48.50010786954431, + 54.53610461591086 + ], + [ + 42.36231874544558, + 59.12610185655899 + ], + [ + 39.494894321224365, + 35.36497532776701 + ], + [ + 45.76750431631467, + 30.89318092346241 + ], + [ + 38.25230808050321, + 30.537351657679892 + ], + [ + 31.919952932359024, + 35.00305405144354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.7296114248015, + "ymin": 54.979407206004566, + "xmax": 860.4173453097196, + "ymax": 105.04805742997667 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 852.5423792485414, + 105.04805742997667 + ], + [ + 852.4757709355122, + 104.48766019173422 + ], + [ + 850.7296114248015, + 104.39978137232288 + ], + [ + 850.7945739012167, + 104.9600138476568 + ], + [ + 860.4173453097196, + 55.59613688375441 + ], + [ + 860.3406260587053, + 55.06300677047932 + ], + [ + 858.5286432803076, + 54.979407206004566 + ], + [ + 858.6035902245371, + 55.512374769707094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 164.8684421115903, + "ymax": 74.90542757112689 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 164.8684421115903, + -18.84451862483229 + ], + [ + 157.6016157189572, + -19.179025553926806 + ], + [ + 32.226513055675014, + 74.4258193467133 + ], + [ + 40.82263243074408, + 74.90542757112689 + ], + [ + 110.0307615109839, + -187.18782744343525 + ], + [ + 101.96898705250362, + -187.4286033968309 + ], + [ + -53.65029549111125, + -118.48906670379262 + ], + [ + -43.921169395399374, + -118.12756875694203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4080121976771, + "ymin": 54.29372982648988, + "xmax": 845.537570555909, + "ymax": 104.32568296055058 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 838.2030839228205, + 104.32568296055058 + ], + [ + 838.1499641290658, + 103.76663684337518 + ], + [ + 836.4080121976771, + 103.678969785741 + ], + [ + 836.4594940597545, + 104.23785173547151 + ], + [ + 845.537570555909, + 54.908917719577346 + ], + [ + 845.4753751911062, + 54.37712049872948 + ], + [ + 843.6679199016368, + 54.29372982648988 + ], + [ + 843.7283517834964, + 54.825365106929326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.2770611291454, + "ymin": 163.1522517310665, + "xmax": 796.7017045244287, + "ymax": 307.29087548866835 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 793.6101369674549, + 167.20576943320063 + ], + [ + 781.2971611613682, + 166.51769865073243 + ], + [ + 781.2770611291454, + 306.28034416980387 + ], + [ + 796.2004877178673, + 307.29087548866835 + ], + [ + 794.0165926026905, + 163.8386256095587 + ], + [ + 781.670646039967, + 163.1522517310665 + ], + [ + 781.7298177104049, + 302.64790813828586 + ], + [ + 796.7017045244287, + 303.6570779419488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.1975870049132, + "ymin": 64.88942641568218, + "xmax": 884.9726569548579, + "ymax": 115.48147306707224 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.0678383518493, + 115.48147306707224 + ], + [ + 875.9776622204961, + 114.90137978779953 + ], + [ + 874.1975870049132, + 114.81041401534787 + ], + [ + 874.2860527600685, + 115.3903337701897 + ], + [ + 884.9726569548579, + 65.5286548709563 + ], + [ + 884.8702811554995, + 64.97607426120464 + ], + [ + 883.0217561231141, + 64.88942641568218 + ], + [ + 883.1222874322146, + 65.44183550030539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.3751362346748, + "ymin": 163.2335934624165, + "xmax": 796.6011705835944, + "ymax": 307.18007221126663 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 793.5349814763729, + 167.23549253796457 + ], + [ + 781.3780756357879, + 166.55614860264055 + ], + [ + 781.3751362346748, + 306.18272029866046 + ], + [ + 796.1067248398302, + 307.18007221126663 + ], + [ + 793.9360673707836, + 163.91128371283864 + ], + [ + 781.7470228368671, + 163.2335934624165 + ], + [ + 781.8223622654847, + 302.5968358044842 + ], + [ + 796.6011705835944, + 303.5928604936386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 201.2144175606482, + "ymax": 205.73287298289733 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -87.31232633512286, + 180.35866522656448 + ], + [ + -94.77529328526578, + 186.07202546116378 + ], + [ + 196.05241432841046, + 205.73287298289733 + ], + [ + 201.2144175606482, + 199.68563591757092 + ], + [ + -212.54743965228863, + -36.492283806911644 + ], + [ + -222.55462706566834, + -31.94354477888686 + ], + [ + 116.21365384087312, + -16.188250601352877 + ], + [ + 123.10786327212895, + -21.051166823679807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.3188544528548, + "ymin": 61.66438295709111, + "xmax": 927.5101342956157, + "ymax": 111.65093745097022 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 917.2072964129164, + 111.65093745097022 + ], + [ + 917.0797679940711, + 111.08266067258526 + ], + [ + 915.3188544528548, + 110.99354651080841 + ], + [ + 915.4447092465107, + 111.5616557087782 + ], + [ + 927.5101342956157, + 62.29057101243933 + ], + [ + 927.36783710231, + 61.74926437674304 + ], + [ + 925.539977588541, + 61.66438295709111 + ], + [ + 925.6804714534794, + 62.20552403711679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.7080538810524, + "ymin": 0.0, + "xmax": 882.8172450135571, + "ymax": 30.635091373637124 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 852.9736407431116, + 1.704440893741321 + ], + [ + 844.7080538810524, + 1.3599753246823525 + ], + [ + 848.404049309708, + 30.249217062798152 + ], + [ + 857.1552082279135, + 30.635091373637124 + ], + [ + 876.598357754929, + -157.81346152441563 + ], + [ + 867.398341777006, + -158.0728584315184 + ], + [ + 873.0116585569012, + -136.17807039231639 + ], + [ + 882.8172450135571, + -135.88369101478685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.0983787976674, + "ymin": 153.14594092398775, + "xmax": 802.7130018398852, + "ymax": 554.6265242075366 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 768.4691673583022, + 399.9301757269716 + ], + [ + 752.1526954179409, + 398.6946090119374 + ], + [ + 747.0983787976674, + 552.9264710947052 + ], + [ + 766.2316863192855, + 554.6265242075366 + ], + [ + 798.8228239372745, + 154.25306119293296 + ], + [ + 778.6059402609792, + 153.14594092398775 + ], + [ + 777.9854346016094, + 297.1713270320496 + ], + [ + 802.7130018398852, + 298.8271320013656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.532024074412, + "ymin": 56.192682334340816, + "xmax": 862.3101710462197, + "ymax": 106.326113150069 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 854.350620679065, + 106.326113150069 + ], + [ + 854.2821737982832, + 105.76332142130457 + ], + [ + 852.532024074412, + 105.67506731942223 + ], + [ + 852.5988175873806, + 106.23769322822494 + ], + [ + 862.3101710462197, + 56.81214490017152 + ], + [ + 862.2314403530447, + 56.2766521645425 + ], + [ + 860.4151608720896, + 56.192682334340816 + ], + [ + 860.4921108427623, + 56.728011438755914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.0220336139253, + "ymin": 55.01045355696078, + "xmax": 837.8815691311038, + "ymax": 105.08076392287978 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 830.8113642712121, + 105.08076392287978 + ], + [ + 830.765097928413, + 104.52030543402464 + ], + [ + 829.0220336139253, + 104.43241702078768 + ], + [ + 829.066659922408, + 104.99271071972856 + ], + [ + 837.8815691311038, + 55.62725312632881 + ], + [ + 837.8267256309757, + 55.09406258591906 + ], + [ + 836.0180712893099, + 55.01045355696078 + ], + [ + 836.0711489533498, + 55.54348152016877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.0730478251719, + "ymin": 0.0, + "xmax": 524.3139410271114, + "ymax": 202.98611523158806 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 448.3395100143866, + 202.26619170551197 + ], + [ + 459.3029422835483, + 202.98611523158806 + ], + [ + 524.3139410271114, + 67.27283773295238 + ], + [ + 515.4307611003036, + 66.80603508808451 + ], + [ + 414.0730478251719, + -18.977848335002363 + ], + [ + 426.95719309744356, + -18.398943266240508 + ], + [ + 508.2023365923116, + -123.87030668639613 + ], + [ + 498.09844540792164, + -124.22082125806617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.0044253434869, + "ymin": 58.105124017534024, + "xmax": 928.2535495998306, + "ymax": 108.34026841594934 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 917.8983222057166, + 108.34026841594934 + ], + [ + 917.7698256910492, + 107.77369283091804 + ], + [ + 916.0044253434869, + 107.68484568187648 + ], + [ + 916.1312396914052, + 108.25125377195366 + ], + [ + 928.2535495998306, + 58.72890652253409 + ], + [ + 928.1101589695186, + 58.189679145658545 + ], + [ + 926.2774647314841, + 58.105124017534024 + ], + [ + 926.4190424791059, + 58.64418604854194 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00031/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53a6728d32f3db9a614d3a8046a1ce18d02d1784 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00031/meta.json @@ -0,0 +1,7900 @@ +{ + "frame_id": 31, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 15.5, + "sim_timestamp": 7041.194112861063 + }, + "drone_pose": { + "x": 8.009896787822562, + "y": -39.24815595714643, + "z": 20.11598876620976, + "pitch": -40.681106275353166, + "yaw": 88.70582910959149, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.017127811908721924, + -0.7581559419631958, + 0.6518483757972717, + 16.506454467773438 + ], + [ + 0.9997448921203613, + 0.022585630416870117, + 0.0, + 8.89430046081543 + ], + [ + -0.01472240686416626, + 0.6516820788383484, + 0.7583493590354919, + -40.71434020996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.101735970656648, + "y": -38.80152004341541, + "z": 20.02267688368388 + }, + "t1_image_uv": [ + 444.35016026867606, + -170.61869518677997 + ], + "t1_depth": 0.4010178466420301 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -18.187763214111328, + "z": 1.141986910700798 + }, + "image_uv": [ + 577.5225434821559, + 381.3159397385245 + ], + "depth": 28.375019308272556, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 35, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -18.187763214111328, + "z": 1.1419869661331177 + }, + "extent": { + "x": 0.3479922413825989, + "y": 0.5214941501617432, + "z": 0.94150710105896 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 557.0792695937321, + "ymin": 349.09644326399354, + "xmax": 596.7513692486132, + "ymax": 412.77032174118773 + }, + "corners_3d": [ + [ + 10.854310989379883, + -18.535755157470703, + 0.20047986507415771 + ], + [ + 9.811323165893555, + -18.535755157470703, + 0.20047986507415771 + ], + [ + 9.811323165893555, + -17.839771270751953, + 0.20047986507415771 + ], + [ + 10.854310989379883, + -17.839771270751953, + 0.20047986507415771 + ], + [ + 10.854310989379883, + -18.535755157470703, + 2.083494186401367 + ], + [ + 9.811323165893555, + -18.535755157470703, + 2.083494186401367 + ], + [ + 9.811323165893555, + -17.839771270751953, + 2.083494186401367 + ], + [ + 10.854310989379883, + -17.839771270751953, + 2.083494186401367 + ] + ], + "corners_2d": [ + [ + 560.621441789588, + 412.2244925932018 + ], + [ + 595.4311557522863, + 412.77032174118773 + ], + [ + 596.7513692486132, + 396.92883108379624 + ], + [ + 562.5685628653575, + 396.4025159083043 + ], + [ + 557.0792695937321, + 364.71696862209626 + ], + [ + 593.4410324700192, + 365.2562966708628 + ], + [ + 594.8565693730338, + 349.615653293786 + ], + [ + 559.1783148335797, + 349.09644326399354 + ] + ], + "center_offset_px": [ + -62.477456517844075, + 21.31593973852449 + ] + }, + "trace_timestep_index": 31, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 269685, + "2": 121908, + "5": 3905, + "6": 6656, + "7": 440, + "10": 19, + "12": 1972, + "14": 60700, + "20": 1844, + "24": 31760, + "25": 422711 + }, + "instance_pixel_counts": { + "381": 2959, + "586": 3905, + "606": 386, + "1118": 916, + "1630": 354, + "2142": 409, + "2654": 1001, + "3146": 1844, + "3156": 2960, + "6238": 631, + "7262": 902, + "7503": 7304, + "7774": 1117, + "8015": 8625, + "8527": 9653, + "8798": 1834, + "11676": 53421, + "11870": 2479, + "12188": 53296, + "13406": 97, + "13918": 221, + "14236": 30588, + "14430": 1389, + "14942": 1812, + "16284": 33368, + "18013": 283653, + "19037": 139058, + "19354": 1783, + "19866": 1430, + "20378": 383, + "20573": 1261, + "20890": 711, + "21085": 9562, + "21597": 14307, + "22426": 228, + "23418": 3850, + "23441": 9742, + "23450": 4985, + "24442": 2486, + "25489": 15404, + "25498": 6869, + "25978": 971, + "27219": 130, + "27516": 1159, + "28026": 1003, + "29052": 8076, + "31612": 2240, + "33660": 2249, + "34304": 205, + "34560": 83, + "34816": 3458, + "35072": 125, + "36252": 40345, + "36764": 2444, + "38300": 25790, + "38483": 135, + "40860": 30433, + "43008": 35, + "43264": 247, + "43520": 163, + "43776": 565, + "44032": 22, + "44288": 940, + "44544": 1751, + "44922": 3143, + "45312": 3407, + "45434": 82, + "45824": 4814, + "46173": 3350, + "52636": 1523, + "54684": 1736, + "57241": 3649, + "58265": 31812, + "59772": 1014, + "59997": 68, + "60284": 841, + "60796": 125, + "61308": 234, + "61337": 12152, + "63385": 11216, + "63868": 2663 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 35, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -18.187763214111328, + "z": 1.1419869661331177 + }, + "extent": { + "x": 0.3637521266937256, + "y": 0.4538940191268921, + "z": 0.9431060552597046 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 559.384091052534, + "ymin": 348.7412060994092, + "xmax": 594.5664453182399, + "ymax": 413.13898851996055 + }, + "corners_3d": [ + [ + 10.786710739135742, + -18.551515579223633, + 0.19888091087341309 + ], + [ + 9.878923416137695, + -18.551515579223633, + 0.19888091087341309 + ], + [ + 9.878923416137695, + -17.824010848999023, + 0.19888091087341309 + ], + [ + 10.786710739135742, + -17.824010848999023, + 0.19888091087341309 + ], + [ + 10.786710739135742, + -18.551515579223633, + 2.0850930213928223 + ], + [ + 9.878923416137695, + -18.551515579223633, + 2.0850930213928223 + ], + [ + 9.878923416137695, + -17.824010848999023, + 2.0850930213928223 + ], + [ + 10.786710739135742, + -17.824010848999023, + 2.0850930213928223 + ] + ], + "corners_2d": [ + [ + 562.8351040617816, + 412.6635150236323 + ], + [ + 593.1439900326837, + 413.13898851996055 + ], + [ + 594.5664453182399, + 396.581100643558 + ], + [ + 564.8278774100013, + 396.123380560497 + ], + [ + 559.384091052534, + 365.07045533334 + ], + [ + 591.0472827093063, + 365.54027351684806 + ], + [ + 592.5733979073461, + 349.1927203513962 + ], + [ + 561.532107589023, + 348.7412060994092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 247, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -15.190058708190918, + "z": 1.1368600130081177 + }, + "extent": { + "x": 0.19852358102798462, + "y": 0.3183935880661011, + "z": 0.6256394982337952 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 442.62753818097406, + "ymin": 296.41705633955377, + "xmax": 468.1470385546078, + "ymax": 337.03079429551485 + }, + "corners_3d": [ + [ + 14.728963851928711, + -15.45044231414795, + 0.5112205147743225 + ], + [ + 14.106091499328613, + -15.318045616149902, + 0.5112205147743225 + ], + [ + 14.188642501831055, + -14.929675102233887, + 0.5112205147743225 + ], + [ + 14.811514854431152, + -15.062071800231934, + 0.5112205147743225 + ], + [ + 14.728963851928711, + -15.45044231414795, + 1.7624995708465576 + ], + [ + 14.106091499328613, + -15.318045616149902, + 1.7624995708465576 + ], + [ + 14.188642501831055, + -14.929675102233887, + 1.7624995708465576 + ], + [ + 14.811514854431152, + -15.062071800231934, + 1.7624995708465576 + ] + ], + "corners_2d": [ + [ + 448.23248993876234, + 337.03079429551485 + ], + [ + 468.1470385546078, + 334.7113121710447 + ], + [ + 467.50967533193597, + 327.15584201347104 + ], + [ + 447.781941682878, + 329.4316508302216 + ], + [ + 443.03965858410925, + 306.1659360488967 + ], + [ + 463.507287428418, + 303.87548257656204 + ], + [ + 462.8978804049077, + 296.41705633955377 + ], + [ + 442.62753818097406, + 298.6632339538468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 163, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -11.245049476623535, + "z": 0.8274138569831848 + }, + "extent": { + "x": 0.2939065396785736, + "y": 0.4062993824481964, + "z": 0.5838897228240967 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 643.8069495818178, + "ymin": 238.02985587011784, + "xmax": 668.730703234472, + "ymax": 276.06858597556686 + }, + "corners_3d": [ + [ + 8.450345039367676, + -11.579815864562988, + 0.24352413415908813 + ], + [ + 7.642197608947754, + -11.49487590789795, + 0.24352413415908813 + ], + [ + 7.703640937805176, + -10.910283088684082, + 0.24352413415908813 + ], + [ + 8.511788368225098, + -10.995223045349121, + 0.24352413415908813 + ], + [ + 8.450345039367676, + -11.579815864562988, + 1.4113035202026367 + ], + [ + 7.642197608947754, + -11.49487590789795, + 1.4113035202026367 + ], + [ + 7.703640937805176, + -10.910283088684082, + 1.4113035202026367 + ], + [ + 8.511788368225098, + -10.995223045349121, + 1.4113035202026367 + ] + ], + "corners_2d": [ + [ + 645.2208859588151, + 276.06858597556686 + ], + [ + 668.0872496951124, + 274.9660329804333 + ], + [ + 666.3803616104002, + 265.4164832186518 + ], + [ + 643.8069495818178, + 266.49074826263075 + ], + [ + 645.3406740017125, + 248.51790161674094 + ], + [ + 668.730703234472, + 247.43200857939473 + ], + [ + 666.9767381254192, + 238.02985587011784 + ], + [ + 643.8931420794797, + 239.08726227347512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 565, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -18.187763214111328, + "z": 1.151381492614746 + }, + "extent": { + "x": 0.3831230700016022, + "y": 0.5040643215179443, + "z": 0.9381960034370422 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 875.9254030520157, + "ymin": 352.9172653785553, + "xmax": 926.5065867307179, + "ymax": 418.28124821668445 + }, + "corners_3d": [ + [ + 1.3368812799453735, + -18.570886611938477, + 0.21318548917770386 + ], + [ + 0.32875263690948486, + -18.570886611938477, + 0.21318548917770386 + ], + [ + 0.32875287532806396, + -17.80463981628418, + 0.21318548917770386 + ], + [ + 1.3368815183639526, + -17.80463981628418, + 0.21318548917770386 + ], + [ + 1.3368812799453735, + -18.570886611938477, + 2.0895774364471436 + ], + [ + 0.32875263690948486, + -18.570886611938477, + 2.0895774364471436 + ], + [ + 0.32875287532806396, + -17.80463981628418, + 2.0895774364471436 + ], + [ + 1.3368815183639526, + -17.80463981628418, + 2.0895774364471436 + ] + ], + "corners_2d": [ + [ + 880.1461736041462, + 417.74666792597924 + ], + [ + 914.2187365112954, + 418.28124821668445 + ], + [ + 909.3152478459676, + 400.6441211445925 + ], + [ + 875.9254030520157, + 400.1306659706703 + ], + [ + 890.9004156981886, + 370.3179338799107 + ], + [ + 926.5065867307179, + 370.84646573058734 + ], + [ + 921.1318757778403, + 353.4240046422281 + ], + [ + 886.2705913575795, + 352.9172653785553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 22, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -29.31512451171875, + "z": 1.1453804969787598 + }, + "extent": { + "x": 0.4113449454307556, + "y": 0.5787537097930908, + "z": 0.9227595925331116 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 682.2642480203841, + "ymin": 698.2083403481986, + "xmax": 745.3512464583621, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.335898399353027, + -29.663719177246094, + 0.2226209044456482 + ], + [ + 6.184731960296631, + -29.784711837768555, + 0.2226209044456482 + ], + [ + 6.098737716674805, + -28.966529846191406, + 0.2226209044456482 + ], + [ + 7.249904155731201, + -28.845537185668945, + 0.2226209044456482 + ], + [ + 7.335898399353027, + -29.663719177246094, + 2.0681400299072266 + ], + [ + 6.184731960296631, + -29.784711837768555, + 2.0681400299072266 + ], + [ + 6.098737716674805, + -28.966529846191406, + 2.0681400299072266 + ], + [ + 7.249904155731201, + -28.845537185668945, + 2.0681400299072266 + ] + ], + "corners_2d": [ + [ + 682.2642480203841, + 780.1297811456608 + ], + [ + 737.305108266977, + 787.0308694558554 + ], + [ + 739.2374682055611, + 749.649241555582 + ], + [ + 685.8205960738559, + 743.1529640379367 + ], + [ + 684.9375077250245, + 736.0616136083021 + ], + [ + 743.4960393675091, + 743.142027410632 + ], + [ + 745.3512464583621, + 704.8483185027662 + ], + [ + 688.627471087371, + 698.2083403481986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 940, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -26.35797882080078, + "z": 1.136762261390686 + }, + "extent": { + "x": 0.3486047387123108, + "y": 0.49415892362594604, + "z": 0.9020644426345825 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 25.623760671426, + "ymin": 568.7904583836693, + "xmax": 112.50348651038234, + "ymax": 647.394878125648 + }, + "corners_3d": [ + [ + 22.13399314880371, + -26.596223831176758, + 0.23469781875610352 + ], + [ + 21.167272567749023, + -26.801708221435547, + 0.23469781875610352 + ], + [ + 21.022314071655273, + -26.119733810424805, + 0.23469781875610352 + ], + [ + 21.98903465270996, + -25.914249420166016, + 0.23469781875610352 + ], + [ + 22.13399314880371, + -26.596223831176758, + 2.0388267040252686 + ], + [ + 21.167272567749023, + -26.801708221435547, + 2.0388267040252686 + ], + [ + 21.022314071655273, + -26.119733810424805, + 2.0388267040252686 + ], + [ + 21.98903465270996, + -25.914249420166016, + 2.0388267040252686 + ] + ], + "corners_2d": [ + [ + 57.3219823950501, + 638.9824928221199 + ], + [ + 93.70084569953076, + 647.394878125648 + ], + [ + 112.50348651038234, + 622.6503187226359 + ], + [ + 76.78870424930778, + 614.6066160546334 + ], + [ + 25.623760671426, + 593.401852054453 + ], + [ + 63.74282668420835, + 601.9092435783208 + ], + [ + 84.25438093874163, + 576.9053485742131 + ], + [ + 46.86183375689791, + 568.7904583836693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 1751, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 244.60324448505537, + "ymin": 0.0, + "xmax": 331.6679823978653, + "ymax": 41.8226231221505 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 255.36283205390072, + 41.57300227811686 + ], + [ + 300.83336815967164, + 41.8226231221505 + ], + [ + 331.6679823978653, + -2.0348788600099965 + ], + [ + 290.1151717886891, + -2.2431902714421312 + ], + [ + 244.60324448505537, + 1.4235700818557575 + ], + [ + 291.34093920982866, + 1.6598465039255643 + ], + [ + 323.8040539102598, + -39.753397373313135 + ], + [ + 281.1955655935985, + -39.94962189234957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 3407, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1148.050634490265, + "ymin": 37.12711660529129, + "xmax": 1280.0, + "ymax": 84.74747977264053 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1274.3969556955149, + 84.74747977264053 + ], + [ + 1256.9583138706578, + 68.99730680560049 + ], + [ + 1148.050634490265, + 68.08002557450135 + ], + [ + 1162.2529900777474, + 83.77535835671756 + ], + [ + 1288.7812291773675, + 53.183093729101756 + ], + [ + 1270.5377185368716, + 38.01017219055632 + ], + [ + 1159.2133302446937, + 37.12711660529129 + ], + [ + 1174.0731125357947, + 52.24603043924867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 4814, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 348.96802080600946, + "ymin": 133.40463185194452, + "xmax": 482.934738992348, + "ymax": 189.53700188691624 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 366.8930602347385, + 165.7365248673777 + ], + [ + 356.22240164642193, + 188.28099475805988 + ], + [ + 476.3980940466179, + 189.53700188691624 + ], + [ + 482.934738992348, + 166.90728403029476 + ], + [ + 360.15826576139983, + 133.40463185194452 + ], + [ + 348.96802080600946, + 155.34057331828322 + ], + [ + 472.2075936022993, + 156.563815788688 + ], + [ + 479.0541577813389, + 134.54283775558818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501868596528, + "ymin": 82.79916707062904, + "xmax": 854.7094609961922, + "ymax": 98.55967624079244 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221141873642, + 98.55967624079244 + ], + [ + 852.1688529435281, + 97.7829892977038 + ], + [ + 836.4501868596528, + 97.62566532494486 + ], + [ + 836.6816971657603, + 98.40191792785976 + ], + [ + 854.7094609961922, + 83.71836489274716 + ], + [ + 854.4502911915863, + 82.95399364206094 + ], + [ + 838.5620066101, + 82.79916707062904 + ], + [ + 838.7989531936017, + 83.56310627071196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501909789905, + "ymin": 82.79916711120381, + "xmax": 854.7094651681507, + "ymax": 98.55967628215876 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.42211831471, + 98.55967628215876 + ], + [ + 852.168857065169, + 97.78298933895621 + ], + [ + 836.4501909789905, + 97.6256653661743 + ], + [ + 836.6817012907966, + 98.40191796920294 + ], + [ + 854.7094651681507, + 83.71836493345813 + ], + [ + 854.450295357716, + 82.95399368265862 + ], + [ + 838.5620107738764, + 82.79916711120381 + ], + [ + 838.7989573632004, + 83.56310631139996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.7464397934189, + "ymin": 83.32444512212993, + "xmax": 789.2172112341534, + "ymax": 99.09519720361084 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 787.6260576013246, + 99.09519720361084 + ], + [ + 787.4619130023436, + 98.31703499751814 + ], + [ + 771.7464397934189, + 98.15941243911698 + ], + [ + 771.8888421696405, + 98.93713906711247 + ], + [ + 789.2172112341534, + 84.24540746972252 + ], + [ + 789.0490820111986, + 83.47956870318183 + ], + [ + 773.1640583610373, + 83.32444512212993 + ], + [ + 773.3099733581108, + 84.08985059339523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.8271919291215, + "ymin": 82.14296580658436, + "xmax": 787.2364111502452, + "ymax": 97.89066604508662 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 785.669730932527, + 97.89066604508662 + ], + [ + 785.5086283529549, + 97.11582018720696 + ], + [ + 769.8271919291215, + 96.95886883195874 + ], + [ + 769.9666464240274, + 97.73328189289612 + ], + [ + 787.2364111502452, + 83.0599616373537 + ], + [ + 787.0713992431437, + 82.29742174004161 + ], + [ + 771.2211499273233, + 82.14296580658436 + ], + [ + 771.3640448251671, + 82.90507520486602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.3756486218797, + "ymin": 75.58138558986695, + "xmax": 854.8973518850197, + "ymax": 92.55538166309361 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3298869661411, + 92.55538166309361 + ], + [ + 852.2963877793898, + 92.45369147011809 + ], + [ + 838.3756486218797, + 92.3156817464394 + ], + [ + 838.4066015543234, + 92.41732160606233 + ], + [ + 854.8973518850197, + 75.81670186987247 + ], + [ + 854.8629739275466, + 75.71687109038464 + ], + [ + 840.7733373632266, + 75.58138558986695 + ], + [ + 840.8051069001705, + 75.68116635913577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.3758039653858, + "ymin": 75.58138065468535, + "xmax": 854.8975090236693, + "ymax": 92.55537663162596 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3300422505538, + 92.55537663162596 + ], + [ + 852.2965430357922, + 92.45368644048506 + ], + [ + 838.3758039653858, + 92.31567671929571 + ], + [ + 838.4067569258718, + 92.41731657708539 + ], + [ + 854.8975090236693, + 75.81669693039481 + ], + [ + 854.863131037513, + 75.71686615272972 + ], + [ + 840.7734945624267, + 75.58138065468535 + ], + [ + 840.8052641280868, + 75.68116142213273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501868596528, + "ymin": 82.79916707062904, + "xmax": 854.7094609961922, + "ymax": 98.55967624079244 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221141873642, + 98.55967624079244 + ], + [ + 852.1688529435281, + 97.7829892977038 + ], + [ + 836.4501868596528, + 97.62566532494486 + ], + [ + 836.6816971657603, + 98.40191792785976 + ], + [ + 854.7094609961922, + 83.71836489274716 + ], + [ + 854.4502911915863, + 82.95399364206094 + ], + [ + 838.5620066101, + 82.79916707062904 + ], + [ + 838.7989531936017, + 83.56310627071196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501868369741, + "ymin": 82.79916699579462, + "xmax": 854.7094609580041, + "ymax": 98.55967612635084 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221141500472, + 98.55967612635084 + ], + [ + 852.1688529187186, + 97.78298922161946 + ], + [ + 836.4501868369741, + 97.62566524890309 + ], + [ + 836.6816971316482, + 98.40191781348221 + ], + [ + 854.7094609580041, + 83.71836478011858 + ], + [ + 854.4502911661984, + 82.95399356718417 + ], + [ + 838.562006586889, + 82.79916699579462 + ], + [ + 838.798953158688, + 83.5631061581471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501902924342, + "ymin": 82.79916710444138, + "xmax": 854.709464460095, + "ymax": 98.55967623711717 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221176143801, + 98.55967623711717 + ], + [ + 852.1688563782288, + 97.78298933208077 + ], + [ + 836.4501902924342, + 97.62566535930273 + ], + [ + 836.6817005919198, + 98.40191792418665 + ], + [ + 854.709464460095, + 83.71836488913016 + ], + [ + 854.4502946633611, + 82.95399367589232 + ], + [ + 838.5620100799138, + 82.79916710444138 + ], + [ + 838.7989566566295, + 83.56310626709706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.4252195124132, + "ymin": 91.43945868494382, + "xmax": 812.4416146120624, + "ymax": 107.36728125032184 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 810.5758550516373, + 107.36728125032184 + ], + [ + 810.3771952462023, + 106.56615248942865 + ], + [ + 794.4252195124132, + 106.40388186450093 + ], + [ + 794.6014773409397, + 107.20455562513934 + ], + [ + 812.4416146120624, + 92.38789744179417 + ], + [ + 812.2381457840245, + 91.59920696442742 + ], + [ + 796.1114501249082, + 91.43945868494382 + ], + [ + 796.2920232079546, + 92.22769633241171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.375436862642, + "ymin": 75.5813772300271, + "xmax": 854.897137217542, + "ymax": 92.5553731401522 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3296749026161, + 92.5553731401522 + ], + [ + 852.2961757550416, + 92.45368295028425 + ], + [ + 838.375436862642, + 92.31567323082243 + ], + [ + 838.4063897560059, + 92.41731308734 + ], + [ + 854.897137217542, + 75.8166935027553 + ], + [ + 854.8627593002135, + 75.71686272635515 + ], + [ + 840.7731230074712, + 75.5813772300271 + ], + [ + 840.8048925043712, + 75.68115799621057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501909789905, + "ymin": 82.79916711120381, + "xmax": 854.7094651681507, + "ymax": 98.55967628215876 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.42211831471, + 98.55967628215876 + ], + [ + 852.168857065169, + 97.78298933895621 + ], + [ + 836.4501909789905, + 97.6256653661743 + ], + [ + 836.6817012907966, + 98.40191796920294 + ], + [ + 854.7094651681507, + 83.71836493345813 + ], + [ + 854.450295357716, + 82.95399368265862 + ], + [ + 838.5620107738764, + 82.79916711120381 + ], + [ + 838.7989573632004, + 83.56310631139996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.8378238089066, + "ymin": 75.27349020763012, + "xmax": 857.1629790301897, + "ymax": 93.17674764240229 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 854.4349547734101, + 93.17674764240229 + ], + [ + 854.3943400882977, + 93.05471840140518 + ], + [ + 835.8378238089066, + 92.8705583289439 + ], + [ + 835.874370002764, + 92.99250706016608 + ], + [ + 857.1629790301897, + 75.57379689887972 + ], + [ + 857.1212439674948, + 75.45411162654585 + ], + [ + 838.3278732465683, + 75.27349020763012 + ], + [ + 838.3654352846795, + 75.39309551269065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.3755502831361, + "ymin": 75.581359140877, + "xmax": 854.8972515059448, + "ymax": 92.55535469808052 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3297879104654, + 92.55535469808052 + ], + [ + 852.2962887433939, + 92.45366451493692 + ], + [ + 838.3755502831361, + 92.31565480459915 + ], + [ + 838.406503196155, + 92.41729465439738 + ], + [ + 854.8972515059448, + 75.81667539785849 + ], + [ + 854.8628735686768, + 75.71684462813948 + ], + [ + 840.7732377186287, + 75.581359140877 + ], + [ + 840.805007235632, + 75.68113990038427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501868369741, + "ymin": 82.79916699579462, + "xmax": 854.7094609580041, + "ymax": 98.55967612635084 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221141500472, + 98.55967612635084 + ], + [ + 852.1688529187186, + 97.78298922161946 + ], + [ + 836.4501868369741, + 97.62566524890309 + ], + [ + 836.6816971316482, + 98.40191781348221 + ], + [ + 854.7094609580041, + 83.71836478011858 + ], + [ + 854.4502911661984, + 82.95399356718417 + ], + [ + 838.562006586889, + 82.79916699579462 + ], + [ + 838.798953158688, + 83.5631061581471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.8378338814448, + "ymin": 75.2735231720929, + "xmax": 857.1629905249395, + "ymax": 93.17678125183255 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 854.4349659595522, + 93.17678125183255 + ], + [ + 854.3943512821565, + 93.05475203402091 + ], + [ + 835.8378338814448, + 92.87059193937273 + ], + [ + 835.8743800683568, + 92.99254064741979 + ], + [ + 857.1629905249395, + 75.57382986282317 + ], + [ + 857.1212554701102, + 75.45414461304608 + ], + [ + 838.3278835990557, + 75.2735231720929 + ], + [ + 838.3654456300862, + 75.39312845460688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.837963037928, + "ymin": 75.27348704739046, + "xmax": 857.1631199701102, + "ymax": 93.17674437880714 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 854.4350939587738, + 93.17674437880714 + ], + [ + 854.3944792560853, + 93.054715177111 + ], + [ + 835.837963037928, + 92.8705551067768 + ], + [ + 835.8745092506516, + 92.99250379872427 + ], + [ + 857.1631199701102, + 75.57379369796365 + ], + [ + 857.1213848894213, + 75.45410846419361 + ], + [ + 838.3280142313062, + 75.27348704739046 + ], + [ + 838.3655762887352, + 75.39309231391348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.4501847319477, + "ymin": 82.79916682583826, + "xmax": 854.7094588211072, + "ymax": 98.55967595307891 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 852.4221120366182, + 98.55967595307891 + ], + [ + 852.1688508082791, + 97.78298904882462 + ], + [ + 836.4501847319477, + 97.62566507620483 + ], + [ + 836.6816950236473, + 98.40191764030715 + ], + [ + 854.7094588211072, + 83.71836460959156 + ], + [ + 854.4502890323577, + 82.95399339713174 + ], + [ + 838.5620044585788, + 82.79916682583826 + ], + [ + 838.7989510273372, + 83.56310598771654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.8378171373913, + "ymin": 75.27345712822836, + "xmax": 857.1629709641234, + "ymax": 93.17671387776096 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 854.4349469736383, + 93.17671387776096 + ], + [ + 854.3943322926859, + 93.05468465152086 + ], + [ + 835.8378171373913, + 92.8705246013239 + ], + [ + 835.8743633275815, + 92.99247331780373 + ], + [ + 857.1629709641234, + 75.57376378270624 + ], + [ + 857.121235905769, + 75.45407852503001 + ], + [ + 838.3278663378178, + 75.27345712822836 + ], + [ + 838.3654283721006, + 75.39306241864597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.133026268963, + "ymin": 81.9981861412038, + "xmax": 772.3550261259008, + "ymax": 97.74305832796296 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 770.9470616077708, + 97.74305832796296 + ], + [ + 770.80625589661, + 96.96861842386704 + ], + [ + 755.133026268963, + 96.81174922211534 + ], + [ + 755.2522065445161, + 97.58575666928999 + ], + [ + 772.3550261259008, + 82.91469645871939 + ], + [ + 772.2107507508923, + 82.15256035951262 + ], + [ + 756.3688856210215, + 81.9981861412038 + ], + [ + 756.4910673746308, + 82.75989208322824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.8378224530351, + "ymin": 75.2734902684561, + "xmax": 857.1629776457577, + "ymax": 93.1767476665973 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 854.4349534062513, + 93.1767476665973 + ], + [ + 854.3943387340416, + 93.0547184634641 + ], + [ + 835.8378224530351, + 92.87055839096183 + ], + [ + 835.8743686352523, + 92.99250708434494 + ], + [ + 857.1629776457577, + 75.57379692261009 + ], + [ + 857.1212425963208, + 75.45411168741265 + ], + [ + 838.3278718737372, + 75.2734902684561 + ], + [ + 838.3654338998856, + 75.39309553640504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.10829152478, + "ymin": 86.84260602307302, + "xmax": 854.3335805025729, + "ymax": 102.5414116402124 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 852.0539174804815, + 102.5414116402124 + ], + [ + 851.8015702201935, + 101.76049748179656 + ], + [ + 836.10829152478, + 101.60231682370039 + ], + [ + 836.33895809962, + 102.38279498085649 + ], + [ + 854.3335805025729, + 87.76707837239047 + ], + [ + 854.0753547860575, + 86.99832137752719 + ], + [ + 838.2130080244895, + 86.84260602307302 + ], + [ + 838.4490830708046, + 87.61092919522542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.3756486218797, + "ymin": 75.58138558986695, + "xmax": 854.8973518850197, + "ymax": 92.55538166309361 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3298869661411, + 92.55538166309361 + ], + [ + 852.2963877793898, + 92.45369147011809 + ], + [ + 838.3756486218797, + 92.3156817464394 + ], + [ + 838.4066015543234, + 92.41732160606233 + ], + [ + 854.8973518850197, + 75.81670186987247 + ], + [ + 854.8629739275466, + 75.71687109038464 + ], + [ + 840.7733373632266, + 75.58138558986695 + ], + [ + 840.8051069001705, + 75.68116635913577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.609286501544, + "ymin": 83.03003711626184, + "xmax": 764.7701423701648, + "ymax": 98.79504936353788 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 763.4403838065697, + 98.79504936353788 + ], + [ + 763.3096618917076, + 98.01771420374092 + ], + [ + 747.609286501544, + 97.8602590308401 + ], + [ + 747.7183079449293, + 98.63715930667001 + ], + [ + 764.7701423701648, + 83.95001025226105 + ], + [ + 764.6361616748069, + 83.1849941942038 + ], + [ + 748.7665628775376, + 83.03003711626184 + ], + [ + 748.8783724631407, + 83.79462057696406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.3757803972259, + "ymin": 75.5813800918362, + "xmax": 854.8974851430663, + "ymax": 92.5553760577954 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 852.3300186579037, + 92.5553760577954 + ], + [ + 852.296519447478, + 92.4536858668638 + ], + [ + 838.3757803972259, + 92.31567614595838 + ], + [ + 838.4067333533833, + 92.41731600353893 + ], + [ + 854.8974851430663, + 75.8166963670555 + ], + [ + 854.8631071613527, + 75.7168655895984 + ], + [ + 840.773470706912, + 75.5813800918362 + ], + [ + 840.8052402681374, + 75.68116085907576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 380.46892854012145, + "ymin": 0.0, + "xmax": 393.4620634685689, + "ymax": 22.546854710904427 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 393.4620634685689, + 18.860246405926773 + ], + [ + 386.51266670905954, + 18.799955618873753 + ], + [ + 384.36447772133374, + 22.48563976470325 + ], + [ + 391.36653238732987, + 22.546854710904427 + ], + [ + 389.73350151701203, + -3.1898958811036096 + ], + [ + 382.6794890060789, + -3.2483103295587057 + ], + [ + 380.46892854012145, + 0.3230744125797287 + ], + [ + 387.5772024616458, + 0.38239792306239906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 361.73463727615, + "ymin": 26.5415799304821, + "xmax": 375.99747705776684, + "ymax": 53.756974642435125 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 375.99747705776684, + 49.585466948624855 + ], + [ + 368.6093278650654, + 49.51727966031541 + ], + [ + 366.1786261425744, + 53.687677810495984 + ], + [ + 373.62632213061767, + 53.756974642435125 + ], + [ + 371.7472634523311, + 26.60777214105002 + ], + [ + 364.24075947799304, + 26.5415799304821 + ], + [ + 361.73463727615, + 30.59047672061473 + ], + [ + 369.3026190375532, + 30.65776356426386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7209486981635054780, + "instance_id": 48156, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.744298934936523, + "y": -10.915963172912598, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 95.53649505673371, + "xmax": 1.477001145172494, + "ymax": 125.92901988400297 + }, + "corners_3d": [ + [ + 29.605712890625, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -10.726005554199219, + 5.545533180236816 + ], + [ + 29.882884979248047, + -11.105920791625977, + 5.545533180236816 + ], + [ + 29.605712890625, + -11.105920791625977, + 6.416468620300293 + ], + [ + 29.605712890625, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -10.726005554199219, + 6.416468620300293 + ], + [ + 29.882884979248047, + -11.105920791625977, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + -4.681038706926529, + 125.92901988400297 + ], + [ + 1.477001145172494, + 120.52254310714389 + ], + [ + -6.8726633269253625, + 120.43426275787965 + ], + [ + -13.10682846848772, + 125.83910234818455 + ], + [ + -16.627628973664287, + 100.89513320810255 + ], + [ + -10.245263849507978, + 95.62257388980856 + ], + [ + -18.746392053094723, + 95.53649505673371 + ], + [ + -25.207681984214105, + 100.8074282980266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.3215482764719, + "ymin": 163.16214118835546, + "xmax": 355.91674409628337, + "ymax": 190.69018329596395 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 355.91674409628337, + 185.13524379376483 + ], + [ + 348.0932234045225, + 185.04399900429848 + ], + [ + 345.3558786711765, + 190.59737314823977 + ], + [ + 353.2458398633168, + 190.69018329596395 + ], + [ + 351.1039722630919, + 163.2518091281946 + ], + [ + 343.1486156978757, + 163.16214118835546 + ], + [ + 340.3215482764719, + 168.6203211953762 + ], + [ + 348.345613177768, + 168.7115538409859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.449994095951, + "ymin": 83.00677681430886, + "xmax": 780.2668156725524, + "ymax": 132.90967892592354 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.2999419862813, + 132.90967892592354 + ], + [ + 775.1969437520992, + 132.33234649500469 + ], + [ + 773.449994095951, + 132.31376325727734 + ], + [ + 773.5513012256993, + 132.89105976014145 + ], + [ + 780.2668156725524, + 83.5735865328586 + ], + [ + 780.1550698202229, + 83.02445177581723 + ], + [ + 778.3438958598268, + 83.00677681430886 + ], + [ + 778.4538239155446, + 83.55587614425252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 52.37199998195092, + "ymax": 135.64481305776573 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 52.37199998195092, + 29.089935059501954 + ], + [ + 44.430216021944034, + 28.99083891937198 + ], + [ + -92.52325568463618, + 135.49839777283321 + ], + [ + -82.90275381937522, + 135.64481305776573 + ], + [ + -17.94206915794814, + -144.14507114599292 + ], + [ + -26.818149695875036, + -144.21713532119463 + ], + [ + -201.8617899692564, + -64.71526990037825 + ], + [ + -190.8355323916228, + -64.60308259119734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.1066206852723, + "ymin": 82.86160868548757, + "xmax": 765.3804014596443, + "ymax": 132.75674476605496 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 760.9417936952452, + 132.75674476605496 + ], + [ + 760.8526780759603, + 132.17970740801127 + ], + [ + 759.1066206852723, + 132.1611336633889 + ], + [ + 759.1940469264873, + 132.738135120918 + ], + [ + 765.3804014596443, + 83.42811808894703 + ], + [ + 765.2835780192887, + 82.87927428688562 + ], + [ + 763.4733630386771, + 82.86160868548757 + ], + [ + 763.5683706060818, + 83.41041708860325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.537690786959, + "ymin": 212.25293934589027, + "xmax": 733.5868385964843, + "ymax": 370.99767767665736 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 721.2732411126132, + 215.81020820233027 + ], + [ + 708.537690786959, + 215.65565790313823 + ], + [ + 717.6372336027939, + 370.76467394450094 + ], + [ + 733.2775629359619, + 370.99767767665736 + ], + [ + 721.4925676711551, + 212.40713221443198 + ], + [ + 708.7226066941513, + 212.25293934589027 + ], + [ + 717.8945794524855, + 367.09831612452973 + ], + [ + 733.5868385964843, + 367.33106709875346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.5088332840729, + "ymin": 92.3283900257486, + "xmax": 805.3652291306836, + "ymax": 142.72413582323156 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 799.4135272563952, + 142.72413582323156 + ], + [ + 799.2851822519688, + 142.1277098947452 + ], + [ + 797.5088332840729, + 142.10851238081065 + ], + [ + 797.6354297613833, + 142.70490058429345 + ], + [ + 805.3652291306836, + 92.9146503364409 + ], + [ + 805.226040126995, + 92.34667121431539 + ], + [ + 803.3832460618603, + 92.3283900257486 + ], + [ + 803.5205532147804, + 92.8963318816447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.1429222262086, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 60.84376642879619 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1235.5030887805772, + 30.837718280128968 + ], + [ + 1227.1429222262086, + 30.764499856314785 + ], + [ + 1260.9263313523518, + 60.761418296352076 + ], + [ + 1269.7975311469609, + 60.84376642879619 + ], + [ + 1301.0801191032047, + -128.39746086293206 + ], + [ + 1291.7887328468778, + -128.45264771543026 + ], + [ + 1333.9128744920965, + -105.6918917710097 + ], + [ + 1343.8397896834338, + -105.62898844108827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.623738970051, + "ymin": 212.3363949108411, + "xmax": 733.4774773214623, + "ymax": 370.88168497263007 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 721.197927602719, + 215.84829691508352 + ], + [ + 708.623738970051, + 215.69574012106764 + ], + [ + 717.7333808424279, + 370.6517760545386 + ], + [ + 733.1725408286306, + 370.88168497263007 + ], + [ + 721.4142640601017, + 212.4886034638814 + ], + [ + 708.8065328239772, + 212.3363949108411 + ], + [ + 717.987717631868, + 367.03240019461737 + ], + [ + 733.4774773214623, + 367.2620627360415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 32.74310078673295, + "xmax": 97.453922133177, + "ymax": 271.6987240205174 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -226.95191619171248, + 258.7984376528017 + ], + [ + -235.489599738008, + 265.6147821592263 + ], + [ + 91.92485821955006, + 271.6987240205174 + ], + [ + 97.453922133177, + 264.7689522817708 + ], + [ + -387.8477945746831, + 32.74310078673295 + ], + [ + -399.78682505226425, + 38.31087222844343 + ], + [ + -11.947253242264765, + 43.29688606935707 + ], + [ + -4.222111793439808, + 37.6189168488109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.9936721565937, + "ymin": 87.20524574398189, + "xmax": 847.2341848775625, + "ymax": 136.89908476709832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 839.905508675605, + 136.89908476709832 + ], + [ + 839.7403614507105, + 136.31865498014199 + ], + [ + 837.9936721565937, + 136.29997202022815 + ], + [ + 838.1571287908668, + 136.8803657332345 + ], + [ + 847.2341848775625, + 87.77562808558599 + ], + [ + 847.0556653761979, + 87.22303213538811 + ], + [ + 845.2447717401959, + 87.20524574398189 + ], + [ + 845.421474018969, + 87.75780609172631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.8301046517187, + "ymin": 0.0, + "xmax": 790.8026771018572, + "ymax": 56.25121433183381 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 769.0531157774144, + 26.752135184676945 + ], + [ + 760.8301046517187, + 26.680118029465348 + ], + [ + 766.3601320212283, + 56.17029790099241 + ], + [ + 775.077101503128, + 56.25121433183381 + ], + [ + 783.134666365755, + -131.47414289160372 + ], + [ + 774.0122657785258, + -131.5283259916253 + ], + [ + 781.0683359652578, + -109.1952550626674 + ], + [ + 790.8026771018572, + -109.13357203793191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.3477809651667, + "ymin": 202.12390475494738, + "xmax": 739.6030841121208, + "ymax": 618.8454345312819 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 709.1933346194662, + 449.7806488796527 + ], + [ + 692.3477809651667, + 449.50592745625136 + ], + [ + 696.7350051539479, + 618.4598295833142 + ], + [ + 716.6948123187886, + 618.8454345312819 + ], + [ + 725.861172786977, + 202.3726052730991 + ], + [ + 704.9530309112408, + 202.12390475494738 + ], + [ + 713.6735766827028, + 362.18304844847756 + ], + [ + 739.6030841121208, + 362.5653979363073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.3305552609386, + "ymin": 84.1914334590852, + "xmax": 782.2332571594704, + "ymax": 134.15760677661976 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 777.1862426281723, + 134.15760677661976 + ], + [ + 777.0812050549346, + 133.57786372421646 + ], + [ + 775.3305552609386, + 133.5592029332174 + ], + [ + 775.4338945550651, + 134.13890983231238 + ], + [ + 782.2332571594704, + 84.76069693928764 + ], + [ + 782.1192977421954, + 84.20918489722067 + ], + [ + 780.3041462830428, + 84.1914334590852 + ], + [ + 780.4162799069584, + 84.74290984375682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.7707206853192, + "ymin": 83.89624109166414, + "xmax": 757.7790214016433, + "ymax": 133.84666588192405 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 753.6019108711853, + 133.84666588192405 + ], + [ + 753.5197292017623, + 133.26752393337136 + ], + [ + 751.7707206853192, + 133.2488824810692 + ], + [ + 751.8512072576101, + 133.8279883325262 + ], + [ + 757.7790214016433, + 84.46489265739598 + ], + [ + 757.6896341664976, + 83.91397345793382 + ], + [ + 755.8762469674725, + 83.89624109166414 + ], + [ + 755.9638119556886, + 84.44712469120896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 191.3107327612915, + "ymin": 0.0, + "xmax": 460.21408798423226, + "ymax": 24.632723238972403 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 458.82803054430667, + 24.632723238972403 + ], + [ + 460.21408798423226, + 21.561167820610763 + ], + [ + 241.32024563230647, + 18.899235519022625 + ], + [ + 238.56809818143444, + 21.93718195923975 + ], + [ + 437.3681030504423, + -147.38300523234278 + ], + [ + 439.0675903346164, + -149.6102720437703 + ], + [ + 194.7137902817302, + -151.53783759100656 + ], + [ + 191.3107327612915, + -149.3377917749474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.89814579416463, + "ymin": 0.0, + "xmax": 438.62955263754156, + "ymax": 254.80986627805663 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 364.64899415499286, + 254.59964434286047 + ], + [ + 376.31102979180935, + 254.80986627805663 + ], + [ + 438.62955263754156, + 106.99538246306429 + ], + [ + 429.346725693876, + 106.86261186068839 + ], + [ + 313.89814579416463, + 29.32308866377241 + ], + [ + 327.69283760861276, + 29.49414428924075 + ], + [ + 410.20003061525637, + -86.40065653224696 + ], + [ + 399.61452729705445, + -86.50095606549507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4802515276168, + "ymin": 83.66473969683813, + "xmax": 847.7627189829636, + "ymax": 133.60280577451928 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 840.3972770290527, + 133.60280577451928 + ], + [ + 840.231248682976, + 133.02413507227593 + ], + [ + 838.4802515276168, + 133.00550877963633 + ], + [ + 838.6445809298127, + 133.58414342883123 + ], + [ + 847.7627189829636, + 84.23291156818266 + ], + [ + 847.5832151017386, + 83.68245711337715 + ], + [ + 845.7676906740897, + 83.66473969683813 + ], + [ + 845.9453680223089, + 84.21515859676202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 83.20236705464549, + "ymax": 5.777200950242332 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 33.824345118529095, + 5.777200950242332 + ], + [ + 83.20236705464549, + -21.127859100746036 + ], + [ + 18.693627536625286, + -25.475695983683124 + ], + [ + -33.917487287595236, + 0.8282071712224592 + ], + [ + -110.24455329778846, + -336.71132336789105 + ], + [ + -40.19412615697581, + -345.6356079986226 + ], + [ + -116.642925083568, + -346.2013016923149 + ], + [ + -191.22068727710143, + -337.45756848453084 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00044/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00044/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b51ce8057770351853fa72f9d1e36eec59a5a6e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00044/meta.json @@ -0,0 +1,8001 @@ +{ + "frame_id": 44, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 22.0, + "sim_timestamp": 7193.375049979892 + }, + "drone_pose": { + "x": 8.454234257571741, + "y": -32.652049727447235, + "z": 20.1169373643452, + "pitch": -39.91137989433193, + "yaw": 86.34633518978721, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04887962341308594, + -0.765478789806366, + 0.6416020393371582, + 11.674141883850098 + ], + [ + 0.997967541217804, + 0.06372523307800293, + 0.0, + 10.517810821533203 + ], + [ + -0.040886253118515015, + 0.6402979493141174, + 0.7670377492904663, + -35.99182891845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.35612722464047, + "y": -32.26139133957658, + "z": 20.001545901276266 + }, + "t1_image_uv": [ + 960.1100800684455, + -50.86125059277208 + ], + "t1_depth": 0.36828063167290687 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -11.687763214111328, + "z": 1.1397066456079483 + }, + "image_uv": [ + 621.7322763866736, + 395.804321294362 + ], + "depth": 28.31536862977708, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 537, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -11.687763214111328, + "z": 1.1397064924240112 + }, + "extent": { + "x": 0.39251068234443665, + "y": 0.30572691559791565, + "z": 0.938493013381958 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 609.5865651673795, + "ymin": 362.47878288508224, + "xmax": 633.1396270229894, + "ymax": 428.4616918001854 + }, + "corners_3d": [ + [ + 10.638544082641602, + -12.080273628234863, + 0.20121347904205322 + ], + [ + 10.027090072631836, + -12.080273628234863, + 0.20121347904205322 + ], + [ + 10.027090072631836, + -11.295252799987793, + 0.20121347904205322 + ], + [ + 10.638544082641602, + -11.295252799987793, + 0.20121347904205322 + ], + [ + 10.638544082641602, + -12.080273628234863, + 2.0781993865966797 + ], + [ + 10.027090072631836, + -12.080273628234863, + 2.0781993865966797 + ], + [ + 10.027090072631836, + -11.295252799987793, + 2.0781993865966797 + ], + [ + 10.638544082641602, + -11.295252799987793, + 2.0781993865966797 + ] + ], + "corners_2d": [ + [ + 610.865771509488, + 427.55200219213486 + ], + [ + 631.316434267851, + 428.4616918001854 + ], + [ + 633.1396270229894, + 410.52926383735235 + ], + [ + 613.1074875832064, + 409.65660805174423 + ], + [ + 609.5865651673795, + 380.12629210436427 + ], + [ + 630.9347461133326, + 381.02423167826845 + ], + [ + 632.8445496643774, + 363.33861253413903 + ], + [ + 611.9520241910916, + 362.47878288508224 + ] + ], + "center_offset_px": [ + -18.26772361332644, + 35.80432129436201 + ] + }, + "trace_timestep_index": 44, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 76, + "semantic_pixel_counts": { + "1": 332351, + "2": 174843, + "3": 19907, + "5": 5615, + "6": 10530, + "7": 1028, + "9": 33, + "10": 1473, + "12": 2393, + "14": 37051, + "20": 2235, + "24": 26235, + "25": 307906 + }, + "instance_pixel_counts": { + "381": 3749, + "586": 4412, + "1118": 701, + "1630": 393, + "3146": 1907, + "3156": 4523, + "7262": 1504, + "7774": 1801, + "8527": 10828, + "11676": 69239, + "11870": 1225, + "12188": 41293, + "13406": 160, + "13918": 641, + "14236": 45615, + "16284": 36583, + "18013": 218076, + "19037": 89830, + "19038": 1431, + "19354": 2163, + "19866": 1874, + "20378": 2184, + "20573": 4577, + "20594": 4, + "20890": 3737, + "21085": 32247, + "21597": 26296, + "22426": 139, + "23418": 5074, + "23441": 15715, + "23450": 6790, + "24442": 1669, + "25498": 7594, + "25978": 1469, + "27516": 1889, + "28026": 1137, + "28530": 64, + "28786": 9570, + "29052": 6051, + "29554": 8457, + "31612": 3994, + "33660": 2779, + "34304": 739, + "34816": 5358, + "35072": 621, + "36252": 52394, + "36764": 15524, + "38300": 36368, + "38483": 317, + "40860": 35335, + "43008": 537, + "43264": 253, + "43520": 163, + "43776": 590, + "44288": 850, + "44544": 3985, + "44922": 3950, + "45312": 172, + "45434": 587, + "45824": 6351, + "46173": 1752, + "49778": 1812, + "51309": 33, + "51587": 328, + "52636": 2150, + "54684": 2022, + "57241": 5656, + "58265": 23625, + "58697": 1203, + "59772": 1139, + "60284": 1080, + "60796": 685, + "61308": 1115, + "61337": 19451, + "63385": 12575, + "63868": 3454 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 537, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -11.687763214111328, + "z": 1.1397064924240112 + }, + "extent": { + "x": 0.40521177649497986, + "y": 0.4059155285358429, + "z": 0.9303783774375916 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 606.0591367702443, + "ymin": 362.27151503283136, + "xmax": 636.4530130416493, + "ymax": 428.71085565507565 + }, + "corners_3d": [ + [ + 10.73873233795166, + -12.092974662780762, + 0.20932811498641968 + ], + [ + 9.926901817321777, + -12.092974662780762, + 0.20932811498641968 + ], + [ + 9.926901817321777, + -11.282551765441895, + 0.20932811498641968 + ], + [ + 10.73873233795166, + -11.282551765441895, + 0.20932811498641968 + ], + [ + 10.73873233795166, + -12.092974662780762, + 2.070084810256958 + ], + [ + 9.926901817321777, + -12.092974662780762, + 2.070084810256958 + ], + [ + 9.926901817321777, + -11.282551765441895, + 2.070084810256958 + ], + [ + 10.73873233795166, + -11.282551765441895, + 2.070084810256958 + ] + ], + "corners_2d": [ + [ + 607.4748613806314, + 427.5022874913306 + ], + [ + 634.6414340840263, + 428.71085565507565 + ], + [ + 636.4530130416493, + 410.19262714052235 + ], + [ + 609.860307469248, + 409.03482751125074 + ], + [ + 606.0591367702443, + 380.48512947777147 + ], + [ + 634.4078533708359, + 381.67825795837274 + ], + [ + 636.3018238460636, + 363.41241259810016 + ], + [ + 608.5774301653234, + 362.27151503283136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 253, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -8.690058708190918, + "z": 1.1340718269348145 + }, + "extent": { + "x": 0.20266969501972198, + "y": 0.3024771511554718, + "z": 0.6189924478530884 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 489.29395741146914, + "ymin": 307.951297275307, + "xmax": 512.2766477076229, + "ymax": 347.74275263008616 + }, + "corners_3d": [ + [ + 14.712532997131348, + -8.951188087463379, + 0.5150793790817261 + ], + [ + 14.120798110961914, + -8.825410842895508, + 0.5150793790817261 + ], + [ + 14.205073356628418, + -8.428929328918457, + 0.5150793790817261 + ], + [ + 14.796808242797852, + -8.554706573486328, + 0.5150793790817261 + ], + [ + 14.712532997131348, + -8.951188087463379, + 1.7530642747879028 + ], + [ + 14.120798110961914, + -8.825410842895508, + 1.7530642747879028 + ], + [ + 14.205073356628418, + -8.428929328918457, + 1.7530642747879028 + ], + [ + 14.796808242797852, + -8.554706573486328, + 1.7530642747879028 + ] + ], + "corners_2d": [ + [ + 493.47863313859034, + 347.74275263008616 + ], + [ + 512.2766477076229, + 346.0297322565225 + ], + [ + 511.7290484941843, + 338.29972536982973 + ], + [ + 493.114411975709, + 339.979310384724 + ], + [ + 489.62887260408286, + 317.26600069759917 + ], + [ + 508.9282541067139, + 315.57582504019274 + ], + [ + 508.40009801495205, + 307.951297275307 + ], + [ + 489.29395741146914, + 309.6076306949501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 163, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -4.745050430297852, + "z": 0.6634583473205566 + }, + "extent": { + "x": 0.2840704023838043, + "y": 0.22982968389987946, + "z": 0.5966945290565491 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 693.373764734233, + "ymin": 257.98564975237923, + "xmax": 709.219099252529, + "ymax": 295.4223841063163 + }, + "corners_3d": [ + [ + 8.275870323181152, + -5.051588535308838, + 0.06676381826400757 + ], + [ + 7.818728923797607, + -5.003540992736816, + 0.06676381826400757 + ], + [ + 7.878115653991699, + -4.438512325286865, + 0.06676381826400757 + ], + [ + 8.335257530212402, + -4.486559867858887, + 0.06676381826400757 + ], + [ + 8.275870323181152, + -5.051588535308838, + 1.2601529359817505 + ], + [ + 7.818728923797607, + -5.003540992736816, + 1.2601529359817505 + ], + [ + 7.878115653991699, + -4.438512325286865, + 1.2601529359817505 + ], + [ + 8.335257530212402, + -4.486559867858887, + 1.2601529359817505 + ] + ], + "corners_2d": [ + [ + 694.714712059413, + 295.4223841063163 + ], + [ + 707.6601694032636, + 295.1088658874821 + ], + [ + 706.1560962706167, + 285.7750319562184 + ], + [ + 693.373764734233, + 286.08066901045413 + ], + [ + 695.9759188176724, + 267.4790346758805 + ], + [ + 709.219099252529, + 267.1704301726995 + ], + [ + 707.660657870943, + 257.98564975237923 + ], + [ + 694.5881435379952, + 258.2863213041127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 590, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -11.687763214111328, + "z": 1.1492574214935303 + }, + "extent": { + "x": 0.41719135642051697, + "y": 0.3201379179954529, + "z": 0.9398608207702637 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 928.4706040112508, + "ymin": 375.178760748219, + "xmax": 969.4843458402052, + "ymax": 443.2622116243969 + }, + "corners_3d": [ + [ + 1.1529548168182373, + -12.104954719543457, + 0.2093966007232666 + ], + [ + 0.5126790404319763, + -12.104954719543457, + 0.2093966007232666 + ], + [ + 0.5126792788505554, + -11.2705717086792, + 0.2093966007232666 + ], + [ + 1.1529550552368164, + -11.2705717086792, + 0.2093966007232666 + ], + [ + 1.1529548168182373, + -12.104954719543457, + 2.089118242263794 + ], + [ + 0.5126790404319763, + -12.104954719543457, + 2.089118242263794 + ], + [ + 0.5126792788505554, + -11.2705717086792, + 2.089118242263794 + ], + [ + 1.1529550552368164, + -11.2705717086792, + 2.089118242263794 + ] + ], + "corners_2d": [ + [ + 933.2034686426299, + 442.2766742897642 + ], + [ + 955.3495881422352, + 443.2622116243969 + ], + [ + 950.1196067929719, + 423.5741497185648 + ], + [ + 928.4706040112508, + 422.6318891958042 + ], + [ + 946.3303134734218, + 394.5779401226404 + ], + [ + 969.4843458402052, + 395.55217135549657 + ], + [ + 963.6976348584271, + 376.10836157804493 + ], + [ + 941.0864357641059, + 375.178760748219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 850, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -19.85797882080078, + "z": 1.1371430158615112 + }, + "extent": { + "x": 0.3350170850753784, + "y": 0.4030694365501404, + "z": 0.889256477355957 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 80.07489202927081, + "ymin": 569.0002752864683, + "xmax": 154.66020509512464, + "ymax": 645.1764683173244 + }, + "corners_3d": [ + [ + 22.042068481445312, + -20.101871490478516, + 0.2478865385055542 + ], + [ + 21.2535457611084, + -20.26947784423828, + 0.2478865385055542 + ], + [ + 21.114238739013672, + -19.614086151123047, + 0.2478865385055542 + ], + [ + 21.902761459350586, + -19.44647979736328, + 0.2478865385055542 + ], + [ + 22.042068481445312, + -20.101871490478516, + 2.026399612426758 + ], + [ + 21.2535457611084, + -20.26947784423828, + 2.026399612426758 + ], + [ + 21.114238739013672, + -19.614086151123047, + 2.026399612426758 + ], + [ + 21.902761459350586, + -19.44647979736328, + 2.026399612426758 + ] + ], + "corners_2d": [ + [ + 107.8313875834599, + 637.2893261887825 + ], + [ + 136.55511845312407, + 645.1764683173244 + ], + [ + 154.66020509512464, + 622.1106687953795 + ], + [ + 126.41253550518184, + 614.5531827786308 + ], + [ + 80.07489202927081, + 591.8918705974872 + ], + [ + 110.09499079903287, + 599.8446842161694 + ], + [ + 129.72012584725206, + 576.6038612991092 + ], + [ + 100.21770886308491, + 569.0002752864683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 3985, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 251.4044782956786, + "ymin": 12.929478823026898, + "xmax": 349.4333435142562, + "ymax": 105.46754769366726 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 262.77339026186024, + 104.27008807773626 + ], + [ + 311.8362205960182, + 105.46754769366726 + ], + [ + 349.4333435142562, + 53.50746196392254 + ], + [ + 304.9349867181072, + 52.52593592190664 + ], + [ + 251.4044782956786, + 61.97379513466103 + ], + [ + 301.923677768638, + 63.11208452802913 + ], + [ + 341.5106150670579, + 13.857198740096123 + ], + [ + 295.8174967522168, + 12.929478823026898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 172, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1259.9901398951824, + "ymin": 122.51372022878269, + "xmax": 1280.0, + "ymax": 179.9694935190827 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1409.6046569391217, + 179.9694935190827 + ], + [ + 1386.7529823743412, + 159.41920096798816 + ], + [ + 1259.9901398951824, + 155.80458288400698 + ], + [ + 1278.4026874515557, + 176.10485325368566 + ], + [ + 1429.3410623733243, + 145.92044242706538 + ], + [ + 1405.255990119574, + 126.01196817259105 + ], + [ + 1275.2577806724778, + 122.51372022878269 + ], + [ + 1294.6702864447482, + 142.173929849535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 6351, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 349.9774025524713, + "ymin": 227.25803786067564, + "xmax": 502.4526354085921, + "ymax": 295.3150669163308 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 372.1715301713233, + 261.513954322626 + ], + [ + 358.0543182173919, + 290.3686472355298 + ], + [ + 493.61209105040933, + 295.3150669163308 + ], + [ + 502.4526354085921, + 266.0775849864518 + ], + [ + 364.80920347121287, + 227.25803786067564 + ], + [ + 349.9774025524713, + 255.49614292604844 + ], + [ + 489.3894070109616, + 260.34325655217015 + ], + [ + 498.64643123973786, + 231.7199159109989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1595972819688, + "ymin": 176.85709582305233, + "xmax": 929.0726836927302, + "ymax": 194.36820697889124 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.606510916427, + 194.36820697889124 + ], + [ + 925.2793954944074, + 193.3545540612711 + ], + [ + 907.1595972819688, + 192.7746934433912 + ], + [ + 907.4575777581845, + 193.78649843229516 + ], + [ + 929.0726836927302, + 178.42956882824276 + ], + [ + 928.7360255045088, + 177.42928899848633 + ], + [ + 910.3936907094694, + 176.85709582305233 + ], + [ + 910.7004934309823, + 177.85553002123518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1596020275622, + "ymin": 176.85709597290867, + "xmax": 929.0726885132667, + "ymax": 194.3682071315195 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.6065156783321, + 194.3682071315195 + ], + [ + 925.279400248661, + 193.3545542134143 + ], + [ + 907.1596020275622, + 192.7746935952573 + ], + [ + 907.4575825114014, + 193.78649858464502 + ], + [ + 929.0726885132667, + 178.42956897886035 + ], + [ + 928.7360303172046, + 177.42928914861943 + ], + [ + 910.3936955132923, + 176.85709597290867 + ], + [ + 910.700498242617, + 177.85553017157469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.837047293466, + "ymin": 176.01601765244828, + "xmax": 853.6312753825555, + "ymax": 193.51155977884767 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 851.0731378317837, + 193.51155977884767 + ], + [ + 850.8648365418431, + 192.50062765843631 + ], + [ + 832.837047293466, + 191.92232150221713 + ], + [ + 833.0165072818614, + 192.93141312567218 + ], + [ + 853.6312753825555, + 177.5842208179292 + ], + [ + 853.4163415680418, + 176.58665838129448 + ], + [ + 835.1682636019893, + 176.01601765244828 + ], + [ + 835.353646429276, + 177.01174196975265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.6130467531013, + "ymin": 174.44004181623387, + "xmax": 851.3216958741449, + "ymax": 191.90635214833654 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 848.7975959809941, + 191.90635214833654 + ], + [ + 848.5934241076349, + 190.90050835663052 + ], + [ + 830.6130467531013, + 190.32510939640676 + ], + [ + 830.7885289065679, + 191.32912656308838 + ], + [ + 851.3216958741449, + 176.00026015007867 + ], + [ + 851.1110127905897, + 175.00777932098916 + ], + [ + 832.9115104142951, + 174.44004181623387 + ], + [ + 833.0927997113913, + 175.4306985468456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7141826318879, + "ymin": 169.23358191309055, + "xmax": 929.7141117803769, + "ymax": 187.86414518435691 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8164781660906, + 187.86414518435691 + ], + [ + 925.7731167573108, + 187.73128524692206 + ], + [ + 909.7141826318879, + 187.22192920725257 + ], + [ + 909.7541290725234, + 187.35457462582713 + ], + [ + 929.7141117803769, + 169.8659752762307 + ], + [ + 929.6693271639783, + 169.73514597468073 + ], + [ + 913.3884366291968, + 169.23358191309055 + ], + [ + 913.429711229008, + 169.3641970976896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7143614594672, + "ymin": 169.2335791144744, + "xmax": 929.7142931397971, + "ymax": 187.86414233643654 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8166571032086, + 187.86414233643654 + ], + [ + 925.773295656941, + 187.73128240020105 + ], + [ + 909.7143614594672, + 187.22192636512762 + ], + [ + 909.7543079375607, + 187.35457178250562 + ], + [ + 929.7142931397971, + 169.86597247182993 + ], + [ + 929.6695084848886, + 169.73514317147723 + ], + [ + 913.3886178761077, + 169.2335791144744 + ], + [ + 913.4298925143972, + 169.3641942978792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1595972819688, + "ymin": 176.85709582305233, + "xmax": 929.0726836927302, + "ymax": 194.36820697889124 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.606510916427, + 194.36820697889124 + ], + [ + 925.2793954944074, + 193.3545540612711 + ], + [ + 907.1595972819688, + 192.7746934433912 + ], + [ + 907.4575777581845, + 193.78649843229516 + ], + [ + 929.0726836927302, + 178.42956882824276 + ], + [ + 928.7360255045088, + 177.42928899848633 + ], + [ + 910.3936907094694, + 176.85709582305233 + ], + [ + 910.7004934309823, + 177.85553002123518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1595972527848, + "ymin": 176.8570957252682, + "xmax": 929.0726836431134, + "ymax": 194.36820682950184 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.6065108682178, + 194.36820682950184 + ], + [ + 925.27939546237, + 193.3545539619947 + ], + [ + 907.1595972527848, + 192.77469334429563 + ], + [ + 907.4575777142688, + 193.78649828317833 + ], + [ + 929.0726836431134, + 178.4295686808214 + ], + [ + 928.7360254715375, + 177.42928890052156 + ], + [ + 910.393690679422, + 176.8570957252682 + ], + [ + 910.7004933857656, + 177.85552987408607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1596012366299, + "ymin": 176.85709594793258, + "xmax": 929.0726876933049, + "ymax": 194.36820705628506 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.6065148686115, + 194.36820705628506 + ], + [ + 925.2793994562854, + 193.3545541880572 + ], + [ + 907.1596012366299, + 192.77469356994627 + ], + [ + 907.45758170456, + 193.78649850954773 + ], + [ + 929.0726876933049, + 178.429568904617 + ], + [ + 928.7360295150886, + 177.4292891235973 + ], + [ + 910.3936947126551, + 176.85709594793258 + ], + [ + 910.7004974256058, + 177.85553009746837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.0821069275343, + "ymin": 187.10198918116254, + "xmax": 880.6411721220406, + "ymax": 204.80097172189508 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 877.7084954061642, + 204.80097172189508 + ], + [ + 877.4534537265309, + 203.7538906064409 + ], + [ + 859.0821069275343, + 203.15493198492334 + ], + [ + 859.3071971903387, + 204.20007305412577 + ], + [ + 880.6411721220406, + 188.72693872798732 + ], + [ + 880.3781904790164, + 187.69326174327318 + ], + [ + 861.778032298872, + 187.10198918116254 + ], + [ + 862.0103112432358, + 188.1337273790227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7139382141321, + "ymin": 169.23356608825208, + "xmax": 929.7138632595941, + "ymax": 187.86412908072728 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8162330882426, + 187.86412908072728 + ], + [ + 925.772871732182, + 187.73126915007444 + ], + [ + 909.7139382141321, + 187.22191313639263 + ], + [ + 909.7538846023059, + 187.35455854820154 + ], + [ + 929.7138632595941, + 169.86595941868393 + ], + [ + 929.669078697405, + 169.73513012390347 + ], + [ + 913.3881887868249, + 169.23356608825208 + ], + [ + 913.4294633326945, + 169.36418126609834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1596020275622, + "ymin": 176.85709597290867, + "xmax": 929.0726885132667, + "ymax": 194.3682071315195 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.6065156783321, + 194.3682071315195 + ], + [ + 925.279400248661, + 193.3545542134143 + ], + [ + 907.1596020275622, + 192.7746935952573 + ], + [ + 907.4575825114014, + 193.78649858464502 + ], + [ + 929.0726885132667, + 178.42956897886035 + ], + [ + 928.7360303172046, + 177.42928914861943 + ], + [ + 910.3936955132923, + 176.85709597290867 + ], + [ + 910.700498242617, + 177.85553017157469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.7299282312065, + "ymin": 168.776651715058, + "xmax": 932.3203837469282, + "ymax": 188.5288348037885 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 928.1855956805725, + 188.5288348037885 + ], + [ + 928.1330248770489, + 188.36942169966005 + ], + [ + 906.7299282312065, + 187.68995373488258 + ], + [ + 906.777044314568, + 187.8490238702914 + ], + [ + 932.3203837469282, + 169.60205157842074 + ], + [ + 932.2660001918176, + 169.44519789513603 + ], + [ + 910.5517215078373, + 168.776651715058 + ], + [ + 910.6004905776352, + 168.9331631028328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7140681609333, + "ymin": 169.2335451880569, + "xmax": 929.7139944292371, + "ymax": 187.8641078123268 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8163626246105, + 187.8641078123268 + ], + [ + 925.7730012427314, + 187.7312478906311 + ], + [ + 909.7140681609333, + 187.22189191127168 + ], + [ + 909.7540145751116, + 187.35453731414512 + ], + [ + 929.7139944292371, + 169.8659384752903 + ], + [ + 929.6692098405779, + 169.73510918945033 + ], + [ + 913.3883203784328, + 169.2335451880569 + ], + [ + 913.4295949509668, + 169.36416035698454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.1595972527848, + "ymin": 176.8570957252682, + "xmax": 929.0726836431134, + "ymax": 194.36820682950184 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.6065108682178, + 194.36820682950184 + ], + [ + 925.27939546237, + 193.3545539619947 + ], + [ + 907.1595972527848, + 192.77469334429563 + ], + [ + 907.4575777142688, + 193.78649828317833 + ], + [ + 929.0726836431134, + 178.4295686808214 + ], + [ + 928.7360254715375, + 177.42928890052156 + ], + [ + 910.393690679422, + 176.8570957252682 + ], + [ + 910.7004933857656, + 177.85552987408607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.7299412164868, + "ymin": 168.77669484973183, + "xmax": 932.3203987258698, + "ymax": 188.5288787110121 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 928.1856101601728, + 188.5288787110121 + ], + [ + 928.1330393656563, + 188.36946563419622 + ], + [ + 906.7299412164868, + 187.68999757490784 + ], + [ + 906.7770572917686, + 187.84906768303907 + ], + [ + 932.3203987258698, + 169.60209478085847 + ], + [ + 932.2660151799682, + 169.4452411241347 + ], + [ + 910.551734948635, + 168.77669484973183 + ], + [ + 910.6005040101672, + 168.93320621097945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.7300885090771, + "ymin": 168.77665085097794, + "xmax": 932.3205464875723, + "ymax": 188.5288338737402 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 928.1857561253862, + 188.5288338737402 + ], + [ + 928.1331852977563, + 188.36942081955706 + ], + [ + 906.7300885090771, + 187.68995285667282 + ], + [ + 906.7772046181665, + 187.84902294224432 + ], + [ + 932.3205464875723, + 169.60205066330136 + ], + [ + 932.2661629077533, + 169.44519702916648 + ], + [ + 910.5518840768234, + 168.77665085097794 + ], + [ + 910.6006531729984, + 168.93316218971066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.15959482162, + "ymin": 176.85709545477167, + "xmax": 929.0726811666896, + "ymax": 194.36820655400186 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.606508422986, + 194.36820655400186 + ], + [ + 925.2793930211682, + 193.3545536873703 + ], + [ + 907.15959482162, + 192.7746930701714 + ], + [ + 907.4575752791064, + 193.78649800818093 + ], + [ + 929.0726811666896, + 178.42956840895087 + ], + [ + 928.7360229992468, + 177.4292886295255 + ], + [ + 910.3936882174155, + 176.85709545477167 + ], + [ + 910.7004909196596, + 177.85552960271747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.7299191595407, + "ymin": 168.77660851016063, + "xmax": 932.3203727232037, + "ymax": 188.52879077550193 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 928.1855851010366, + 188.52879077550193 + ], + [ + 928.1330143038474, + 188.3693776935981 + ], + [ + 906.7299191595407, + 187.68990982348532 + ], + [ + 906.7770352373329, + 187.84897993674124 + ], + [ + 932.3203727232037, + 169.60200825686348 + ], + [ + 932.2659891747605, + 169.44515459576021 + ], + [ + 910.5517120362906, + 168.77660851016063 + ], + [ + 910.6004811002206, + 168.93311987582646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.7851837019674, + "ymin": 173.90864353424143, + "xmax": 834.2302277785698, + "ymax": 191.36507977148776 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 831.9122521168383, + 191.36507977148776 + ], + [ + 831.7349813343621, + 190.36094892878657 + ], + [ + 813.7851837019674, + 189.7865286234854 + ], + [ + 813.9338620744469, + 190.78883750312247 + ], + [ + 834.2302277785698, + 175.46617402905792 + ], + [ + 834.0471059964595, + 174.47540378082664 + ], + [ + 815.8789289362974, + 173.90864353424143 + ], + [ + 816.0327578252113, + 174.89759439561732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.7299266716107, + "ymin": 168.77665176257997, + "xmax": 932.3203821479549, + "ymax": 188.52883480271524 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 928.1855941042234, + 188.52883480271524 + ], + [ + 928.1330233174136, + 188.36942174806327 + ], + [ + 906.7299266716107, + 187.68995378318164 + ], + [ + 906.777042739952, + 187.84902386922042 + ], + [ + 932.3203821479549, + 169.6020515773647 + ], + [ + 932.2659986101323, + 169.44519794276195 + ], + [ + 910.5517199261918, + 168.77665176257997 + ], + [ + 910.6004889804452, + 168.93316310177903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.5999556322308, + "ymin": 181.31926437330583, + "xmax": 928.4652135654155, + "ymax": 198.75683705734832 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 925.012506088455, + 198.75683705734832 + ], + [ + 924.6869172714865, + 197.73802561121394 + ], + [ + 906.5999556322308, + 197.15521142238342 + ], + [ + 906.8965150735519, + 198.1721688473325 + ], + [ + 928.4652135654155, + 182.90019255700997 + ], + [ + 928.1301393129702, + 181.8945359208774 + ], + [ + 909.8214517118129, + 181.31926437330583 + ], + [ + 910.126780003603, + 182.32306880558866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7141826318879, + "ymin": 169.23358191309055, + "xmax": 929.7141117803769, + "ymax": 187.86414518435691 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8164781660906, + 187.86414518435691 + ], + [ + 925.7731167573108, + 187.73128524692206 + ], + [ + 909.7141826318879, + 187.22192920725257 + ], + [ + 909.7541290725234, + 187.35457462582713 + ], + [ + 929.7141117803769, + 169.8659752762307 + ], + [ + 929.6693271639783, + 169.73514597468073 + ], + [ + 913.3884366291968, + 169.23358191309055 + ], + [ + 913.429711229008, + 169.3641970976896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.1918911547986, + "ymin": 175.06829448305217, + "xmax": 825.5497396261155, + "ymax": 192.54626713221614 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 823.3312352251769, + 192.54626713221614 + ], + [ + 823.1672427737282, + 191.53839644757105 + ], + [ + 805.1918911547986, + 190.96183940999987 + ], + [ + 805.3272095391203, + 191.96787794801304 + ], + [ + 825.5497396261155, + 176.6316934404966 + ], + [ + 825.3802052391607, + 175.63718845118117 + ], + [ + 807.1858464305868, + 175.06829448305217 + ], + [ + 807.3260032375731, + 176.0609697932099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.7143342722466, + "ymin": 169.23357783170698, + "xmax": 929.7142655117993, + "ymax": 187.8641410310703 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 925.8166298549656, + 187.8641410310703 + ], + [ + 925.773268414526, + 187.73128109538462 + ], + [ + 909.7143342722466, + 187.2219250624176 + ], + [ + 909.7542807445352, + 187.35457047924714 + ], + [ + 929.7142655117993, + 169.86597118641126 + ], + [ + 929.6694808628827, + 169.7351418866073 + ], + [ + 913.3885903108235, + 169.23357783170698 + ], + [ + 913.4298649431457, + 169.36419301456434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 390.1039590062082, + "ymin": 77.33314285071685, + "xmax": 404.96168585776655, + "ymax": 106.17099488000866 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 404.96168585776655, + 101.40333462619304 + ], + [ + 397.13290646984325, + 101.18324984763552 + ], + [ + 394.30727844396904, + 105.94703623692646 + ], + [ + 402.20346342138487, + 106.17099488000866 + ], + [ + 400.97448912874984, + 77.54715194717346 + ], + [ + 393.01459590387515, + 77.33314285071685 + ], + [ + 390.1039590062082, + 81.96607562773858 + ], + [ + 398.1335440531674, + 82.18391634065404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 408.3581115261692, + "ymin": 48.77401088927854, + "xmax": 421.98195588578665, + "ymax": 76.24744287147121 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 421.98195588578665, + 71.98316970610023 + ], + [ + 414.56957544372466, + 71.78622411588054 + ], + [ + 412.0421735844842, + 76.04722322217481 + ], + [ + 419.5149558513392, + 76.24744287147121 + ], + [ + 418.486561863504, + 48.965169073691925 + ], + [ + 410.9567460847006, + 48.77401088927854 + ], + [ + 408.3581115261692, + 52.91032041326332 + ], + [ + 415.9502658746976, + 53.10470803404212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 365.16197776414515, + "ymin": 116.31054553066386, + "xmax": 381.7815299905372, + "ymax": 146.96996553665952 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 381.7815299905372, + 141.4711505513992 + ], + [ + 373.38687572511327, + 141.2174854348197 + ], + [ + 370.12811275502725, + 146.7115060348579 + ], + [ + 378.6003161150269, + 146.96996553665952 + ], + [ + 377.0728334585349, + 116.55782476531573 + ], + [ + 368.52724846097885, + 116.31054553066386 + ], + [ + 365.16197776414515, + 121.66713291323228 + ], + [ + 373.7879381044797, + 121.91917227074512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 467.161478250245, + "ymin": 15.736880321786373, + "xmax": 476.64062417264904, + "ymax": 37.06881926222752 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 470.8665660971688, + 33.88136091794564 + ], + [ + 469.2768901990519, + 36.92530080273684 + ], + [ + 475.0873391434104, + 37.06881926222752 + ], + [ + 476.64062417264904, + 34.02306437474476 + ], + [ + 468.7843071846229, + 15.736880321786373 + ], + [ + 467.161478250245, + 18.70128793849051 + ], + [ + 473.0433052186963, + 18.841068040017035 + ], + [ + 474.6288466812455, + 15.87487100144017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 11.093290405784842, + "ymin": 15.40305747029771, + "xmax": 28.865759836328834, + "ymax": 36.721444809389084 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 18.785061733378825, + 36.57812625928608 + ], + [ + 24.45667844330376, + 36.721444809389084 + ], + [ + 28.865759836328834, + 33.68005930203918 + ], + [ + 23.228780426235744, + 33.53855194115448 + ], + [ + 11.093290405784842, + 18.363160854892953 + ], + [ + 16.83282623689081, + 18.50274375126679 + ], + [ + 21.345094508763736, + 15.540854752250652 + ], + [ + 15.641026850876301, + 15.40305747029771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.06010013493085, + "ymin": 279.17329737820097, + "xmax": 351.70045327679395, + "ymax": 310.35023232552 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 351.70045327679395, + 302.87696465708325 + ], + [ + 342.7316826308211, + 302.53058073975245 + ], + [ + 338.95429454784573, + 309.99687421609724 + ], + [ + 348.01115360197844, + 310.35023232552 + ], + [ + 346.1102235315288, + 279.5153353831545 + ], + [ + 336.97027396813803, + 279.17329737820097 + ], + [ + 333.06010013493085, + 286.5472797282017 + ], + [ + 342.29154878122944, + 286.8963399759333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.1355433705312, + "ymin": 175.68353023749967, + "xmax": 843.3155358471648, + "ymax": 229.20621875713684 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 835.2601383828876, + 229.20621875713684 + ], + [ + 835.1323692096563, + 228.46157289078107 + ], + [ + 833.1355433705312, + 228.39383909446238 + ], + [ + 833.261085428016, + 229.13833465449116 + ], + [ + 843.3155358471648, + 176.46301511406043 + ], + [ + 843.1732106040847, + 175.7485183945897 + ], + [ + 841.0932654503805, + 175.68353023749967 + ], + [ + 841.2331742076245, + 176.39787679081488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 47.6158301577633, + "ymax": 212.23303493775612 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 47.6158301577633, + 85.41342480363937 + ], + [ + 39.221880962818204, + 85.14625547330928 + ], + [ + -126.7224161241686, + 211.82229509376958 + ], + [ + -116.41802556877099, + 212.23303493775612 + ], + [ + -28.40989072641355, + -97.11868481807312 + ], + [ + -37.83712379357735, + -97.31599742862585 + ], + [ + -252.52390587767377, + -0.7987358713803019 + ], + [ + -240.61943248457408, + -0.4758176889713468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.7510851489671, + "ymin": 175.15024308818377, + "xmax": 826.2263145590571, + "ymax": 228.64903450479756 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 818.8541107910587, + 228.64903450479756 + ], + [ + 818.7446061326747, + 227.9056218857603 + ], + [ + 816.7510851489671, + 227.8380001992192 + ], + [ + 816.8583700419583, + 228.58126288515143 + ], + [ + 826.2263145590571, + 175.92838393112328 + ], + [ + 826.1038056722465, + 175.21511925345487 + ], + [ + 824.0274446024956, + 175.15024308818377 + ], + [ + 824.1475453053431, + 175.86335798791725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.8207152336164, + "ymin": 425.19737173399403, + "xmax": 813.7812967353243, + "ymax": 709.545787935676 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 790.3891839999574, + 429.64275825629966 + ], + [ + 773.8207152336164, + 428.9107021142211 + ], + [ + 791.0913328991215, + 708.2691467176551 + ], + [ + 812.9932911608668, + 709.545787935676 + ], + [ + 790.9072866448613, + 425.92882144576384 + ], + [ + 774.2813501143794, + 425.19737173399403 + ], + [ + 791.7788065724178, + 704.6317670436772 + ], + [ + 813.7812967353243, + 705.9101716889876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.8851570528267, + "ymin": 188.39090258459743, + "xmax": 872.4785318401563, + "ymax": 242.47211507463174 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 863.085918993125, + 242.47211507463174 + ], + [ + 862.9241996326431, + 241.69780580486997 + ], + [ + 860.8851570528267, + 241.62737544885204 + ], + [ + 861.0445541190247, + 242.40152534256526 + ], + [ + 872.4785318401563, + 189.20275686087624 + ], + [ + 872.2989556650829, + 188.45858789816364 + ], + [ + 870.1731684230692, + 188.39090258459743 + ], + [ + 870.3502204067056, + 189.1349119308398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.9356366187694, + "ymin": 425.3274780816122, + "xmax": 813.6210380080253, + "ymax": 709.3374645709255 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 790.2947106567963, + 429.7162039786062 + ], + [ + 773.9356366187694, + 428.9934090317097 + ], + [ + 791.2244815422912, + 708.0776370747932 + ], + [ + 812.8439292612513, + 709.3374645709255 + ], + [ + 790.8059122699239, + 426.04968249725874 + ], + [ + 774.3908170762634, + 425.3274780816122 + ], + [ + 791.9036422848947, + 704.4865443846084 + ], + [ + 813.6210380080253, + 705.7480880747432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 124.99536901580888, + "xmax": 57.18469014946879, + "ymax": 392.5764563875274 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -300.96306397472506, + 365.6753139321238 + ], + [ + -312.0573033851997, + 374.3684085111519 + ], + [ + 49.778991483889286, + 392.5764563875274 + ], + [ + 57.18469014946879, + 383.4939042758314 + ], + [ + -499.2723907749887, + 124.99536901580888 + ], + [ + -515.322152108228, + 132.40483633007926 + ], + [ + -79.65624651347127, + 148.03384411360727 + ], + [ + -68.93657530884923, + 140.2191436033214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.9201057440002, + "ymin": 181.91457758381344, + "xmax": 920.2509827983764, + "ymax": 235.2515885124402 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 909.1362076214, + 235.2515885124402 + ], + [ + 908.9263913997036, + 234.49949009951342 + ], + [ + 906.9201057440002, + 234.43107849472665 + ], + [ + 907.1276738132356, + 235.1830249442637 + ], + [ + 920.2509827983764, + 182.70273852121258 + ], + [ + 920.0196784244451, + 181.98028901247793 + ], + [ + 917.9294752895053, + 181.91457758381344 + ], + [ + 918.158339421431, + 182.63687509584724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.6100976264808, + "ymin": 0.0, + "xmax": 859.1658372249076, + "ymax": 133.36131048564943 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 826.783264293575, + 96.82146777025542 + ], + [ + 817.6100976264808, + 96.57121241187701 + ], + [ + 824.2194791908529, + 133.07603424941212 + ], + [ + 834.0168299482002, + 133.36131048564943 + ], + [ + 849.274891946039, + -73.06843567958146 + ], + [ + 838.9860245821601, + -73.2605734422205 + ], + [ + 848.0851761297968, + -45.004877785103474 + ], + [ + 859.1658372249076, + -44.782239474000335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.2928273325176, + "ymin": 412.5787492390597, + "xmax": 823.2612776838926, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 760.0894868549381, + 671.2027819381399 + ], + [ + 739.2928273325176, + 670.0277513061092 + ], + [ + 743.9488899996259, + 937.4867903063472 + ], + [ + 769.7555627407382, + 939.2948409734684 + ], + [ + 797.049289124421, + 413.7599811813575 + ], + [ + 769.8099335865434, + 412.5787492390597 + ], + [ + 786.7338799625074, + 702.7957390442825 + ], + [ + 823.2612776838926, + 704.9152263709603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.3064466474084, + "ymin": 177.2651170249659, + "xmax": 845.6050268054921, + "ymax": 230.85846105744662 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 837.4388969211016, + 230.85846105744662 + ], + [ + 837.3083945978208, + 230.11015213667835 + ], + [ + 835.3064466474084, + 230.04208535178975 + ], + [ + 835.4347104109162, + 230.79024285585163 + ], + [ + 845.6050268054921, + 178.04859482274478 + ], + [ + 845.4596902394273, + 177.3304378877891 + ], + [ + 843.3741872778701, + 177.2651170249659 + ], + [ + 843.5170944224617, + 177.98312263845156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.3912769405397, + "ymin": 176.31403676582391, + "xmax": 817.5285912101607, + "ymax": 229.86493133737466 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 810.4879846165768, + 229.86493133737466 + ], + [ + 810.3875585818319, + 229.11882613754523 + ], + [ + 808.3912769405397, + 229.05095968367533 + ], + [ + 808.4894770452322, + 229.79691413514058 + ], + [ + 817.5285912101607, + 177.09511224311424 + ], + [ + 817.4158937992345, + 176.37915745568597 + ], + [ + 815.3365370341944, + 176.31403676582391 + ], + [ + 815.4468192922819, + 177.02984092722735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 197.1306944674318, + "ymin": 0.0, + "xmax": 486.48962436929594, + "ymax": 87.77776483900362 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 484.7821294463073, + 87.77776483900362 + ], + [ + 486.48962436929594, + 84.09824217282682 + ], + [ + 250.3317578963294, + 76.79387511485965 + ], + [ + 247.02256517545823, + 80.37178051090211 + ], + [ + 464.76106668166375, + -95.37143174475477 + ], + [ + 466.8436361443009, + -98.08973971920511 + ], + [ + 201.24082021099406, + -103.47159591920911 + ], + [ + 197.1306944674318, + -100.8377789091794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 301.21607910295506, + "ymin": 0.0, + "xmax": 456.93818147622255, + "ymax": 378.85749456521813 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 361.101221547637, + 378.2114308758335 + ], + [ + 374.4096535259772, + 378.85749456521813 + ], + [ + 456.93818147622255, + 188.69712083106327 + ], + [ + 446.65727003823594, + 188.31537127419247 + ], + [ + 301.21607910295506, + 135.69113230635122 + ], + [ + 317.3275907139474, + 136.24425137511707 + ], + [ + 428.12960092015436, + -18.872840699734752 + ], + [ + 416.2520532514302, + -19.16946029623898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6558199769768, + "ymin": 178.1091934329559, + "xmax": 921.056410707039, + "ymax": 231.740112729019 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 909.8789310849704, + 231.740112729019 + ], + [ + 909.6677106367406, + 230.9898455737024 + ], + [ + 907.6558199769768, + 230.92160076972363 + ], + [ + 907.8647796882788, + 231.67171591361105 + ], + [ + 921.056410707039, + 178.89480631591394 + ], + [ + 920.8235097244536, + 178.1746922050535 + ], + [ + 918.7272222766944, + 178.1091934329559 + ], + [ + 918.9576687837642, + 178.8291556033633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 86.72922747999928, + "ymax": 58.814327365086115 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 30.28015788828759, + 58.814327365086115 + ], + [ + 86.72922747999928, + 27.99422808724995 + ], + [ + 19.876389822885812, + 21.753868261698585 + ], + [ + -39.94951243828484, + 51.666786402876255 + ], + [ + -125.53137146094639, + -304.15812587655455 + ], + [ + -44.283358071068164, + -314.65302992619684 + ], + [ + -123.79079142625471, + -315.8300596537273 + ], + [ + -209.74846222596113, + -305.6436623205425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.3568334718807, + "ymin": 0.0, + "xmax": 677.5060106998905, + "ymax": 39.75319220459079 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 672.1573248713132, + 31.970272478357344 + ], + [ + 651.3765245842885, + -12.520926923362651 + ], + [ + 529.099427391982, + -6.137567223112228 + ], + [ + 537.3762585502594, + 39.75319220459079 + ], + [ + 677.5060106998905, + -213.48323399831042 + ], + [ + 653.0652112834011, + -238.17415873105733 + ], + [ + 512.3568334718807, + -234.6782878777176 + ], + [ + 519.9798789956068, + -209.0847280708989 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d8ffd696087e32e79abde7ca0fb40db1145c8f4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00045/meta.json @@ -0,0 +1,8840 @@ +{ + "frame_id": 45, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 7204.990504582878 + }, + "drone_pose": { + "x": 8.35612722464047, + "y": -32.26139133957658, + "z": 20.001545901276266, + "pitch": -36.97150118395784, + "yaw": 88.39806008361776, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.022334635257720947, + -0.7986225485801697, + 0.6014176607131958, + 13.548758506774902 + ], + [ + 0.9996091723442078, + 0.027955472469329834, + 0.0, + 9.254742622375488 + ], + [ + -0.016812890768051147, + 0.6011825799942017, + 0.798934817314148, + -35.23442459106445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.363617633847205, + "y": -31.603754229593132, + "z": 20.10308485815973 + }, + "t1_image_uv": [ + 662.5309358846482, + -625.4423727570212 + ], + "t1_depth": 0.4643037643936921 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -11.187763214111328, + "z": 1.1395406317710877 + }, + "image_uv": [ + 592.8200553596589, + 440.53346997518815 + ], + "depth": 28.217966258981704, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 566, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -11.187763214111328, + "z": 1.139540672302246 + }, + "extent": { + "x": 0.370535284280777, + "y": 0.5696252584457397, + "z": 0.9150031208992004 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 571.0597448194592, + "ymin": 408.17152204429647, + "xmax": 613.3317464362615, + "ymax": 472.34582741994296 + }, + "corners_3d": [ + [ + 10.90244197845459, + -11.55829906463623, + 0.22453755140304565 + ], + [ + 9.763191223144531, + -11.558298110961914, + 0.22453755140304565 + ], + [ + 9.763192176818848, + -10.817227363586426, + 0.22453755140304565 + ], + [ + 10.902442932128906, + -10.817228317260742, + 0.22453755140304565 + ], + [ + 10.90244197845459, + -11.55829906463623, + 2.0545437335968018 + ], + [ + 9.763191223144531, + -11.558298110961914, + 2.0545437335968018 + ], + [ + 9.763192176818848, + -10.817227363586426, + 2.0545437335968018 + ], + [ + 10.902442932128906, + -10.817228317260742, + 2.0545437335968018 + ] + ], + "corners_2d": [ + [ + 573.7234390713552, + 471.59996504357866 + ], + [ + 612.0783700209887, + 472.34582741994296 + ], + [ + 613.3317464362615, + 455.3350334042326 + ], + [ + 575.7564008704936, + 454.61923784387045 + ], + [ + 571.0597448194592, + 424.8308822795559 + ], + [ + 610.9551395325758, + 425.56325383358376 + ], + [ + 612.2816525711049, + 408.8732210664064 + ], + [ + 573.2290342456873, + 408.17152204429647 + ] + ], + "center_offset_px": [ + -47.17994464034109, + 80.53346997518815 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 83, + "semantic_pixel_counts": { + "1": 324873, + "2": 189467, + "3": 46439, + "5": 6207, + "6": 10117, + "7": 1333, + "9": 2819, + "10": 7693, + "12": 2441, + "14": 29957, + "20": 1992, + "24": 22285, + "25": 275977 + }, + "instance_pixel_counts": { + "381": 3773, + "586": 4441, + "1118": 880, + "3146": 1987, + "3156": 2643, + "3669": 2, + "7262": 1624, + "8527": 75, + "9856": 3, + "11676": 63267, + "11870": 884, + "12188": 26044, + "13406": 182, + "14236": 46144, + "16284": 39663, + "17502": 4699, + "18013": 189666, + "19037": 86311, + "19038": 2927, + "19354": 1372, + "19866": 1859, + "20378": 3285, + "20573": 6099, + "20594": 2068, + "20890": 5825, + "21085": 40336, + "21402": 621, + "21597": 30447, + "21914": 586, + "23418": 4656, + "23441": 17040, + "23450": 6638, + "24442": 1212, + "25498": 8080, + "25978": 1475, + "27516": 2020, + "28026": 1238, + "28530": 685, + "28786": 19320, + "29052": 4676, + "29554": 16893, + "31612": 4128, + "33660": 3037, + "34304": 2, + "34816": 5561, + "34899": 151, + "35072": 2546, + "35442": 226, + "36252": 50078, + "36764": 23514, + "37276": 3318, + "38300": 36126, + "38483": 547, + "40860": 36719, + "43008": 566, + "43264": 243, + "43520": 158, + "43776": 572, + "44288": 902, + "44544": 4029, + "44922": 3663, + "45312": 1616, + "45434": 922, + "45824": 6583, + "46173": 1129, + "46848": 614, + "49778": 7247, + "51309": 2819, + "51612": 178, + "52636": 2120, + "54684": 2122, + "57241": 6041, + "58265": 18548, + "58697": 1766, + "59772": 805, + "60284": 1075, + "60796": 907, + "61308": 1653, + "61337": 20103, + "61820": 224, + "62844": 186, + "63385": 13744, + "63868": 3399 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 566, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -11.187763214111328, + "z": 1.139540672302246 + }, + "extent": { + "x": 0.3610745072364807, + "y": 0.5103503465652466, + "z": 0.924010694026947 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 573.1481487585313, + "ymin": 408.17855607927015, + "xmax": 611.3642481494611, + "ymax": 472.3066953246579 + }, + "corners_3d": [ + [ + 10.843167304992676, + -11.548837661743164, + 0.21552997827529907 + ], + [ + 9.822466850280762, + -11.548837661743164, + 0.21552997827529907 + ], + [ + 9.822466850280762, + -10.826688766479492, + 0.21552997827529907 + ], + [ + 10.843167304992676, + -10.826688766479492, + 0.21552997827529907 + ], + [ + 10.843167304992676, + -11.548837661743164, + 2.063551425933838 + ], + [ + 9.822466850280762, + -11.548837661743164, + 2.063551425933838 + ], + [ + 9.822466850280762, + -10.826688766479492, + 2.063551425933838 + ], + [ + 10.843167304992676, + -10.826688766479492, + 2.063551425933838 + ] + ], + "corners_2d": [ + [ + 575.7555135603333, + 471.6387317917741 + ], + [ + 610.1036056468291, + 472.3066953246579 + ], + [ + 611.3642481494611, + 455.7305525169247 + ], + [ + 577.6965241369345, + 455.08883686355284 + ], + [ + 573.1481487585313, + 424.4122153059564 + ], + [ + 608.8892485081838, + 425.06796417361363 + ], + [ + 610.2251067573142, + 408.80752308486865 + ], + [ + 575.2200881776539, + 408.17855607927015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 243, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -8.190058708190918, + "z": 1.135331630706787 + }, + "extent": { + "x": 0.2535339593887329, + "y": 0.33858034014701843, + "z": 0.5975971221923828 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 457.2353694023943, + "ymin": 354.8175175399353, + "xmax": 483.2302868959459, + "ymax": 396.23348951127105 + }, + "corners_3d": [ + [ + 14.737271308898926, + -8.508447647094727, + 0.5377345085144043 + ], + [ + 14.074909210205078, + -8.367656707763672, + 0.5377345085144043 + ], + [ + 14.18033504486084, + -7.871669769287109, + 0.5377345085144043 + ], + [ + 14.842697143554688, + -8.012460708618164, + 0.5377345085144043 + ], + [ + 14.737271308898926, + -8.508447647094727, + 1.73292875289917 + ], + [ + 14.074909210205078, + -8.367656707763672, + 1.73292875289917 + ], + [ + 14.18033504486084, + -7.871669769287109, + 1.73292875289917 + ], + [ + 14.842697143554688, + -8.012460708618164, + 1.73292875289917 + ] + ], + "corners_2d": [ + [ + 461.9860602471774, + 396.23348951127105 + ], + [ + 483.2302868959459, + 393.8365615606492 + ], + [ + 482.41941684802293, + 384.21037563542717 + ], + [ + 461.44382436236276, + 386.54659744043073 + ], + [ + 457.73484206211964, + 366.6432963537061 + ], + [ + 479.4985163939194, + 364.28499500941 + ], + [ + 478.7171966912639, + 354.8175175399353 + ], + [ + 457.2353694023943, + 357.1146947420652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 158, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -4.245050430297852, + "z": 0.6481024026870728 + }, + "extent": { + "x": 0.2963750958442688, + "y": 0.3146398663520813, + "z": 0.6252127885818481 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 660.1373165159322, + "ymin": 301.4193416861228, + "xmax": 680.1835236740739, + "ymax": 340.74929056195333 + }, + "corners_3d": [ + [ + 8.358929634094238, + -4.572690963745117, + 0.02288961410522461 + ], + [ + 7.733097076416016, + -4.506913185119629, + 0.02288961410522461 + ], + [ + 7.795056343078613, + -3.917410135269165, + 0.02288961410522461 + ], + [ + 8.420888900756836, + -3.983187675476074, + 0.02288961410522461 + ], + [ + 8.358929634094238, + -4.572690963745117, + 1.273315191268921 + ], + [ + 7.733097076416016, + -4.506913185119629, + 1.273315191268921 + ], + [ + 7.795056343078613, + -3.917410135269165, + 1.273315191268921 + ], + [ + 8.420888900756836, + -3.983187675476074, + 1.273315191268921 + ] + ], + "corners_2d": [ + [ + 661.6945333865802, + 340.74929056195333 + ], + [ + 679.2990685099978, + 339.95556161190075 + ], + [ + 677.503613141063, + 330.37799278177084 + ], + [ + 660.1373165159322, + 331.15021448722206 + ], + [ + 662.1833492078073, + 311.5811951755114 + ], + [ + 680.1835236740739, + 310.80325668648413 + ], + [ + 678.3358994907541, + 301.4193416861228 + ], + [ + 660.5847161664659, + 302.1757361024458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 572, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -11.187763214111328, + "z": 1.149125576019287 + }, + "extent": { + "x": 0.4016267955303192, + "y": 0.3597967326641083, + "z": 0.8908337354660034 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 898.1234387000147, + "ymin": 413.8848357125645, + "xmax": 939.224713876847, + "ymax": 478.38630055549106 + }, + "corners_3d": [ + [ + 1.1926137208938599, + -11.58938980102539, + 0.2582918405532837 + ], + [ + 0.4730202257633209, + -11.58938980102539, + 0.2582918405532837 + ], + [ + 0.4730204641819, + -10.786136627197266, + 0.2582918405532837 + ], + [ + 1.192613959312439, + -10.786136627197266, + 0.2582918405532837 + ], + [ + 1.1926137208938599, + -11.58938980102539, + 2.03995943069458 + ], + [ + 0.4730202257633209, + -11.58938980102539, + 2.03995943069458 + ], + [ + 0.4730204641819, + -10.786136627197266, + 2.03995943069458 + ], + [ + 1.192613959312439, + -10.786136627197266, + 2.03995943069458 + ] + ], + "corners_2d": [ + [ + 903.2266489979478, + 477.907358519017 + ], + [ + 927.8577777332357, + 478.38630055549106 + ], + [ + 922.2040087876637, + 459.68410859860944 + ], + [ + 898.1234387000147, + 459.22622414353174 + ], + [ + 913.6147977195249, + 432.23195623833396 + ], + [ + 939.224713876847, + 432.7027580594958 + ], + [ + 933.0903307074552, + 414.33414888940854 + ], + [ + 908.0750687923182, + 413.8848357125645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 902, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -19.35797882080078, + "z": 1.1371480226516724 + }, + "extent": { + "x": 0.3518969714641571, + "y": 0.49786192178726196, + "z": 0.8992323875427246 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 32.894694256816024, + "ymin": 628.853354701889, + "xmax": 119.4930499182235, + "ymax": 710.9505371599466 + }, + "corners_3d": [ + [ + 22.1382999420166, + -19.598674774169922, + 0.23791563510894775 + ], + [ + 21.164335250854492, + -19.80569839477539, + 0.23791563510894775 + ], + [ + 21.018007278442383, + -19.11728286743164, + 0.23791563510894775 + ], + [ + 21.991971969604492, + -18.910259246826172, + 0.23791563510894775 + ], + [ + 22.1382999420166, + -19.598674774169922, + 2.0363802909851074 + ], + [ + 21.164335250854492, + -19.80569839477539, + 2.0363802909851074 + ], + [ + 21.018007278442383, + -19.11728286743164, + 2.0363802909851074 + ], + [ + 21.991971969604492, + -18.910259246826172, + 2.0363802909851074 + ] + ], + "corners_2d": [ + [ + 62.3325318263926, + 701.9461286729857 + ], + [ + 99.44932007691466, + 710.9505371599466 + ], + [ + 119.4930499182235, + 685.0640706157909 + ], + [ + 83.09979068203165, + 676.486912720987 + ], + [ + 32.894694256816024, + 654.3834731523314 + ], + [ + 71.65798366920194, + 663.4278605597979 + ], + [ + 93.4098001744618, + 637.4474546454674 + ], + [ + 55.43263811791246, + 628.853354701889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 4029, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 213.56256915852128, + "ymin": 72.79367017194636, + "xmax": 313.64007086165094, + "ymax": 164.17961274182642 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 225.34694327781165, + 163.76052916172887 + ], + [ + 275.28449175679305, + 164.17961274182642 + ], + [ + 313.64007086165094, + 112.04254907637795 + ], + [ + 268.6133698819826, + 111.70228056939305 + ], + [ + 213.56256915852128, + 121.94011359953774 + ], + [ + 264.9108484938194, + 122.33687723687737 + ], + [ + 305.2994832417808, + 73.11401181821509 + ], + [ + 259.1290386002471, + 72.79367017194636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 1616, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1215.3583586843142, + "ymin": 166.01923978645962, + "xmax": 1280.0, + "ymax": 219.55502943920675 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1360.6066236032743, + 219.55502943920675 + ], + [ + 1337.378158510121, + 199.95295131979367 + ], + [ + 1215.3583586843142, + 198.51562941253073 + ], + [ + 1234.285375253899, + 218.01594452399547 + ], + [ + 1377.5305081006925, + 186.3058139472558 + ], + [ + 1353.1925790401742, + 167.40403687289137 + ], + [ + 1228.371654231491, + 166.01923978645962 + ], + [ + 1248.2047687951745, + 184.8206328714471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 6583, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 312.97940685517676, + "ymin": 285.78182519728887, + "xmax": 469.1087713358221, + "ymax": 351.94743535180265 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 336.2122385238956, + 320.1423489665884 + ], + [ + 321.6679727623409, + 349.83425369230537 + ], + [ + 460.3175866789445, + 351.94743535180265 + ], + [ + 469.1087713358221, + 322.0828346368959 + ], + [ + 328.27520753265514, + 285.78182519728887 + ], + [ + 312.97940685517676, + 314.7491878820307 + ], + [ + 455.3983847207154, + 316.81331569337004 + ], + [ + 464.6308928305471, + 287.6729486926117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 614, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 282.8910341904938, + "ymin": 0.0, + "xmax": 342.15886740811544, + "ymax": 27.76161743374007 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 342.15886740811544, + 4.421731893949129 + ], + [ + 311.2110569287345, + 4.151643496359668 + ], + [ + 288.1570063957689, + 27.45611604486072 + ], + [ + 321.0544556060996, + 27.76161743374007 + ], + [ + 337.9680394125354, + -18.52558935933581 + ], + [ + 306.5882238358146, + -18.782354029105193 + ], + [ + 282.8910341904938, + 3.392064230260928 + ], + [ + 316.277059552282, + 3.6830148938538514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155253753927, + "ymin": 225.33780580236467, + "xmax": 893.9219928128202, + "ymax": 242.31935546392768 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827678007503, + 242.31935546392768 + ], + [ + 890.7238152281367, + 241.32081844103897 + ], + [ + 872.8155253753927, + 241.07053638100734 + ], + [ + 873.144734368843, + 242.06824533428554 + ], + [ + 893.9219928128202, + 226.5678354154287 + ], + [ + 893.554248903032, + 225.58431757015498 + ], + [ + 875.4426900675393, + 225.33780580236467 + ], + [ + 875.7800107990931, + 226.32049882375503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155300679241, + "ymin": 225.33780586695823, + "xmax": 893.9219975705541, + "ymax": 242.31935552978098 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827725049767, + 242.31935552978098 + ], + [ + 890.7238199245595, + 241.3208185066751 + ], + [ + 872.8155300679241, + 241.0705364465892 + ], + [ + 873.1447390691651, + 242.06824540008427 + ], + [ + 893.9219975705541, + 226.56783548029273 + ], + [ + 893.554253652784, + 225.5843176348026 + ], + [ + 875.4426948133114, + 225.33780586695823 + ], + [ + 875.7800155528337, + 226.3204988885647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.2187183353242, + "ymin": 225.81717446017882, + "xmax": 819.3554401733834, + "ymax": 242.80807002114574 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 817.3483599263795, + 242.80807002114574 + ], + [ + 817.1109162245504, + 241.80792046172257 + ], + [ + 799.2187183353242, + 241.55723462712422 + ], + [ + 799.4264715319543, + 242.5565541106499 + ], + [ + 819.3554401733834, + 227.0492125091919 + ], + [ + 819.111960913432, + 226.0640884141217 + ], + [ + 801.0168579090983, + 225.81717446017882 + ], + [ + 801.2299688765421, + 226.80147171033087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.965524669162, + "ymin": 224.29375800923933, + "xmax": 817.0198705316785, + "ymax": 241.25492739784758 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 815.0440079930673, + 241.25492739784758 + ], + [ + 814.8109690623414, + 240.2598981163701 + ], + [ + 796.965524669162, + 240.01049436154983 + ], + [ + 797.169028175443, + 241.0046999320474 + ], + [ + 817.0198705316785, + 225.51941889736605 + ], + [ + 816.7809133255771, + 224.5393949649415 + ], + [ + 798.7336287378838, + 224.29375800923933 + ], + [ + 798.9423780652558, + 225.27296150819532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.140155059768, + "ymin": 217.79073101418214, + "xmax": 894.2425954301133, + "ymax": 235.90854118093964 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.0539673476817, + 235.90854118093964 + ], + [ + 891.0064524937437, + 235.77774731476728 + ], + [ + 875.140155059768, + 235.55804015304432 + ], + [ + 875.1841860397019, + 235.68873798903405 + ], + [ + 894.2425954301133, + 218.13514157146037 + ], + [ + 894.1937716312323, + 218.0066198418344 + ], + [ + 878.1248913589137, + 217.79073101418214 + ], + [ + 878.1701417432284, + 217.91915718416413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.14033152547, + "ymin": 217.79072513137163, + "xmax": 894.2427740480906, + "ymax": 235.9085351870369 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.0541437574202, + 235.9085351870369 + ], + [ + 891.0066288654107, + 235.77774132348372 + ], + [ + 875.14033152547, + 235.5580341661591 + ], + [ + 875.184362543517, + 235.6887319995326 + ], + [ + 894.2427740480906, + 218.1351356816667 + ], + [ + 894.1939502101791, + 218.0066139546471 + ], + [ + 878.1250700343219, + 217.79072513137163 + ], + [ + 878.1703204577101, + 217.91915129875017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155253753927, + "ymin": 225.33780580236467, + "xmax": 893.9219928128202, + "ymax": 242.31935546392768 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827678007503, + 242.31935546392768 + ], + [ + 890.7238152281367, + 241.32081844103897 + ], + [ + 872.8155253753927, + 241.07053638100734 + ], + [ + 873.144734368843, + 242.06824533428554 + ], + [ + 893.9219928128202, + 226.5678354154287 + ], + [ + 893.554248903032, + 225.58431757015498 + ], + [ + 875.4426900675393, + 225.33780580236467 + ], + [ + 875.7800107990931, + 226.32049882375503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155253431521, + "ymin": 225.33780570612788, + "xmax": 893.9219927586189, + "ymax": 242.31935531675705 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827677478457, + 242.31935531675705 + ], + [ + 890.7238151929832, + 241.32081834324885 + ], + [ + 872.8155253431521, + 241.07053628329828 + ], + [ + 873.1447343203223, + 242.06824518723704 + ], + [ + 893.9219927586189, + 226.567835270469 + ], + [ + 893.5542488670183, + 225.5843174738375 + ], + [ + 875.442690034505, + 225.33780570612788 + ], + [ + 875.7800107493758, + 226.32049867891703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155292858355, + "ymin": 225.33780585619266, + "xmax": 893.9219967595313, + "ymax": 242.3193554697486 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827717033039, + 242.3193554697486 + ], + [ + 890.7238191418223, + 241.32081849573575 + ], + [ + 872.8155292858355, + 241.07053643565888 + ], + [ + 873.1447382696044, + 242.0682453401017 + ], + [ + 893.9219967595313, + 226.56783542116216 + ], + [ + 893.5542528611587, + 225.584317624028 + ], + [ + 875.4426940223494, + 225.33780585619266 + ], + [ + 875.7800147439712, + 226.32049882948377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.5851602924494, + "ymin": 236.3461213917402, + "xmax": 846.442868146631, + "ymax": 253.54046259504787 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 844.0917156543978, + 253.54046259504787 + ], + [ + 843.8051122613695, + 252.50457206243522 + ], + [ + 825.5851602924494, + 252.244937376275 + ], + [ + 825.840974647135, + 253.2799529525424 + ], + [ + 846.442868146631, + 237.62268872074776 + ], + [ + 846.1489707345319, + 236.60195179503123 + ], + [ + 827.7185692510858, + 236.3461213917402 + ], + [ + 827.9809616570348, + 237.36598624316116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.1399131796735, + "ymin": 217.79071962950437, + "xmax": 894.2423499595033, + "ymax": 235.9085295812713 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.0537250174765, + 235.9085295812713 + ], + [ + 891.0062102174105, + 235.77773572016775 + ], + [ + 875.1399131796735, + 235.55802856695658 + ], + [ + 875.1839441059094, + 235.68872639788322 + ], + [ + 894.2423499595033, + 218.1351301732686 + ], + [ + 894.1935262158989, + 218.00660844868653 + ], + [ + 878.1246463499892, + 217.79071962950437 + ], + [ + 878.169896679208, + 217.91914579444807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155300679241, + "ymin": 225.33780586695823, + "xmax": 893.9219975705541, + "ymax": 242.31935552978098 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827725049767, + 242.31935552978098 + ], + [ + 890.7238199245595, + 241.3208185066751 + ], + [ + 872.8155300679241, + 241.0705364465892 + ], + [ + 873.1447390691651, + 242.06824540008427 + ], + [ + 893.9219975705541, + 226.56783548029273 + ], + [ + 893.554253652784, + 225.5843176348026 + ], + [ + 875.4426948133114, + 225.33780586695823 + ], + [ + 875.7800155528337, + 226.3204988885647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.2105041340367, + "ymin": 217.38773043374331, + "xmax": 896.8012064714544, + "ymax": 236.51942193181335 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 893.4151432141501, + 236.51942193181335 + ], + [ + 893.3575765063633, + 236.36250059354688 + ], + [ + 872.2105041340367, + 236.06939817544895 + ], + [ + 872.2625056743386, + 236.22616596849988 + ], + [ + 896.8012064714544, + 217.82953801918188 + ], + [ + 896.7419721479641, + 217.6754806172632 + ], + [ + 875.3108753922178, + 217.38773043374331 + ], + [ + 875.3643940377772, + 217.54163508034605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.1400407472235, + "ymin": 217.79069670393866, + "xmax": 894.2424784680604, + "ymax": 235.90850622277435 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.053852038753, + 235.90850622277435 + ], + [ + 891.0063372127854, + 235.77771237187778 + ], + [ + 875.1400407472235, + 235.5580052358073 + ], + [ + 875.1840716996123, + 235.68870305653815 + ], + [ + 894.2424784680604, + 218.13510722048918 + ], + [ + 894.1936546979482, + 218.00658550606417 + ], + [ + 878.1247754189249, + 217.79069670393866 + ], + [ + 878.1700257749125, + 217.9191228587366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155253431521, + "ymin": 225.33780570612788, + "xmax": 893.9219927586189, + "ymax": 242.31935531675705 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827677478457, + 242.31935531675705 + ], + [ + 890.7238151929832, + 241.32081834324885 + ], + [ + 872.8155253431521, + 241.07053628329828 + ], + [ + 873.1447343203223, + 242.06824518723704 + ], + [ + 893.9219927586189, + 226.567835270469 + ], + [ + 893.5542488670183, + 225.5843174738375 + ], + [ + 875.442690034505, + 225.33780570612788 + ], + [ + 875.7800107493758, + 226.32049867891703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.21051846562, + "ymin": 217.38777284959417, + "xmax": 896.8012227866028, + "ymax": 236.5194651531385 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 893.4151590699249, + 236.5194651531385 + ], + [ + 893.3575923717004, + 236.3625438409382 + ], + [ + 872.21051846562, + 236.06944138052899 + ], + [ + 872.2625199972804, + 236.22620914752804 + ], + [ + 896.8012227866028, + 217.82958045183275 + ], + [ + 896.7419884728376, + 217.67552307520754 + ], + [ + 875.3108901418626, + 217.38777284959417 + ], + [ + 875.3644087786314, + 217.5416774709173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.2106623824263, + "ymin": 217.38772678641928, + "xmax": 896.8013667817124, + "ymax": 236.51941816230934 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 893.4153014319323, + 236.51941816230934 + ], + [ + 893.3577347009378, + 236.36249687471894 + ], + [ + 872.2106623824263, + 236.0693944602594 + ], + [ + 872.2626639476925, + 236.22616220268475 + ], + [ + 896.8013667817124, + 217.8295343184613 + ], + [ + 896.7421324344386, + 217.67547696631954 + ], + [ + 875.3110357339746, + 217.38772678641928 + ], + [ + 875.364554405122, + 217.5416313832954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.8155229324052, + "ymin": 225.33780548135786, + "xmax": 893.9219903074834, + "ymax": 242.31935508760313 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.0827653251929, + 242.31935508760313 + ], + [ + 890.7238127744648, + 241.32081811485074 + ], + [ + 872.8155229324052, + 241.0705360550894 + ], + [ + 873.1447319054669, + 242.06824495827334 + ], + [ + 893.9219903074834, + 226.5678350447576 + ], + [ + 893.5542464201146, + 225.584317248879 + ], + [ + 875.4426875955501, + 225.33780548135786 + ], + [ + 875.7800083062159, + 226.32049845339506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.2104936647945, + "ymin": 217.38768788026957, + "xmax": 896.8011940489646, + "ymax": 236.51937852136638 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 893.4151312007757, + 236.51937852136638 + ], + [ + 893.3575645003046, + 236.36245720583452 + ], + [ + 872.2104936647945, + 236.06935483018532 + ], + [ + 872.2624951985897, + 236.22612260053492 + ], + [ + 896.8011940489646, + 217.82949540086017 + ], + [ + 896.7419597331186, + 217.67543802155936 + ], + [ + 875.310864555747, + 217.38768788026957 + ], + [ + 875.364383194504, + 217.54159250428805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.2479482008611, + "ymin": 224.06358527311215, + "xmax": 800.0708875714174, + "ymax": 241.02025690532835 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 798.2849006646111, + 241.02025690532835 + ], + [ + 798.0795541098373, + 240.02600018224 + ], + [ + 780.2479482008611, + 239.77678985713248 + ], + [ + 780.4238050942337, + 240.7702238281521 + ], + [ + 800.0708875714174, + 225.28828402360634 + ], + [ + 799.8602532506538, + 224.30902957538677 + ], + [ + 781.8271212507941, + 224.06358527311215 + ], + [ + 782.0075950240664, + 225.0420202537197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.2105025955564, + "ymin": 217.38773050790115, + "xmax": 896.8012048959984, + "ymax": 236.5194219587372 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 893.415141659315, + 236.5194219587372 + ], + [ + 893.3575749697992, + 236.36250066915852 + ], + [ + 872.2105025955564, + 236.0693982509867 + ], + [ + 872.2625041193145, + 236.22616599539737 + ], + [ + 896.8012048959984, + 217.82953804561444 + ], + [ + 896.7419705913072, + 217.6754806914946 + ], + [ + 875.3108738335927, + 217.38773050790115 + ], + [ + 875.3643924621267, + 217.54163510675232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.4174846903595, + "ymin": 229.7433686585146, + "xmax": 893.4854058333432, + "ymax": 246.6584004512603 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 890.6554743144779, + 246.6584004512603 + ], + [ + 890.2977836654745, + 245.65426445932002 + ], + [ + 872.4174846903595, + 245.40257820371562 + ], + [ + 872.7455247424105, + 246.40588277706044 + ], + [ + 893.4854058333432, + 230.9806636306123 + ], + [ + 893.1189673736044, + 229.99133714715947 + ], + [ + 875.0360379516334, + 229.7433686585146 + ], + [ + 875.3721494176838, + 230.73186675068243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.140155059768, + "ymin": 217.79073101418214, + "xmax": 894.2425954301133, + "ymax": 235.90854118093964 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.0539673476817, + 235.90854118093964 + ], + [ + 891.0064524937437, + 235.77774731476728 + ], + [ + 875.140155059768, + 235.55804015304432 + ], + [ + 875.1841860397019, + 235.68873798903405 + ], + [ + 894.2425954301133, + 218.13514157146037 + ], + [ + 894.1937716312323, + 218.0066198418344 + ], + [ + 878.1248913589137, + 217.79073101418214 + ], + [ + 878.1701417432284, + 217.91915718416413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.7449731908262, + "ymin": 225.36593538332528, + "xmax": 791.4980616313143, + "ymax": 242.3480336210917 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 789.8040079930438, + 242.3480336210917 + ], + [ + 789.6122090871567, + 241.3494020551828 + ], + [ + 771.7449731908262, + 241.09909631025658 + ], + [ + 771.9071643408606, + 242.09689968895188 + ], + [ + 791.4980616313143, + 226.59608276153543 + ], + [ + 791.3012696228546, + 225.61247074253268 + ], + [ + 773.2316966355656, + 225.36593538332528 + ], + [ + 773.3982059437817, + 226.34872245997875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.1403046372986, + "ymin": 217.79072433703368, + "xmax": 894.2427467763027, + "ymax": 235.9085343776986 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 891.0541168319778, + 235.9085343776986 + ], + [ + 891.0066019459159, + 235.7777405144991 + ], + [ + 875.1403046372986, + 235.5580333577683 + ], + [ + 875.1843356494118, + 235.68873119078853 + ], + [ + 894.2427467763027, + 218.13513488638597 + ], + [ + 894.1939229444929, + 218.00661315971826 + ], + [ + 878.1250428007627, + 217.79072433703368 + ], + [ + 878.1702932180636, + 217.91915050406067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 352.58543367581984, + "ymin": 135.47100742405263, + "xmax": 367.9710311169083, + "ymax": 163.96401948637128 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 367.9710311169083, + 159.1639268670452 + ], + [ + 360.0326766425376, + 159.06690586899103 + ], + [ + 357.14879203189014, + 163.86520249034024 + ], + [ + 365.15962536892073, + 163.96401948637128 + ], + [ + 363.6220854014321, + 135.5651214602351 + ], + [ + 355.5576653887593, + 135.47100742405263 + ], + [ + 352.58543367581984, + 140.1262070514226 + ], + [ + 360.7246635732699, + 140.22209146748088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.18298499636967, + "ymin": 106.86432890150999, + "xmax": 385.2652461107747, + "ymax": 133.9062418670361 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 385.2652461107747, + 129.63623162012254 + ], + [ + 377.77297286810256, + 129.5498782994263 + ], + [ + 375.2075033422784, + 133.81838453326338 + ], + [ + 382.7643077691548, + 133.9062418670361 + ], + [ + 381.4266976158876, + 106.9479435656593 + ], + [ + 373.8222283221779, + 106.86432890150999 + ], + [ + 371.18298499636967, + 110.99799054527122 + ], + [ + 378.85394113062443, + 111.08308376149904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 327.0085396774418, + "ymin": 174.7632431101875, + "xmax": 344.267165213748, + "ymax": 205.21286414929523 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 344.267165213748, + 199.63535499169166 + ], + [ + 335.71800715164323, + 199.52270269032655 + ], + [ + 332.36714968004804, + 205.09796616947227 + ], + [ + 341.00042974031277, + 205.21286414929523 + ], + [ + 339.16625716716965, + 174.87279154090143 + ], + [ + 330.47070970431815, + 174.7632431101875 + ], + [ + 327.0085396774418, + 180.18580187193072 + ], + [ + 335.791129181813, + 180.29757234095194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.3358526083693, + "ymin": 73.35733410590882, + "xmax": 441.1004804578647, + "ymax": 94.20044245040992 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 435.3085949647266, + 91.1224115394179 + ], + [ + 433.72493673216536, + 94.13816625328815 + ], + [ + 439.5551030818875, + 94.20044245040992 + ], + [ + 441.1004804578647, + 91.1838681142624 + ], + [ + 432.95368426356873, + 73.35733410590882 + ], + [ + 431.3358526083693, + 76.28858744772742 + ], + [ + 437.2332239574715, + 76.34912339135764 + ], + [ + 438.81189012191237, + 73.41706419496745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 196.1692349737084, + "ymin": 8.31586800042021, + "xmax": 210.55769895502198, + "ymax": 30.186886692432438 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 204.6437522176937, + 27.455308524813404 + ], + [ + 201.4262298145976, + 30.13189975155342 + ], + [ + 207.380307190599, + 30.186886692432438 + ], + [ + 210.55769895502198, + 27.509548581852016 + ], + [ + 199.46130720154355, + 8.31586800042021 + ], + [ + 196.1692349737084, + 10.891653344640872 + ], + [ + 202.19394667820086, + 10.944573776149866 + ], + [ + 205.4449338613748, + 8.368061089637536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.0391182429382, + "ymin": 9.35437887666194, + "xmax": 328.2506777568429, + "ymax": 31.281280443723517 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 322.303964556964, + 28.534515145774947 + ], + [ + 319.8869911272303, + 31.225986734930302 + ], + [ + 325.87428460820064, + 31.281280443723517 + ], + [ + 328.2506777568429, + 28.58905573322744 + ], + [ + 318.5115502866138, + 9.35437887666194 + ], + [ + 316.0391182429382, + 11.944655936807635 + ], + [ + 322.0978447045419, + 11.9978751614604 + ], + [ + 324.5287258041464, + 9.406864611747665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.5309270059239, + "ymin": 339.6505858201196, + "xmax": 314.05687908886307, + "ymax": 371.13133641087126 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 314.05687908886307, + 363.38038813673575 + ], + [ + 304.81956170973365, + 363.22312056769056 + ], + [ + 300.8834268081261, + 370.97069344109906 + ], + [ + 310.2184961249126, + 371.13133641087126 + ], + [ + 308.01549271568814, + 339.8055665702883 + ], + [ + 298.60833143283907, + 339.6505858201196 + ], + [ + 294.5309270059239, + 347.2869813921977 + ], + [ + 304.0394874166671, + 347.4453511158252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 250.57189326719777, + "ymin": 8.787202805178651, + "xmax": 263.97389102411194, + "ymax": 30.683587976206354 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 258.0450840363187, + 27.94512216282942 + ], + [ + 255.19034190994972, + 30.628461911460022 + ], + [ + 261.1594832238886, + 30.683587976206354 + ], + [ + 263.97389102411194, + 27.99949851705611 + ], + [ + 253.49254736225072, + 8.787202805178651 + ], + [ + 250.57189326719777, + 11.369560234204812 + ], + [ + 256.6120306865411, + 11.422616169193304 + ], + [ + 259.4913886937053, + 8.83952861218512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 8.736921600225742, + "ymin": 16.69072571665157, + "xmax": 33.20113663830557, + "ymax": 25.06779125431848 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 11.669923785083142, + 24.881035904966097 + ], + [ + 32.0696403433742, + 25.06779125431848 + ], + [ + 33.20113663830557, + 24.383936629154846 + ], + [ + 12.836838402241028, + 24.197839314016335 + ], + [ + 8.736921600225742, + 17.36379198603254 + ], + [ + 29.230488757756575, + 17.547780087078195 + ], + [ + 30.37229084501064, + 16.87406251507184 + ], + [ + 9.914468287742352, + 16.69072571665157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.6951324903685, + "ymin": 225.38289239094544, + "xmax": 809.1043771573344, + "ymax": 278.3997679742656 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 802.8302685591748, + 278.3997679742656 + ], + [ + 802.6810752445743, + 277.6596499984311 + ], + [ + 800.6951324903685, + 277.6301649708505 + ], + [ + 800.8420235796319, + 278.3702147482874 + ], + [ + 809.1043771573344, + 226.116930909558 + ], + [ + 808.94191974845, + 225.41101362112587 + ], + [ + 806.8792514808094, + 225.38289239094544 + ], + [ + 807.0392252292361, + 226.08874212773142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 5.038989943612705, + "ymax": 279.68469470114934 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 5.038989943612705, + 148.26159226392008 + ], + [ + -3.6141089446557544, + 148.12324545344126 + ], + [ + -180.50305583407192, + 279.46604482918804 + ], + [ + -169.68438035078486, + 279.68469470114934 + ], + [ + -71.83446630514345, + -31.76902377315497 + ], + [ + -81.51152561738627, + -31.869466654522853 + ], + [ + -309.35516431599353, + 66.54814920412645 + ], + [ + -296.8876185425771, + 66.71725941075647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 784.3917422211204, + "ymin": 225.15197502001791, + "xmax": 792.1493891037951, + "ymax": 278.15706556037276 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 786.5064814490149, + 278.15706556037276 + ], + [ + 786.3761835033849, + 277.4175075629559 + ], + [ + 784.3917422211204, + 277.3880448305615 + ], + [ + 784.519741418474, + 278.12753470696344 + ], + [ + 792.1493891037951, + 225.88543679955112 + ], + [ + 792.0073156628804, + 225.1800741684016 + ], + [ + 789.9462668559567, + 225.15197502001791 + ], + [ + 790.085860531535, + 225.8572701791193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.3486439960632, + "ymin": 482.4493584061079, + "xmax": 793.9846823454932, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 762.260155585555, + 486.5783561350676 + ], + [ + 745.3486439960632, + 486.2450397638513 + ], + [ + 770.4542672870433, + 783.2961240437287 + ], + [ + 793.2999206460207, + 783.9036056613597 + ], + [ + 762.6641837387488, + 482.7822810088669 + ], + [ + 745.6966482738457, + 482.4493584061079 + ], + [ + 771.0366716656699, + 779.492488536946 + ], + [ + 793.9846823454932, + 780.1006583181772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.662731835356, + "ymin": 237.4745942973707, + "xmax": 838.3805646556261, + "ymax": 291.0990251038789 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 830.8744458600759, + 291.0990251038789 + ], + [ + 830.6892825267698, + 290.32931155741494 + ], + [ + 828.662731835356, + 290.29864821194144 + ], + [ + 828.8454977846022, + 291.0682894288293 + ], + [ + 838.3805646556261, + 238.23914988043924 + ], + [ + 838.1789441971879, + 237.50388393182286 + ], + [ + 836.0724354836887, + 237.4745942973707 + ], + [ + 836.2714655297484, + 238.209788438236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 404.0760533053765, + "ymin": 0.0, + "xmax": 487.3856919952408, + "ymax": 49.21818137305189 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 486.25763154242077, + 49.21818137305189 + ], + [ + 487.3856919952408, + 46.7381420514011 + ], + [ + 424.55380132086253, + 46.13731159073808 + ], + [ + 423.0473505701999, + 48.61005494917333 + ], + [ + 472.7921004342651, + -89.69730449946252 + ], + [ + 474.10644950041086, + -91.48391226536677 + ], + [ + 405.8373460656226, + -91.91646410619245 + ], + [ + 404.0760533053765, + -90.13557005689427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 806.5499644411757, + "ymin": 10.020412460367368, + "xmax": 815.2148549475404, + "ymax": 15.926877148112112 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 813.747373684959, + 12.781577073825645 + ], + [ + 806.5499644411757, + 12.718944985623239 + ], + [ + 807.6635533324447, + 15.863187678111785 + ], + [ + 814.9214476983923, + 15.926877148112112 + ], + [ + 814.0363863112556, + 10.082697735560544 + ], + [ + 806.8269585523739, + 10.020412460367368 + ], + [ + 807.9447390474054, + 13.147287211763114 + ], + [ + 815.2148549475404, + 13.21062577867417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.4677393307986, + "ymin": 482.58147908227505, + "xmax": 793.8133394329877, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 762.1656325453791, + 486.6578074749027 + ], + [ + 745.4677393307986, + 486.32874657871884 + ], + [ + 770.5875451896185, + 783.0839059920897 + ], + [ + 793.1381830387428, + 783.6832903834472 + ], + [ + 762.564225954872, + 482.91015647300594 + ], + [ + 745.8117182742297, + 482.58147908227505 + ], + [ + 771.162977859834, + 779.3287025358994 + ], + [ + 793.8133394329877, + 779.9287563442758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 198.55553441419534, + "xmax": 7.576735600205666, + "ymax": 462.69882547378546 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -372.71545195645683, + 443.3136257922281 + ], + [ + -385.108426204783, + 452.76338548064365 + ], + [ + -0.45419978325708144, + 462.69882547378546 + ], + [ + 7.576735600205666, + 453.0187527058469 + ], + [ + -580.6657992997232, + 198.55553441419534 + ], + [ + -598.585460658117, + 206.5058912056368 + ], + [ + -135.79614540547846, + 214.90635295879167 + ], + [ + -124.17413884947155, + 206.72127160144947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.0590573220979, + "ymin": 230.189194379585, + "xmax": 885.3765958877518, + "ymax": 282.98809795811405 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 876.2804622024197, + 282.98809795811405 + ], + [ + 876.0466703573444, + 282.2433227092348 + ], + [ + 874.0590573220979, + 282.21365211328464 + ], + [ + 874.2905430952501, + 282.9583587935753 + ], + [ + 885.3765958877518, + 230.928571807932 + ], + [ + 885.1229184255213, + 230.21752017527507 + ], + [ + 883.0584495534806, + 230.189194379585 + ], + [ + 883.3096390495275, + 230.9001780299743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.4959816934826, + "ymin": 0.0, + "xmax": 817.718714036385, + "ymax": 183.4796766706805 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 790.5445370275547, + 147.70166126123956 + ], + [ + 781.4959816934826, + 147.59456249189984 + ], + [ + 789.0579462908983, + 183.35703277730104 + ], + [ + 798.7425299273874, + 183.4796766706805 + ], + [ + 807.231116546226, + -17.183981311181924 + ], + [ + 797.1759500539366, + -17.264513176963817 + ], + [ + 806.8719494535507, + 9.8365861474349 + ], + [ + 817.718714036385, + 9.930256726251002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.8168080439673, + "ymin": 469.6207324265987, + "xmax": 803.7563318134016, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 739.2577660495141, + 735.5705177383967 + ], + [ + 717.8168080439673, + 735.0237362403128 + ], + [ + 729.4881713980222, + 1024.7805151698026 + ], + [ + 756.5998177438139, + 1025.6541795372182 + ], + [ + 768.5385785994313, + 470.1576107410676 + ], + [ + 740.7577888792111, + 469.6207324265987 + ], + [ + 765.6479324937891, + 778.093175712097 + ], + [ + 803.7563318134016, + 779.1020159723843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.9012661687754, + "ymin": 226.9112482592577, + "xmax": 811.4203822089663, + "ymax": 280.00595218150227 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 805.0444101447466, + 280.00595218150227 + ], + [ + 804.8922807888193, + 279.26212292899106 + ], + [ + 802.9012661687754, + 279.2324901416848 + ], + [ + 803.0510815188212, + 279.97625068220503 + ], + [ + 811.4203822089663, + 227.6491097688663 + ], + [ + 811.2547185478315, + 226.9395158592882 + ], + [ + 809.1865784402939, + 226.9112482592577 + ], + [ + 809.3497452388924, + 227.62077408877536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.1096860788406, + "ymin": 226.45855640822444, + "xmax": 783.5545356547873, + "ymax": 279.5302391954782 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 778.2189846571922, + 279.5302391954782 + ], + [ + 778.097992721775, + 278.7875100848519 + ], + [ + 776.1096860788406, + 278.7579210988124 + ], + [ + 776.2283702945256, + 279.50058164982795 + ], + [ + 783.5545356547873, + 227.19528454384465 + ], + [ + 783.4224700275357, + 226.48678061458742 + ], + [ + 781.357251244581, + 226.45855640822444 + ], + [ + 781.4868270532418, + 227.16699241422003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 806.5956343886019, + "ymin": 10.051825118740965, + "xmax": 815.1682211268384, + "ymax": 15.895418970784931 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 813.7167556846642, + 12.783716339926514 + ], + [ + 806.5956343886019, + 12.721747791538917 + ], + [ + 807.6976967093119, + 15.832415391485483 + ], + [ + 814.8780225185811, + 15.895418970784931 + ], + [ + 814.0026537942734, + 10.113454177365327 + ], + [ + 806.8697674304265, + 10.051825118740965 + ], + [ + 807.9759336462917, + 13.14549251731853 + ], + [ + 815.1682211268384, + 13.20815264560946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 158.34015094381743, + "ymin": 0.0, + "xmax": 451.7770063266115, + "ymax": 143.94636902094283 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 450.08327303149986, + 143.94636902094283 + ], + [ + 451.7770063266115, + 140.28276762284 + ], + [ + 212.94206103225838, + 136.57614152114488 + ], + [ + 209.53407426388452, + 140.18574792558223 + ], + [ + 427.30791941071186, + -34.898874790137484 + ], + [ + 429.38742047687145, + -37.55108711962475 + ], + [ + 162.56102483483772, + -40.22977319517122 + ], + [ + 158.34015094381743, + -37.62126068642192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.1044465886735, + "ymin": 39.929362402814775, + "xmax": 422.4830149581949, + "ymax": 440.33390254619474 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 324.5560459325806, + 439.9922686696883 + ], + [ + 338.29531501226955, + 440.33390254619474 + ], + [ + 422.4830149581949, + 244.95108050515472 + ], + [ + 412.05855897996116, + 244.75545408883949 + ], + [ + 260.1044465886735, + 195.77026469552726 + ], + [ + 276.6193257782191, + 196.0565394453148 + ], + [ + 390.43069097594986, + 40.078128249818064 + ], + [ + 378.4825410671708, + 39.929362402814775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.6619635668504, + "ymin": 226.4303207796747, + "xmax": 886.03384271307, + "ymax": 279.50056675394774 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 876.8898233013538, + 279.50056675394774 + ], + [ + 876.6547244866307, + 278.75790628797984 + ], + [ + 874.6619635668504, + 278.7283200329544 + ], + [ + 874.8947443421431, + 279.4709119488134 + ], + [ + 886.03384271307, + 227.1669782041628 + ], + [ + 885.7786971774772, + 226.45854228056047 + ], + [ + 883.7086740699367, + 226.4303207796747 + ], + [ + 883.9613182263746, + 227.138688789792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 46.42552803231922, + "ymax": 121.93114406892778 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -12.347538901273765, + 121.93114406892778 + ], + [ + 46.42552803231922, + 90.42968595097261 + ], + [ + -22.059659369785663, + 85.13127353745847 + ], + [ + -84.65245948674101, + 115.8028963574098 + ], + [ + -168.49019155963015, + -233.03633474098808 + ], + [ + -84.73144104192863, + -243.276632951343 + ], + [ + -165.50562221969972, + -244.08748322723204 + ], + [ + -254.54007750903907, + -234.10208078572145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.4583690744116, + "ymin": 0.0, + "xmax": 636.3322083455682, + "ymax": 95.87944945597474 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 636.3322083455682, + 86.45637021379923 + ], + [ + 614.9901151244217, + 43.42133754168145 + ], + [ + 493.77351697319386, + 51.10962481338248 + ], + [ + 502.4479002555501, + 95.87944945597474 + ], + [ + 635.7724717789782, + -149.9077947605552 + ], + [ + 611.5888500229103, + -173.06671053876335 + ], + [ + 473.4583690744116, + -168.97843074986656 + ], + [ + 480.94699229456813, + -144.74616949827083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.7960457889191, + "ymin": 0.0, + "xmax": 974.5060600732666, + "ymax": 21.408308868353856 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 819.6509608921052, + 21.408308868353856 + ], + [ + 935.7150459220375, + 14.730440879069931 + ], + [ + 888.654018714499, + -20.345730649990287 + ], + [ + 782.7960457889191, + -14.86052118244362 + ], + [ + 843.6898277453201, + -194.5421205032136 + ], + [ + 974.5060600732666, + -197.8486997851984 + ], + [ + 917.8837495947375, + -214.96780918084607 + ], + [ + 799.8831388908071, + -212.31797855460104 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..19bd96dae4ea195fa9cc45c9efd569273a028a03 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00048/meta.json @@ -0,0 +1,7682 @@ +{ + "frame_id": 48, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 7245.277634122875 + }, + "drone_pose": { + "x": 8.418254927679243, + "y": -30.87751184442651, + "z": 20.12088845785742, + "pitch": -40.697796798259674, + "yaw": 89.60803209968084, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.005186617374420166, + -0.7581416964530945, + 0.6520692110061646, + 10.245654106140137 + ], + [ + 0.9999765753746033, + 0.006841063499450684, + 0.0, + 8.629293441772461 + ], + [ + -0.004460841417312622, + 0.652053952217102, + 0.7581594586372375, + -35.35109329223633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.411054848708535, + "y": -30.25274648106397, + "z": 20.000549977759444 + }, + "t1_image_uv": [ + 659.9514078743135, + -189.66958536856612 + ], + "t1_depth": 0.5520923341096686 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -9.687763214111328, + "z": 1.139130477309227 + }, + "image_uv": [ + 580.2937052189558, + 379.0904784064762 + ], + "depth": 28.452182228118108, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 563, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -9.687763214111328, + "z": 1.1391304731369019 + }, + "extent": { + "x": 0.34986022114753723, + "y": 0.511999785900116, + "z": 0.9391197562217712 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 560.4930593483051, + "ymin": 347.1369177173165, + "xmax": 598.9128684224121, + "ymax": 410.2795696483819 + }, + "corners_3d": [ + [ + 10.844817161560059, + -10.037623405456543, + 0.20001071691513062 + ], + [ + 9.820816993713379, + -10.037623405456543, + 0.20001071691513062 + ], + [ + 9.820816993713379, + -9.337903022766113, + 0.20001071691513062 + ], + [ + 10.844817161560059, + -9.337903022766113, + 0.20001071691513062 + ], + [ + 10.844817161560059, + -10.037623405456543, + 2.0782501697540283 + ], + [ + 9.820816993713379, + -10.037623405456543, + 2.0782501697540283 + ], + [ + 9.820816993713379, + -9.337903022766113, + 2.0782501697540283 + ], + [ + 10.844817161560059, + -9.337903022766113, + 2.0782501697540283 + ] + ], + "corners_2d": [ + [ + 563.8739225559721, + 410.11804453327375 + ], + [ + 597.9963882035192, + 410.2795696483819 + ], + [ + 598.9128684224121, + 394.43493238637075 + ], + [ + 565.4073529951061, + 394.279197430288 + ], + [ + 560.4930593483051, + 362.77234076158527 + ], + [ + 596.1305910258868, + 362.9319207279867 + ], + [ + 597.1222332784633, + 347.29053034520484 + ], + [ + 562.1571144988005, + 347.1369177173165 + ] + ], + "center_offset_px": [ + -59.70629478104422, + 19.090478406476223 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 329070, + "2": 183191, + "3": 16082, + "5": 6082, + "6": 9059, + "7": 976, + "10": 1469, + "12": 2591, + "14": 31929, + "20": 2146, + "24": 23553, + "25": 315452 + }, + "instance_pixel_counts": { + "381": 4125, + "586": 4820, + "1118": 937, + "3146": 2146, + "3156": 2746, + "7262": 1727, + "8527": 493, + "11676": 61966, + "11870": 1212, + "12188": 20864, + "13406": 189, + "14236": 51049, + "16284": 43203, + "18013": 217373, + "19037": 98079, + "19038": 1431, + "19354": 310, + "19866": 2112, + "20378": 2451, + "20573": 1904, + "20594": 1778, + "20890": 4378, + "21085": 34253, + "21597": 30042, + "23418": 4624, + "23441": 17886, + "23450": 7517, + "24442": 1140, + "25498": 8904, + "25978": 1676, + "27516": 2304, + "28026": 1319, + "28530": 9, + "28786": 7668, + "29052": 5268, + "29554": 6548, + "31612": 4758, + "33660": 3385, + "34816": 6255, + "35072": 702, + "36252": 52379, + "36764": 18889, + "38300": 40348, + "38483": 332, + "40860": 40372, + "43008": 563, + "43264": 243, + "43520": 165, + "43776": 565, + "44032": 120, + "44288": 935, + "44544": 4586, + "44922": 3919, + "45312": 1749, + "45434": 730, + "45824": 7215, + "46173": 1361, + "49778": 79, + "52636": 2428, + "54684": 2291, + "57241": 6785, + "58265": 20769, + "58697": 1262, + "59772": 443, + "60284": 1210, + "60796": 759, + "61308": 1401, + "61337": 21471, + "63385": 14909, + "63868": 3733 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 563, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -9.687763214111328, + "z": 1.1391304731369019 + }, + "extent": { + "x": 0.35815367102622986, + "y": 0.47430846095085144, + "z": 0.9418411254882812 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 561.7797410311956, + "ymin": 346.88950868336394, + "xmax": 597.6928486679449, + "ymax": 410.5305964530843 + }, + "corners_3d": [ + [ + 10.807125091552734, + -10.045917510986328, + 0.1972893476486206 + ], + [ + 9.858508110046387, + -10.045916557312012, + 0.1972893476486206 + ], + [ + 9.858509063720703, + -9.329608917236328, + 0.1972893476486206 + ], + [ + 10.80712604522705, + -9.329609870910645, + 0.1972893476486206 + ], + [ + 10.807125091552734, + -10.045917510986328, + 2.0809717178344727 + ], + [ + 9.858508110046387, + -10.045916557312012, + 2.0809717178344727 + ], + [ + 9.858509063720703, + -9.329608917236328, + 2.0809717178344727 + ], + [ + 10.80712604522705, + -9.329609870910645, + 2.0809717178344727 + ] + ], + "corners_2d": [ + [ + 565.116075119859, + 410.38091687338135 + ], + [ + 596.7315226536268, + 410.5305964530843 + ], + [ + 597.6928486679449, + 394.3102722388309 + ], + [ + 566.6624131929152, + 394.1660827032702 + ], + [ + 561.7797410311956, + 362.89549924243056 + ], + [ + 594.8034204609711, + 363.04337394914927 + ], + [ + 595.8440100107632, + 347.031724853706 + ], + [ + 563.4580934952538, + 346.88950868336394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 243, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -6.690057754516602, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.2610718011856079, + "y": 0.33972078561782837, + "z": 0.6158256530761719 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 443.51949237608324, + "ymin": 298.4278076459412, + "xmax": 470.58010198090005, + "ymax": 341.0491301330873 + }, + "corners_3d": [ + [ + 14.736820220947266, + -7.016056537628174, + 0.36892980337142944 + ], + [ + 14.072225570678711, + -6.874792098999023, + 0.36892980337142944 + ], + [ + 14.1807861328125, + -6.364058971405029, + 0.36892980337142944 + ], + [ + 14.845380783081055, + -6.50532341003418, + 0.36892980337142944 + ], + [ + 14.736820220947266, + -7.016056537628174, + 1.600581169128418 + ], + [ + 14.072225570678711, + -6.874792098999023, + 1.600581169128418 + ], + [ + 14.1807861328125, + -6.364058971405029, + 1.600581169128418 + ], + [ + 14.845380783081055, + -6.50532341003418, + 1.600581169128418 + ] + ], + "corners_2d": [ + [ + 449.4050883960649, + 341.0491301330873 + ], + [ + 470.58010198090005, + 338.3610301326335 + ], + [ + 469.463536193843, + 328.4614786067267 + ], + [ + 448.5464131157424, + 331.08368392345636 + ], + [ + 444.33645613382464, + 310.86149039568943 + ], + [ + 466.0900035497208, + 308.20540407672013 + ], + [ + 465.00095038130655, + 298.4278076459412 + ], + [ + 443.51949237608324, + 301.01708823160806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 165, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -2.7450506687164307, + "z": 0.6689872741699219 + }, + "extent": { + "x": 0.2923184037208557, + "y": 0.40585795044898987, + "z": 0.5864266157150269 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 642.8100134117483, + "ymin": 239.43243762832444, + "xmax": 667.7394523449309, + "ymax": 277.48753300700736 + }, + "corners_3d": [ + [ + 8.450072288513184, + -3.0781915187835693, + 0.08256065845489502 + ], + [ + 7.642802715301514, + -2.9933440685272217, + 0.08256065845489502 + ], + [ + 7.703913688659668, + -2.411909818649292, + 0.08256065845489502 + ], + [ + 8.51118278503418, + -2.4967572689056396, + 0.08256065845489502 + ], + [ + 8.450072288513184, + -3.0781915187835693, + 1.2554138898849487 + ], + [ + 7.642802715301514, + -2.9933440685272217, + 1.2554138898849487 + ], + [ + 7.703913688659668, + -2.411909818649292, + 1.2554138898849487 + ], + [ + 8.51118278503418, + -2.4967572689056396, + 1.2554138898849487 + ] + ], + "corners_2d": [ + [ + 644.45271576292, + 277.48753300700736 + ], + [ + 667.1191872271702, + 276.18082180286825 + ], + [ + 665.1907051435593, + 266.7346900830096 + ], + [ + 642.8100134117483, + 268.00830724234356 + ], + [ + 644.5547409652976, + 250.02163444170526 + ], + [ + 667.7394523449309, + 248.73443513891118 + ], + [ + 665.7593603968785, + 239.43243762832444 + ], + [ + 642.8735594878124, + 240.68630531300568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 565, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -9.687763214111328, + "z": 1.148236870765686 + }, + "extent": { + "x": 0.39067497849464417, + "y": 0.5194799900054932, + "z": 0.9232885241508484 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 876.3612619645921, + "ymin": 347.8423398745081, + "xmax": 927.937283881763, + "ymax": 412.12506778090574 + }, + "corners_3d": [ + [ + 1.3522969484329224, + -10.078438758850098, + 0.22494834661483765 + ], + [ + 0.31333696842193604, + -10.078437805175781, + 0.22494834661483765 + ], + [ + 0.31333720684051514, + -9.297087669372559, + 0.22494834661483765 + ], + [ + 1.3522971868515015, + -9.297088623046875, + 0.22494834661483765 + ], + [ + 1.3522969484329224, + -10.078438758850098, + 2.0715253353118896 + ], + [ + 0.31333696842193604, + -10.078437805175781, + 2.0715253353118896 + ], + [ + 0.31333720684051514, + -9.297087669372559, + 2.0715253353118896 + ], + [ + 1.3522971868515015, + -9.297088623046875, + 2.0715253353118896 + ] + ], + "corners_2d": [ + [ + 881.0601151221076, + 411.9603079937327 + ], + [ + 915.8570580176013, + 412.12506778090574 + ], + [ + 910.4536519463962, + 394.3737492773273 + ], + [ + 876.3612619645921, + 394.21558529002095 + ], + [ + 891.6144585153053, + 365.3651119946474 + ], + [ + 927.937283881763, + 365.52795633779425 + ], + [ + 922.0474768409982, + 347.9983886395924 + ], + [ + 886.491668814436, + 347.8423398745081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 120, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -20.81512451171875, + "z": 1.1462594270706177 + }, + "extent": { + "x": 0.450605183839798, + "y": 0.39009708166122437, + "z": 0.9473764300346375 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 702.9743521906726, + "ymin": 690.2640702118254, + "xmax": 747.6782953514088, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.152379035949707, + -21.222484588623047, + 0.19888299703598022 + ], + [ + 6.376459121704102, + -21.30403709411621, + 0.19888299703598022 + ], + [ + 6.282257080078125, + -20.407764434814453, + 0.19888299703598022 + ], + [ + 7.0581769943237305, + -20.32621192932129, + 0.19888299703598022 + ], + [ + 7.152379035949707, + -21.222484588623047, + 2.0936357975006104 + ], + [ + 6.376459121704102, + -21.30403709411621, + 2.0936357975006104 + ], + [ + 6.282257080078125, + -20.407764434814453, + 2.0936357975006104 + ], + [ + 7.0581769943237305, + -20.32621192932129, + 2.0936357975006104 + ] + ], + "corners_2d": [ + [ + 702.9743521906726, + 776.7457774160343 + ], + [ + 739.9581253909373, + 780.7884841388436 + ], + [ + 741.3180327529292, + 740.3257558051088 + ], + [ + 705.5268004922104, + 736.5408611618823 + ], + [ + 707.0547013536716, + 731.4261249382928 + ], + [ + 746.4572394736808, + 735.5746273700599 + ], + [ + 747.6782953514088, + 694.1317238790996 + ], + [ + 709.6265429037264, + 690.2640702118254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 935, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -17.85797882080078, + "z": 1.1361373662948608 + }, + "extent": { + "x": 0.32929807901382446, + "y": 0.47340819239616394, + "z": 0.8982961773872375 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 34.435493810992966, + "ymin": 572.791437304114, + "xmax": 118.30366921937025, + "ymax": 649.1645528088235 + }, + "corners_3d": [ + [ + 22.109682083129883, + -18.081653594970703, + 0.2378411889076233 + ], + [ + 21.183555603027344, + -18.278507232666016, + 0.2378411889076233 + ], + [ + 21.0466251373291, + -17.63430404663086, + 0.2378411889076233 + ], + [ + 21.97275161743164, + -17.437450408935547, + 0.2378411889076233 + ], + [ + 22.109682083129883, + -18.081653594970703, + 2.034433603286743 + ], + [ + 21.183555603027344, + -18.278507232666016, + 2.034433603286743 + ], + [ + 21.0466251373291, + -17.63430404663086, + 2.034433603286743 + ], + [ + 21.97275161743164, + -17.437450408935547, + 2.034433603286743 + ] + ], + "corners_2d": [ + [ + 65.63635153998541, + 641.6114860678301 + ], + [ + 101.02949512867838, + 649.1645528088235 + ], + [ + 118.30366921937025, + 625.598517418805 + ], + [ + 83.53915077580348, + 618.360362580763 + ], + [ + 34.435493810992966, + 596.2751234224432 + ], + [ + 71.5406383043786, + 603.9152704527351 + ], + [ + 90.39559353400921, + 580.096251114837 + ], + [ + 53.97928455897079, + 572.791437304114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 4586, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 173.47006566582996, + "ymin": 19.387957919794076, + "xmax": 279.6203029831803, + "ymax": 117.9104134961004 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 188.08767611772674, + 117.9104134961004 + ], + [ + 240.65732186387885, + 117.85980435280064 + ], + [ + 279.6203029831803, + 60.5465818402223 + ], + [ + 232.21743717289075, + 60.58773731509558 + ], + [ + 173.47006566582996, + 73.97534548433197 + ], + [ + 227.7412919446395, + 73.92703286478172 + ], + [ + 269.1425693123641, + 19.387957919794076 + ], + [ + 220.36055120864194, + 19.42699740676278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 177, + "instance_id": 45312, + "pixel_count": 1749, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -18.908464431762695, + "y": 6.095361709594727, + "z": 0.7879489064216614 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1213.235446724068, + "ymin": 111.6815110880654, + "xmax": 1280.0, + "ymax": 166.2459737024032 + }, + "corners_3d": [ + [ + -21.593486785888672, + 5.20153284072876, + 0.00046595558524131775 + ], + [ + -21.58910369873047, + 7.002251625061035, + 0.00046595558524131775 + ], + [ + -16.22344207763672, + 6.989190578460693, + 0.00046595558524131775 + ], + [ + -16.227825164794922, + 5.188471794128418, + 0.00046595558524131775 + ], + [ + -21.593486785888672, + 5.20153284072876, + 1.5754319429397583 + ], + [ + -21.58910369873047, + 7.002251625061035, + 1.5754319429397583 + ], + [ + -16.22344207763672, + 6.989190578460693, + 1.5754319429397583 + ], + [ + -16.227825164794922, + 5.188471794128418, + 1.5754319429397583 + ] + ], + "corners_2d": [ + [ + 1360.473882770925, + 166.2459737024032 + ], + [ + 1337.059047480071, + 145.54902324106993 + ], + [ + 1213.235446724068, + 145.28625384975598 + ], + [ + 1232.448826644265, + 165.96511131749511 + ], + [ + 1379.305946479436, + 132.00608544082678 + ], + [ + 1354.667250343432, + 111.93609978368258 + ], + [ + 1227.7093956843273, + 111.6815110880654 + ], + [ + 1247.9274523806198, + 131.73350111431563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 7215, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 283.4297049731298, + "ymin": 251.31535411351763, + "xmax": 447.0899314404482, + "ymax": 319.0870681502109 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 308.54422051954515, + 286.451157743017 + ], + [ + 294.09646316390234, + 318.6922397903955 + ], + [ + 438.57699995181474, + 319.0870681502109 + ], + [ + 447.0899314404482, + 286.8141866086311 + ], + [ + 298.75554513493046, + 251.31535411351763 + ], + [ + 283.4297049731298, + 282.99805031814213 + ], + [ + 432.3624195926266, + 283.38653845045417 + ], + [ + 441.3900084321649, + 251.67164910935537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858932026834, + "ymin": 180.19158457754688, + "xmax": 885.6835647357967, + "ymax": 197.54350881241004 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.60496466094, + 197.54350881241004 + ], + [ + 882.2260752029586, + 196.46938508304322 + ], + [ + 863.7858932026834, + 196.40350290088352 + ], + [ + 864.1348340054703, + 197.47741271787353 + ], + [ + 885.6835647357967, + 181.31778764442504 + ], + [ + 885.2948259249603, + 180.2566677406958 + ], + [ + 866.620740460713, + 180.19158457754688 + ], + [ + 866.9787654021206, + 181.25249047958653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858980361094, + "ymin": 180.19158459460604, + "xmax": 885.6835696395653, + "ymax": 197.54350882973816 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049695031803, + 197.54350882973816 + ], + [ + 882.2260800373465, + 196.46938510031524 + ], + [ + 863.7858980361094, + 196.4035029181521 + ], + [ + 864.1348388467455, + 197.47741273519821 + ], + [ + 885.6835696395653, + 181.31778766154378 + ], + [ + 885.2948308206759, + 180.2566677577584 + ], + [ + 866.6207453554422, + 180.19158459460604 + ], + [ + 866.9787703048996, + 181.2524904967018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.8989769405091, + "ymin": 181.54267020437393, + "xmax": 808.7449278129264, + "ymax": 198.91586621699093 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 806.6260513298972, + 198.91586621699093 + ], + [ + 806.3696876020028, + 197.83729625904164 + ], + [ + 787.8989769405091, + 197.7711415961831 + ], + [ + 788.1252926639445, + 198.84949631223938 + ], + [ + 808.7449278129264, + 182.67359413705762 + ], + [ + 808.4818269847584, + 181.6080259642876 + ], + [ + 789.7764326044005, + 181.54267020437393 + ], + [ + 790.008716377663, + 182.60802302844857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.5540965435528, + "ymin": 179.91549462824955, + "xmax": 806.3137160341718, + "ymax": 197.26306439689097 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.2305611862739, + 197.26306439689097 + ], + [ + 803.9787120452613, + 196.18984814716484 + ], + [ + 785.5540965435528, + 196.12402157810067 + ], + [ + 785.7760475867469, + 197.19702418646693 + ], + [ + 806.3137160341718, + 181.04073420801794 + ], + [ + 806.0552624651959, + 179.98052215724508 + ], + [ + 787.39714052653, + 179.91549462824955 + ], + [ + 787.6249327315697, + 180.9754929518976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.2373065570678, + "ymin": 172.4187910892807, + "xmax": 886.0939278352105, + "ymax": 190.94690025442395 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6331153004799, + 190.94690025442395 + ], + [ + 882.582921874183, + 190.80603786779554 + ], + [ + 866.2373065570678, + 190.74813865687963 + ], + [ + 866.2839885072207, + 190.8889761945115 + ], + [ + 886.0939278352105, + 172.6147584616841 + ], + [ + 886.0422655960836, + 172.47587616833263 + ], + [ + 869.4632657034792, + 172.4187910892807 + ], + [ + 869.511315465155, + 172.55764853356834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.2374883197058, + "ymin": 172.41878273583916, + "xmax": 886.0941119862225, + "ymax": 190.94689177670548 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6332969064646, + 190.94689177670548 + ], + [ + 882.5831034418559, + 190.80602939371408 + ], + [ + 866.2374883197058, + 190.7481301842929 + ], + [ + 866.2841703082544, + 190.8889677182887 + ], + [ + 886.0941119862225, + 172.6147501031108 + ], + [ + 886.042449707703, + 172.47586781339635 + ], + [ + 869.4634500156716, + 172.41878273583916 + ], + [ + 869.5114998168275, + 172.5576401764907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858932026834, + "ymin": 180.19158457754688, + "xmax": 885.6835647357967, + "ymax": 197.54350881241004 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.60496466094, + 197.54350881241004 + ], + [ + 882.2260752029586, + 196.46938508304322 + ], + [ + 863.7858932026834, + 196.40350290088352 + ], + [ + 864.1348340054703, + 197.47741271787353 + ], + [ + 885.6835647357967, + 181.31778764442504 + ], + [ + 885.2948259249603, + 180.2566677406958 + ], + [ + 866.620740460713, + 180.19158457754688 + ], + [ + 866.9787654021206, + 181.25249047958653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858931685095, + "ymin": 180.19158447364768, + "xmax": 885.6835646785025, + "ymax": 197.54350865410396 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049646050986, + 197.54350865410396 + ], + [ + 882.2260751658515, + 196.46938497784745 + ], + [ + 863.7858931685095, + 196.40350279570873 + ], + [ + 864.1348339540428, + 197.477412559599 + ], + [ + 885.6835646785025, + 181.31778748803228 + ], + [ + 885.2948258868894, + 180.25666763677572 + ], + [ + 866.6207404256502, + 180.19158447364768 + ], + [ + 866.9787653493534, + 181.25249032322532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858972305385, + "ymin": 180.19158459176288, + "xmax": 885.6835688031725, + "ymax": 197.54350877408157 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049686775265, + 197.54350877408157 + ], + [ + 882.2260792316152, + 196.4693850974366 + ], + [ + 863.7858972305385, + 196.40350291527406 + ], + [ + 864.1348380227238, + 197.47741267955266 + ], + [ + 885.6835688031725, + 181.31778760655976 + ], + [ + 885.2948300047233, + 180.25666775491467 + ], + [ + 866.620744539654, + 180.19158459176288 + ], + [ + 866.9787694701806, + 181.2524904417289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.2288316207924, + "ymin": 192.65784938137918, + "xmax": 836.8355240489661, + "ymax": 210.20369101375383 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 834.321943089459, + 210.20369101375383 + ], + [ + 834.0155214495653, + 209.0882015157444 + ], + [ + 815.2288316207924, + 209.01978438977483 + ], + [ + 815.5041675341035, + 210.13504750080472 + ], + [ + 836.8355240489661, + 193.82798747123155 + ], + [ + 836.5209433163595, + 192.72546938989916 + ], + [ + 817.4914189305468, + 192.65784938137918 + ], + [ + 817.7741044404872, + 193.76014081683107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.237057217449, + "ymin": 172.41878143689453, + "xmax": 886.0936745620783, + "ymax": 190.946890458436 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6328656407527, + 190.946890458436 + ], + [ + 882.5826722687638, + 190.80602807601016 + ], + [ + 866.237057217449, + 190.74812886682142 + ], + [ + 866.2837391134083, + 190.8889664002518 + ], + [ + 886.0936745620783, + 172.61474880336817 + ], + [ + 886.0420123788422, + 172.47586651421926 + ], + [ + 869.4630127596818, + 172.41878143689453 + ], + [ + 869.511062465586, + 172.55763887698066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858980361094, + "ymin": 180.19158459460604, + "xmax": 885.6835696395653, + "ymax": 197.54350882973816 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049695031803, + 197.54350882973816 + ], + [ + 882.2260800373465, + 196.46938510031524 + ], + [ + 863.7858980361094, + 196.4035029181521 + ], + [ + 864.1348388467455, + 197.47741273519821 + ], + [ + 885.6835696395653, + 181.31778766154378 + ], + [ + 885.2948308206759, + 180.2566677577584 + ], + [ + 866.6207453554422, + 180.19158459460604 + ], + [ + 866.9787703048996, + 181.2524904967018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2071252033197, + "ymin": 172.01253137411865, + "xmax": 888.7294591492912, + "ymax": 191.53144866226165 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 885.05243465185, + 191.53144866226165 + ], + [ + 884.9916608848858, + 191.36248895446963 + ], + [ + 863.2071252033197, + 191.28525967141337 + ], + [ + 863.2622904303626, + 191.45417965628025 + ], + [ + 888.7294591492912, + 172.25508371981954 + ], + [ + 888.6668141949967, + 172.08861955107346 + ], + [ + 866.5550862426488, + 172.01253137411865 + ], + [ + 866.6119528951048, + 172.1789558195889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.23718842305, + "ymin": 172.4187551370668, + "xmax": 886.0938068607561, + "ymax": 190.94686376733696 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6329962195986, + 190.94686376733696 + ], + [ + 882.5828028216365, + 190.80600139636192 + ], + [ + 866.23718842305, + 190.74810219187913 + ], + [ + 866.2838703452628, + 190.8889397138618 + ], + [ + 886.0938068607561, + 172.61472248738366 + ], + [ + 886.0421446508628, + 172.47584020968557 + ], + [ + 869.4631457032037, + 172.4187551370668 + ], + [ + 869.5111954360577, + 172.55761256570517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858931685095, + "ymin": 180.19158447364768, + "xmax": 885.6835646785025, + "ymax": 197.54350865410396 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049646050986, + 197.54350865410396 + ], + [ + 882.2260751658515, + 196.46938497784745 + ], + [ + 863.7858931685095, + 196.40350279570873 + ], + [ + 864.1348339540428, + 197.477412559599 + ], + [ + 885.6835646785025, + 181.31778748803228 + ], + [ + 885.2948258868894, + 180.25666763677572 + ], + [ + 866.6207404256502, + 180.19158447364768 + ], + [ + 866.9787653493534, + 181.25249032322532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2071404068843, + "ymin": 172.01257724060326, + "xmax": 888.7294764037666, + "ymax": 191.5314951991282 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 885.0524513908745, + 191.5314951991282 + ], + [ + 884.9916776341663, + 191.36253551984922 + ], + [ + 863.2071404068843, + 191.28530622584674 + ], + [ + 863.2623056246166, + 191.45422618220442 + ], + [ + 888.7294764037666, + 172.25512956951235 + ], + [ + 888.6668314599108, + 172.08866542850436 + ], + [ + 866.5551019150666, + 172.01257724060326 + ], + [ + 866.6119685580459, + 172.1790016583392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2072882229344, + "ymin": 172.01252564932582, + "xmax": 888.7296244283632, + "ymax": 191.53144279478173 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 885.0525975203923, + 191.53144279478173 + ], + [ + 884.9918237309603, + 191.36248314244474 + ], + [ + 863.2072882229344, + 191.28525386075472 + ], + [ + 863.2624534742761, + 191.45417379018002 + ], + [ + 888.7296244283632, + 172.25507793898015 + ], + [ + 888.6669794509494, + 172.0886138249144 + ], + [ + 866.5552516773947, + 172.01252564932582 + ], + [ + 866.6121183548576, + 172.17895004012917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.7858906834484, + "ymin": 180.1915842573198, + "xmax": 885.6835621502262, + "ymax": 197.5435084343652 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 882.6049621095235, + 197.5435084343652 + ], + [ + 882.2260726744435, + 196.46938475881979 + ], + [ + 863.7858906834484, + 196.40350257672466 + ], + [ + 864.1348314648353, + 197.47741233990405 + ], + [ + 885.6835621502262, + 181.3177872709493 + ], + [ + 885.2948233628897, + 180.2566674204042 + ], + [ + 866.6207379081596, + 180.1915842573198 + ], + [ + 866.9787628276074, + 181.25249010618614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2071139780469, + "ymin": 172.01248531516922, + "xmax": 888.7294459071566, + "ymax": 191.53140187743168 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 885.0524218672383, + 191.53140187743168 + ], + [ + 884.991648107886, + 191.36244219369243 + ], + [ + 863.2071139780469, + 191.28521292162836 + ], + [ + 863.2622791982768, + 191.454132882451 + ], + [ + 888.7294459071566, + 172.2550376258249 + ], + [ + 888.6668009608428, + 172.08857348113187 + ], + [ + 866.5550746071841, + 172.01248531516922 + ], + [ + 866.6119412524948, + 172.17890973659513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.2834420025113, + "ymin": 179.85447207941888, + "xmax": 788.791950172918, + "ymax": 197.20107900340238 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 786.9284376613776, + 197.20107900340238 + ], + [ + 786.7046198429503, + 196.12806333078032 + ], + [ + 768.2834420025113, + 196.06224905046508 + ], + [ + 768.4773728852126, + 197.13505114160856 + ], + [ + 788.791950172918, + 180.97949870891676 + ], + [ + 788.5622435410679, + 179.91948731513278 + ], + [ + 769.907646907479, + 179.85447207941888 + ], + [ + 770.1067037674021, + 180.9142698067423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2071236188522, + "ymin": 172.01253147176772, + "xmax": 888.7294575249032, + "ymax": 191.53144870898421 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 885.0524330512143, + 191.53144870898421 + ], + [ + 884.9916593035191, + 191.36248905360662 + ], + [ + 863.2071236188522, + 191.2852597705271 + ], + [ + 863.2622888283661, + 191.45417970299184 + ], + [ + 888.7294575249032, + 172.2550837658522 + ], + [ + 888.6668125904705, + 172.08861964874583 + ], + [ + 866.555084634928, + 172.01253147176772 + ], + [ + 866.6119512693149, + 172.17895586561056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.3533160692207, + "ymin": 184.76675277327132, + "xmax": 885.2027322411406, + "ymax": 202.03643235535105 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 882.1359806367667, + 202.03643235535105 + ], + [ + 881.7585661802608, + 200.957078026284 + ], + [ + 863.3533160692207, + 200.8908748024725 + ], + [ + 863.7008953217362, + 201.9700145844488 + ], + [ + 885.2027322411406, + 185.89875708223062 + ], + [ + 884.815525349943, + 184.83217139855446 + ], + [ + 866.1772627575197, + 184.76675277327132 + ], + [ + 866.533873602174, + 185.83312376534536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.2373065570678, + "ymin": 172.4187910892807, + "xmax": 886.0939278352105, + "ymax": 190.94690025442395 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6331153004799, + 190.94690025442395 + ], + [ + 882.582921874183, + 190.80603786779554 + ], + [ + 866.2373065570678, + 190.74813865687963 + ], + [ + 866.2839885072207, + 190.8889761945115 + ], + [ + 886.0939278352105, + 172.6147584616841 + ], + [ + 886.0422655960836, + 172.47587616833263 + ], + [ + 869.4632657034792, + 172.4187910892807 + ], + [ + 869.511315465155, + 172.55764853356834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.5133248259932, + "ymin": 181.36398121164513, + "xmax": 779.9430609796226, + "ymax": 198.73436746116562 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 778.1863202947366, + 198.73436746116562 + ], + [ + 777.9761695763716, + 197.65638606455573 + ], + [ + 759.5133248259932, + 197.5902674703176 + ], + [ + 759.6934531409634, + 198.66803380118358 + ], + [ + 779.9430609796226, + 182.49428020767692 + ], + [ + 779.7273565726728, + 181.42930088634603 + ], + [ + 761.0300291569416, + 181.36398121164513 + ], + [ + 761.2149430986681, + 182.42874536275525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.237460607133, + "ymin": 172.41878217414825, + "xmax": 886.0940838523741, + "ymax": 190.9468912066581 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 882.6332691712662, + 190.9468912066581 + ], + [ + 882.5830757126511, + 190.80602882391125 + ], + [ + 866.237460607133, + 190.7481296145906 + ], + [ + 866.2841425896952, + 190.8889671483419 + ], + [ + 886.0940838523741, + 172.61474954107481 + ], + [ + 886.0424215800216, + 172.4758672516049 + ], + [ + 869.4634219051004, + 172.41878217414825 + ], + [ + 869.5114717000968, + 172.55763961455526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.54137007182544, + "ymin": 92.83924621783689, + "xmax": 335.7132465946457, + "ymax": 123.05705583547726 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 335.7132465946457, + 117.69715628853041 + ], + [ + 327.3169915833774, + 117.67065580750315 + ], + [ + 324.36462876805166, + 123.030062765287 + ], + [ + 332.8378907471729, + 123.05705583547726 + ], + [ + 330.15114710330084, + 92.8650824152391 + ], + [ + 321.60168017748475, + 92.83924621783689 + ], + [ + 318.54137007182544, + 98.06518297925652 + ], + [ + 327.17069335618555, + 98.09150825953543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 337.68886279862556, + "ymin": 60.727998966901794, + "xmax": 353.4021839051898, + "ymax": 89.49194405048746 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 353.4021839051898, + 84.72332018380683 + ], + [ + 345.47973807362786, + 84.69973004299584 + ], + [ + 342.8530478394086, + 89.46794375076001 + ], + [ + 350.84402111293, + 89.49194405048746 + ], + [ + 348.4646384890876, + 60.75095032788397 + ], + [ + 340.40592492750744, + 60.727998966901794 + ], + [ + 337.68886279862556, + 65.36778684948507 + ], + [ + 345.8184919927507, + 65.3911442351066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.2036000181224, + "ymin": 136.95260698951168, + "xmax": 311.47211154773294, + "ymax": 169.11183095130522 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 311.47211154773294, + 162.88497248063433 + ], + [ + 302.42669371999995, + 162.85420759987102 + ], + [ + 298.996812929531, + 169.08045351029773 + ], + [ + 308.1316713353547, + 169.11183095130522 + ], + [ + 304.99256202536327, + 136.98268580548302 + ], + [ + 295.7690738928246, + 136.95260698951168 + ], + [ + 292.2036000181224, + 143.04118965694556 + ], + [ + 301.5201029826831, + 143.07187936403002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.61995442533714, + "ymin": 19.71243324080382, + "xmax": 412.40751228194154, + "ymax": 41.86794335472325 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 406.31952672493037, + 38.520383404616496 + ], + [ + 404.7185665721273, + 41.85112672144572 + ], + [ + 410.8467187063718, + 41.86794335472325 + ], + [ + 412.40751228194154, + 38.53698002954701 + ], + [ + 403.26246040517117, + 19.71243324080382 + ], + [ + 401.61995442533714, + 22.96115689552454 + ], + [ + 407.8287118529148, + 22.977560843508968 + ], + [ + 409.42999121797345, + 19.728619781258374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.6164941410108, + "ymin": 313.8983678502632, + "xmax": 285.08441558713963, + "ymax": 346.3523327389904 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 285.08441558713963, + 337.85926295638603 + ], + [ + 275.3891398638593, + 337.8171127679819 + ], + [ + 271.4439386726284, + 346.30928683067526 + ], + [ + 281.2414819850323, + 346.3523327389904 + ], + [ + 277.6267611154297, + 313.9401225914186 + ], + [ + 267.728173997407, + 313.8983678502632 + ], + [ + 263.6164941410108, + 322.31272883924544 + ], + [ + 273.62170652071876, + 322.3553898434235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.3684620433262, + "ymin": 180.99540507122015, + "xmax": 798.1376726649158, + "ymax": 235.4931491147259 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 791.5739935093438, + 235.4931491147259 + ], + [ + 791.4123778322502, + 234.700222331752 + ], + [ + 789.3684620433262, + 234.69249451124446 + ], + [ + 789.5277619206738, + 235.48540378614868 + ], + [ + 798.1376726649158, + 181.76668565427622 + ], + [ + 797.9613229426434, + 181.00284901273048 + ], + [ + 795.8289285706807, + 180.99540507122015 + ], + [ + 796.0027575338879, + 181.75922411711335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.5837351334739, + "ymin": 180.93420720425533, + "xmax": 780.6053294652785, + "ymax": 235.42947181550196 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 774.7698796289797, + 235.42947181550196 + ], + [ + 774.6272803222118, + 234.63668896731252 + ], + [ + 772.5837351334739, + 234.62896254878413 + ], + [ + 772.724019480388, + 235.42172789367083 + ], + [ + 780.6053294652785, + 181.70534172437135 + ], + [ + 780.4496790116797, + 180.94164973688498 + ], + [ + 778.317688003493, + 180.93420720425533 + ], + [ + 778.4708186517944, + 181.69788160108726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.6311287245026, + "ymin": 481.3318766267638, + "xmax": 794.8249465951578, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 756.3931894468511, + 485.15999021729573 + ], + [ + 738.6311287245026, + 485.06880061244163 + ], + [ + 770.0670766527818, + 817.2563413955953 + ], + [ + 794.0400881646301, + 817.4223925245126 + ], + [ + 756.8320807482755, + 481.423050308034 + ], + [ + 739.0030076755118, + 481.3318766267638 + ], + [ + 770.7297026244064, + 813.8994087869223 + ], + [ + 794.8249465951578, + 814.0658692643025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2639802812666, + "ymin": 193.774667351189, + "xmax": 828.5178775868313, + "ymax": 248.7795144340966 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 820.5449641189734, + 248.7795144340966 + ], + [ + 820.3469067642005, + 247.95627029198698 + ], + [ + 818.2639802812666, + 247.9482471710409 + ], + [ + 818.4596325422469, + 248.7714727914205 + ], + [ + 828.5178775868313, + 194.57675172635098 + ], + [ + 828.301492214424, + 193.78240841449843 + ], + [ + 826.1266015129255, + 193.774667351189 + ], + [ + 826.3403645929528, + 194.5689920028139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.7580914861029, + "ymin": 481.47471632806486, + "xmax": 794.6413685743839, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 756.2958339120331, + 485.2538333457242 + ], + [ + 738.7580914861029, + 485.1638723417803 + ], + [ + 770.2040296372448, + 817.0214917553212 + ], + [ + 793.8675707978823, + 817.1852128760798 + ], + [ + 756.7287935495591, + 481.56466190719163 + ], + [ + 739.1257246668023, + 481.47471632806486 + ], + [ + 770.8587398223941, + 813.7069692004386 + ], + [ + 794.6413685743839, + 813.871088481982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.7511775502617, + "ymin": 185.148750421368, + "xmax": 876.8434764436191, + "ymax": 239.34501869837587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 867.0372417353302, + 239.34501869837587 + ], + [ + 866.790893848035, + 238.54969769422001 + ], + [ + 864.7511775502617, + 238.54194651796195 + ], + [ + 864.9952191514474, + 239.33725000441677 + ], + [ + 876.8434764436191, + 185.92299001164133 + ], + [ + 876.5749611414927, + 185.15622294411148 + ], + [ + 874.4471373843087, + 185.148750421368 + ], + [ + 874.7131427303937, + 185.91549987110298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.1479736516076, + "ymin": 0.0, + "xmax": 806.304593171435, + "ymax": 133.5768569098072 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 777.5031236952102, + 94.96144945000913 + ], + [ + 768.1479736516076, + 94.93314277873515 + ], + [ + 776.377727604887, + 133.54451145693446 + ], + [ + 786.3776954008724, + 133.5768569098072 + ], + [ + 794.8633594621679, + -79.42331248535152 + ], + [ + 784.32616996239, + -79.44527631528888 + ], + [ + 794.942156927473, + -49.22318571207546 + ], + [ + 806.304593171435, + -49.19764585055049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.1258939042821, + "ymin": 468.2040746780474, + "xmax": 805.3790804767391, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 731.980733905149, + 722.345288051113 + ], + [ + 710.1258939042821, + 722.2050788923489 + ], + [ + 725.7211316065028, + 1023.5943369436513 + ], + [ + 753.1241578663187, + 1023.8147270084962 + ], + [ + 762.9719270853554, + 468.35144249379346 + ], + [ + 733.7497783325188, + 468.2040746780474 + ], + [ + 765.3093354671872, + 814.5742226911045 + ], + [ + 805.3790804767391, + 814.8511960979445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.6561556909933, + "ymin": 182.62726775786544, + "xmax": 800.5495728644784, + "ymax": 237.1909473728174 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 793.8696493173579, + 237.1909473728174 + ], + [ + 793.7050403438748, + 236.39417805663865 + ], + [ + 791.6561556909933, + 236.3864128090167 + ], + [ + 791.818437584864, + 237.1831644897065 + ], + [ + 800.5495728644784, + 183.40244832113117 + ], + [ + 800.3699253788851, + 182.6347493168585 + ], + [ + 798.2321220725353, + 182.62726775786544 + ], + [ + 798.4092359870426, + 183.39494903285902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.0709754358014, + "ymin": 182.4480702280382, + "xmax": 771.731735728411, + "ymax": 237.00452625830656 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 766.2522784273974, + 237.00452625830656 + ], + [ + 766.1190122392517, + 236.20817930622718 + ], + [ + 764.0709754358014, + 236.20041817257436 + ], + [ + 764.20191647048, + 236.99674750318565 + ], + [ + 771.731735728411, + 183.22282205250676 + ], + [ + 771.5862133638524, + 182.45554765155944 + ], + [ + 769.4493330565399, + 182.4480702280382 + ], + [ + 769.5923240380005, + 183.2153269144129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.37334644909924, + "ymin": 0.0, + "xmax": 425.16410445429653, + "ymax": 94.07177755449806 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 423.4718419507134, + 94.07177755449806 + ], + [ + 425.16410445429653, + 90.06570492523127 + ], + [ + 174.2323569905481, + 88.32862263385317 + ], + [ + 170.7422390700346, + 92.30960068506067 + ], + [ + 393.66358732212404, + -96.19689584607244 + ], + [ + 395.82938897887766, + -99.20227235689413 + ], + [ + 110.86006660032365, + -100.50360239464158 + ], + [ + 106.37334644909924, + -97.51961935228957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 219.19706986733564, + "ymin": 0.0, + "xmax": 396.85400993882126, + "ymax": 415.80006106330745 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 299.370433787129, + 415.64267975749146 + ], + [ + 313.6838580211133, + 415.80006106330745 + ], + [ + 396.85400993882126, + 204.0600724961109 + ], + [ + 385.96711160133157, + 203.96921938585623 + ], + [ + 219.19706986733564, + 166.0236297119785 + ], + [ + 236.86247443829984, + 166.16299143935234 + ], + [ + 355.6905566349114, + -11.305403432681544 + ], + [ + 342.9673801549417, + -11.377473921370552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.3980231089015, + "ymin": 181.2722882144029, + "xmax": 877.5554679906543, + "ymax": 235.78124410208767 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6914140121557, + 235.78124410208767 + ], + [ + 867.4436170211709, + 234.9876659523751 + ], + [ + 865.3980231089015, + 234.97993178731207 + ], + [ + 865.6435004955722, + 235.77349240737703 + ], + [ + 877.5554679906543, + 182.04422981653056 + ], + [ + 877.2853060764975, + 181.27973853190824 + ], + [ + 875.1510851642644, + 181.2722882144029 + ], + [ + 875.4187219987434, + 182.0367618807475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.60601374855116, + "ymin": 0.0, + "xmax": 616.6900237582105, + "ymax": 40.990179268912186 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 616.6900237582105, + 29.562107130213974 + ], + [ + 593.756870609863, + -17.162175702810373 + ], + [ + 467.27378735215126, + -7.809192020135924 + ], + [ + 477.25533254489994, + 40.990179268912186 + ], + [ + 612.597897535999, + -224.3970980754557 + ], + [ + 586.5244964294345, + -250.72076655529145 + ], + [ + 439.60601374855116, + -245.5203477018648 + ], + [ + 447.90689627989445, + -217.8254532791758 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..162d657dbe5199927ebbf22552d27e776ef87d2a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00052/meta.json @@ -0,0 +1,7994 @@ +{ + "frame_id": 52, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 7303.588346542325 + }, + "drone_pose": { + "x": 8.44184515107681, + "y": -28.746919391995753, + "z": 20.00023364968191, + "pitch": -41.73741470737769, + "yaw": 84.86898138442865, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06673562526702881, + -0.743213415145874, + 0.6657177805900574, + 7.487215042114258 + ], + [ + 0.9959927797317505, + 0.08943355083465576, + 0.0, + 10.978955268859863 + ], + [ + -0.05953747034072876, + 0.66305011510849, + 0.7462036609649658, + -33.4822883605957 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.44742684849956, + "y": -28.244877322198068, + "z": 20.000172644395942 + }, + "t1_image_uv": [ + 741.1048518848864, + -496.24387333345805 + ], + "t1_depth": 0.373537518822584 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -7.687763214111328, + "z": 1.1369380843639374 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.335274012017425, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 558, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -7.68776273727417, + "z": 1.1369380950927734 + }, + "extent": { + "x": 0.4043087661266327, + "y": 0.4728311002254486, + "z": 0.9307519197463989 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.2634213105524, + "ymin": 326.08889419682515, + "xmax": 657.3956830893554, + "ymax": 393.229672771024 + }, + "corners_3d": [ + [ + 10.805647850036621, + -8.092071533203125, + 0.2061861753463745 + ], + [ + 9.859986305236816, + -8.092071533203125, + 0.2061861753463745 + ], + [ + 9.859986305236816, + -7.283453941345215, + 0.2061861753463745 + ], + [ + 10.805647850036621, + -7.283453941345215, + 0.2061861753463745 + ], + [ + 10.805647850036621, + -8.092071533203125, + 2.067689895629883 + ], + [ + 9.859986305236816, + -8.092071533203125, + 2.067689895629883 + ], + [ + 9.859986305236816, + -7.283453941345215, + 2.067689895629883 + ], + [ + 10.805647850036621, + -7.283453941345215, + 2.067689895629883 + ] + ], + "corners_2d": [ + [ + 623.0296431603543, + 391.2723627173714 + ], + [ + 654.5822737012569, + 393.229672771024 + ], + [ + 656.658019271215, + 374.93370948489803 + ], + [ + 625.7483838986918, + 373.0559892151264 + ], + [ + 622.2634213105524, + 344.0993530161999 + ], + [ + 655.2421895263803, + 346.03652378056177 + ], + [ + 657.3956830893554, + 327.9438475817205 + ], + [ + 625.1187023858005, + 326.08889419682515 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 366709, + "2": 192040, + "3": 16603, + "5": 5920, + "6": 8913, + "7": 1036, + "9": 46, + "10": 896, + "12": 2708, + "14": 25026, + "20": 2401, + "24": 24189, + "25": 275113 + }, + "instance_pixel_counts": { + "381": 3875, + "586": 4681, + "3146": 2041, + "3156": 1764, + "7262": 2289, + "11676": 78076, + "11870": 647, + "12188": 28777, + "13406": 232, + "14236": 59467, + "16284": 39065, + "18013": 211000, + "19037": 64113, + "19038": 850, + "19354": 2079, + "19866": 2322, + "20378": 2181, + "20573": 3425, + "20890": 3521, + "21085": 37016, + "21597": 27650, + "23418": 5778, + "23441": 12438, + "23450": 8556, + "24442": 1341, + "25498": 8068, + "25978": 1863, + "27516": 2564, + "28026": 1219, + "28530": 16, + "28786": 10506, + "29052": 5347, + "29554": 5358, + "31612": 5638, + "33660": 3161, + "34304": 371, + "34816": 6770, + "35072": 664, + "36252": 61959, + "36764": 15043, + "38300": 46497, + "38483": 380, + "40860": 37825, + "43008": 558, + "43264": 247, + "43520": 162, + "43776": 603, + "44032": 292, + "44288": 846, + "44544": 4815, + "44922": 4587, + "45434": 572, + "45824": 7773, + "46173": 745, + "49778": 723, + "51309": 46, + "51587": 360, + "52636": 2743, + "54684": 2173, + "57241": 7546, + "58265": 20637, + "58697": 1239, + "59772": 1117, + "60284": 1292, + "60796": 730, + "61308": 1063, + "61337": 26508, + "63385": 13507, + "63868": 4237 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 558, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -7.68776273727417, + "z": 1.1369380950927734 + }, + "extent": { + "x": 0.3881435990333557, + "y": 0.5572219491004944, + "z": 0.9169331192970276 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3942496452996, + "ymin": 326.6400718048084, + "xmax": 660.235583310428, + "ymax": 392.6960593964438 + }, + "corners_3d": [ + [ + 10.89003849029541, + -8.075906753540039, + 0.22000497579574585 + ], + [ + 9.775594711303711, + -8.075905799865723, + 0.22000497579574585 + ], + [ + 9.775595664978027, + -7.299618721008301, + 0.22000497579574585 + ], + [ + 10.890039443969727, + -7.299619197845459, + 0.22000497579574585 + ], + [ + 10.89003849029541, + -8.075906753540039, + 2.0538711547851562 + ], + [ + 9.775594711303711, + -8.075905799865723, + 2.0538711547851562 + ], + [ + 9.775595664978027, + -7.299618721008301, + 2.0538711547851562 + ], + [ + 10.890039443969727, + -7.299619197845459, + 2.0538711547851562 + ] + ], + "corners_2d": [ + [ + 620.2709455816599, + 390.39149149138115 + ], + [ + 657.4516024859896, + 392.6960593964438 + ], + [ + 659.3894562511872, + 375.1260064604753 + ], + [ + 622.9367190482342, + 372.9114935746016 + ], + [ + 619.3942496452996, + 343.92512078922346 + ], + [ + 658.2292007579634, + 346.20624595625225 + ], + [ + 660.235583310428, + 328.82821321115813 + ], + [ + 622.1940770873093, + 326.6400718048084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 247, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 13.940709114074707, + "y": -4.720016956329346, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.25704225897789, + "y": 0.3396463394165039, + "z": 0.6150265336036682 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 524.1756158693684, + "ymin": 274.77639288507737, + "xmax": 548.7230761529421, + "ymax": 316.3391648198057 + }, + "corners_3d": [ + [ + 14.219491004943848, + -5.042058944702148, + 0.3697289228439331 + ], + [ + 13.555042266845703, + -4.900825500488281, + 0.3697289228439331 + ], + [ + 13.661927223205566, + -4.397974967956543, + 0.3697289228439331 + ], + [ + 14.326375961303711, + -4.53920841217041, + 0.3697289228439331 + ], + [ + 14.219491004943848, + -5.042058944702148, + 1.5997819900512695 + ], + [ + 13.555042266845703, + -4.900825500488281, + 1.5997819900512695 + ], + [ + 13.661927223205566, + -4.397974967956543, + 1.5997819900512695 + ], + [ + 14.326375961303711, + -4.53920841217041, + 1.5997819900512695 + ] + ], + "corners_2d": [ + [ + 527.7080169481527, + 316.3391648198057 + ], + [ + 548.7230761529421, + 314.7564079929985 + ], + [ + 547.9531772190644, + 304.9523838037447 + ], + [ + 527.1911047442092, + 306.4970780235492 + ], + [ + 524.6685570776194, + 286.0310244104738 + ], + [ + 546.2573818108094, + 284.46612556367097 + ], + [ + 545.4975379704014, + 274.77639288507737 + ], + [ + 524.1756158693684, + 276.3026598805298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 162, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": -0.7450506687164307, + "z": 0.6846967339515686 + }, + "extent": { + "x": 0.3064715266227722, + "y": 0.4268895387649536, + "z": 0.5572518706321716 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 708.3038491281568, + "ymin": 223.74990149634283, + "xmax": 735.8284333647449, + "ymax": 260.33018911797757 + }, + "corners_3d": [ + [ + 8.46950912475586, + -1.0944653749465942, + 0.12744486331939697 + ], + [ + 7.6204071044921875, + -1.0052212476730347, + 0.12744486331939697 + ], + [ + 7.684476852416992, + -0.3956359326839447, + 0.12744486331939697 + ], + [ + 8.533578872680664, + -0.48488011956214905, + 0.12744486331939697 + ], + [ + 8.46950912475586, + -1.0944653749465942, + 1.2419486045837402 + ], + [ + 7.6204071044921875, + -1.0052212476730347, + 1.2419486045837402 + ], + [ + 7.684476852416992, + -0.3956359326839447, + 1.2419486045837402 + ], + [ + 8.533578872680664, + -0.48488011956214905, + 1.2419486045837402 + ] + ], + "corners_2d": [ + [ + 709.4926376470896, + 260.33018911797757 + ], + [ + 733.7244552248992, + 260.1138085718475 + ], + [ + 732.212445227919, + 250.01168854410668 + ], + [ + 708.3038491281568, + 250.22232936027245 + ], + [ + 711.0531027988917, + 233.9289331227163 + ], + [ + 735.8284333647449, + 233.71541327941597 + ], + [ + 734.2542286348888, + 223.74990149634283 + ], + [ + 709.8166806222883, + 223.95763290529172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 603, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -7.68776273727417, + "z": 1.137089490890503 + }, + "extent": { + "x": 0.41819339990615845, + "y": 0.553625762462616, + "z": 0.9580770134925842 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 939.4416756147402, + "ymin": 343.901231263161, + "xmax": 998.4756742938548, + "ymax": 414.5539103672062 + }, + "corners_3d": [ + [ + 1.3864426612854004, + -8.105956077575684, + 0.1790124773979187 + ], + [ + 0.27919119596481323, + -8.105956077575684, + 0.1790124773979187 + ], + [ + 0.27919143438339233, + -7.269569396972656, + 0.1790124773979187 + ], + [ + 1.3864428997039795, + -7.269569396972656, + 0.1790124773979187 + ], + [ + 1.3864426612854004, + -8.105956077575684, + 2.0951664447784424 + ], + [ + 0.27919119596481323, + -8.105956077575684, + 2.0951664447784424 + ], + [ + 0.27919143438339233, + -7.269569396972656, + 2.0951664447784424 + ], + [ + 1.3864428997039795, + -7.269569396972656, + 2.0951664447784424 + ] + ], + "corners_2d": [ + [ + 943.5153548214696, + 412.1553041675762 + ], + [ + 982.1392088771667, + 414.5539103672062 + ], + [ + 977.2159066926297, + 394.7622777066148 + ], + [ + 939.4416756147402, + 392.4666274801596 + ], + [ + 957.9676344177752, + 363.4005168340111 + ], + [ + 998.4756742938548, + 365.77880016614955 + ], + [ + 992.9511692640431, + 346.172728505903 + ], + [ + 953.3766400011343, + 343.901231263161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 292, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -18.81512451171875, + "z": 1.1457760334014893 + }, + "extent": { + "x": 0.45049411058425903, + "y": 0.40606388449668884, + "z": 0.9363252520561218 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 740.9236311443498, + "ymin": 680.6775921294673, + "xmax": 792.4493582544923, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.168247222900391, + -19.220705032348633, + 0.20945078134536743 + ], + [ + 6.360568046569824, + -19.30559539794922, + 0.20945078134536743 + ], + [ + 6.266388893127441, + -18.409543991088867, + 0.20945078134536743 + ], + [ + 7.074068069458008, + -18.32465362548828, + 0.20945078134536743 + ], + [ + 7.168247222900391, + -19.220705032348633, + 2.082101345062256 + ], + [ + 6.360568046569824, + -19.30559539794922, + 2.082101345062256 + ], + [ + 6.266388893127441, + -18.409543991088867, + 2.082101345062256 + ], + [ + 7.074068069458008, + -18.32465362548828, + 2.082101345062256 + ] + ], + "corners_2d": [ + [ + 740.9236311443498, + 765.8645971719504 + ], + [ + 779.6599818902414, + 773.2291428001352 + ], + [ + 783.2737623321048, + 732.7915401705823 + ], + [ + 745.7438829053701, + 725.8873496459553 + ], + [ + 747.572377835441, + 721.7124848193198 + ], + [ + 788.9178763621758, + 729.2905524381429 + ], + [ + 792.4493582544923, + 687.7522299972794 + ], + [ + 752.4755176266925, + 680.6775921294673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 846, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -15.857976913452148, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.3221814036369324, + "y": 0.49817442893981934, + "z": 0.8772427439689636 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.02010320726276, + "ymin": 519.8119977383817, + "xmax": 180.1901787661784, + "ymax": 595.4717845509497 + }, + "corners_3d": [ + [ + 22.132427215576172, + -16.069541931152344, + 0.25992971658706665 + ], + [ + 21.15785026550293, + -16.276695251464844, + 0.25992971658706665 + ], + [ + 21.023880004882812, + -15.646411895751953, + 0.25992971658706665 + ], + [ + 21.998456954956055, + -15.43925952911377, + 0.25992971658706665 + ], + [ + 22.132427215576172, + -16.069541931152344, + 2.0144152641296387 + ], + [ + 21.15785026550293, + -16.276695251464844, + 2.0144152641296387 + ], + [ + 21.023880004882812, + -15.646411895751953, + 2.0144152641296387 + ], + [ + 21.998456954956055, + -15.43925952911377, + 2.0144152641296387 + ] + ], + "corners_2d": [ + [ + 128.78473149378942, + 585.2861351043191 + ], + [ + 163.27179194347934, + 595.4717845509497 + ], + [ + 180.1901787661784, + 574.3173022545402 + ], + [ + 146.2103365692675, + 564.5207552147635 + ], + [ + 102.02010320726276, + 540.7436955343005 + ], + [ + 138.06529023892358, + 551.026313577906 + ], + [ + 156.3736246293305, + 529.6817694410852 + ], + [ + 120.87975003143083, + 519.8119977383817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 4815, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 239.8464144541661, + "ymin": 1.8679474848289601, + "xmax": 348.10588433589294, + "ymax": 104.639369063629 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 252.8576452692513, + 102.6300115722346 + ], + [ + 304.965069754172, + 104.639369063629 + ], + [ + 348.10588433589294, + 45.56695903006812 + ], + [ + 300.973789651461, + 43.93259727578925 + ], + [ + 239.8464144541661, + 57.81541602952035 + ], + [ + 293.6660453051942, + 59.737159345640464 + ], + [ + 339.2585317761707, + 3.420769255681364 + ], + [ + 290.72977791546595, + 1.8679474848289601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 7773, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 333.5311103374015, + "ymin": 252.02648907699523, + "xmax": 501.4916187232633, + "ymax": 330.234669470623 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 360.22749292253934, + 287.8292614262848 + ], + [ + 343.2004528704303, + 321.8837777525363 + ], + [ + 490.4873322901533, + 330.234669470623 + ], + [ + 501.4916187232633, + 295.4963234875788 + ], + [ + 351.50399422735296, + 252.02648907699523 + ], + [ + 333.5311103374015, + 285.5852111704738 + ], + [ + 485.56506158456887, + 293.8284208940414 + ], + [ + 497.12928270159085, + 259.57399890760473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934738019772, + "ymin": 202.72952674683404, + "xmax": 973.0305073076886, + "ymax": 221.8128445511762 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594457037616, + 221.8128445511762 + ], + [ + 968.0967474761376, + 220.5894245767502 + ], + [ + 947.9934738019772, + 219.60584531462368 + ], + [ + 948.3214205736813, + 220.82590836830056 + ], + [ + 973.0305073076886, + 204.91450094614368 + ], + [ + 972.6548762150487, + 203.7032671694762 + ], + [ + 952.266364295558, + 202.72952674683404 + ], + [ + 952.6062502049817, + 203.93739092479709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934790646179, + "ymin": 202.72952700173528, + "xmax": 973.0305126691701, + "ymax": 221.81284481024755 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594509900045, + 221.81284481024755 + ], + [ + 968.0967527532457, + 220.58942483493976 + ], + [ + 947.9934790646179, + 219.60584557210538 + ], + [ + 948.321425845407, + 220.82590862666046 + ], + [ + 973.0305126691701, + 204.91450120264054 + ], + [ + 972.654881567134, + 203.70326742508792 + ], + [ + 952.2663696327668, + 202.72952700173528 + ], + [ + 952.606255551535, + 203.93739118057977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.7118342605592, + "ymin": 200.55575870906276, + "xmax": 889.2729384358367, + "ymax": 219.60344113521242 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 885.862028665863, + 219.60344113521242 + ], + [ + 885.6406999286392, + 218.38752980343406 + ], + [ + 865.7118342605592, + 217.40997789322424 + ], + [ + 865.8990081990016, + 218.62256313991674 + ], + [ + 889.2729384358367, + 202.72714666213193 + ], + [ + 889.0426722740549, + 201.52344961778738 + ], + [ + 868.8334701836679, + 200.55575870906276 + ], + [ + 869.028613170916, + 201.75611753422393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2719008580068, + "ymin": 198.62630709169713, + "xmax": 886.7262450885212, + "ymax": 217.6422369197964 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 883.3594294997235, + 217.6422369197964 + ], + [ + 883.1429438750698, + 216.4329712840733 + ], + [ + 863.2719008580068, + 215.46075418144008 + ], + [ + 863.4544296670573, + 216.66672094496275 + ], + [ + 886.7262450885212, + 200.78567151560233 + ], + [ + 886.5009894031964, + 199.58864422314042 + ], + [ + 866.3512442034055, + 198.62630709169713 + ], + [ + 866.5415831562525, + 199.82002385336543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.0943061223086, + "ymin": 194.7450059894277, + "xmax": 974.1227195861088, + "ymax": 214.87178289157586 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9739322981943, + 214.87178289157586 + ], + [ + 968.9257516127141, + 214.7112227298184 + ], + [ + 951.0943061223086, + 213.84599662055632 + ], + [ + 951.1384072601561, + 214.00616629082444 + ], + [ + 974.1227195861088, + 195.75883028803855 + ], + [ + 974.0726046278437, + 195.6001394409795 + ], + [ + 955.9561273626372, + 194.7450059894277 + ], + [ + 956.0020313341829, + 194.90330486271574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.094504622114, + "ymin": 194.74500538706243, + "xmax": 974.1229214636982, + "ymax": 214.871782280328 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9741310693012, + 214.871782280328 + ], + [ + 968.9259503389957, + 214.71122211884634 + ], + [ + 951.094504622114, + 213.84599601107004 + ], + [ + 951.1386058046845, + 214.00616568106338 + ], + [ + 974.1229214636982, + 195.75882968390502 + ], + [ + 974.0728064591963, + 195.60013883712284 + ], + [ + 955.9563289603857, + 194.74500538706243 + ], + [ + 956.0022329780613, + 194.90330426007463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934738019772, + "ymin": 202.72952674683404, + "xmax": 973.0305073076886, + "ymax": 221.8128445511762 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594457037616, + 221.8128445511762 + ], + [ + 968.0967474761376, + 220.5894245767502 + ], + [ + 947.9934738019772, + 219.60584531462368 + ], + [ + 948.3214205736813, + 220.82590836830056 + ], + [ + 973.0305073076886, + 204.91450094614368 + ], + [ + 972.6548762150487, + 203.7032671694762 + ], + [ + 952.266364295558, + 202.72952674683404 + ], + [ + 952.6062502049817, + 203.93739092479709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934737698618, + "ymin": 202.7295266285527, + "xmax": 973.0305072523216, + "ymax": 221.81284437085142 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594456503021, + 221.81284437085142 + ], + [ + 968.0967474406191, + 220.58942445694302 + ], + [ + 947.9934737698618, + 219.60584519514492 + ], + [ + 948.3214205253439, + 220.825908188471 + ], + [ + 973.0305072523216, + 204.9145007676108 + ], + [ + 972.6548761782647, + 203.70326705086515 + ], + [ + 952.2663642622744, + 202.7295266285527 + ], + [ + 952.6062501548836, + 203.93739074676134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934781875111, + "ymin": 202.7295269592517, + "xmax": 973.0305117571341, + "ymax": 221.81284470696068 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594500911442, + 221.81284470696068 + ], + [ + 968.0967518737277, + 220.58942479190813 + ], + [ + 947.9934781875111, + 219.60584552919175 + ], + [ + 948.3214249506736, + 220.8259085236572 + ], + [ + 973.0305117571341, + 204.91450110038005 + ], + [ + 972.6548806751198, + 203.70326738248593 + ], + [ + 952.2663687432321, + 202.7295269592517 + ], + [ + 952.6062546437433, + 203.93739107860404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.6464761540465, + "ymin": 214.32140805822743, + "xmax": 919.1756810569921, + "ymax": 233.5922876473286 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 915.2809702381534, + 233.5922876473286 + ], + [ + 915.0043955375576, + 232.32844577743066 + ], + [ + 894.6464761540465, + 231.312420347424 + ], + [ + 894.8874095559704, + 232.57273767928243 + ], + [ + 919.1756810569921, + 216.57955055296304 + ], + [ + 918.8883625385471, + 215.32772715660263 + ], + [ + 898.2378376767748, + 214.32140805822743 + ], + [ + 898.4884822549706, + 215.56969118967112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.094034852958, + "ymin": 194.74498309169314, + "xmax": 974.122442909227, + "ymax": 214.87175965618505 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9736600530515, + 214.87175965618505 + ], + [ + 968.9254794305956, + 214.71119950491564 + ], + [ + 951.094034852958, + 213.8459734521316 + ], + [ + 951.1381359281968, + 214.00614311194977 + ], + [ + 974.122442909227, + 195.75880732308363 + ], + [ + 974.0723280160528, + 195.60011648655276 + ], + [ + 955.9558516927947, + 194.74498309169314 + ], + [ + 956.0017555996852, + 194.90328195449186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934790646179, + "ymin": 202.72952700173528, + "xmax": 973.0305126691701, + "ymax": 221.81284481024755 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594509900045, + 221.81284481024755 + ], + [ + 968.0967527532457, + 220.58942483493976 + ], + [ + 947.9934790646179, + 219.60584557210538 + ], + [ + 948.321425845407, + 220.82590862666046 + ], + [ + 973.0305126691701, + 204.91450120264054 + ], + [ + 972.654881567134, + 203.70326742508792 + ], + [ + 952.2663696327668, + 202.72952700173528 + ], + [ + 952.606255551535, + 203.93739118057977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7433472452624, + "ymin": 194.1501781452577, + "xmax": 977.0235206416023, + "ymax": 215.5783113451136 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 971.5635577457347, + 215.5783113451136 + ], + [ + 971.50511249416, + 215.38568839040636 + ], + [ + 947.7433472452624, + 214.23181799612163 + ], + [ + 947.7952782538164, + 214.42381690086924 + ], + [ + 977.0235206416023, + 195.48017062318942 + ], + [ + 976.9626118418789, + 195.28990312758216 + ], + [ + 952.8013143040258, + 194.1501781452577 + ], + [ + 952.8554879931436, + 194.3398190977099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.0941791293224, + "ymin": 194.74495987861891, + "xmax": 974.1225888807712, + "ymax": 214.87173610080453 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9738039456943, + 214.87173610080453 + ], + [ + 968.9256232923542, + 214.7111759601678 + ], + [ + 951.0941791293224, + 213.8459499646394 + ], + [ + 951.1382802356361, + 214.00611961386372 + ], + [ + 974.1225888807712, + 195.75878404186338 + ], + [ + 974.0724739558179, + 195.60009321600594 + ], + [ + 955.95599806065, + 194.74495987861891 + ], + [ + 956.0019019995198, + 194.9032587307839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934737698618, + "ymin": 202.7295266285527, + "xmax": 973.0305072523216, + "ymax": 221.81284437085142 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594456503021, + 221.81284437085142 + ], + [ + 968.0967474406191, + 220.58942445694302 + ], + [ + 947.9934737698618, + 219.60584519514492 + ], + [ + 948.3214205253439, + 220.825908188471 + ], + [ + 973.0305072523216, + 204.9145007676108 + ], + [ + 972.6548761782647, + 203.70326705086515 + ], + [ + 952.2663642622744, + 202.7295266285527 + ], + [ + 952.6062501548836, + 203.93739074676134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7433615572882, + "ymin": 194.15023040948745, + "xmax": 977.0235374181194, + "ymax": 215.57836440030252 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 971.5635738436284, + 215.57836440030252 + ], + [ + 971.505128601484, + 215.38574147667538 + ], + [ + 947.7433615572882, + 214.2318709104277 + ], + [ + 947.7952925574505, + 214.42386978414947 + ], + [ + 977.0235374181194, + 195.48022302983495 + ], + [ + 976.9626286280743, + 195.28995556446068 + ], + [ + 952.8013292340611, + 194.15023040948745 + ], + [ + 952.8555029145574, + 194.33987133175876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7435251023064, + "ymin": 194.15017958974718, + "xmax": 977.0237018124466, + "ymax": 215.57831275330275 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 971.5637359707151, + 215.57831275330275 + ], + [ + 971.5052906889493, + 215.38568985761555 + ], + [ + 947.7435251023064, + 214.23181945857803 + ], + [ + 947.7954561428912, + 214.4238183044956 + ], + [ + 977.0237018124466, + 195.48017201416496 + ], + [ + 976.9627929816859, + 195.28990457684336 + ], + [ + 952.8014950948482, + 194.15017958974718 + ], + [ + 952.8556688169024, + 194.33982048410434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.9934710743107, + "ymin": 202.72952626453932, + "xmax": 973.0305044977581, + "ymax": 221.81284400088293 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 968.4594429359013, + 221.81284400088293 + ], + [ + 968.0967447310281, + 220.58942408823364 + ], + [ + 947.9934710743107, + 219.6058448274465 + ], + [ + 948.3214178250314, + 220.82590781951862 + ], + [ + 973.0305044977581, + 204.91450040131878 + ], + [ + 972.6548734286541, + 203.70326668583706 + ], + [ + 952.2663615271024, + 202.72952626453932 + ], + [ + 952.6062474148094, + 203.93739038148928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7433372762046, + "ymin": 194.15012585700688, + "xmax": 977.0235082680001, + "ymax": 215.57825820569826 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 971.5635459800717, + 215.57825820569826 + ], + [ + 971.5051007360406, + 215.38563527973824 + ], + [ + 947.7433372762046, + 214.23176505749547 + ], + [ + 947.7952682781959, + 214.42376393363548 + ], + [ + 977.0235082680001, + 195.48011813334722 + ], + [ + 976.9625994762985, + 195.28985066660312 + ], + [ + 952.8013037881619, + 194.15012585700688 + ], + [ + 952.8554774702893, + 194.3397667807383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.6909895301421, + "ymin": 197.72640679817735, + "xmax": 867.800496315694, + "ymax": 216.72748766054266 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 864.6959226948768, + 216.72748766054266 + ], + [ + 864.5112786854776, + 215.5213155945302 + ], + [ + 844.6909895301421, + 214.5515817964043 + ], + [ + 844.8418494730978, + 215.7544676322999 + ], + [ + 867.800496315694, + 199.88017478728278 + ], + [ + 867.6079824457902, + 198.6862520022226 + ], + [ + 847.5104118802449, + 197.72640679817735 + ], + [ + 847.6681890772614, + 198.91703191399606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7433455145227, + "ymin": 194.15017817841184, + "xmax": 977.0235188615236, + "ymax": 215.5783113189932 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 971.5635559946943, + 215.5783113189932 + ], + [ + 971.5051107617345, + 215.3856884240819 + ], + [ + 947.7433455145227, + 214.23181802968813 + ], + [ + 947.7952765064858, + 214.42381687483345 + ], + [ + 977.0235188615236, + 195.48017059738834 + ], + [ + 976.9626100811954, + 195.28990316084577 + ], + [ + 952.8013125450831, + 194.15017817841184 + ], + [ + 952.8554862168983, + 194.33981907199376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.2129145318399, + "ymin": 207.56370727570064, + "xmax": 972.1828137362552, + "ymax": 226.55518856051228 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 967.6330620414219, + 226.55518856051228 + ], + [ + 967.2725366719153, + 225.32629952692517 + ], + [ + 947.2129145318399, + 224.33831687688485 + ], + [ + 947.538839277562, + 225.5638411168935 + ], + [ + 972.1828137362552, + 209.759055555298 + ], + [ + 971.8094501206297, + 208.54207460023633 + ], + [ + 951.4658352201927, + 207.56370727570064 + ], + [ + 951.8036109897826, + 208.77730990536745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.0943061223086, + "ymin": 194.7450059894277, + "xmax": 974.1227195861088, + "ymax": 214.87178289157586 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9739322981943, + 214.87178289157586 + ], + [ + 968.9257516127141, + 214.7112227298184 + ], + [ + 951.0943061223086, + 213.84599662055632 + ], + [ + 951.1384072601561, + 214.00616629082444 + ], + [ + 974.1227195861088, + 195.75883028803855 + ], + [ + 974.0726046278437, + 195.6001394409795 + ], + [ + 955.9561273626372, + 194.7450059894277 + ], + [ + 956.0020313341829, + 194.90330486271574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.1879077663118, + "ymin": 198.98628827590457, + "xmax": 858.1784078061119, + "ymax": 218.00815093637584 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 855.199629170036, + 218.00815093637584 + ], + [ + 855.0307436060282, + 216.79764679974306 + ], + [ + 835.1879077663118, + 215.82443545125446 + ], + [ + 835.3229320058836, + 217.03163564983078 + ], + [ + 858.1784078061119, + 201.14789336206837 + ], + [ + 858.0020719092549, + 199.94962314251802 + ], + [ + 837.881313725112, + 198.98628827590457 + ], + [ + 838.0228323713277, + 200.1812428106032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.0944744472458, + "ymin": 194.74500341648155, + "xmax": 974.1228907065531, + "ymax": 214.87178028068843 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 968.9741008005935, + 214.87178028068843 + ], + [ + 968.9259200772556, + 214.71122012010935 + ], + [ + 951.0944744472458, + 213.84599401719356 + ], + [ + 951.1385756228883, + 214.00616368628755 + ], + [ + 974.1228907065531, + 195.75882770753913 + ], + [ + 974.0727757092452, + 195.600136861663 + ], + [ + 955.9562983000801, + 194.74500341648155 + ], + [ + 956.002202310603, + 194.90330228859105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.9391201667617, + "ymin": 89.9065286978726, + "xmax": 395.02219903044113, + "ymax": 121.71589888623078 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 395.02219903044113, + 115.96765781458072 + ], + [ + 386.4488553570616, + 115.59482644370345 + ], + [ + 382.9868513697595, + 121.33603435000026 + ], + [ + 391.63853428976887, + 121.71589888623078 + ], + [ + 390.2534645708435, + 90.2706648895238 + ], + [ + 381.5162954817916, + 89.9065286978726 + ], + [ + 377.9391201667617, + 95.51479702955083 + ], + [ + 386.75766370832, + 95.88593788464777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.2963486122665, + "ymin": 55.496554389894015, + "xmax": 415.8090340233658, + "ymax": 85.7560335676975 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 415.8090340233658, + 80.6543499889026 + ], + [ + 407.71783589316374, + 80.32326280814334 + ], + [ + 404.6450144138214, + 85.41906895164061 + ], + [ + 412.8059601392395, + 85.7560335676975 + ], + [ + 411.70118819743516, + 55.819195683584724 + ], + [ + 403.46422167259607, + 55.496554389894015 + ], + [ + 400.2963486122665, + 60.46312011229293 + ], + [ + 408.605608590728, + 60.79159525060567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 347.0921389224644, + "ymin": 137.3197904161851, + "xmax": 366.4539755042016, + "ymax": 171.20068126059962 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 366.4539755042016, + 164.50029186999618 + ], + [ + 357.22043481872777, + 164.066048426201 + ], + [ + 353.1853712613787, + 170.75759190123657 + ], + [ + 362.50983683217873, + 171.20068126059962 + ], + [ + 360.6982751989167, + 137.74521712397978 + ], + [ + 351.27444226703125, + 137.3197904161851 + ], + [ + 347.0921389224644, + 143.8767771279622 + ], + [ + 356.6106999315474, + 144.3110552688763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.5315150207356, + "ymin": 9.490260447563458, + "xmax": 481.91259527513034, + "ymax": 32.65976521178288 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 475.71200602293686, + 28.912790591659018 + ], + [ + 473.84052116481956, + 32.42668304900036 + ], + [ + 480.08177628236393, + 32.65976521178288 + ], + [ + 481.91259527513034, + 29.142785165955218 + ], + [ + 473.4443842927083, + 9.490260447563458 + ], + [ + 471.5315150207356, + 12.921271136039309 + ], + [ + 477.85850765733073, + 13.148878023418035 + ], + [ + 479.72959012205183, + 9.714810791661307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 4.189761167087795, + "xmax": 5.069131048102236, + "ymax": 27.152660302752793 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + -5.867283589920362, + 26.924395064472947 + ], + [ + 0.09978797397855033, + 27.152660302752793 + ], + [ + 5.069131048102236, + 23.708245843674433 + ], + [ + -0.8608567678517147, + 23.482973252345403 + ], + [ + -14.747806858331728, + 7.5490456184599 + ], + [ + -8.702579600645322, + 7.771884268787744 + ], + [ + -3.606639466936258, + 4.4096385376485046 + ], + [ + -9.613811134202592, + 4.189761167087795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.3802915090602, + "ymin": 323.36481588110394, + "xmax": 329.2967658956445, + "ymax": 357.42260926290044 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 329.2967658956445, + 348.3005308537416 + ], + [ + 319.44095140090167, + 347.7065699262165 + ], + [ + 314.7352978130708, + 356.8157559130289 + ], + [ + 324.69419357867235, + 357.42260926290044 + ], + [ + 322.34271167945917, + 323.95456017273 + ], + [ + 312.2714651302125, + 323.36481588110394 + ], + [ + 307.3802915090602, + 332.4113751035683 + ], + [ + 317.55919599174354, + 333.0142114454831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.7961874101422, + "ymin": 200.21936915225243, + "xmax": 877.8470098532321, + "ymax": 256.8558489851763 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.1255010697778, + 256.8558489851763 + ], + [ + 866.9938897827849, + 255.96750326252567 + ], + [ + 864.7961874101422, + 255.85388880474207 + ], + [ + 864.9251844775945, + 256.74196611171834 + ], + [ + 877.8470098532321, + 201.19103257118783 + ], + [ + 877.6959539887185, + 200.3295420609378 + ], + [ + 875.3929609154103, + 200.21936915225243 + ], + [ + 875.5411459379055, + 201.08058708410778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.95695929701799, + "ymax": 222.03301242938036 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 26.95695929701799, + 78.35400671584893 + ], + [ + 18.16030990937827, + 77.94665861706943 + ], + [ + -168.86912417173653, + 221.3966933484781 + ], + [ + -158.039442296703, + 222.03301242938036 + ], + [ + -61.115699942891524, + -116.7011422684867 + ], + [ + -71.10371963334524, + -117.00889253742423 + ], + [ + -319.37404506070664, + -4.614566768002703 + ], + [ + -306.6854441734233, + -4.097382261425423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.7718055087951, + "ymin": 199.31577271233098, + "xmax": 858.9308311762954, + "ymax": 255.9214828514544 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 849.0742540373615, + 255.9214828514544 + ], + [ + 848.9640664849435, + 255.03533818114818 + ], + [ + 846.7718055087951, + 254.92200503869725 + ], + [ + 846.8793917339184, + 255.80788229021556 + ], + [ + 858.9308311762954, + 200.28491548681941 + ], + [ + 858.8032997029695, + 199.42565999177933 + ], + [ + 856.5062770125254, + 199.31577271233098 + ], + [ + 856.6309524622319, + 200.1747566889538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.1623927859196, + "ymin": 574.2017549202095, + "xmax": 846.0043531096709, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 819.2746743302387, + 579.4066546198499 + ], + [ + 799.1623927859196, + 577.915072608007 + ], + [ + 816.57466337839, + 1006.5403061578038 + ], + [ + 844.760276236985, + 1009.461063187292 + ], + [ + 820.051499174644, + 575.6946225269351 + ], + [ + 799.851107700144, + 574.2017549202095 + ], + [ + 817.6453974858396, + 1003.9357051571172 + ], + [ + 846.0043531096709, + 1006.869115788841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.2392094501917, + "ymin": 215.97961696867696, + "xmax": 910.0987373756714, + "ymax": 273.1357363904168 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 897.6602839162797, + 273.1357363904168 + ], + [ + 897.4890462500068, + 272.2086033823937 + ], + [ + 895.2392094501917, + 272.0900316151664 + ], + [ + 895.4077074173019, + 273.01687843884906 + ], + [ + 910.0987373756714, + 216.99577162881542 + ], + [ + 909.9035365064306, + 216.09483136753556 + ], + [ + 907.5432370309247, + 215.97961696867696 + ], + [ + 907.7354224394844, + 216.88026571729714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.3009966601296, + "ymin": 574.3824221166868, + "xmax": 845.7974040724098, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 819.1596195862837, + 579.520952121107 + ], + [ + 799.3009966601296, + 578.0481206212992 + ], + [ + 816.749410371327, + 1006.25524661471 + ], + [ + 844.570673239576, + 1009.137457340959 + ], + [ + 819.9260955888597, + 575.8565085375083 + ], + [ + 799.9815771511043, + 574.3824221166868 + ], + [ + 817.8072667561718, + 1003.6828091818671 + ], + [ + 845.7974040724098, + 1006.5773398591116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10498520380915087316, + "instance_id": 54391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_7_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": -11.152018547058105, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 146.91179272230505, + "xmax": 10.414634115144054, + "ymax": 438.49684236290045 + }, + "corners_3d": [ + [ + 40.42330551147461, + -10.882034301757812, + 0.0 + ], + [ + 40.42715072631836, + -11.314849853515625, + 0.0 + ], + [ + 28.373075485229492, + -11.422002792358398, + 0.0 + ], + [ + 28.36922836303711, + -10.989187240600586, + 0.0 + ], + [ + 40.42330551147461, + -10.882034301757812, + 8.446706771850586 + ], + [ + 40.42715072631836, + -11.314849853515625, + 8.446706771850586 + ], + [ + 28.373075485229492, + -11.422002792358398, + 8.446706771850586 + ], + [ + 28.36922836303711, + -10.989187240600586, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -371.1091893831441, + 399.2617986278375 + ], + [ + -383.9881632041629, + 409.3973650639764 + ], + [ + 1.5777315938473748, + 438.49684236290045 + ], + [ + 10.414634115144054, + 427.70351247218747 + ], + [ + -617.2055115560572, + 146.91179272230505 + ], + [ + -636.7354289205721, + 155.98878000271608 + ], + [ + -162.3636712993981, + 182.32987965120165 + ], + [ + -148.91880003075835, + 172.51068494977704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.0013674443317, + "ymin": 208.37908658780898, + "xmax": 963.0432665678288, + "ymax": 264.7993316117821 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 948.4449285184003, + 264.7993316117821 + ], + [ + 948.2168525794509, + 263.8993765804574 + ], + [ + 946.0013674443317, + 263.78427773968826 + ], + [ + 946.2267869642167, + 264.68396016822425 + ], + [ + 963.0432665678288, + 209.36470475751653 + ], + [ + 962.7863354461426, + 208.49084140677067 + ], + [ + 960.4638307132818, + 208.37908658780898 + ], + [ + 960.7178424880481, + 209.25267272193682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.6172982397613, + "ymin": 0.0, + "xmax": 900.8254901114394, + "ymax": 144.3665209285556 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 859.5971200130532, + 101.60474585158363 + ], + [ + 849.6172982397613, + 101.19446571028158 + ], + [ + 856.340568330607, + 143.89548983897103 + ], + [ + 867.0389033407466, + 144.3665209285556 + ], + [ + 889.7957125493006, + -81.90775183319465 + ], + [ + 878.4209913385481, + -82.2312166166169 + ], + [ + 888.5079091578058, + -48.235147099082724 + ], + [ + 900.8254901114394, + -47.85637989178849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.538032270467, + "ymin": 559.5453298075621, + "xmax": 858.7811407543593, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 775.4182337158608, + 806.1455688987473 + ], + [ + 751.609015880008, + 804.0011937359999 + ], + [ + 750.538032270467, + 1160.326582238517 + ], + [ + 780.8824481263334, + 1163.8086421477185 + ], + [ + 827.9122014590496, + 561.9616075408157 + ], + [ + 794.7747310819141, + 559.5453298075621 + ], + [ + 811.4594307141956, + 1008.3575396513785 + ], + [ + 858.7811407543593, + 1013.2689514387919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.1663130630905, + "ymin": 202.15675734348167, + "xmax": 880.3689882147899, + "ymax": 258.8588527593143 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 869.5049852730622, + 258.8588527593143 + ], + [ + 869.3702109693862, + 257.9657793839995 + ], + [ + 867.1663130630905, + 257.85156069758466 + ], + [ + 867.2984583845204, + 258.7443635118424 + ], + [ + 880.3689882147899, + 203.13383634907402 + ], + [ + 880.2143892600827, + 202.26754391552223 + ], + [ + 877.9045924493937, + 202.15675734348167 + ], + [ + 878.0563035718483, + 203.0227749166404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.5586682688036, + "ymin": 200.58085626844849, + "xmax": 849.2918424044808, + "ymax": 257.22961599991373 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 839.8528434116124, + 257.22961599991373 + ], + [ + 839.7533442986775, + 256.34038898369397 + ], + [ + 837.5586682688036, + 256.2266618962054 + ], + [ + 837.6555602964299, + 257.1156200972639 + ], + [ + 849.2918424044808, + 201.55352905756104 + ], + [ + 849.1759879339554, + 200.69114354801272 + ], + [ + 846.8763117071684, + 200.58085626844849 + ], + [ + 846.9893035220912, + 201.44296877476373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.3671495570503, + "ymin": 0.0, + "xmax": 492.6240171617021, + "ymax": 86.48655453625202 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 490.6256231751703, + 86.48655453625202 + ], + [ + 492.6240171617021, + 82.27232512014331 + ], + [ + 241.52410720524472, + 70.98914379821395 + ], + [ + 237.77237146922954, + 75.04007390670768 + ], + [ + 468.8178480716186, + -110.5438859062906 + ], + [ + 471.28606139857857, + -113.73766084568791 + ], + [ + 185.11450313740977, + -122.25561630611037 + ], + [ + 180.3671495570503, + -119.20299128068746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 265.5503209366083, + "ymin": 0.0, + "xmax": 455.83679180270184, + "ymax": 428.5545979796879 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 341.1591519232634, + 427.50020791374925 + ], + [ + 355.6836511138556, + 428.5545979796879 + ], + [ + 455.83679180270184, + 203.35129510987363 + ], + [ + 444.7589949105104, + 202.7476491097994 + ], + [ + 265.5503209366083, + 172.3262862691448 + ], + [ + 283.6467324450119, + 173.28284850137737 + ], + [ + 422.58678188398073, + -19.210731626414486 + ], + [ + 409.54481888380303, + -19.696646677225488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.9626552131228, + "ymin": 204.3394955855148, + "xmax": 964.1077030716564, + "ymax": 261.11493231301154 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 949.4151904201162, + 261.11493231301154 + ], + [ + 949.1852472340731, + 260.21651907799173 + ], + [ + 946.9626552131228, + 260.1016179056486 + ], + [ + 947.1899249044142, + 260.99975814955724 + ], + [ + 964.1077030716564, + 205.3226939340964 + ], + [ + 963.848604206822, + 204.45097557703846 + ], + [ + 961.5182885226973, + 204.3394955855148 + ], + [ + 961.7744483646381, + 205.21093649600206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 71.83233960146504, + "ymax": 48.73348155774818 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 9.87098273552931, + 48.73348155774818 + ], + [ + 71.83233960146504, + 14.389802605976342 + ], + [ + 2.475984352184696, + 6.553337998469146 + ], + [ + -62.90456144506368, + 39.738959117963816 + ], + [ + -172.13123909220803, + -344.88281065493777 + ], + [ + -79.60550542472288, + -356.91452637195573 + ], + [ + -163.27982123879178, + -358.58881510951187 + ], + [ + -260.6450819477026, + -346.98455308055406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.6507565849656, + "ymin": 0.0, + "xmax": 703.8849388381102, + "ymax": 31.55270682793764 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 693.7468028991456, + 24.185067603423477 + ], + [ + 672.759311336598, + -26.65487776276592 + ], + [ + 542.2340711709488, + -20.664151311868636 + ], + [ + 549.1937283011335, + 31.55270682793764 + ], + [ + 703.8849388381102, + -242.13456571414918 + ], + [ + 678.2343734525472, + -271.1191496405146 + ], + [ + 525.6507565849656, + -267.7583594449951 + ], + [ + 531.7762685057494, + -237.8453509569365 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00055/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00055/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a62ef7f7277feeff7bd84cd85e1db17815ecc68b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00055/meta.json @@ -0,0 +1,7782 @@ +{ + "frame_id": 55, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 27.5, + "sim_timestamp": 7341.399381272029 + }, + "drone_pose": { + "x": 8.370726183690783, + "y": -27.120264316066272, + "z": 20.14217693605283, + "pitch": -42.33995043820607, + "yaw": 84.64507329655355, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06898224353790283, + -0.7359358072280884, + 0.6735280752182007, + 5.8150177001953125 + ], + [ + 0.9956357479095459, + 0.09332501888275146, + 0.0, + 10.865196228027344 + ], + [ + -0.06285706162452698, + 0.6705886125564575, + 0.7391616106033325, + -32.5487060546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.430341176154526, + "y": -26.73717068452559, + "z": 20.00006573917194 + }, + "t1_image_uv": [ + 580.6474529761359, + -31.287688492482687 + ], + "t1_depth": 0.38176054708039053 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -6.187763214111328, + "z": 0.9847603583334785 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.44338258702236, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 554, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -6.18776273727417, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.3534710705280304, + "y": 0.5007095336914062, + "z": 0.9395918250083923 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.5025399697232, + "ymin": 327.1058721156731, + "xmax": 658.1997844057057, + "ymax": 392.12112650700163 + }, + "corners_3d": [ + [ + 10.833526611328125, + -6.541234016418457, + 0.045168519020080566 + ], + [ + 9.832107543945312, + -6.541233539581299, + 0.045168519020080566 + ], + [ + 9.832107543945312, + -5.834291458129883, + 0.045168519020080566 + ], + [ + 10.833526611328125, + -5.834291934967041, + 0.045168519020080566 + ], + [ + 10.833526611328125, + -6.541234016418457, + 1.9243521690368652 + ], + [ + 9.832107543945312, + -6.541233539581299, + 1.9243521690368652 + ], + [ + 9.832107543945312, + -5.834291458129883, + 1.9243521690368652 + ], + [ + 10.833526611328125, + -5.834291934967041, + 1.9243521690368652 + ] + ], + "corners_2d": [ + [ + 622.3140271919508, + 389.94969967957695 + ], + [ + 655.527833793694, + 392.12112650700163 + ], + [ + 657.4136503234242, + 376.0191874918348 + ], + [ + 624.783743963479, + 373.9240959223453 + ], + [ + 621.5025399697232, + 342.983768525737 + ], + [ + 656.2420875890739, + 345.1371671143904 + ], + [ + 658.1997844057057, + 329.18018780694246 + ], + [ + 624.098499010161, + 327.1058721156731 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 55, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 384236, + "2": 205138, + "3": 18124, + "5": 6266, + "6": 9084, + "7": 1113, + "10": 1239, + "12": 2854, + "14": 13773, + "20": 2158, + "24": 21390, + "25": 256225 + }, + "instance_pixel_counts": { + "381": 4008, + "586": 4882, + "3146": 2109, + "3156": 1543, + "11676": 80172, + "11870": 60, + "12188": 21698, + "14236": 66473, + "16284": 41273, + "18013": 202384, + "19037": 53841, + "19038": 1191, + "19354": 1799, + "19866": 2539, + "20378": 2509, + "20573": 3495, + "20890": 3958, + "21085": 41427, + "21597": 29597, + "23418": 5938, + "23441": 143, + "23450": 9418, + "24442": 961, + "25498": 8472, + "25978": 2166, + "27516": 2942, + "28026": 1270, + "28530": 43, + "28786": 12540, + "29052": 4632, + "29554": 4834, + "31612": 6745, + "33660": 3433, + "34304": 38, + "34816": 7450, + "35072": 748, + "36252": 65998, + "36764": 17321, + "38300": 51485, + "38483": 418, + "40860": 39816, + "43008": 554, + "43264": 232, + "43520": 168, + "43776": 598, + "44032": 452, + "44288": 850, + "44544": 5190, + "44922": 4908, + "45434": 638, + "45824": 8440, + "46173": 112, + "49778": 707, + "51587": 49, + "52636": 3058, + "54684": 2279, + "57241": 8565, + "58265": 17847, + "58697": 1384, + "59772": 1023, + "60284": 1406, + "60796": 796, + "61308": 1193, + "61337": 30376, + "63385": 14363, + "63868": 4595 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 554, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -6.18776273727417, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.3740847706794739, + "y": 0.4101049602031708, + "z": 0.9434111714363098 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.5615902136287, + "ymin": 326.7393182848583, + "xmax": 655.1665552245616, + "ymax": 392.49356876764375 + }, + "corners_3d": [ + [ + 10.742921829223633, + -6.561847686767578, + 0.041349172592163086 + ], + [ + 9.922712326049805, + -6.56184720993042, + 0.041349172592163086 + ], + [ + 9.922712326049805, + -5.813677787780762, + 0.041349172592163086 + ], + [ + 10.742921829223633, + -5.81367826461792, + 0.041349172592163086 + ], + [ + 10.742921829223633, + -6.561847686767578, + 1.9281715154647827 + ], + [ + 9.922712326049805, + -6.56184720993042, + 1.9281715154647827 + ], + [ + 9.922712326049805, + -5.813677787780762, + 1.9281715154647827 + ], + [ + 10.742921829223633, + -5.81367826461792, + 1.9281715154647827 + ] + ], + "corners_2d": [ + [ + 625.2420739557579, + 390.71317612754643 + ], + [ + 652.4575086277863, + 392.49356876764375 + ], + [ + 654.509315727791, + 375.4595486256807 + ], + [ + 627.7999274855082, + 373.7453204716359 + ], + [ + 624.5615902136287, + 343.5504849630184 + ], + [ + 653.0331024126248, + 345.31612088296043 + ], + [ + 655.1665552245616, + 328.4363982308407 + ], + [ + 627.2484038128907, + 326.7393182848583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 232, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.195318222045898, + "y": -3.0886483192443848, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.24057193100452423, + "y": 0.3067747950553894, + "z": 0.5855893492698669 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 518.574599295792, + "ymin": 268.40092626662175, + "xmax": 540.9140218865822, + "ymax": 307.5602822657411 + }, + "corners_3d": [ + [ + 14.445371627807617, + -3.3877453804016113, + 0.3991661071777344 + ], + [ + 13.845229148864746, + -3.260180711746216, + 0.3991661071777344 + ], + [ + 13.94526481628418, + -2.789551258087158, + 0.3991661071777344 + ], + [ + 14.54540729522705, + -2.9171159267425537, + 0.3991661071777344 + ], + [ + 14.445371627807617, + -3.3877453804016113, + 1.5703448057174683 + ], + [ + 13.845229148864746, + -3.260180711746216, + 1.5703448057174683 + ], + [ + 13.94526481628418, + -2.789551258087158, + 1.5703448057174683 + ], + [ + 14.54540729522705, + -2.9171159267425537, + 1.5703448057174683 + ] + ], + "corners_2d": [ + [ + 521.9848692682647, + 307.5602822657411 + ], + [ + 540.9140218865822, + 306.1786301180857 + ], + [ + 540.3300016157095, + 296.9979307622842 + ], + [ + 521.611918108814, + 298.3488276604279 + ], + [ + 518.9219279615411, + 278.8556566444113 + ], + [ + 538.3467968861341, + 277.48768607399757 + ], + [ + 537.7772638836301, + 268.40092626662175 + ], + [ + 518.574599295792, + 269.7376700752641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 168, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 0.7549493312835693, + "z": 0.6721490621566772 + }, + "extent": { + "x": 0.281135231256485, + "y": 0.3071596622467041, + "z": 0.5805639028549194 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.5137612575204, + "ymin": 219.1710675456215, + "xmax": 733.181151380734, + "ymax": 255.95369777293172 + }, + "corners_3d": [ + [ + 8.353083610534668, + 0.4432472884654999, + 0.09158509969711304 + ], + [ + 7.742129325866699, + 0.5074610710144043, + 0.09158509969711304 + ], + [ + 7.800902366638184, + 1.0666513442993164, + 0.09158509969711304 + ], + [ + 8.411856651306152, + 1.0024375915527344, + 0.09158509969711304 + ], + [ + 8.353083610534668, + 0.4432472884654999, + 1.2527129650115967 + ], + [ + 7.742129325866699, + 0.5074610710144043, + 1.2527129650115967 + ], + [ + 7.800902366638184, + 1.0666513442993164, + 1.2527129650115967 + ], + [ + 8.411856651306152, + 1.0024375915527344, + 1.2527129650115967 + ] + ], + "corners_2d": [ + [ + 713.5854988328715, + 255.95369777293172 + ], + [ + 731.0247450788133, + 255.8371073097233 + ], + [ + 729.7413103601116, + 246.47569354291994 + ], + [ + 712.5137612575204, + 246.5894677625195 + ], + [ + 715.3290336305054, + 228.5256223576737 + ], + [ + 733.181151380734, + 228.4105173483398 + ], + [ + 731.8408801077258, + 219.1710675456215 + ], + [ + 714.2105382075844, + 219.28332755709417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 598, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -6.18776273727417, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.4030996561050415, + "y": 0.4579699635505676, + "z": 0.9077762365341187 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 942.0978446421643, + "ymin": 346.98289204478573, + "xmax": 993.1614085454275, + "ymax": 413.5974792131232 + }, + "corners_3d": [ + [ + 1.2907869815826416, + -6.59086275100708, + 0.07698410749435425 + ], + [ + 0.3748469948768616, + -6.590862274169922, + 0.07698410749435425 + ], + [ + 0.3748472332954407, + -5.78466272354126, + 0.07698410749435425 + ], + [ + 1.2907872200012207, + -5.784663200378418, + 0.07698410749435425 + ], + [ + 1.2907869815826416, + -6.59086275100708, + 1.8925366401672363 + ], + [ + 0.3748469948768616, + -6.590862274169922, + 1.8925366401672363 + ], + [ + 0.3748472332954407, + -5.78466272354126, + 1.8925366401672363 + ], + [ + 1.2907872200012207, + -5.784663200378418, + 1.8925366401672363 + ] + ], + "corners_2d": [ + [ + 945.9013419665648, + 411.5126103251067 + ], + [ + 977.7771514735241, + 413.5974792131232 + ], + [ + 973.3054907557962, + 394.3819843945384 + ], + [ + 942.0978446421643, + 392.38243642437317 + ], + [ + 959.8010859417118, + 365.9814056606375 + ], + [ + 993.1614085454275, + 368.0540808222764 + ], + [ + 988.1578671478303, + 348.9670110958341 + ], + [ + 955.5286578940105, + 346.98289204478573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 452, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -17.31512451171875, + "z": 1.1452486515045166 + }, + "extent": { + "x": 0.4491836726665497, + "y": 0.41174745559692383, + "z": 0.9479638934135437 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 737.9966312803022, + "ymin": 678.5659823922011, + "xmax": 790.1358100761258, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.173762321472168, + -17.718807220458984, + 0.1972847580909729 + ], + [ + 6.35477876663208, + -17.804887771606445, + 0.1972847580909729 + ], + [ + 6.260873794555664, + -16.911441802978516, + 0.1972847580909729 + ], + [ + 7.079857349395752, + -16.825361251831055, + 0.1972847580909729 + ], + [ + 7.173762321472168, + -17.718807220458984, + 2.093212604522705 + ], + [ + 6.35477876663208, + -17.804887771606445, + 2.093212604522705 + ], + [ + 6.260873794555664, + -16.911441802978516, + 2.093212604522705 + ], + [ + 7.079857349395752, + -16.825361251831055, + 2.093212604522705 + ] + ], + "corners_2d": [ + [ + 737.9966312803022, + 763.1969184161829 + ], + [ + 777.0452239420819, + 770.7977804587505 + ], + [ + 780.9190379423071, + 730.5616649511705 + ], + [ + 743.0634205061676, + 723.4278301461195 + ], + [ + 744.5853360879712, + 719.4711157132105 + ], + [ + 786.3178320433731, + 727.3085957269441 + ], + [ + 790.1358100761258, + 685.8910257311852 + ], + [ + 749.7631308538637, + 678.5659823922011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 850, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -14.357976913452148, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.3327710032463074, + "y": 0.46014952659606934, + "z": 0.8888432383537292 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 103.72849270801089, + "ymin": 515.3387080903494, + "xmax": 180.0396830074282, + "ymax": 591.0099371116282 + }, + "corners_3d": [ + [ + 22.097434997558594, + -14.58780574798584, + 0.24832922220230103 + ], + [ + 21.197246551513672, + -14.779146194458008, + 0.24832922220230103 + ], + [ + 21.05887222290039, + -14.128148078918457, + 0.24832922220230103 + ], + [ + 21.959060668945312, + -13.936807632446289, + 0.24832922220230103 + ], + [ + 22.097434997558594, + -14.58780574798584, + 2.0260157585144043 + ], + [ + 21.197246551513672, + -14.779146194458008, + 2.0260157585144043 + ], + [ + 21.05887222290039, + -14.128148078918457, + 2.0260157585144043 + ], + [ + 21.959060668945312, + -13.936807632446289, + 2.0260157585144043 + ] + ], + "corners_2d": [ + [ + 130.97140580033408, + 581.4901336532439 + ], + [ + 162.64027135615282, + 591.0099371116282 + ], + [ + 180.0396830074282, + 569.2270496759965 + ], + [ + 148.84253777133569, + 560.0770679020991 + ], + [ + 103.72849270801089, + 536.9588007891201 + ], + [ + 136.85841625792733, + 546.5851662935622 + ], + [ + 155.71281370319468, + 524.5716265447833 + ], + [ + 123.09644718400853, + 515.3387080903494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 5190, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 226.48626882155799, + "ymin": 6.185965931937574, + "xmax": 339.49474511453934, + "ymax": 113.6257109186771 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 240.47062501803578, + 111.38323731827666 + ], + [ + 293.9359889931177, + 113.6257109186771 + ], + [ + 339.49474511453934, + 50.859467989736515 + ], + [ + 291.2062317390105, + 49.04195369777301 + ], + [ + 226.48626882155799, + 65.8047182528295 + ], + [ + 281.77812564881293, + 67.95700333152593 + ], + [ + 330.0251942106603, + 7.918245901494629 + ], + [ + 280.25143621586204, + 6.185965931937574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 8440, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 317.9258684608801, + "ymin": 274.1326546320711, + "xmax": 492.865494899811, + "ymax": 356.36355636199625 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 346.90464632907515, + 310.1960333348539 + ], + [ + 328.5736931451594, + 346.9319208915883 + ], + [ + 480.9048675090682, + 356.36355636199625 + ], + [ + 492.865494899811, + 318.83658873356694 + ], + [ + 337.3247530425322, + 274.1326546320711 + ], + [ + 317.9258684608801, + 310.4637194750057 + ], + [ + 475.40372622603275, + 319.8085134708154 + ], + [ + 488.0043326630401, + 282.66847713762104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540892868749, + "ymin": 223.4611647098418, + "xmax": 982.123728762697, + "ymax": 242.98173762645501 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968366221039, + 242.98173762645501 + ], + [ + 976.8200029395896, + 241.65645944038653 + ], + [ + 955.9540892868749, + 240.5443897014598 + ], + [ + 956.2938635996406, + 241.86577053394518 + ], + [ + 982.123728762697, + 225.87819269464836 + ], + [ + 981.7326560402706, + 224.56393504667992 + ], + [ + 960.5555310184145, + 223.4611647098418 + ], + [ + 960.9084300174227, + 224.77150111764462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540947486212, + "ymin": 223.46116499849066, + "xmax": 982.1237343323953, + "ymax": 242.98173791942594 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968421096885, + 242.98173791942594 + ], + [ + 976.820008417431, + 241.65645973233356 + ], + [ + 955.9540947486212, + 240.54438999254901 + ], + [ + 956.2938690710732, + 241.86577082605385 + ], + [ + 982.1237343323953, + 225.87819298519048 + ], + [ + 981.7326615999323, + 224.56393533619183 + ], + [ + 960.5555365615029, + 223.46116499849066 + ], + [ + 960.9084355704883, + 224.77150140731914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.5872751612012, + "ymin": 220.91308547662376, + "xmax": 895.1447536548659, + "ymax": 240.39540509887883 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 891.4829789444419, + 240.39540509887883 + ], + [ + 891.2568311824205, + 239.07915062231808 + ], + [ + 870.5872751612012, + 237.97464069354461 + ], + [ + 870.7770533811265, + 239.28703752471034 + ], + [ + 895.1447536548659, + 223.3134295456731 + ], + [ + 894.9088434820419, + 222.00825052679642 + ], + [ + 873.9338739787073, + 220.91308547662376 + ], + [ + 874.1323310601133, + 222.21438378565668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.0637045723367, + "ymin": 218.81667398248527, + "xmax": 892.5061245557508, + "ymax": 238.26737153338854 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 888.8924310325308, + 238.26737153338854 + ], + [ + 888.6714221438709, + 236.95851856882746 + ], + [ + 868.0637045723367, + 235.8602096104458 + ], + [ + 868.2485612911562, + 237.16523739849077 + ], + [ + 892.5061245557508, + 221.2033350784769 + ], + [ + 892.2755403795705, + 219.90560160633993 + ], + [ + 871.3642455672252, + 218.81667398248527 + ], + [ + 871.5576037854046, + 220.11055987990417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2372122229041, + "ymin": 215.43514102969115, + "xmax": 983.3537407487119, + "ymax": 235.93437292946297 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8009974711533, + 235.93437292946297 + ], + [ + 977.7509049843783, + 235.76033024590572 + ], + [ + 959.2372122229041, + 234.78137990321022 + ], + [ + 959.2829516888254, + 234.95496879926583 + ], + [ + 983.3537407487119, + 216.5768379180884 + ], + [ + 983.3015165180075, + 216.40449667649898 + ], + [ + 964.4766135210907, + 215.43514102969115 + ], + [ + 964.5243371866576, + 215.60702554916634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2374183023226, + "ymin": 215.43514083579356, + "xmax": 983.3539505314486, + "ymax": 235.93437273303905 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8012038627203, + 235.93437273303905 + ], + [ + 977.751111328108, + 235.76033004957287 + ], + [ + 959.2374183023226, + 234.78137970738925 + ], + [ + 959.2831578159587, + 234.9549686033542 + ], + [ + 983.3539505314486, + 216.576837723584 + ], + [ + 983.3017262513222, + 216.40449648208624 + ], + [ + 964.476822981345, + 215.43514083579356 + ], + [ + 964.5245466962053, + 215.60702535517748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540892868749, + "ymin": 223.4611647098418, + "xmax": 982.123728762697, + "ymax": 242.98173762645501 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968366221039, + 242.98173762645501 + ], + [ + 976.8200029395896, + 241.65645944038653 + ], + [ + 955.9540892868749, + 240.5443897014598 + ], + [ + 956.2938635996406, + 241.86577053394518 + ], + [ + 982.123728762697, + 225.87819269464836 + ], + [ + 981.7326560402706, + 224.56393504667992 + ], + [ + 960.5555310184145, + 223.4611647098418 + ], + [ + 960.9084300174227, + 224.77150111764462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540892536029, + "ymin": 223.46116458153176, + "xmax": 982.1237287050512, + "ymax": 242.98173743110812 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968365665582, + 242.98173743110812 + ], + [ + 976.8200029026887, + 241.65645931061044 + ], + [ + 955.9540892536029, + 240.54438957206497 + ], + [ + 956.2938635495577, + 241.8657703391733 + ], + [ + 982.1237287050512, + 225.87819250092096 + ], + [ + 981.7326560019764, + 224.56393491798627 + ], + [ + 960.5555309838581, + 223.46116458153176 + ], + [ + 960.9084299654039, + 224.77150092449574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540938383302, + "ymin": 223.46116495038254, + "xmax": 982.1237333848969, + "ymax": 242.98173780548188 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968411765758, + 242.98173780548188 + ], + [ + 976.8200075044574, + 241.65645968367576 + ], + [ + 955.9540938383302, + 240.54438994403415 + ], + [ + 956.2938681424735, + 241.8657707124451 + ], + [ + 982.1237333848969, + 225.87819287219105 + ], + [ + 981.7326606733219, + 224.56393528793987 + ], + [ + 960.5555356376549, + 223.46116495038254 + ], + [ + 960.9084346276379, + 224.7715012946571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.5672556956921, + "ymin": 235.90727012141133, + "xmax": 926.1722029735719, + "ymax": 255.61182520008796 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 921.9823719043227, + 255.61182520008796 + ], + [ + 921.6974445302728, + 254.24203847208415 + ], + [ + 900.5672556956921, + 253.09268246521358 + ], + [ + 900.8141744727425, + 254.45837401588727 + ], + [ + 926.1722029735719, + 238.4066242850556 + ], + [ + 925.8754892510465, + 237.04756748879865 + ], + [ + 904.426042646678, + 235.90727012141133 + ], + [ + 904.6835897174026, + 237.26220363927953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2369306021501, + "ymin": 215.43511555342144, + "xmax": 983.3534532156342, + "ymax": 235.9343471212601 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8007147789817, + 235.9343471212601 + ], + [ + 977.7506223594687, + 235.76030444966835 + ], + [ + 959.2369306021501, + 234.7813541742245 + ], + [ + 959.2826700012793, + 234.95494305836138 + ], + [ + 983.3534532156342, + 216.5768123620892 + ], + [ + 983.3012290545124, + 216.4044711325431 + ], + [ + 964.4763270955046, + 215.43511555342144 + ], + [ + 964.5240506919827, + 215.60700006090119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540947486212, + "ymin": 223.46116499849066, + "xmax": 982.1237343323953, + "ymax": 242.98173791942594 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968421096885, + 242.98173791942594 + ], + [ + 976.820008417431, + 241.65645973233356 + ], + [ + 955.9540947486212, + 240.54438999254901 + ], + [ + 956.2938690710732, + 241.86577082605385 + ], + [ + 982.1237343323953, + 225.87819298519048 + ], + [ + 981.7326615999323, + 224.56393533619183 + ], + [ + 960.5555365615029, + 223.46116499849066 + ], + [ + 960.9084355704883, + 224.77150140731914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.7490211878628, + "ymin": 214.78254411694905, + "xmax": 986.3678853066804, + "ymax": 236.63603187426105 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 980.4792327629948, + 236.63603187426105 + ], + [ + 980.4184551825408, + 236.42725516866523 + ], + [ + 955.7490211878628, + 235.1218932658315 + ], + [ + 955.8028486649592, + 235.32994490286066 + ], + [ + 986.3678853066804, + 216.2810909988732 + ], + [ + 986.3043923949997, + 216.07445794712078 + ], + [ + 961.1987657428112, + 214.78254411694905 + ], + [ + 961.2550606493248, + 214.9884471681272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2370803942356, + "ymin": 215.43509069745468, + "xmax": 983.3536048819799, + "ymax": 235.934321941442 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8008641788185, + 235.934321941442 + ], + [ + 977.7507717263479, + 235.76027928152448 + ], + [ + 959.2370803942356, + 234.7813290716949 + ], + [ + 959.2828198265237, + 234.9549179442032 + ], + [ + 983.3536048819799, + 216.57678742833417 + ], + [ + 983.3013806868973, + 216.4044462105381 + ], + [ + 964.4764791676647, + 215.43509069745468 + ], + [ + 964.524202798315, + 215.60697519323105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540892536029, + "ymin": 223.46116458153176, + "xmax": 982.1237287050512, + "ymax": 242.98173743110812 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968365665582, + 242.98173743110812 + ], + [ + 976.8200029026887, + 241.65645931061044 + ], + [ + 955.9540892536029, + 240.54438957206497 + ], + [ + 956.2938635495577, + 241.8657703391733 + ], + [ + 982.1237287050512, + 225.87819250092096 + ], + [ + 981.7326560019764, + 224.56393491798627 + ], + [ + 960.5555309838581, + 223.46116458153176 + ], + [ + 960.9084299654039, + 224.77150092449574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.7490360224414, + "ymin": 214.78260086251018, + "xmax": 986.3679027950909, + "ymax": 236.63608937918713 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 980.4792495034173, + 236.63608937918713 + ], + [ + 980.4184719325244, + 236.42731270643475 + ], + [ + 955.7490360224414, + 235.12195060380358 + ], + [ + 955.8028634910557, + 235.33000220804806 + ], + [ + 986.3679027950909, + 216.2811479136303 + ], + [ + 986.3044098932303, + 216.07451489383692 + ], + [ + 961.1987812573267, + 214.78260086251018 + ], + [ + 961.2550761551179, + 214.98850388178548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.7492058202986, + "ymin": 214.78254609628178, + "xmax": 986.3680735751495, + "ymax": 236.63603381751162 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 980.4794178154541, + 236.63603381751162 + ], + [ + 980.4186402022882, + 236.42725717563087 + ], + [ + 955.7492058202986, + 235.12189526582802 + ], + [ + 955.8030333320494, + 235.32994683936153 + ], + [ + 986.3680735751495, + 216.2810929221803 + ], + [ + 986.3045806297916, + 216.07445993346997 + ], + [ + 961.19895357674, + 214.78254609628178 + ], + [ + 961.2552485189387, + 214.98844908463863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.9540864561857, + "ymin": 223.46116418058728, + "xmax": 982.1237258433409, + "ymax": 242.98173702416 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 977.1968337487053, + 242.98173702416 + ], + [ + 976.8200000899661, + 241.6564589050847 + ], + [ + 955.9540864561857, + 240.54438916773077 + ], + [ + 956.2938607470642, + 241.865769933423 + ], + [ + 982.1237258433409, + 225.87819209734658 + ], + [ + 981.7326531455569, + 224.56393451584302 + ], + [ + 960.5555281432012, + 223.46116418058728 + ], + [ + 960.9084271195129, + 224.77150052212653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.7490108617214, + "ymin": 214.78248735538077, + "xmax": 986.3678723935527, + "ymax": 236.63597428826415 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 980.4792205207052, + 236.63597428826415 + ], + [ + 980.4184429483095, + 236.4271976146648 + ], + [ + 955.7490108617214, + 235.12183591168497 + ], + [ + 955.8028383318349, + 235.32988751688424 + ], + [ + 986.3678723935527, + 216.2810340038775 + ], + [ + 986.3043794904706, + 216.07440098434063 + ], + [ + 961.1987548144281, + 214.78248735538077 + ], + [ + 961.255049713476, + 214.98839037451393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.797580382139, + "ymin": 217.79859664758527, + "xmax": 872.8640364068689, + "ymax": 237.23388879910715 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 869.536020690628, + 237.23388879910715 + ], + [ + 869.3489124293957, + 235.9286229697802 + ], + [ + 848.797580382139, + 234.83331925563863 + ], + [ + 848.9487334666809, + 236.13477561144992 + ], + [ + 872.8640364068689, + 220.1786269605698 + ], + [ + 872.6683598637829, + 218.88450163425216 + ], + [ + 851.815108127068, + 217.79859664758527 + ], + [ + 851.9737644628324, + 219.08889042245156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.7490193911708, + "ymin": 214.7825441489166, + "xmax": 986.3678834568519, + "ymax": 236.63603184186198 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 980.4792309448694, + 236.63603184186198 + ], + [ + 980.4184533837857, + 236.427255201079 + ], + [ + 955.7490193911708, + 235.12189329813276 + ], + [ + 955.8028468510563, + 235.32994487057425 + ], + [ + 986.3678834568519, + 216.28109096680663 + ], + [ + 986.304390565402, + 216.07445797920153 + ], + [ + 961.1987639153477, + 214.7825441489166 + ], + [ + 961.2550588038669, + 214.98844713617407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.1055592727072, + "ymin": 228.4141908905582, + "xmax": 981.2002932730481, + "ymax": 247.8356025415867 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 976.2977601099178, + 247.8356025415867 + ], + [ + 975.9233421085103, + 246.5048319419 + ], + [ + 955.1055592727072, + 245.38814525947134 + ], + [ + 955.4430887631329, + 246.71501113528282 + ], + [ + 981.2002932730481, + 230.8418789556102 + ], + [ + 980.8117469727011, + 229.52182941299216 + ], + [ + 959.6841966629485, + 228.4141908905582 + ], + [ + 960.0347478490157, + 229.73031087849645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2372122229041, + "ymin": 215.43514102969115, + "xmax": 983.3537407487119, + "ymax": 235.93437292946297 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8009974711533, + 235.93437292946297 + ], + [ + 977.7509049843783, + 235.76033024590572 + ], + [ + 959.2372122229041, + 234.78137990321022 + ], + [ + 959.2829516888254, + 234.95496879926583 + ], + [ + 983.3537407487119, + 216.5768379180884 + ], + [ + 983.3015165180075, + 216.40449667649898 + ], + [ + 964.4766135210907, + 215.43514102969115 + ], + [ + 964.5243371866576, + 215.60702554916634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.9371332594087, + "ymin": 219.14151321669996, + "xmax": 862.8725280345456, + "ymax": 238.59711939990612 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 859.6815333907891, + 238.59711939990612 + ], + [ + 859.511222370221, + 237.28712095763834 + ], + [ + 838.9371332594087, + 236.18785226952951 + ], + [ + 839.071409030662, + 237.49402051620393 + ], + [ + 862.8725280345456, + 221.53029186831247 + ], + [ + 862.6941182792405, + 220.2314061626122 + ], + [ + 841.8174290035895, + 219.14151321669996 + ], + [ + 841.9587348584688, + 220.43654622596785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2373869758405, + "ymin": 215.43513862748532, + "xmax": 983.3539185679946, + "ymax": 235.9343704959585 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 977.8011724327291, + 235.9343704959585 + ], + [ + 977.7510799055526, + 235.76032781352953 + ], + [ + 959.2373869758405, + 234.78137747717528 + ], + [ + 959.2831264820855, + 234.9549663721071 + ], + [ + 983.3539185679946, + 216.5768355083647 + ], + [ + 983.3016942955585, + 216.40449426791088 + ], + [ + 964.4767911248794, + 215.43513862748532 + ], + [ + 964.5245148320965, + 215.60702314582943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.31126909820483, + "ymin": 107.67214019011624, + "xmax": 381.5714011986562, + "ymax": 140.57971684487103 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 381.5714011986562, + 134.30646132641786 + ], + [ + 372.67605085761954, + 133.88185649573404 + ], + [ + 368.9182100147696, + 140.14686343328927 + ], + [ + 377.8970486045079, + 140.57971684487103 + ], + [ + 376.27481898940323, + 108.08793868899619 + ], + [ + 367.2008130086235, + 107.67214019011624 + ], + [ + 363.31126909820483, + 113.80834212146476 + ], + [ + 372.47216490551716, + 114.23238599399104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 387.5837063414566, + "ymin": 70.10104153543, + "xmax": 404.09954039025354, + "ymax": 101.39237753395423 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 404.09954039025354, + 95.84376264217815 + ], + [ + 395.71712880074233, + 95.4679744423459 + ], + [ + 392.3931026917652, + 101.00973120322055 + ], + [ + 400.8496210756371, + 101.39237753395423 + ], + [ + 399.55670524792686, + 70.46814418151962 + ], + [ + 391.0158209130244, + 70.10104153543 + ], + [ + 387.5837063414566, + 75.51559442193934 + ], + [ + 396.2015373797952, + 75.88952746729763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 329.6764255227476, + "ymin": 159.66147412379013, + "xmax": 350.4849414507244, + "ymax": 194.7279553182107 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 350.4849414507244, + 187.38100495341004 + ], + [ + 340.8847225515706, + 186.88414691343206 + ], + [ + 336.4841858920167, + 194.22064870546328 + ], + [ + 346.1817096376375, + 194.7279553182107 + ], + [ + 344.0552509523499, + 160.14966112960437 + ], + [ + 334.2466308189422, + 159.66147412379013 + ], + [ + 329.6764255227476, + 166.87150103281752 + ], + [ + 339.5866400754463, + 167.37018584342715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 464.90330761365095, + "ymin": 16.096529067161555, + "xmax": 475.77658110475875, + "ymax": 39.937312327205746 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 469.3983962802764, + 35.92062973962254 + ], + [ + 467.4041525822903, + 39.677157667635754 + ], + [ + 473.82493177959043, + 39.937312327205746 + ], + [ + 475.77658110475875, + 36.17727020950866 + ], + [ + 466.943436623514, + 16.096529067161555 + ], + [ + 464.90330761365095, + 19.770295155566657 + ], + [ + 471.4159751558166, + 20.02474493255852 + ], + [ + 473.4122864218198, + 16.347492415087515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 286.9991843312851, + "ymin": 356.47075998953846, + "xmax": 310.623212745546, + "ymax": 391.53290056835937 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 310.623212745546, + 381.53848378798557 + ], + [ + 300.3749227606521, + 380.859434840136 + ], + [ + 295.2342833448028, + 390.83862916958356 + ], + [ + 305.5929089480498, + 391.53290056835937 + ], + [ + 302.83840104493225, + 357.14692991289263 + ], + [ + 292.3541180338477, + 356.47075998953846 + ], + [ + 286.9991843312851, + 366.4100821692537 + ], + [ + 297.59896671670447, + 367.10177426411855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 869.3951155547743, + "ymin": 220.5486795904113, + "xmax": 883.2870117966834, + "ymax": 277.8676600979841 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 871.8037197289595, + 277.8676600979841 + ], + [ + 871.6707068261801, + 276.90977504282125 + ], + [ + 869.3951155547743, + 276.781895352491 + ], + [ + 869.525354017376, + 277.7394707869614 + ], + [ + 883.2870117966834, + 221.60727480534126 + ], + [ + 883.1328538096213, + 220.6733518316801 + ], + [ + 880.742751305647, + 220.5486795904113 + ], + [ + 880.8938484510376, + 221.48228574745124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 9.452213731802317, + "ymax": 238.15263537341417 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 9.452213731802317, + 85.12149759702925 + ], + [ + 0.45308367838401864, + 84.67216095245942 + ], + [ + -196.5426576146591, + 237.44494692347934 + ], + [ + -185.4331464798115, + 238.15263537341417 + ], + [ + -85.14871491368945, + -114.18223170638117 + ], + [ + -95.41533686203013, + -114.52725821732031 + ], + [ + -360.1508110885677, + 7.426433178190848 + ], + [ + -347.0501597247671, + 8.013906439490597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.7337398873193, + "ymin": 219.52627609630795, + "xmax": 863.6562876559435, + "ymax": 276.81599873464774 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 853.1135842094764, + 276.81599873464774 + ], + [ + 853.0033046244062, + 275.86065232143955 + ], + [ + 850.7337398873193, + 275.733111313398 + ], + [ + 850.8412596655078, + 276.6881493358607 + ], + [ + 863.6562876559435, + 220.5819274045053 + ], + [ + 863.5272068620975, + 219.65060184911934 + ], + [ + 861.1437466508464, + 219.52627609630795 + ], + [ + 861.269783536854, + 220.45728615573313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4810396641280122125, + "instance_id": 3549, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_0", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.2828475615141, + "ymin": 668.4543859146263, + "xmax": 847.1203891400811, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.552061080932617, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.10604476928711 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.10604476928711 + ], + [ + 6.552061080932617, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847949981689453, + -20.093965530395508, + 8.198223114013672 + ], + [ + 6.847939491271973, + -25.559114456176758, + 8.198223114013672 + ], + [ + 6.552050590515137, + -25.559114456176758, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 820.0317630930691, + 673.8078696491796 + ], + [ + 798.2828475615141, + 671.9661639683759 + ], + [ + 814.3463203701689, + 1193.5751055669944 + ], + [ + 845.7119734240925, + 1197.3942167591285 + ], + [ + 820.8856353009207, + 670.2993507515387 + ], + [ + 799.032398127737, + 668.4543859146263 + ], + [ + 815.5373090394163, + 1192.0724237553532 + ], + [ + 847.1203891400811, + 1195.9143002901637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.880892427789, + "ymin": 237.71269907791114, + "xmax": 916.7401616901052, + "ymax": 295.5028671220225 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 903.3872362630532, + 295.5028671220225 + ], + [ + 903.2122508885637, + 294.50191094182304 + ], + [ + 900.880892427789, + 294.3682851917256 + ], + [ + 901.0529657393902, + 295.36891063687983 + ], + [ + 916.7401616901052, + 238.82132895253181 + ], + [ + 916.5389858583058, + 237.84326013949254 + ], + [ + 914.0872966294532, + 237.71269907791114 + ], + [ + 914.2852518889346, + 238.6904283493564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9831914704278669056, + "instance_id": 71, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.4316344743777, + "ymin": 668.6630169314888, + "xmax": 846.8909763865813, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.553951263427734, + -20.09658432006836, + 8.10662841796875 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.10662841796875 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.10662841796875 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.10662841796875 + ], + [ + 6.553951263427734, + -20.09658432006836, + 8.197628021240234 + ], + [ + 6.846060276031494, + -20.096586227416992, + 8.197628021240234 + ], + [ + 6.8460493087768555, + -25.556495666503906, + 8.197628021240234 + ], + [ + 6.553940296173096, + -25.556493759155273, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 819.9065142612434, + 673.9481672321824 + ], + [ + 798.4316344743777, + 672.129562277599 + ], + [ + 814.5426216420725, + 1193.230246709348 + ], + [ + 845.5023643788879, + 1196.9988586150114 + ], + [ + 820.7489708800224, + 670.4848014717595 + ], + [ + 799.1723893374975, + 668.6630169314888 + ], + [ + 815.7194196598152, + 1191.7448141487498 + ], + [ + 846.8909763865813, + 1195.535591461955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.4747626817606, + "ymin": 229.30382683810495, + "xmax": 971.7053259094296, + "ymax": 286.37790442254027 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 956.0056325223288, + 286.37790442254027 + ], + [ + 955.7702177633525, + 285.4070787145351 + ], + [ + 953.4747626817606, + 285.27747190720004 + ], + [ + 953.7073546780497, + 286.2479829504668 + ], + [ + 971.7053259094296, + 230.37811498112438 + ], + [ + 971.4382611389088, + 229.43034679485393 + ], + [ + 969.0262646541426, + 229.30382683810495 + ], + [ + 969.2902126612161, + 230.25127258486648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.3437371153531, + "ymin": 0.0, + "xmax": 908.4358067772407, + "ymax": 157.38005350323112 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 864.6289295844251, + 111.63017192073457 + ], + [ + 854.3437371153531, + 111.17263372702462 + ], + [ + 861.1022596093023, + 156.85326151578533 + ], + [ + 872.1439607664383, + 157.38005350323112 + ], + [ + 897.0110628762267, + -76.05235943951004 + ], + [ + 885.2173530121939, + -76.41896342142616 + ], + [ + 895.6365968850596, + -39.43226172526482 + ], + [ + 908.4358067772407, + -39.00114451929113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.8940770405227, + "ymin": 653.0847555565126, + "xmax": 861.3961364817492, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 772.9973159169663, + 881.8220689880667 + ], + [ + 747.9002679785066, + 879.3165040652574 + ], + [ + 743.8940770405227, + 1282.9618435775456 + ], + [ + 776.2653795141351, + 1287.1305748139735 + ], + [ + 829.4619114726518, + 656.0748371176676 + ], + [ + 793.592812616057, + 653.0847555565126 + ], + [ + 808.5574827259024, + 1201.684405530124 + ], + [ + 861.3961364817492, + 1208.1512976758713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.8423016911952, + "ymin": 222.65401299048756, + "xmax": 885.8991424124706, + "ymax": 280.0328192682525 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 874.2608513018987, + 280.0328192682525 + ], + [ + 874.1244979491134, + 279.06969700080083 + ], + [ + 871.8423016911952, + 278.94111862141006 + ], + [ + 871.9758644720773, + 279.9039287256536 + ], + [ + 885.8991424124706, + 223.7186832925999 + ], + [ + 885.7412205292857, + 222.77940023974054 + ], + [ + 883.3438312216126, + 222.65401299048756 + ], + [ + 883.498673568762, + 223.5929764955934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.1878839872563, + "ymin": 220.87492926459052, + "xmax": 853.6473508036614, + "ymax": 278.20321783669283 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 843.5587992324918, + 278.20321783669283 + ], + [ + 843.4598784265986, + 277.2445219936845 + ], + [ + 841.1878839872563, + 277.11653414441986 + ], + [ + 841.2840390475415, + 278.0749199735841 + ], + [ + 853.6473508036614, + 221.93446481004875 + ], + [ + 853.5307327383817, + 220.99971217206166 + ], + [ + 851.1445902249266, + 220.87492926459052 + ], + [ + 851.2581574934845, + 221.80936466373612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.87073451250973, + "ymin": 0.0, + "xmax": 487.16428163993726, + "ymax": 94.64253850050187 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 485.0422097766441, + 94.64253850050187 + ], + [ + 487.16428163993726, + 90.1577797437975 + ], + [ + 229.6085671902581, + 77.68623146470594 + ], + [ + 225.6607337286831, + 81.9873143004337 + ], + [ + 461.36857113797095, + -106.85315539480962 + ], + [ + 464.01270736712456, + -110.30977246641038 + ], + [ + 168.913655810357, + -119.88150000304626 + ], + [ + 163.87073451250973, + -116.58722312216003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.04505927153292, + "ymin": 0.0, + "xmax": 447.24846046287837, + "ymax": 462.71358573636724 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 324.1733917914907, + 461.52117544412954 + ], + [ + 339.23229783155614, + 462.71358573636724 + ], + [ + 447.24846046287837, + 219.52618377679983 + ], + [ + 435.83364617490815, + 218.85309083826485 + ], + [ + 239.04505927153292, + 204.9101615155818 + ], + [ + 258.0372160216725, + 206.0264429455284 + ], + [ + 410.619451351649, + -7.376761105886999 + ], + [ + 397.07777032822844, + -7.930147058413127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.506278082154, + "ymin": 225.2129741725869, + "xmax": 972.852827303753, + "ymax": 282.6637316668978 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 957.0469109634078, + 282.6637316668978 + ], + [ + 956.8094554388541, + 281.6942265499097 + ], + [ + 954.506278082154, + 281.5647966294386 + ], + [ + 954.7408918134807, + 282.533986475151 + ], + [ + 972.852827303753, + 226.28505183132768 + ], + [ + 972.5833752316416, + 225.33923324289884 + ], + [ + 970.16285140346, + 225.2129741725869 + ], + [ + 970.429164628245, + 226.15846987262017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 56.900772468996365, + "ymax": 54.09882766773734 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -7.631191834854235, + 54.09882766773734 + ], + [ + 56.900772468996365, + 17.750644286293664 + ], + [ + -13.75237342001492, + 9.29726385518751 + ], + [ + -81.7729770660685, + 44.380372863624586 + ], + [ + -203.77280050042634, + -350.70416057054126 + ], + [ + -105.71472441718402, + -364.04219252387657 + ], + [ + -191.46314088903955, + -366.0305900823412 + ], + [ + -294.4900586232436, + -353.1949126172258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 522.0059726077724, + "ymin": 0.0, + "xmax": 705.3366477044253, + "ymax": 36.06010977354697 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 694.5694492155635, + 28.489455380107756 + ], + [ + 673.5336254610555, + -25.380675069526376 + ], + [ + 539.7422605581341, + -19.24551691222075 + ], + [ + 546.1383787596158, + 36.06010977354697 + ], + [ + 705.3366477044253, + -244.79929747360245 + ], + [ + 679.3796999166293, + -276.2361369348289 + ], + [ + 522.0059726077724, + -272.7168761356397 + ], + [ + 527.3084986371273, + -240.2824493142317 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00060/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00060/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b72ce3838e50ba7db40685ec0cdc30ed1936f4e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00060/meta.json @@ -0,0 +1,7467 @@ +{ + "frame_id": 60, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 30.0, + "sim_timestamp": 7404.986006255727 + }, + "drone_pose": { + "x": 8.362504848256878, + "y": -24.817472737787813, + "z": 19.987844525624702, + "pitch": -41.84346800052687, + "yaw": 84.67266377578346, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06916725635528564, + -0.7417522668838501, + 0.667097806930542, + 4.496158599853516 + ], + [ + 0.9956804513931274, + 0.09284567832946777, + 0.0, + 10.630578994750977 + ], + [ + -0.061937153339385986, + 0.6642162799835205, + 0.7449701428413391, + -30.8565673828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.235227326517082, + "y": -24.153548733252663, + "z": 20.1246552725671 + }, + "t1_image_uv": [ + 1100.8474383029707, + -948.9400705948601 + ], + "t1_depth": 0.39239752071941625 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -3.687763214111328, + "z": 0.9847554755210877 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.486209791447447, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 565, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -3.687762975692749, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.3812783658504486, + "y": 0.34596556425094604, + "z": 0.9082010984420776 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.7973643538038, + "ymin": 327.60178148945187, + "xmax": 652.9597059792015, + "ymax": 391.72489444339806 + }, + "corners_3d": [ + [ + 10.67878246307373, + -4.0690412521362305, + 0.07655435800552368 + ], + [ + 9.986851692199707, + -4.0690412521362305, + 0.07655435800552368 + ], + [ + 9.986851692199707, + -3.3064844608306885, + 0.07655435800552368 + ], + [ + 10.67878246307373, + -3.3064846992492676, + 0.07655435800552368 + ], + [ + 10.67878246307373, + -4.0690412521362305, + 1.8929564952850342 + ], + [ + 9.986851692199707, + -4.0690412521362305, + 1.8929564952850342 + ], + [ + 9.986851692199707, + -3.3064844608306885, + 1.8929564952850342 + ], + [ + 10.67878246307373, + -3.3064846992492676, + 1.8929564952850342 + ] + ], + "corners_2d": [ + [ + 627.3522066592562, + 390.24533963231863 + ], + [ + 650.3076183147989, + 391.72489444339806 + ], + [ + 652.4246804924484, + 374.54701803765863 + ], + [ + 629.9074798933341, + 373.12389908194046 + ], + [ + 626.7973643538038, + 344.54212272985313 + ], + [ + 650.7605850167619, + 346.0073702303127 + ], + [ + 652.9597059792015, + 329.0087588114639 + ], + [ + 629.4736186554458, + 327.60178148945187 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 60, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 412579, + "2": 232610, + "3": 26279, + "5": 6403, + "6": 9104, + "7": 1259, + "9": 126, + "10": 3395, + "12": 3065, + "14": 15468, + "20": 2246, + "24": 22923, + "25": 186143 + }, + "instance_pixel_counts": { + "381": 4187, + "586": 4700, + "3146": 2246, + "11676": 80132, + "12188": 10299, + "14236": 79530, + "16284": 44232, + "18013": 151803, + "19037": 34340, + "19038": 3338, + "19354": 1063, + "19866": 2858, + "20378": 3745, + "20573": 3778, + "20890": 5784, + "21085": 52943, + "21597": 33895, + "23418": 6022, + "23450": 10642, + "24442": 645, + "25498": 9004, + "25978": 2616, + "27516": 3434, + "28026": 1365, + "28530": 435, + "28786": 20181, + "29052": 3247, + "29554": 4446, + "31612": 8459, + "33660": 3798, + "34816": 8782, + "34899": 15, + "35072": 1045, + "36252": 70888, + "36764": 25792, + "38300": 59231, + "38483": 521, + "40860": 42475, + "43008": 565, + "43264": 244, + "43520": 156, + "43776": 605, + "44032": 550, + "44288": 945, + "44544": 5785, + "44922": 5350, + "45434": 1004, + "45824": 9683, + "49778": 1217, + "51309": 126, + "52636": 3470, + "54684": 2451, + "57241": 10566, + "58265": 12124, + "58697": 1703, + "59772": 798, + "60284": 1557, + "60796": 1040, + "61308": 1721, + "61337": 37366, + "63385": 15479, + "63868": 5122 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 565, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -3.687762975692749, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.37512755393981934, + "y": 0.4272436499595642, + "z": 0.9138524532318115 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.0082690611005, + "ymin": 327.4229499038237, + "xmax": 655.7089163131373, + "ymax": 391.89394076196027 + }, + "corners_3d": [ + [ + 10.76006031036377, + -4.062890529632568, + 0.0709030032157898 + ], + [ + 9.905572891235352, + -4.062890529632568, + 0.0709030032157898 + ], + [ + 9.905573844909668, + -3.3126351833343506, + 0.0709030032157898 + ], + [ + 10.760061264038086, + -3.312635660171509, + 0.0709030032157898 + ], + [ + 10.76006031036377, + -4.062890529632568, + 1.8986079692840576 + ], + [ + 9.905572891235352, + -4.062890529632568, + 1.8986079692840576 + ], + [ + 9.905573844909668, + -3.3126351833343506, + 1.8986079692840576 + ], + [ + 10.760061264038086, + -3.312635660171509, + 1.8986079692840576 + ] + ], + "corners_2d": [ + [ + 624.6841782665127, + 390.0673287404136 + ], + [ + 653.0244030249521, + 391.89394076196027 + ], + [ + 655.0562149005189, + 374.986273117178 + ], + [ + 627.2482815467378, + 373.2282278010808 + ], + [ + 624.0082690611005, + 344.0825373081808 + ], + [ + 653.6004208699761, + 345.89134999032353 + ], + [ + 655.7089163131373, + 329.1609534423566 + ], + [ + 626.6966414846535, + 327.4229499038237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 244, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": -0.6900584101676941, + "z": 0.9848140478134155 + }, + "extent": { + "x": 0.20718996226787567, + "y": 0.2892429530620575, + "z": 0.6071611046791077 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 510.5805514823845, + "ymin": 270.8050346958698, + "xmax": 531.9878532356004, + "ymax": 309.73658272213515 + }, + "corners_3d": [ + [ + 14.698648452758789, + -0.9528579711914062, + 0.37765294313430786 + ], + [ + 14.132803916931152, + -0.832583487033844, + 0.37765294313430786 + ], + [ + 14.218957901000977, + -0.42725884914398193, + 0.37765294313430786 + ], + [ + 14.784802436828613, + -0.5475333333015442, + 0.37765294313430786 + ], + [ + 14.698648452758789, + -0.9528579711914062, + 1.591975212097168 + ], + [ + 14.132803916931152, + -0.832583487033844, + 1.591975212097168 + ], + [ + 14.218957901000977, + -0.42725884914398193, + 1.591975212097168 + ], + [ + 14.784802436828613, + -0.5475333333015442, + 1.591975212097168 + ] + ], + "corners_2d": [ + [ + 514.147964443014, + 309.73658272213515 + ], + [ + 531.9878532356004, + 308.4405031611343 + ], + [ + 531.5728333871405, + 300.59439044807186 + ], + [ + 513.905775907395, + 301.865403982777 + ], + [ + 510.7956664095027, + 279.8413599880256 + ], + [ + 529.1154827574222, + 278.5599583073979 + ], + [ + 528.7181596338595, + 270.8050346958698 + ], + [ + 510.5805514823845, + 272.0610044931674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 156, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 3.2549493312835693, + "z": 0.6438106894493103 + }, + "extent": { + "x": 0.3023141324520111, + "y": 0.26088711619377136, + "z": 0.6329745054244995 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 713.3922307725629, + "ymin": 219.83551351841973, + "xmax": 731.6119639450233, + "ymax": 259.68782392223875 + }, + "corners_3d": [ + [ + 8.304850578308105, + 2.9270212650299072, + 0.010836184024810791 + ], + [ + 7.7859344482421875, + 2.9815614223480225, + 0.010836184024810791 + ], + [ + 7.849135398864746, + 3.5828773975372314, + 0.010836184024810791 + ], + [ + 8.368051528930664, + 3.528337240219116, + 0.010836184024810791 + ], + [ + 8.304850578308105, + 2.9270212650299072, + 1.276785135269165 + ], + [ + 7.7859344482421875, + 2.9815614223480225, + 1.276785135269165 + ], + [ + 7.849135398864746, + 3.5828773975372314, + 1.276785135269165 + ], + [ + 8.368051528930664, + 3.528337240219116, + 1.276785135269165 + ] + ], + "corners_2d": [ + [ + 714.5682684275187, + 259.68782392223875 + ], + [ + 729.330193491867, + 259.58562940956637 + ], + [ + 727.9607931358945, + 249.63255484537382 + ], + [ + 713.3922307725629, + 249.73208734244847 + ], + [ + 716.4732364146813, + 229.73757351466878 + ], + [ + 731.6119639450233, + 229.6369024100165 + ], + [ + 730.177388692285, + 219.83551351841973 + ], + [ + 715.2419531486919, + 219.93349665024522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 605, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -3.687762975692749, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.38771671056747437, + "y": 0.4242449998855591, + "z": 0.896615743637085 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 943.0055658507398, + "ymin": 347.3377237472652, + "xmax": 991.1757590642749, + "ymax": 412.598206973359 + }, + "corners_3d": [ + [ + 1.2570619583129883, + -4.075479984283447, + 0.08813971281051636 + ], + [ + 0.4085719585418701, + -4.075479507446289, + 0.08813971281051636 + ], + [ + 0.4085721969604492, + -3.30004620552063, + 0.08813971281051636 + ], + [ + 1.2570621967315674, + -3.300046443939209, + 0.08813971281051636 + ], + [ + 1.2570619583129883, + -4.075479984283447, + 1.881371259689331 + ], + [ + 0.4085719585418701, + -4.075479507446289, + 1.881371259689331 + ], + [ + 0.4085721969604492, + -3.30004620552063, + 1.881371259689331 + ], + [ + 1.2570621967315674, + -3.300046443939209, + 1.881371259689331 + ] + ], + "corners_2d": [ + [ + 946.7389968142253, + 410.6976266302991 + ], + [ + 976.2311460806532, + 412.598206973359 + ], + [ + 971.8987243103393, + 394.30650214209123 + ], + [ + 943.0055658507398, + 392.4812938630447 + ], + [ + 960.3430949584681, + 365.39930130385267 + ], + [ + 991.1757590642749, + 367.28558247595566 + ], + [ + 986.3421032909605, + 349.14598214972864 + ], + [ + 956.1634976461935, + 347.3377237472652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 550, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -14.81512451171875, + "z": 1.1443746089935303 + }, + "extent": { + "x": 0.44905704259872437, + "y": 0.5415821075439453, + "z": 0.9406821131706238 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 732.3056640407041, + "ymin": 674.0728139264685, + "xmax": 796.8715705009603, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.302872657775879, + -15.205110549926758, + 0.2036924958229065 + ], + [ + 6.225642204284668, + -15.31833267211914, + 0.2036924958229065 + ], + [ + 6.131763458251953, + -14.425138473510742, + 0.2036924958229065 + ], + [ + 7.208993911743164, + -14.31191635131836, + 0.2036924958229065 + ], + [ + 7.302872657775879, + -15.205110549926758, + 2.085056781768799 + ], + [ + 6.225642204284668, + -15.31833267211914, + 2.085056781768799 + ], + [ + 6.131763458251953, + -14.425138473510742, + 2.085056781768799 + ], + [ + 7.208993911743164, + -14.31191635131836, + 2.085056781768799 + ] + ], + "corners_2d": [ + [ + 732.3056640407041, + 759.0568687253478 + ], + [ + 783.7688107504291, + 768.9838737558445 + ], + [ + 787.3842763956454, + 728.8787859980046 + ], + [ + 737.5082897227684, + 719.5671977269787 + ], + [ + 738.4030837297674, + 714.6001768937356 + ], + [ + 793.3456110317769, + 724.8144741275873 + ], + [ + 796.8715705009603, + 683.6139772155802 + ], + [ + 743.7343977796118, + 674.0728139264685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 945, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -11.857976913452148, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.32517820596694946, + "y": 0.5923840403556824, + "z": 0.9026678800582886 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 99.24416092233423, + "ymin": 511.98272068546987, + "xmax": 184.56225033351348, + "ymax": 590.8936764041665 + }, + "corners_3d": [ + [ + 22.225200653076172, + -12.052885055541992, + 0.23450946807861328 + ], + [ + 21.066322326660156, + -12.299212455749512, + 0.23450946807861328 + ], + [ + 20.931106567382812, + -11.663068771362305, + 0.23450946807861328 + ], + [ + 22.089984893798828, + -11.416741371154785, + 0.23450946807861328 + ], + [ + 22.225200653076172, + -12.052885055541992, + 2.0398452281951904 + ], + [ + 21.066322326660156, + -12.299212455749512, + 2.0398452281951904 + ], + [ + 20.931106567382812, + -11.663068771362305, + 2.0398452281951904 + ], + [ + 22.089984893798828, + -11.416741371154785, + 2.0398452281951904 + ] + ], + "corners_2d": [ + [ + 126.83440465036904, + 578.7488423896818 + ], + [ + 167.57147516425465, + 590.8936764041665 + ], + [ + 184.56225033351348, + 569.7045962863855 + ], + [ + 144.42246730829117, + 558.0245940070979 + ], + [ + 99.24416092233423, + 532.870548519986 + ], + [ + 141.86983681940245, + 545.1313147245581 + ], + [ + 160.29203803636074, + 523.7496090720634 + ], + [ + 118.3168610727082, + 511.98272068546987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 5785, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 202.21807901895392, + "ymin": 32.619780451146255, + "xmax": 322.8715498857888, + "ymax": 145.79357728546972 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 217.51300217081234, + 143.38595213034344 + ], + [ + 273.20202550219517, + 145.79357728546972 + ], + [ + 322.8715498857888, + 78.35247787400243 + ], + [ + 272.8159290245763, + 76.42094952539611 + ], + [ + 202.21807901895392, + 96.73309509868363 + ], + [ + 259.8716378712417, + 99.04719611766177 + ], + [ + 312.5895768496236, + 34.4623090959426 + ], + [ + 260.95211547912226, + 32.619780451146255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 9683, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 288.74864925725, + "ymin": 324.69741336096547, + "xmax": 476.3237220390344, + "ymax": 413.14183959139564 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 321.7546516971128, + 361.50176121853355 + ], + [ + 300.9800323667723, + 402.60521526093305 + ], + [ + 462.77041572433694, + 413.14183959139564 + ], + [ + 476.3237220390344, + 371.09512561829456 + ], + [ + 310.8138427321946, + 324.69741336096547 + ], + [ + 288.74864925725, + 365.46374563126795 + ], + [ + 456.2988126190943, + 375.93553896177644 + ], + [ + 470.63190639493126, + 334.20012162459807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356299435284, + "ymin": 269.64690273802194, + "xmax": 994.9359672370052, + "ymax": 289.84633194573286 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752868505274, + 289.84633194573286 + ], + [ + 989.1471164879218, + 288.3728257519904 + ], + [ + 967.0356299435284, + 287.14303827896634 + ], + [ + 967.4218497550626, + 288.6119446738373 + ], + [ + 994.9359672370052, + 272.33061528394956 + ], + [ + 994.4910851561796, + 270.86774738901096 + ], + [ + 972.0332340804732, + 269.64690273802194 + ], + [ + 972.4348402508216, + 271.105134248103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356357307851, + "ymin": 269.646903057547, + "xmax": 994.9359731448262, + "ymax": 289.84633226982174 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752926669206, + 289.84633226982174 + ], + [ + 989.1471222932839, + 288.3728260748706 + ], + [ + 967.0356357307851, + 287.14303860083965 + ], + [ + 967.421855553282, + 288.61194499691345 + ], + [ + 994.9359731448262, + 272.33061560570775 + ], + [ + 994.4910910526204, + 270.86774770955094 + ], + [ + 972.0332399582437, + 269.646903057547 + ], + [ + 972.4348461399006, + 271.10513456884047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.6384206098314, + "ymin": 266.838301295968, + "xmax": 902.7411978901259, + "ymax": 286.9974931628666 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 898.7872756223427, + 286.9974931628666 + ], + [ + 898.5294826404543, + 285.53459207071285 + ], + [ + 876.6384206098314, + 284.3136404642814 + ], + [ + 876.8550896489346, + 285.7719912880106 + ], + [ + 902.7411978901259, + 269.50241986281173 + ], + [ + 902.4720085148496, + 268.0502409180732 + ], + [ + 880.2414150128319, + 266.838301295968 + ], + [ + 880.4681938551723, + 268.2858945389185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.9426411571908, + "ymin": 264.5076144075533, + "xmax": 899.9153684057687, + "ymax": 284.63323161310217 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 896.0157269522001, + 284.63323161310217 + ], + [ + 895.7638460030986, + 283.1791025730798 + ], + [ + 873.9426411571908, + 281.9654598223769 + ], + [ + 874.1536603099057, + 283.4150794285117 + ], + [ + 899.9153684057687, + 267.15552795231645 + ], + [ + 899.6523178250787, + 265.712189077074 + ], + [ + 877.4937593984407, + 264.5076144075533 + ], + [ + 877.7146739570363, + 265.94640935737766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.5797085948213, + "ymin": 261.4998527412904, + "xmax": 996.3075510706692, + "ymax": 282.60289746993374 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.2627852844705, + 282.60289746993374 + ], + [ + 990.205837634657, + 282.4092959819254 + ], + [ + 970.5797085948213, + 281.3260796218874 + ], + [ + 970.6317255659546, + 281.5191451075265 + ], + [ + 996.3075510706692, + 262.76573238742503 + ], + [ + 996.2480990338922, + 262.57378485144756 + ], + [ + 976.2753152992352, + 261.4998527412904 + ], + [ + 976.3296609816695, + 261.691259703342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.5799268104146, + "ymin": 261.49985246221246, + "xmax": 996.3077734056526, + "ymax": 282.6028971875152 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.263003849718, + 282.6028971875152 + ], + [ + 990.2060561458319, + 282.4092956996467 + ], + [ + 970.5799268104146, + 281.32607934039004 + ], + [ + 970.6319438354743, + 281.51914482589007 + ], + [ + 996.3077734056526, + 262.765732107418 + ], + [ + 996.2483213129219, + 262.57378457158154 + ], + [ + 976.2755372724089, + 261.49985246221246 + ], + [ + 976.3298830106429, + 261.6912594241237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356299435284, + "ymin": 269.64690273802194, + "xmax": 994.9359672370052, + "ymax": 289.84633194573286 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752868505274, + 289.84633194573286 + ], + [ + 989.1471164879218, + 288.3728257519904 + ], + [ + 967.0356299435284, + 287.14303827896634 + ], + [ + 967.4218497550626, + 288.6119446738373 + ], + [ + 994.9359672370052, + 272.33061528394956 + ], + [ + 994.4910851561796, + 270.86774738901096 + ], + [ + 972.0332340804732, + 269.64690273802194 + ], + [ + 972.4348402508216, + 271.105134248103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356299057128, + "ymin": 269.64690259524707, + "xmax": 994.9359671714197, + "ymax": 289.8463317285116 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752867874073, + 289.8463317285116 + ], + [ + 989.1471164459988, + 288.37282560771627 + ], + [ + 967.0356299057128, + 287.14303813514215 + ], + [ + 967.4218496981271, + 288.6119444572947 + ], + [ + 994.9359671714197, + 272.33061506829034 + ], + [ + 994.4910851126215, + 270.86774724578254 + ], + [ + 972.0332340411521, + 269.64690259524707 + ], + [ + 972.4348401916161, + 271.10513403312797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356347662423, + "ymin": 269.6469030042928, + "xmax": 994.9359721383275, + "ymax": 289.8463321433998 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752916764817, + 289.8463321433998 + ], + [ + 989.1471213257237, + 288.37282602105716 + ], + [ + 967.0356347662423, + 287.1430385471941 + ], + [ + 967.4218545679337, + 288.6119448708866 + ], + [ + 994.9359721383275, + 272.330615480195 + ], + [ + 994.4910900698803, + 270.8677476561275 + ], + [ + 972.0332389786154, + 269.6469030042928 + ], + [ + 972.4348451386523, + 271.1051344437259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.5924198467983, + "ymin": 283.53041686004883, + "xmax": 935.8780454372582, + "ymax": 303.925183871866 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 931.32964136091, + 303.925183871866 + ], + [ + 931.0044937357377, + 302.3987062208221 + ], + [ + 908.5924198467983, + 301.1247868001427 + ], + [ + 908.8744627767525, + 302.64641459955146 + ], + [ + 935.8780454372582, + 286.3120452925379 + ], + [ + 935.5390564023481, + 284.79576077355006 + ], + [ + 912.7709964114567, + 283.53041686004883 + ], + [ + 913.065499507583, + 285.0418089539196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.5794098527431, + "ymin": 261.4998244561265, + "xmax": 996.3072457184531, + "ymax": 282.6028688461952 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.2624853337479, + 282.6028688461952 + ], + [ + 990.2055377602532, + 282.4092673723534 + ], + [ + 970.5794098527431, + 281.3260510915136 + ], + [ + 970.6314267481234, + 281.51911656304503 + ], + [ + 996.3072457184531, + 262.7657040081 + ], + [ + 996.2477937607648, + 262.5737564864104 + ], + [ + 976.2750111984309, + 261.4998244561265 + ], + [ + 976.3293568023726, + 261.6912314039505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356357307851, + "ymin": 269.646903057547, + "xmax": 994.9359731448262, + "ymax": 289.84633226982174 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752926669206, + 289.84633226982174 + ], + [ + 989.1471222932839, + 288.3728260748706 + ], + [ + 967.0356357307851, + 287.14303860083965 + ], + [ + 967.421855553282, + 288.61194499691345 + ], + [ + 994.9359731448262, + 272.33061560570775 + ], + [ + 994.4910910526204, + 270.86774770955094 + ], + [ + 972.0332399582437, + 269.646903057547 + ], + [ + 972.4348461399006, + 271.10513456884047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8654463813343, + "ymin": 260.77419408931877, + "xmax": 999.4950057194648, + "ymax": 283.29404828843633 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 993.0839493300714, + 283.29404828843633 + ], + [ + 993.0148685650563, + 283.06183813152546 + ], + [ + 966.8654463813343, + 281.61766656617135 + ], + [ + 966.9266561211887, + 281.8490204915473 + ], + [ + 999.4950057194648, + 262.4354781010593 + ], + [ + 999.4227350699715, + 262.2053515517742 + ], + [ + 972.7875073577758, + 260.77419408931877 + ], + [ + 972.8516118730137, + 261.00345672834464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.579567951123, + "ymin": 261.49979672956806, + "xmax": 996.3074058694478, + "ymax": 282.6028407877486 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.2626429845955, + 282.6028407877486 + ], + [ + 990.2056953741255, + 282.40923932779356 + ], + [ + 970.579567951123, + 281.326023124588 + ], + [ + 970.6315848837238, + 281.51908858229024 + ], + [ + 996.3074058694478, + 262.76567618924 + ], + [ + 996.2479538736081, + 262.5737286815562 + ], + [ + 976.2751718132363, + 261.49979672956806 + ], + [ + 976.3295174555878, + 261.6912036634455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356299057128, + "ymin": 269.64690259524707, + "xmax": 994.9359671714197, + "ymax": 289.8463317285116 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752867874073, + 289.8463317285116 + ], + [ + 989.1471164459988, + 288.37282560771627 + ], + [ + 967.0356299057128, + 287.14303813514215 + ], + [ + 967.4218496981271, + 288.6119444572947 + ], + [ + 994.9359671714197, + 272.33061506829034 + ], + [ + 994.4910851126215, + 270.86774724578254 + ], + [ + 972.0332340411521, + 269.64690259524707 + ], + [ + 972.4348401916161, + 271.10513403312797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8654632501122, + "ymin": 260.7742572714165, + "xmax": 999.4950256259895, + "ymax": 283.2941122490116 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 993.0839683578586, + 283.2941122490116 + ], + [ + 993.0148876029975, + 283.06190212623284 + ], + [ + 966.8654632501122, + 281.6177303249451 + ], + [ + 966.9266729809509, + 281.84908421624505 + ], + [ + 999.4950256259895, + 262.43554148806163 + ], + [ + 999.4227549869047, + 262.2054149719195 + ], + [ + 972.7875250242294, + 260.7742572714165 + ], + [ + 972.8516295302147, + 261.0035198773522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8656419119045, + "ymin": 260.7741962367583, + "xmax": 999.4952052974212, + "ymax": 283.2940503926769 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 993.0841453316227, + 283.2940503926769 + ], + [ + 993.0150645297299, + 283.06184030658414 + ], + [ + 966.8656419119045, + 281.6176687332111 + ], + [ + 966.9268516908227, + 281.84902258802776 + ], + [ + 999.4952052974212, + 262.4354801864299 + ], + [ + 999.4229346098929, + 262.2053537073046 + ], + [ + 972.7877064476406, + 260.7741962367583 + ], + [ + 972.851811003177, + 261.00345880588543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.0356269364531, + "ymin": 269.64690214993465, + "xmax": 994.935964130062, + "ymax": 289.8463312768386 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 989.5752837950507, + 289.8463312768386 + ], + [ + 989.1471134594715, + 288.3728251577277 + ], + [ + 967.0356269364531, + 287.1430376865571 + ], + [ + 967.4218467231032, + 288.611944007033 + ], + [ + 994.935964130062, + 272.3306146198655 + ], + [ + 994.4910820772848, + 270.8677467990555 + ], + [ + 972.0332310236247, + 269.64690214993465 + ], + [ + 972.4348371681358, + 271.10513358612565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8654342857922, + "ymin": 260.7741308880161, + "xmax": 999.4949906600045, + "ymax": 283.2939842362888 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 993.0839350636581, + 283.2939842362888 + ], + [ + 993.014854308524, + 283.0617741173661 + ], + [ + 966.8654342857922, + 281.6176027880173 + ], + [ + 966.9266440170666, + 281.848956675615 + ], + [ + 999.4949906600045, + 262.4354146233061 + ], + [ + 999.4227200210767, + 262.2052881123517 + ], + [ + 972.7874945508886, + 260.7741308880161 + ], + [ + 972.8515990569358, + 261.0033934889269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.5455568814587, + "ymin": 263.3816140311751, + "xmax": 879.0990764327107, + "ymax": 283.4909506690071 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 875.5169771218794, + 283.4909506690071 + ], + [ + 875.3034135406657, + 282.0410504729558 + ], + [ + 853.5455568814587, + 280.83093113828613 + ], + [ + 853.7184948353165, + 282.27634154208533 + ], + [ + 879.0990764327107, + 266.0217162802112 + ], + [ + 878.8755382172179, + 264.5826386026295 + ], + [ + 856.7822823996348, + 263.3816140311751 + ], + [ + 856.9639317855501, + 264.81616787526707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8654444796396, + "ymin": 260.7741941254651, + "xmax": 999.4950037581975, + "ymax": 283.2940482529607 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 993.083947404071, + 283.2940482529607 + ], + [ + 993.0148666610693, + 283.0618381681368 + ], + [ + 966.8654444796396, + 281.61766660264766 + ], + [ + 966.9266541999259, + 281.8490204562024 + ], + [ + 999.4950037581975, + 262.4354780659018 + ], + [ + 999.4227331317288, + 262.2053515880568 + ], + [ + 972.7875054219081, + 260.7741941254651 + ], + [ + 972.8516099166586, + 261.0034566933191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.1261910915987, + "ymin": 274.79823206981536, + "xmax": 993.9431875495784, + "ymax": 294.89044641606824 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 988.6100067022376, + 294.89044641606824 + ], + [ + 988.1846334347189, + 293.41098835963396 + ], + [ + 966.1261910915987, + 292.17622351475313 + ], + [ + 966.5098149489272, + 293.65107396043186 + ], + [ + 993.9431875495784, + 277.4934987185338 + ], + [ + 993.501236876974, + 276.0243383355221 + ], + [ + 971.0981017408889, + 274.79823206981536 + ], + [ + 971.4969872330194, + 276.2627471465705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.5797085948213, + "ymin": 261.4998527412904, + "xmax": 996.3075510706692, + "ymax": 282.60289746993374 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.2627852844705, + 282.60289746993374 + ], + [ + 990.205837634657, + 282.4092959819254 + ], + [ + 970.5797085948213, + 281.3260796218874 + ], + [ + 970.6317255659546, + 281.5191451075265 + ], + [ + 996.3075510706692, + 262.76573238742503 + ], + [ + 996.2480990338922, + 262.57378485144756 + ], + [ + 976.2753152992352, + 261.4998527412904 + ], + [ + 976.3296609816695, + 261.691259703342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.1246193064512, + "ymin": 264.8777561535643, + "xmax": 868.5334807097709, + "ymax": 285.0087165334359 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 865.1030359767633, + 285.0087165334359 + ], + [ + 864.9083768294647, + 283.55319616113195 + ], + [ + 843.1246193064512, + 282.33839409764755 + ], + [ + 843.2785555309363, + 283.78939856738987 + ], + [ + 868.5334807097709, + 267.528239881959 + ], + [ + 868.329400483638, + 266.0834989664481 + ], + [ + 846.2094307327112, + 264.8777561535643 + ], + [ + 846.3715202135384, + 266.31794652629276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.5798935924553, + "ymin": 261.4998500125455, + "xmax": 996.3077394762392, + "ymax": 282.6028947085256 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 990.2629705150741, + 282.6028947085256 + ], + [ + 990.2060228196185, + 282.409293221884 + ], + [ + 970.5798935924553, + 281.3260768694864 + ], + [ + 970.6319106091386, + 281.5191423537645 + ], + [ + 996.3077394762392, + 262.76572964959604 + ], + [ + 996.2482873922424, + 262.57378211499713 + ], + [ + 976.2755034638019, + 261.4998500125455 + ], + [ + 976.329849193359, + 261.6912569732244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.640948317783, + "ymin": 150.70326874839049, + "xmax": 356.84731019387124, + "ymax": 185.30664378102497 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 356.84731019387124, + 178.27557197143116 + ], + [ + 347.4010440289314, + 177.80249231086438 + ], + [ + 343.12311881469606, + 184.82369923837936 + ], + [ + 352.6643353313685, + 185.30664378102497 + ], + [ + 350.72522584196355, + 151.1672438162358 + ], + [ + 341.07923072529854, + 150.70326874839049 + ], + [ + 336.640948317783, + 157.59078834509785 + ], + [ + 346.3859695606758, + 158.06465078738606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.23303333333695, + "ymin": 108.7485562662635, + "xmax": 382.36660080229325, + "ymax": 141.54594543000266 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 382.36660080229325, + 135.38053839321537 + ], + [ + 373.5009645393346, + 134.96541263084134 + ], + [ + 369.74939848420854, + 141.12272294191172 + ], + [ + 378.69863211738726, + 141.54594543000266 + ], + [ + 377.1558576683886, + 109.15458185006085 + ], + [ + 368.11450495464953, + 108.7485562662635 + ], + [ + 364.23303333333695, + 114.77199071145606 + ], + [ + 373.36134425782166, + 115.18609803725863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.9908025015212, + "ymin": 209.37596497762746, + "xmax": 321.2720139956543, + "ymax": 246.40747368580526 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 321.2720139956543, + 238.0736840948203 + ], + [ + 311.020163515176, + 237.51349981960087 + ], + [ + 305.9502540480686, + 245.83456646025468 + ], + [ + 316.31401954721144, + 246.40747368580526 + ], + [ + 313.7585613423435, + 209.927468342722 + ], + [ + 303.27106897935704, + 209.37596497762746 + ], + [ + 297.9908025015212, + 217.57011607179038 + ], + [ + 308.59543851531174, + 218.1344455131942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.27927625016105, + "ymin": 44.770684787213554, + "xmax": 462.8890863766926, + "ymax": 69.42692805110579 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 456.2440563442996, + 65.09717355163502 + ], + [ + 454.0642275116222, + 69.14775924598894 + ], + [ + 460.75587175608837, + 69.42692805110579 + ], + [ + 462.8890863766926, + 65.37237946008423 + ], + [ + 453.51164604738824, + 44.770684787213554 + ], + [ + 451.27927625016105, + 48.73396730138131 + ], + [ + 458.0698107107327, + 49.007150262216555 + ], + [ + 460.2541837420489, + 45.039932353551194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.98926062777252, + "ymin": 424.3786887306192, + "xmax": 275.74183316981316, + "ymax": 461.4704833424395 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 275.74183316981316, + 449.96169873216303 + ], + [ + 264.730636373997, + 449.18460339958017 + ], + [ + 258.73122741793213, + 460.67444581630264 + ], + [ + 269.8709008839867, + 461.4704833424395 + ], + [ + 266.54096074285565, + 425.1545836802048 + ], + [ + 255.25958256540684, + 424.3786887306192 + ], + [ + 248.98926062777252, + 435.85405267829344 + ], + [ + 260.4055289107427, + 436.64934700473157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.2370833149571, + "ymin": 266.41209611151487, + "xmax": 890.1529573956446, + "ymax": 325.1189624123525 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 877.7943053559545, + 325.1189624123525 + ], + [ + 877.6429023959116, + 324.0573958417383 + ], + [ + 875.2370833149571, + 323.9164213359875 + ], + [ + 875.3853603235078, + 324.977624337382 + ], + [ + 890.1529573956446, + 267.58880619345683 + ], + [ + 889.9769638674974, + 266.5500332094674 + ], + [ + 887.4440807891804, + 266.41209611151487 + ], + [ + 887.6166092647119, + 267.45049486050414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 855.5094967191837, + "ymin": 265.28101995724825, + "xmax": 869.3492897598524, + "ymax": 323.95950900824505 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 858.034358863812, + 323.95950900824505 + ], + [ + 857.9085659294751, + 322.9009231055676 + ], + [ + 855.5094967191837, + 322.76034414006597 + ], + [ + 855.6321811635364, + 323.81856800356314 + ], + [ + 869.3492897598524, + 266.45425516559 + ], + [ + 869.2016808291398, + 265.4185499965856 + ], + [ + 866.6762721004447, + 265.28101995724825 + ], + [ + 866.8204363274248, + 266.3163525477253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.7484697592015, + "ymin": 285.5216642532222, + "xmax": 925.8749389108334, + "ymax": 344.68317969002715 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 911.4164439266726, + 344.68317969002715 + ], + [ + 911.2171538980667, + 343.57068766088287 + ], + [ + 908.7484697592015, + 343.42295538683265 + ], + [ + 908.9444683737795, + 344.53505737606196 + ], + [ + 925.8749389108334, + 286.75786003785447 + ], + [ + 925.6449834319673, + 285.66656956612127 + ], + [ + 923.042335733203, + 285.5216642532222 + ], + [ + 923.2686327051742, + 286.61255175642907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.052218566621, + "ymin": 0.0, + "xmax": 524.6383005273402, + "ymax": 2.207761221990495 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 523.1316922101297, + 2.207761221990495 + ], + [ + 524.6383005273402, + -0.9821171673289655 + ], + [ + 454.110345778191, + -3.548508456790728 + ], + [ + 452.16272444715077, + -0.39148285941627137 + ], + [ + 509.92107950110676, + -159.42093008282586 + ], + [ + 511.6901815010964, + -161.8261973902304 + ], + [ + 433.3655768565288, + -163.75883033573848 + ], + [ + 431.052218566621, + -161.38110137388492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.1338126570885, + "ymin": 275.7663740573613, + "xmax": 983.8675112966682, + "ymax": 334.19682162199797 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 966.828774389415, + 334.19682162199797 + ], + [ + 966.5619899276145, + 333.1204051450706 + ], + [ + 964.1338126570885, + 332.977459208795 + ], + [ + 964.3974132110077, + 334.0535059428205 + ], + [ + 983.8675112966682, + 276.96115399414794 + ], + [ + 983.5636968039958, + 275.9064287627106 + ], + [ + 981.0060545688495, + 275.7663740573613 + ], + [ + 981.30633646397, + 276.82071812708466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.7914848873488, + "ymin": 0.0, + "xmax": 915.5078239788552, + "ymax": 193.2748132449831 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 868.5243511228465, + 143.68447617360823 + ], + [ + 857.7914848873488, + 143.19296992846782 + ], + [ + 865.31094265615, + 192.7046397238878 + ], + [ + 876.8773262965062, + 193.2748132449831 + ], + [ + 902.7262818062181, + -49.13984684563718 + ], + [ + 890.3584621909499, + -49.53550335961194 + ], + [ + 902.0200069113494, + -9.219452242300122 + ], + [ + 915.5078239788552, + -8.749702529199851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 877.8472517287296, + "ymin": 268.7533069588892, + "xmax": 892.9488739622603, + "ymax": 327.5183898437293 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 880.4157356320445, + 327.5183898437293 + ], + [ + 880.2605089024817, + 326.4506415740807 + ], + [ + 877.8472517287296, + 326.30884675877735 + ], + [ + 877.9993331447338, + 327.3762282791771 + ], + [ + 892.9488739622603, + 269.93722609229553 + ], + [ + 892.7685454696366, + 268.8920885376034 + ], + [ + 890.2274173949529, + 268.7533069588892 + ], + [ + 890.4042582364, + 269.79806683423135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.4361040215152, + "ymin": 266.78393997947853, + "xmax": 858.7638610692362, + "ymax": 325.50009958604596 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 847.950973432451, + 325.50009958604596 + ], + [ + 847.8379298795245, + 324.43755221964824 + ], + [ + 845.4361040215152, + 324.29644757034845 + ], + [ + 845.5460319028307, + 325.3586308636059 + ], + [ + 858.7638610692362, + 267.96179362910027 + ], + [ + 858.630300734366, + 266.9220110302832 + ], + [ + 856.1018342020812, + 266.78393997947853 + ], + [ + 856.2319414426511, + 267.8233477976294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.925329951298, + "ymin": 0.0, + "xmax": 475.2974680541686, + "ymax": 125.28464315835043 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 472.9904017904273, + 125.28464315835043 + ], + [ + 475.2974680541686, + 120.45843347805828 + ], + [ + 207.6406779897515, + 107.1180438456845 + ], + [ + 203.34564660771196, + 111.73806131258613 + ], + [ + 446.5419427126284, + -81.66328072529478 + ], + [ + 449.44741511685277, + -85.39792127581302 + ], + [ + 141.46519037126103, + -95.67373932761842 + ], + [ + 135.925329951298, + -92.12287547881562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.54789587365406, + "ymin": 26.705421608138522, + "xmax": 430.47438543633456, + "ymax": 533.7922975758167 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 292.02719806007957, + 532.4344580082073 + ], + [ + 308.15464762687867, + 533.7922975758167 + ], + [ + 430.47438543633456, + 261.10454819605894 + ], + [ + 418.4799109417486, + 260.36848769964774 + ], + [ + 190.54789587365406, + 270.0756285590849 + ], + [ + 211.21407820123437, + 271.3841294361357 + ], + [ + 388.64159212836074, + 27.316961614502702 + ], + [ + 374.3036888937985, + 26.705421608138522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2505044051702, + "ymin": 271.574636412059, + "xmax": 985.1160063858529, + "ymax": 330.40894042282025 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 967.9564053556225, + 330.40894042282025 + ], + [ + 967.687240942543, + 329.3337215220408 + ], + [ + 965.2505044051702, + 329.19093534187033 + ], + [ + 965.5164624168956, + 330.2657836379876 + ], + [ + 985.1160063858529, + 272.7672721149606 + ], + [ + 984.8093885804446, + 271.7144390762834 + ], + [ + 982.2422487678404, + 271.574636412059 + ], + [ + 982.5453076824431, + 272.6270875927304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 30.673358854221647, + "ymax": 82.40720896382385 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -38.56462777328113, + 82.40720896382385 + ], + [ + 30.673358854221647, + 43.55875797117824 + ], + [ + -41.944288281358695, + 34.53964736174777 + ], + [ + -114.88047416779659, + 71.97565861434339 + ], + [ + -251.82906974919672, + -335.0037654075463 + ], + [ + -144.85146101519, + -349.0873450681098 + ], + [ + -233.2281422276891, + -351.18864075175816 + ], + [ + -345.4631492727232, + -337.66423836269394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.4374881324757, + "ymin": 0.0, + "xmax": 701.9935442114189, + "ymax": 62.224075503881295 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 691.5184892522547, + 54.134696440466655 + ], + [ + 670.0418494364138, + -2.9127521801527223 + ], + [ + 532.0242997476845, + 3.5860567209744545 + ], + [ + 537.7326271504737, + 62.224075503881295 + ], + [ + 701.9935442114189, + -226.03425157061997 + ], + [ + 675.4084982037841, + -259.25562675519257 + ], + [ + 512.4374881324757, + -255.54002779177597 + ], + [ + 516.5724092870134, + -221.21043397984567 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00066/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00066/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff4a0bebb0102f7d40cbd48ff07cbe3cd313a44 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00066/meta.json @@ -0,0 +1,8096 @@ +{ + "frame_id": 66, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 33.0, + "sim_timestamp": 7479.845047121402 + }, + "drone_pose": { + "x": 7.3491350361530134, + "y": -21.557636415429844, + "z": 20.00000111897071, + "pitch": -39.63415228707935, + "yaw": 86.86378609951441, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.042133867740631104, + -0.7689797878265381, + 0.637883186340332, + 3.5100746154785156 + ], + [ + 0.9985023736953735, + 0.05470985174179077, + 0.0, + 8.517545700073242 + ], + [ + -0.0348985493183136, + 0.6369277834892273, + 0.7701331377029419, + -28.876848220825195 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 7.1207012327059145, + "y": -21.008911545419448, + "z": 20.000000671094767 + }, + "t1_image_uv": [ + 1240.940059324721, + -435.14403695474584 + ], + "t1_depth": 0.41233376904501834 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": -0.6877632141113281, + "z": 0.9847603583334785 + }, + "image_uv": [ + 577.6786240043574, + 402.31377322073956 + ], + "depth": 28.303725310403948, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 591, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -0.6877632141113281, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.3508667051792145, + "y": 0.5251469016075134, + "z": 0.9474605321884155 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 556.7358312044539, + "ymin": 369.4680181363827, + "xmax": 597.3973469364217, + "ymax": 434.44230339946245 + }, + "corners_3d": [ + [ + 10.857963562011719, + -1.0386301279067993, + 0.03729981184005737 + ], + [ + 9.807669639587402, + -1.0386297702789307, + 0.03729981184005737 + ], + [ + 9.807670593261719, + -0.3368963301181793, + 0.03729981184005737 + ], + [ + 10.857964515686035, + -0.336896687746048, + 0.03729981184005737 + ], + [ + 10.857963562011719, + -1.0386301279067993, + 1.9322209358215332 + ], + [ + 9.807669639587402, + -1.0386297702789307, + 1.9322209358215332 + ], + [ + 9.807670593261719, + -0.3368963301181793, + 1.9322209358215332 + ], + [ + 10.857964515686035, + -0.336896687746048, + 1.9322209358215332 + ] + ], + "corners_2d": [ + [ + 560.2474551581926, + 433.09962781354767 + ], + [ + 595.3060671308709, + 434.44230339946245 + ], + [ + 597.3973469364217, + 418.34786412672287 + ], + [ + 562.9834514937065, + 417.0543924623041 + ], + [ + 556.7358312044539, + 385.28434163225404 + ], + [ + 593.3349488630109, + 386.6090288826508 + ], + [ + 595.5547382550935, + 370.7420831453621 + ], + [ + 559.6576725475444, + 369.4680181363827 + ] + ], + "center_offset_px": [ + -62.3213759956426, + 42.31377322073956 + ] + }, + "trace_timestep_index": 66, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 457867, + "2": 284380, + "3": 53960, + "5": 6671, + "6": 15362, + "7": 2284, + "9": 7822, + "10": 13044, + "12": 2508, + "14": 20817, + "20": 2507, + "24": 24788, + "25": 29590 + }, + "instance_pixel_counts": { + "381": 5193, + "586": 4273, + "3146": 2481, + "3669": 10, + "9617": 35, + "9856": 16, + "11676": 53498, + "14236": 105171, + "16284": 60013, + "17502": 8000, + "18013": 27131, + "19037": 2459, + "19038": 4989, + "19866": 3420, + "20378": 5657, + "20573": 3605, + "20890": 4986, + "21085": 70260, + "21402": 1280, + "21597": 43823, + "21914": 1020, + "23418": 4211, + "23450": 12572, + "25498": 11428, + "25978": 3587, + "27516": 4497, + "28026": 1855, + "28530": 1464, + "28786": 37928, + "29554": 12550, + "31612": 12041, + "33660": 5542, + "34816": 11977, + "34899": 238, + "35072": 4493, + "35442": 376, + "36252": 67146, + "36764": 38820, + "37276": 5902, + "38300": 71955, + "38483": 903, + "40860": 55362, + "43008": 591, + "43264": 238, + "43520": 174, + "43776": 570, + "44288": 935, + "44544": 7047, + "44922": 5926, + "45434": 1559, + "45824": 12376, + "46848": 1394, + "49778": 1642, + "51309": 7822, + "51612": 292, + "52636": 4179, + "54684": 3179, + "57241": 12222, + "58697": 2398, + "60284": 1828, + "60796": 1540, + "61308": 2090, + "61337": 52610, + "61820": 407, + "62844": 289, + "63385": 22145, + "63868": 5925 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 591, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": -0.6877632141113281, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.3581216335296631, + "y": 0.47803375124931335, + "z": 0.9414228796958923 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 558.3559907087881, + "ymin": 369.522868119743, + "xmax": 595.8671067488305, + "ymax": 434.40553338976804 + }, + "corners_3d": [ + [ + 10.810851097106934, + -1.0458849668502808, + 0.043337464332580566 + ], + [ + 9.854783058166504, + -1.0458847284317017, + 0.043337464332580566 + ], + [ + 9.854783058166504, + -0.3296414315700531, + 0.043337464332580566 + ], + [ + 10.810851097106934, + -0.329641729593277, + 0.043337464332580566 + ], + [ + 10.810851097106934, + -1.0458849668502808, + 1.9261832237243652 + ], + [ + 9.854783058166504, + -1.0458847284317017, + 1.9261832237243652 + ], + [ + 9.854783058166504, + -0.3296414315700531, + 1.9261832237243652 + ], + [ + 10.810851097106934, + -0.329641729593277, + 1.9261832237243652 + ] + ], + "corners_2d": [ + [ + 561.7787061376762, + 433.18287703979024 + ], + [ + 593.702536895936, + 434.40553338976804 + ], + [ + 595.8671067488305, + 417.9810940381802 + ], + [ + 564.5424483472416, + 416.8041596407531 + ], + [ + 558.3559907087881, + 385.66950988643913 + ], + [ + 591.6737294426365, + 386.8759111596885 + ], + [ + 593.9712517467954, + 370.6822379985295 + ], + [ + 561.3056164478398, + 369.522868119743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 238, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": 2.309941530227661, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.2542438209056854, + "y": 0.21670252084732056, + "z": 0.5928681492805481 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 450.1335880078882, + "ymin": 314.73649687118666, + "xmax": 468.4029523558808, + "ymax": 354.79886165738367 + }, + "corners_3d": [ + [ + 14.61790943145752, + 2.0161983966827393, + 0.39188241958618164 + ], + [ + 14.193975448608398, + 2.106308698654175, + 0.39188241958618164 + ], + [ + 14.299696922302246, + 2.603684663772583, + 0.39188241958618164 + ], + [ + 14.723630905151367, + 2.5135743618011475, + 0.39188241958618164 + ], + [ + 14.61790943145752, + 2.0161983966827393, + 1.5776187181472778 + ], + [ + 14.193975448608398, + 2.106308698654175, + 1.5776187181472778 + ], + [ + 14.299696922302246, + 2.603684663772583, + 1.5776187181472778 + ], + [ + 14.723630905151367, + 2.5135743618011475, + 1.5776187181472778 + ] + ], + "corners_2d": [ + [ + 454.83147672003446, + 354.79886165738367 + ], + [ + 468.4029523558808, + 353.4880051551176 + ], + [ + 468.1218119378279, + 343.76391041960835 + ], + [ + 454.7174899914968, + 345.04261347691096 + ], + [ + 450.19167292588514, + 325.6264118925459 + ], + [ + 464.11052526985793, + 324.3323854317283 + ], + [ + 463.87667527666446, + 314.73649687118666 + ], + [ + 450.1335880078882, + 315.99800308921925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 174, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 6.25494909286499, + "z": 0.6439250707626343 + }, + "extent": { + "x": 0.3023037314414978, + "y": 0.2608572244644165, + "z": 0.6329797506332397 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 654.4936237802418, + "ymin": 259.3927712119016, + "xmax": 671.0112910045636, + "ymax": 299.3071055832583 + }, + "corners_3d": [ + [ + 8.304821968078613, + 5.927034378051758, + 0.010945320129394531 + ], + [ + 7.785965442657471, + 5.981568336486816, + 0.010945320129394531 + ], + [ + 7.849164009094238, + 6.582863807678223, + 0.010945320129394531 + ], + [ + 8.368021011352539, + 6.528329849243164, + 0.010945320129394531 + ], + [ + 8.304821968078613, + 5.927034378051758, + 1.276904821395874 + ], + [ + 7.785965442657471, + 5.981568336486816, + 1.276904821395874 + ], + [ + 7.849164009094238, + 6.582863807678223, + 1.276904821395874 + ], + [ + 8.368021011352539, + 6.528329849243164, + 1.276904821395874 + ] + ], + "corners_2d": [ + [ + 655.5470742259589, + 299.3071055832583 + ], + [ + 670.273573790785, + 298.87278771736493 + ], + [ + 669.021731463225, + 288.9529771512248 + ], + [ + 654.4936237802418, + 289.3756314522658 + ], + [ + 655.9261604955077, + 269.5663677019089 + ], + [ + 671.0112910045636, + 269.1394819542843 + ], + [ + 669.7191561199256, + 259.3927712119016 + ], + [ + 654.8421299542955, + 259.8079193395881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 570, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": -0.6877632141113281, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.4269716441631317, + "y": 0.6002126336097717, + "z": 0.9533411264419556 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 875.2139641040644, + "ymin": 379.1654052481173, + "xmax": 933.0522455164316, + "ymax": 448.8533298702408 + }, + "corners_3d": [ + [ + 1.4330296516418457, + -1.1147350072860718, + 0.03141433000564575 + ], + [ + 0.23260432481765747, + -1.1147346496582031, + 0.03141433000564575 + ], + [ + 0.23260456323623657, + -0.2607913911342621, + 0.03141433000564575 + ], + [ + 1.4330298900604248, + -0.26079174876213074, + 0.03141433000564575 + ], + [ + 1.4330296516418457, + -1.1147350072860718, + 1.938096523284912 + ], + [ + 0.23260432481765747, + -1.1147346496582031, + 1.938096523284912 + ], + [ + 0.23260456323623657, + -0.2607913911342621, + 1.938096523284912 + ], + [ + 1.4330298900604248, + -0.26079174876213074, + 1.938096523284912 + ] + ], + "corners_2d": [ + [ + 879.0995476589504, + 447.2683056725431 + ], + [ + 920.3942950020427, + 448.8533298702408 + ], + [ + 915.5608126231755, + 428.707616421345 + ], + [ + 875.2139641040644, + 427.19395037585423 + ], + [ + 889.8730876286447, + 398.9758546777209 + ], + [ + 933.0522455164316, + 400.5417716086048 + ], + [ + 927.7045767610538, + 380.65775760481597 + ], + [ + 885.5607100031878, + 379.1654052481173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 935, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -8.857977867126465, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3344140648841858, + "y": 0.4129510521888733, + "z": 0.8895477056503296 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 22.45467755520997, + "ymin": 579.919260540905, + "xmax": 101.59819276501389, + "ymax": 656.4263992901615 + }, + "corners_3d": [ + [ + 22.05160903930664, + -9.099226951599121, + 0.09522241353988647 + ], + [ + 21.243755340576172, + -9.270941734313965, + 0.09522241353988647 + ], + [ + 21.104698181152344, + -8.616728782653809, + 0.09522241353988647 + ], + [ + 21.912551879882812, + -8.445013999938965, + 0.09522241353988647 + ], + [ + 22.05160903930664, + -9.099226951599121, + 1.8743178844451904 + ], + [ + 21.243755340576172, + -9.270941734313965, + 1.8743178844451904 + ], + [ + 21.104698181152344, + -8.616728782653809, + 1.8743178844451904 + ], + [ + 21.912551879882812, + -8.445013999938965, + 1.8743178844451904 + ] + ], + "corners_2d": [ + [ + 53.06282776135879, + 648.5085731078525 + ], + [ + 82.44522603897985, + 656.4263992901615 + ], + [ + 101.59819276501389, + 633.0600585492625 + ], + [ + 72.70431781281934, + 625.4764069348686 + ], + [ + 22.45467755520997, + 603.1116322067525 + ], + [ + 53.14572677216199, + 611.0964121125285 + ], + [ + 73.94193628812138, + 587.5499890444371 + ], + [ + 43.781288793089175, + 579.919260540905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 7047, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 102.57027592443217, + "ymin": 110.92026650277268, + "xmax": 241.0807892322478, + "ymax": 233.33123807446736 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 121.80989113867486, + 231.82453079866158 + ], + [ + 182.0726610357354, + 233.33123807446736 + ], + [ + 241.0807892322478, + 156.74770917913975 + ], + [ + 187.5904027679435, + 155.56615091516056 + ], + [ + 102.57027592443217, + 184.03241488524904 + ], + [ + 165.03067353696383, + 185.48321308731997 + ], + [ + 227.99144274897395, + 112.04836191959805 + ], + [ + 172.77653186093602, + 110.92026650277268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 12376, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 173.03592169447722, + "ymin": 446.3542274790216, + "xmax": 388.1827775743414, + "ymax": 541.9161734615593 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 217.11357231725077, + 483.94402966443056 + ], + [ + 190.298607964955, + 534.4319245072802 + ], + [ + 370.6306973210972, + 541.9161734615593 + ], + [ + 388.1827775743414, + 490.6664267138621 + ], + [ + 201.75623323819752, + 446.3542274790216 + ], + [ + 173.03592169447722, + 496.6360331847321 + ], + [ + 360.20751253505716, + 504.1068446184015 + ], + [ + 378.96857023175323, + 453.03760347237403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 1394, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 223.37064220083533, + "ymin": 0.0, + "xmax": 298.3084602341899, + "ymax": 37.75966112282458 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 298.3084602341899, + 6.208749852810229 + ], + [ + 262.80080697681524, + 5.504206691909815 + ], + [ + 230.97238933297484, + 36.95089282905491 + ], + [ + 268.9638160167776, + 37.75966112282458 + ], + [ + 292.378846969645, + -20.044357340698184 + ], + [ + 256.2656347118041, + -20.718472590696194 + ], + [ + 223.37064220083533, + 9.406503345055228 + ], + [ + 262.05610345438566, + 10.182262790544826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013045875658, + "ymin": 365.46696841521015, + "xmax": 948.0204973776091, + "ymax": 385.85246692378036 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415328660886, + 385.85246692378036 + ], + [ + 942.7532658668379, + 384.1462269204241 + ], + [ + 919.2013045875658, + 383.3092066900058 + ], + [ + 919.6400730969722, + 385.0119585288929 + ], + [ + 948.0204973776091, + 367.99399280017377 + ], + [ + 947.5144636481857, + 366.2986179767571 + ], + [ + 923.5875601558328, + 365.46696841521015 + ], + [ + 924.0425053269714, + 367.15882280705625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013107551666, + "ymin": 365.46696863299246, + "xmax": 948.02050366974, + "ymax": 385.85246714433697 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415390593128, + 385.85246714433697 + ], + [ + 942.7532720470599, + 384.1462271400649 + ], + [ + 919.2013107551666, + 383.309206909198 + ], + [ + 919.640079277522, + 385.01195874899804 + ], + [ + 948.02050366974, + 367.99399301933306 + ], + [ + 947.5144699268965, + 366.2986181949921 + ], + [ + 923.5875664215196, + 365.46696863299246 + ], + [ + 924.042511606023, + 367.1588230257599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 822.6585447452073, + "ymin": 364.6098297386633, + "xmax": 849.6225484266124, + "ymax": 384.9843977478628 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 846.373675337687, + 384.9843977478628 + ], + [ + 846.0870268930698, + 383.28176031103425 + ], + [ + 822.6585447452073, + 382.4465045938871 + ], + [ + 822.896209797686, + 384.14566490209916 + ], + [ + 849.6225484266124, + 367.1314375317895 + ], + [ + 849.3245460764297, + 365.4396985960876 + ], + [ + 825.5250403234077, + 364.6098297386633 + ], + [ + 825.7724939529127, + 366.298059555609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.7641693415716, + "ymin": 361.95604521352544, + "xmax": 846.5839096277775, + "ymax": 382.2966254331641 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 843.3926244686933, + 382.2966254331641 + ], + [ + 843.1130820814368, + 380.6051180631789 + ], + [ + 819.7641693415716, + 379.77531400166896 + ], + [ + 819.9950607688004, + 381.46337826484114 + ], + [ + 846.5839096277775, + 364.460920017482 + ], + [ + 846.2932833409798, + 362.780412952022 + ], + [ + 822.5758819153708, + 361.95604521352544 + ], + [ + 822.8163079419787, + 363.6330780311311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6274557236626, + "ymin": 357.26426271747516, + "xmax": 948.9876851739518, + "ymax": 378.4523260156283 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.6019338947604, + 378.4523260156283 + ], + [ + 943.5370661100751, + 378.2280340009853 + ], + [ + 922.6274557236626, + 377.49031406783973 + ], + [ + 922.6865039534936, + 377.7141993506662 + ], + [ + 948.9876851739518, + 358.21897159431273 + ], + [ + 948.920155917945, + 357.9963787021795 + ], + [ + 927.635096625102, + 357.26426271747516 + ], + [ + 927.6965954567711, + 357.48644480933643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6276880877274, + "ymin": 357.26425658934846, + "xmax": 948.9879217358955, + "ymax": 378.4523198258655 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.60216637433, + 378.4523198258655 + ], + [ + 943.5372985260483, + 378.2280278146349 + ], + [ + 922.6276880877274, + 377.49030789270626 + ], + [ + 922.686736381127, + 377.7141931721296 + ], + [ + 948.9879217358955, + 358.2189654514105 + ], + [ + 948.9203924140395, + 357.9963725627239 + ], + [ + 927.6353330675056, + 357.26425658934846 + ], + [ + 927.6968319649947, + 357.4864386777727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013045875658, + "ymin": 365.46696841521015, + "xmax": 948.0204973776091, + "ymax": 385.85246692378036 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415328660886, + 385.85246692378036 + ], + [ + 942.7532658668379, + 384.1462269204241 + ], + [ + 919.2013045875658, + 383.3092066900058 + ], + [ + 919.6400730969722, + 385.0119585288929 + ], + [ + 948.0204973776091, + 367.99399280017377 + ], + [ + 947.5144636481857, + 366.2986179767571 + ], + [ + 923.5875601558328, + 365.46696841521015 + ], + [ + 924.0425053269714, + 367.15882280705625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013045446141, + "ymin": 365.4669682495973, + "xmax": 948.0204973029923, + "ymax": 385.8524666721964 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.241532794094, + 385.8524666721964 + ], + [ + 942.7532658190407, + 384.14622675339797 + ], + [ + 919.2013045446141, + 383.30920652332077 + ], + [ + 919.6400730322763, + 385.0119582778238 + ], + [ + 948.0204973029923, + 367.99399255018375 + ], + [ + 947.514463598651, + 366.29861781079995 + ], + [ + 923.5875601112989, + 365.4669682495973 + ], + [ + 924.042505259888, + 367.15882255758584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013097272331, + "ymin": 365.46696859669544, + "xmax": 948.0205025961792, + "ymax": 385.8524670237162 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415380031105, + 385.8524670237162 + ], + [ + 942.7532710170228, + 384.1462271034581 + ], + [ + 919.2013097272331, + 383.309206872666 + ], + [ + 919.6400782258651, + 385.0119586286242 + ], + [ + 948.0205025961792, + 367.9939928994765 + ], + [ + 947.5144688804447, + 366.2986181586196 + ], + [ + 923.5875653772384, + 365.46696859669544 + ], + [ + 924.0425105371532, + 367.1588229061525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 856.9859025445629, + "ymin": 383.31077999106674, + "xmax": 885.246307677776, + "ymax": 403.9185913246227 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 881.3575603992751, + 403.9185913246227 + ], + [ + 880.9900062683699, + 402.13651410803254 + ], + [ + 856.9859025445629, + 401.2623505941266 + ], + [ + 857.3020350512535, + 403.0407046488281 + ], + [ + 885.246307677776, + 385.9518893588321 + ], + [ + 884.8644522571341, + 384.1799340612803 + ], + [ + 860.4707289233918, + 383.31077999106674 + ], + [ + 860.7994781580761, + 385.07897378611517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6271370644847, + "ymin": 357.2642376243814, + "xmax": 948.9873596422382, + "ymax": 378.4523006701513 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.6016142049441, + 378.4523006701513 + ], + [ + 943.5367465104109, + 378.22800866948086 + ], + [ + 922.6271370644847, + 377.4902887822653 + ], + [ + 922.6861852046857, + 377.7141740511572 + ], + [ + 948.9873596422382, + 358.2189464407173 + ], + [ + 948.9198304797055, + 357.9963535626967 + ], + [ + 927.6347721612913, + 357.2642376243814 + ], + [ + 927.6962709000366, + 357.4864197021691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013107551666, + "ymin": 365.46696863299246, + "xmax": 948.02050366974, + "ymax": 385.85246714433697 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415390593128, + 385.85246714433697 + ], + [ + 942.7532720470599, + 384.1462271400649 + ], + [ + 919.2013107551666, + 383.309206909198 + ], + [ + 919.640079277522, + 385.01195874899804 + ], + [ + 948.02050366974, + 367.99399301933306 + ], + [ + 947.5144699268965, + 366.2986181949921 + ], + [ + 923.5875664215196, + 365.46696863299246 + ], + [ + 924.042511606023, + 367.1588230257599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.713182765076, + "ymin": 356.5078648920693, + "xmax": 952.3712792022542, + "ymax": 379.0240572810609 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 946.648846775968, + 379.0240572810609 + ], + [ + 946.5701194729796, + 378.7551344749673 + ], + [ + 918.713182765076, + 377.7717957293544 + ], + [ + 918.7826217673453, + 378.0400690063187 + ], + [ + 952.3712792022542, + 357.7501277588697 + ], + [ + 952.2891578500908, + 357.4833461547465 + ], + [ + 923.9061536407555, + 356.5078648920693 + ], + [ + 923.9786325515086, + 356.7739901384453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6273048878217, + "ymin": 357.2642010367195, + "xmax": 948.9875294262881, + "ymax": 378.4522637144954 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.6017812742396, + 378.4522637144954 + ], + [ + 943.5369135365945, + 378.22797173419804 + ], + [ + 922.6273048878217, + 377.49025191395174 + ], + [ + 922.6863530715791, + 377.714137162526 + ], + [ + 948.9875294262881, + 358.2189097648394 + ], + [ + 948.9200002192404, + 357.9963169073962 + ], + [ + 927.6349427269342, + 357.2642010367195 + ], + [ + 927.6964415106638, + 357.4863830939868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013045446141, + "ymin": 365.4669682495973, + "xmax": 948.0204973029923, + "ymax": 385.8524666721964 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.241532794094, + 385.8524666721964 + ], + [ + 942.7532658190407, + 384.14622675339797 + ], + [ + 919.2013045446141, + 383.30920652332077 + ], + [ + 919.6400730322763, + 385.0119582778238 + ], + [ + 948.0204973029923, + 367.99399255018375 + ], + [ + 947.514463598651, + 366.29861781079995 + ], + [ + 923.5875601112989, + 365.4669682495973 + ], + [ + 924.042505259888, + 367.15882255758584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.7132019011062, + "ymin": 356.5079382305286, + "xmax": 952.3713018228776, + "ymax": 379.02413135636374 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 946.6488684615547, + 379.02413135636374 + ], + [ + 946.5701411686751, + 378.7552085848006 + ], + [ + 918.7132019011062, + 377.77186966021975 + ], + [ + 918.7826408944441, + 378.0401429026779 + ], + [ + 952.3713018228776, + 357.7502012448274 + ], + [ + 952.2891804809799, + 357.4834196740537 + ], + [ + 923.9061736144022, + 356.5079382305286 + ], + [ + 923.9786525160785, + 356.7740634435765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.7133910377993, + "ymin": 356.50786220138474, + "xmax": 952.3714915483365, + "ymax": 379.0240544767664 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 946.6490552517225, + 379.0240544767664 + ], + [ + 946.5703279045772, + 378.75513175598206 + ], + [ + 918.7133910377993, + 377.7717930169353 + ], + [ + 918.7828300870058, + 378.0400662087985 + ], + [ + 952.3714915483365, + 357.75012497688624 + ], + [ + 952.2893701504993, + 357.4833434574269 + ], + [ + 923.9063657763563, + 356.50786220138474 + ], + [ + 923.9788447356675, + 356.7739873633075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2013013749104, + "ymin": 365.4669678094803, + "xmax": 948.0204940574379, + "ymax": 385.8524662264729 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 943.2415296014892, + 385.8524662264729 + ], + [ + 942.7532626333353, + 384.1462263095251 + ], + [ + 919.2013013749104, + 383.30920608035444 + ], + [ + 919.6400698557401, + 385.01195783301245 + ], + [ + 948.0204940574379, + 367.99399210728404 + ], + [ + 947.5144603602262, + 366.2986173697681 + ], + [ + 923.5875568893878, + 365.4669678094803 + ], + [ + 924.0425020309178, + 367.1588221156068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.7131687120116, + "ymin": 356.5077914042774, + "xmax": 952.3712617355656, + "ymax": 379.0239829712427 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 946.6488301515478, + 379.0239829712427 + ], + [ + 946.5701028612336, + 378.7550602142305 + ], + [ + 918.7131687120116, + 377.77172164794996 + ], + [ + 918.7826077033131, + 378.0399948760105 + ], + [ + 952.3712617355656, + 357.7500540402627 + ], + [ + 952.2891403969118, + 357.4832724857386 + ], + [ + 923.9061388438006, + 356.5077914042774 + ], + [ + 923.9786177428492, + 356.7739166012372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.9165233931616, + "ymin": 361.18459879036334, + "xmax": 824.2991738643153, + "ymax": 381.5152572859742 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 821.4548622068955, + 381.5152572859742 + ], + [ + 821.2209383126276, + 379.8269788354483 + ], + [ + 797.9165233931616, + 378.99875630488634 + ], + [ + 798.1019813293282, + 380.6836014976286 + ], + [ + 824.2991738643153, + 363.68461974579236 + ], + [ + 824.0556188958687, + 362.0073708071888 + ], + [ + 800.384123866634, + 361.18459879036334 + ], + [ + 800.5776724396717, + 362.8583835746043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.7131807405108, + "ymin": 356.5078649848431, + "xmax": 952.3712771151793, + "ymax": 379.02405729136024 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 946.6488447270546, + 379.02405729136024 + ], + [ + 946.5701174491742, + 378.75513456871687 + ], + [ + 918.7131807405108, + 377.7717958228776 + ], + [ + 918.782619720556, + 378.0400690165931 + ], + [ + 952.3712771151793, + 357.75012776908716 + ], + [ + 952.2891557892024, + 357.4833462477491 + ], + [ + 923.9061515790772, + 356.5078649848431 + ], + [ + 923.9786304666377, + 356.77399014863755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.4688751116116, + "ymin": 370.85621847643506, + "xmax": 947.2070109692748, + "ymax": 391.1281770200501 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 942.4516161221306, + 391.1281770200501 + ], + [ + 941.9661061747046, + 389.41490881143415 + ], + [ + 918.4688751116116, + 388.57443477391485 + ], + [ + 918.905116563689, + 390.28420847402066 + ], + [ + 947.2070109692748, + 373.3943180982843 + ], + [ + 946.7038685507348, + 371.6915170651714 + ], + [ + 922.8334493908685, + 370.85621847643506 + ], + [ + 923.2857444013637, + 372.5554918850115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6274557236626, + "ymin": 357.26426271747516, + "xmax": 948.9876851739518, + "ymax": 378.4523260156283 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.6019338947604, + 378.4523260156283 + ], + [ + 943.5370661100751, + 378.2280340009853 + ], + [ + 922.6274557236626, + 377.49031406783973 + ], + [ + 922.6865039534936, + 377.7141993506662 + ], + [ + 948.9876851739518, + 358.21897159431273 + ], + [ + 948.920155917945, + 357.9963787021795 + ], + [ + 927.635096625102, + 357.26426271747516 + ], + [ + 927.6965954567711, + 357.48644480933643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.7425993264471, + "ymin": 363.2144545362857, + "xmax": 812.9819422151511, + "ymax": 383.5711790889022 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 810.3055699982566, + 383.5711790889022 + ], + [ + 810.0941652075821, + 381.8743983756714 + ], + [ + 786.7425993264471, + 381.0420113283254 + ], + [ + 786.9053414392661, + 382.7353328292995 + ], + [ + 812.9819422151511, + 365.7272570174857 + ], + [ + 812.761588431319, + 364.04142859065945 + ], + [ + 789.0414411630663, + 363.2144545362857 + ], + [ + 789.2115823523259, + 364.89679220875564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.6276526684132, + "ymin": 357.26425461143367, + "xmax": 948.9878855797098, + "ymax": 378.4523178280572 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 943.6021308615827, + 378.4523178280572 + ], + [ + 943.5372630232503, + 378.22802581792786 + ], + [ + 922.6276526684132, + 377.49030589961956 + ], + [ + 922.6867009519099, + 377.7141911779446 + ], + [ + 948.9878855797098, + 358.2189634687268 + ], + [ + 948.9203562681668, + 357.9963705811525 + ], + [ + 927.6352970081268, + 357.26425461143367 + ], + [ + 927.6967958953517, + 357.4864366987486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.80220696853053, + "ymin": 259.3548714166769, + "xmax": 247.28966996258163, + "ymax": 296.3316504849638 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 247.28966996258163, + 287.75783254641067 + ], + [ + 236.81893530106788, + 287.41928692714487 + ], + [ + 231.22969876127348, + 295.98502325393804 + ], + [ + 241.82196567242272, + 296.3316504849638 + ], + [ + 238.33681044443688, + 259.6876861872521 + ], + [ + 227.6317706139887, + 259.3548714166769 + ], + [ + 221.80220696853053, + 267.777793626547 + ], + [ + 232.63430971646875, + 268.1187374644103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 257.75871852321586, + "ymin": 208.5950703112754, + "xmax": 280.3013909410043, + "ymax": 243.37608504087436 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 280.3013909410043, + 235.99247696623908 + ], + [ + 270.56576178363593, + 235.700669344086 + ], + [ + 265.7520866636421, + 243.077823394475 + ], + [ + 275.59270704756807, + 243.37608504087436 + ], + [ + 272.7007295421639, + 208.88100435899494 + ], + [ + 262.7628461888535, + 208.5950703112754 + ], + [ + 257.75871852321586, + 215.82534815507896 + ], + [ + 267.80602369755223, + 216.11774218955298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.27629332562736, + "ymin": 331.93751568337984, + "xmax": 200.26799210624654, + "ymax": 371.91678561979774 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 200.26799210624654, + 361.492140249738 + ], + [ + 188.7540858509493, + 361.08103061258964 + ], + [ + 181.95895873435575, + 371.49484903111687 + ], + [ + 193.6199793618792, + 371.91678561979774 + ], + [ + 189.19489353747656, + 332.3435512954729 + ], + [ + 177.39706174057028, + 331.93751568337984 + ], + [ + 170.27629332562736, + 342.2260570283841 + ], + [ + 182.22862929181377, + 342.6430605950755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.00995370510884, + "ymin": 123.93529525355083, + "xmax": 384.72717566220444, + "ymax": 149.4268157999382 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 377.6480112673743, + 144.6655740896943 + ], + [ + 375.0385208450672, + 149.24141189073623 + ], + [ + 382.17274346689555, + 149.4268157999382 + ], + [ + 384.72717566220444, + 144.84808543107553 + ], + [ + 373.69082447548533, + 123.93529525355083 + ], + [ + 371.00995370510884, + 128.4146159530437 + ], + [ + 378.25138493223676, + 128.59613166272834 + ], + [ + 380.8755371533035, + 124.11393650550974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.13714238694854, + "ymin": 42.899181228862915, + "xmax": 98.1639387936226, + "ymax": 69.96017683032431 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 90.95463559802954, + 65.6944253216563 + ], + [ + 85.90033130854658, + 69.79487835945804 + ], + [ + 93.1670229172521, + 69.96017683032431 + ], + [ + 98.1639387936226, + 65.85704959235738 + ], + [ + 82.34300126361188, + 42.899181228862915 + ], + [ + 77.13714238694854, + 46.87490394278632 + ], + [ + 84.51588216330947, + 47.03519566755091 + ], + [ + 89.66257770739423, + 43.05683924073111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.47859887767555, + "ymin": 46.04731338459061, + "xmax": 242.19442461738663, + "ymax": 73.2628904519409 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 234.89132785245027, + 68.94141060192823 + ], + [ + 230.9901208604344, + 73.09542361120685 + ], + [ + 238.35213440729348, + 73.2628904519409 + ], + [ + 242.19442461738663, + 69.10615066733214 + ], + [ + 228.49545923027114, + 46.04731338459061 + ], + [ + 224.47859887767555, + 50.07579289068951 + ], + [ + 231.95567670434633, + 50.238220899011026 + ], + [ + 235.91177255781366, + 46.20705507434377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 107.22620869333252, + "ymin": 584.1584843956872, + "xmax": 142.57578927487776, + "ymax": 624.7277705344375 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 142.57578927487776, + 609.7716313944134 + ], + [ + 129.962420539008, + 609.1793914271757 + ], + [ + 121.68929576513938, + 624.1184604434492 + ], + [ + 134.4784436970507, + 624.7277705344375 + ], + [ + 128.88869405777876, + 584.7524405297436 + ], + [ + 115.93642966414166, + 584.1584843956872 + ], + [ + 107.22620869333252, + 599.1465056155562 + ], + [ + 120.36388785559325, + 599.7580626787619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.86881346785395, + "ymin": 44.32503500251113, + "xmax": 163.40156393172674, + "ymax": 71.45608175814817 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 156.14985256125163, + 67.16513352319231 + ], + [ + 151.61592809723481, + 71.28980291301002 + ], + [ + 158.92571704242118, + 71.45608175814817 + ], + [ + 163.40156393172674, + 67.32871443936403 + ], + [ + 148.53815257214126, + 44.32503500251113 + ], + [ + 143.86881346785395, + 48.32460891257688 + ], + [ + 151.29201045836692, + 48.48586642249427 + ], + [ + 155.90146433526064, + 44.48363505963505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.4388903907561, + "ymin": 363.88684869587263, + "xmax": 836.1516770937548, + "ymax": 423.84366977577645 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 826.1809070241413, + 423.84366977577645 + ], + [ + 826.0116806035583, + 422.6105269739718 + ], + [ + 823.4388903907561, + 422.5143118533361 + ], + [ + 823.6043994754118, + 423.7471778267489 + ], + [ + 836.1516770937548, + 365.1916611990605 + ], + [ + 835.958322405782, + 363.98128002935346 + ], + [ + 833.246797720272, + 363.88684869587263 + ], + [ + 833.4360230548884, + 365.09694360884987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3610425795207463592, + "instance_id": 43138, + "pixel_count": null, + "type_id": "BP_StreetLight_wall41_74_SM_0", + "bbox_3d": { + "center_world": { + "x": -3.7471089363098145, + "y": 22.76371955871582, + "z": 4.686147212982178 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.1109564147546, + "ymin": 0.0, + "xmax": 967.0701435151344, + "ymax": 15.403111157328112 + }, + "corners_3d": [ + [ + -4.894715309143066, + 22.88140869140625, + 4.274991512298584 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 4.274991512298584 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 4.274991512298584 + ], + [ + -4.894715785980225, + 22.646034240722656, + 4.274991512298584 + ], + [ + -4.894715309143066, + 22.88140869140625, + 5.0973029136657715 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 5.0973029136657715 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 5.0973029136657715 + ], + [ + -4.894715785980225, + 22.646034240722656, + 5.0973029136657715 + ] + ], + "corners_2d": [ + [ + 962.0710490032363, + 13.536482203053765 + ], + [ + 911.1109564147546, + 12.545508121998239 + ], + [ + 911.9528388676649, + 14.403883705491637 + ], + [ + 963.12680948196, + 15.403111157328112 + ], + [ + 965.9850170795544, + -4.759066461840121 + ], + [ + 914.3982670550754, + -5.7211582986283815 + ], + [ + 915.2642123618175, + -3.916903254654585 + ], + [ + 967.0701435151344, + -2.946700712863219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.3306952114218, + "ymin": 363.1120318258515, + "xmax": 813.8673636688256, + "ymax": 423.051725015505 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 805.0374966641842, + 423.051725015505 + ], + [ + 804.8987510353522, + 421.8208533278729 + ], + [ + 802.3306952114218, + 421.72481527233487 + ], + [ + 802.465737151251, + 422.95541089594434 + ], + [ + 813.8673636688256, + 364.41431295575643 + ], + [ + 813.7078652567031, + 363.20628009830693 + ], + [ + 811.0015966668675, + 363.1120318258515 + ], + [ + 811.1569816911704, + 364.3197792591865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.4551757172877, + "ymin": 385.3360393833779, + "xmax": 874.5508794178477, + "ymax": 445.7369991054027 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 862.3243263794927, + 445.7369991054027 + ], + [ + 862.0975861830715, + 444.440244127234 + ], + [ + 859.4551757172877, + 444.33906966633776 + ], + [ + 859.677994591895, + 445.6355261229655 + ], + [ + 874.5508794178477, + 386.7119046817205 + ], + [ + 874.2927020714444, + 385.4356089019592 + ], + [ + 871.5037378177292, + 385.3360393833779 + ], + [ + 871.757546482318, + 386.6120252089729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.24667398382655, + "ymin": 0.0, + "xmax": 458.9517714621458, + "ymax": 70.1943638510624 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 457.2315341394695, + 70.1943638510624 + ], + [ + 458.9517714621458, + 66.73194842183756 + ], + [ + 385.2415381499916, + 65.09284255617848 + ], + [ + 383.0201083296058, + 68.53260126851211 + ], + [ + 436.69227478900524, + -92.62408995996697 + ], + [ + 438.7607800218992, + -95.23265481931332 + ], + [ + 356.9332814730122, + -96.46614883574125 + ], + [ + 354.24667398382655, + -93.87655394896996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 839.6850439386911, + "ymin": 66.30057038155519, + "xmax": 851.0151214979212, + "ymax": 75.11586251826753 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 849.0528235119098, + 69.82306810898922 + ], + [ + 839.6850439386911, + 69.61704559478096 + ], + [ + 841.0616058613497, + 74.90549325826566 + ], + [ + 850.5281425676924, + 75.11586251826753 + ], + [ + 849.5313624602637, + 66.50570775564813 + ], + [ + 840.1419523588024, + 66.30057038155519 + ], + [ + 841.5264952769281, + 71.56641846500838 + ], + [ + 851.0151214979212, + 71.7758939574328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.5082395613042, + "ymin": 371.6887357310919, + "xmax": 936.4799439767382, + "ymax": 431.2998114224646 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 921.3994913631109, + 431.2998114224646 + ], + [ + 921.0933728801123, + 430.0551569167127 + ], + [ + 918.5082395613042, + 429.9580437010303 + ], + [ + 918.8106051490017, + 431.20241861255266 + ], + [ + 936.4799439767382, + 373.0071915302807 + ], + [ + 936.1346227889891, + 371.78415435247825 + ], + [ + 933.4093972501084, + 371.6887357310919 + ], + [ + 933.7505474944942, + 372.9114834609719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 803.8279050846793, + "ymin": 22.777733302527906, + "xmax": 854.432641749455, + "ymax": 273.7267794661079 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 815.0312449600871, + 218.5174959165389 + ], + [ + 803.8279050846793, + 218.19807202204692 + ], + [ + 811.892235373995, + 273.35112697334887 + ], + [ + 824.0461018355403, + 273.7267794661079 + ], + [ + 841.3404196466005, + 23.03526685167043 + ], + [ + 828.4392498538998, + 22.777733302527906 + ], + [ + 840.2546161707537, + 67.81239190571904 + ], + [ + 854.432641749455, + 68.12309412866415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.2458041280988, + "ymin": 366.55225293574733, + "xmax": 839.1564907935197, + "ymax": 426.56741683944426 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.0008798293657, + 426.56741683944426 + ], + [ + 828.8270564746589, + 425.32644691972234 + ], + [ + 826.2458041280988, + 425.2296215753409 + ], + [ + 826.4158856400362, + 426.47031202698514 + ], + [ + 839.1564907935197, + 367.8657923593475 + ], + [ + 838.9579315663239, + 366.6473153637998 + ], + [ + 836.2370061615231, + 366.55225293574733 + ], + [ + 836.4314073370022, + 367.7704407979386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.5485908082526, + "ymin": 365.1507926063302, + "xmax": 802.5187954051339, + "ymax": 425.1353917348278 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 794.2452270607693, + 425.1353917348278 + ], + [ + 794.1216614110025, + 423.89854000405853 + ], + [ + 791.5485908082526, + 423.80203572796603 + ], + [ + 791.6684382656672, + 425.0386093805576 + ], + [ + 802.5187954051339, + 366.4597398568281 + ], + [ + 802.3760796117375, + 365.24552294498096 + ], + [ + 799.6642403480467, + 365.1507926063302 + ], + [ + 799.8028257712012, + 366.3647218997234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 839.7445789154707, + "ymin": 66.34735678686025, + "xmax": 850.9539588964803, + "ymax": 75.06880366138506 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 849.0132010581217, + 69.83252542473952 + ], + [ + 839.7445789154707, + 69.62867960645349 + ], + [ + 841.1070322920935, + 74.86070312312529 + ], + [ + 850.4723212797786, + 75.06880366138506 + ], + [ + 849.4865798251084, + 66.5503361640462 + ], + [ + 840.1967828259267, + 66.34735678686025 + ], + [ + 841.5670505705033, + 71.55725922057388 + ], + [ + 850.9539588964803, + 71.76448496236628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 25.589425763584018, + "ymin": 0.0, + "xmax": 401.12183355836487, + "ymax": 205.99347078020585 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 398.3987841096673, + 205.99347078020585 + ], + [ + 401.12183355836487, + 200.55501824832245 + ], + [ + 114.54790933475351, + 191.12880637478807 + ], + [ + 109.4505814759118, + 196.40650162783177 + ], + [ + 359.53720119875624, + -5.209137050784648 + ], + [ + 363.07609096421606, + -9.43690658700234 + ], + [ + 32.29517932840031, + -16.73747321803677 + ], + [ + 25.589425763584018, + -12.654161610750066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 15.63033394040724, + "ymin": 120.6768138828021, + "xmax": 344.49612873858723, + "ymax": 697.4290103901585 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 168.3108787091599, + 696.3395664331664 + ], + [ + 186.6950672527396, + 697.4290103901585 + ], + [ + 344.49612873858723, + 361.94265031110734 + ], + [ + 331.44707717447756, + 361.40288619675795 + ], + [ + 15.63033394040724, + 430.0427104056008 + ], + [ + 39.778214353042586, + 431.145742013006 + ], + [ + 282.9966036503514, + 121.13184067682971 + ], + [ + 267.2843433406939, + 120.6768138828021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4932069978961, + "ymin": 367.41314773236877, + "xmax": 937.5865908232955, + "ymax": 427.4469642880592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.3962329531341, + 427.4469642880592 + ], + [ + 922.0875948443213, + 426.2034616801587 + ], + [ + 919.4932069978961, + 426.10643887261824 + ], + [ + 919.7980652766352, + 427.3496611564961 + ], + [ + 937.5865908232955, + 368.7295119649507 + ], + [ + 937.2383016284055, + 367.508414445799 + ], + [ + 934.5027895212884, + 367.41314773236877 + ], + [ + 934.8468762059572, + 368.633955184969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.6115606840472, + "ymin": 0.0, + "xmax": 631.8485692139558, + "ymax": 134.42370880352934 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 631.8485692139558, + 122.83567880089257 + ], + [ + 610.7965846855935, + 61.754941326008634 + ], + [ + 467.2274290315007, + 70.92396371666212 + ], + [ + 470.7021007819212, + 134.42370880352934 + ], + [ + 630.2003392194297, + -159.47731459286013 + ], + [ + 605.6518923531181, + -194.97013021640407 + ], + [ + 436.127787721561, + -189.74056893344846 + ], + [ + 435.6115606840472, + -152.56567028804318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.4299931732656, + "ymin": 0.0, + "xmax": 1050.5351306006469, + "ymax": 33.68458915189052 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 853.6856384213767, + 33.68458915189052 + ], + [ + 991.0744494786246, + 25.848276885144116 + ], + [ + 935.0806891222514, + -22.37053185712807 + ], + [ + 811.4299931732656, + -16.098954569571788 + ], + [ + 890.5985719194783, + -222.90064146760972 + ], + [ + 1050.5351306006469, + -227.04907768258704 + ], + [ + 979.0513867149555, + -252.05890187609214 + ], + [ + 837.4221708953598, + -248.85537071520707 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00068/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00068/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d1c459d6e588e69c825e95e5e64d28f435e9665 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00068/meta.json @@ -0,0 +1,8517 @@ +{ + "frame_id": 68, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 34.0, + "sim_timestamp": 7509.782016852405 + }, + "drone_pose": { + "x": 6.87769317030501, + "y": -20.452537603327738, + "z": 20.00000039172998, + "pitch": -39.84388350599312, + "yaw": 76.92046373520839, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1737542748451233, + -0.7478740215301514, + 0.6406979560852051, + 1.2869338989257812 + ], + [ + 0.9740568399429321, + 0.22630351781845093, + -2.9802322387695312e-08, + 11.327743530273438 + ], + [ + -0.1449921727180481, + 0.624076247215271, + 0.7677930593490601, + -27.122591018676758 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 6.522972398625721, + "y": -19.81686678826861, + "z": 20.074611551061466 + }, + "t1_image_uv": [ + 1923.725776494833, + -696.0014256537361 + ], + "t1_depth": 0.3659642779068344 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": 0.3122367858886719, + "z": 0.9847554755210877 + }, + "image_uv": [ + 685.2200448610566, + 398.6540414475856 + ], + "depth": 28.312806932616617, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 564, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 0.3122367858886719, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.3681878447532654, + "y": 0.4838399291038513, + "z": 0.9287037253379822 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 666.0435631235614, + "ymin": 364.3430698454952, + "xmax": 704.9513363584842, + "ymax": 432.39872247905504 + }, + "corners_3d": [ + [ + 10.816657066345215, + -0.055951207876205444, + 0.05605173110961914 + ], + [ + 9.848977088928223, + -0.05595090985298157, + 0.05605173110961914 + ], + [ + 9.848977088928223, + 0.6804248094558716, + 0.05605173110961914 + ], + [ + 10.816657066345215, + 0.6804244518280029, + 0.05605173110961914 + ], + [ + 10.816657066345215, + -0.055951207876205444, + 1.9134591817855835 + ], + [ + 9.848977088928223, + -0.05595090985298157, + 1.9134591817855835 + ], + [ + 9.848977088928223, + 0.6804248094558716, + 1.9134591817855835 + ], + [ + 10.816657066345215, + 0.6804244518280029, + 1.9134591817855835 + ] + ], + "corners_2d": [ + [ + 666.0435631235614, + 427.28436727225557 + ], + [ + 697.8930307798378, + 432.39872247905504 + ], + [ + 702.2950870538224, + 415.86751308404746 + ], + [ + 671.0196348566568, + 410.94436561177065 + ], + [ + 667.1694893479159, + 380.45714803308977 + ], + [ + 700.411268503192, + 385.50617866840605 + ], + [ + 704.9513363584842, + 369.1953898575067 + ], + [ + 672.3343848016655, + 364.3430698454952 + ] + ], + "center_offset_px": [ + 45.220044861056635, + 38.6540414475856 + ] + }, + "trace_timestep_index": 68, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 496734, + "2": 260652, + "3": 42623, + "5": 4658, + "6": 15060, + "7": 2296, + "9": 14809, + "10": 15291, + "12": 2323, + "14": 18677, + "20": 2843, + "24": 27130, + "25": 18504 + }, + "instance_pixel_counts": { + "381": 3732, + "586": 2143, + "3146": 2164, + "3669": 23, + "9617": 97, + "9856": 40, + "11676": 89032, + "12188": 10, + "14236": 118281, + "16284": 44624, + "17502": 10016, + "18013": 18504, + "19038": 5192, + "19354": 2993, + "19866": 3358, + "20378": 5655, + "20573": 9595, + "20890": 7764, + "21085": 76798, + "21402": 26, + "21597": 37756, + "21914": 911, + "22426": 169, + "23418": 6407, + "23450": 13906, + "25498": 8246, + "25978": 4013, + "27516": 4871, + "28026": 1411, + "28530": 2864, + "28786": 29849, + "29052": 518, + "31612": 13704, + "33660": 937, + "34304": 877, + "34816": 11031, + "34899": 229, + "35072": 4067, + "36252": 85430, + "36764": 35652, + "37276": 3324, + "38300": 79654, + "38483": 1055, + "40860": 40727, + "41121": 70, + "43008": 564, + "43264": 235, + "43520": 169, + "43776": 661, + "44288": 694, + "44544": 6393, + "44922": 6562, + "45434": 1450, + "45824": 11699, + "46848": 585, + "49778": 9910, + "51309": 14809, + "51587": 546, + "51612": 175, + "52636": 4724, + "54684": 2388, + "57241": 14191, + "58265": 1098, + "58697": 2515, + "59772": 1472, + "60284": 1763, + "60796": 1494, + "61308": 2369, + "61337": 40622, + "61820": 61, + "62844": 240, + "63868": 6403 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 564, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 0.3122367858886719, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.3525134325027466, + "y": 0.5268092751502991, + "z": 0.9486761093139648 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 664.7354067308586, + "ymin": 363.9425887158286, + "xmax": 706.3450259522016, + "ymax": 432.75149050427717 + }, + "corners_3d": [ + [ + 10.859625816345215, + -0.04027682542800903, + 0.036079347133636475 + ], + [ + 9.806007385253906, + -0.04027646780014038, + 0.036079347133636475 + ], + [ + 9.806008338928223, + 0.6647503972053528, + 0.036079347133636475 + ], + [ + 10.859626770019531, + 0.6647500395774841, + 0.036079347133636475 + ], + [ + 10.859625816345215, + -0.04027682542800903, + 1.933431625366211 + ], + [ + 9.806007385253906, + -0.04027646780014038, + 1.933431625366211 + ], + [ + 9.806008338928223, + 0.6647503972053528, + 1.933431625366211 + ], + [ + 10.859626770019531, + 0.6647500395774841, + 1.933431625366211 + ] + ], + "corners_2d": [ + [ + 664.7354067308586, + 427.18688551441915 + ], + [ + 699.3843008772317, + 432.75149050427717 + ], + [ + 703.5728211402284, + 416.91416870273326 + ], + [ + 669.521778596495, + 411.5488205410477 + ], + [ + 665.8275221513848, + 379.359416062787 + ], + [ + 702.0237814147312, + 384.85121280188383 + ], + [ + 706.3450259522016, + 369.2292696672619 + ], + [ + 670.8007288031995, + 363.9425887158286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 235, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": 3.309941291809082, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.24890506267547607, + "y": 0.33638736605644226, + "z": 0.6021876931190491 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 566.5787840591399, + "ymin": 299.6208706263563, + "xmax": 589.7780651050828, + "ymax": 338.54405602256605 + }, + "corners_3d": [ + [ + 14.736088752746582, + 2.9965362548828125, + 0.38256287574768066 + ], + [ + 14.07801628112793, + 3.1364145278930664, + 0.38256287574768066 + ], + [ + 14.181517601013184, + 3.6233463287353516, + 0.38256287574768066 + ], + [ + 14.839590072631836, + 3.4834680557250977, + 0.38256287574768066 + ], + [ + 14.736088752746582, + 2.9965362548828125, + 1.5869382619857788 + ], + [ + 14.07801628112793, + 3.1364145278930664, + 1.5869382619857788 + ], + [ + 14.181517601013184, + 3.6233463287353516, + 1.5869382619857788 + ], + [ + 14.839590072631836, + 3.4834680557250977, + 1.5869382619857788 + ] + ], + "corners_2d": [ + [ + 568.3789932992584, + 338.30297848410345 + ], + [ + 588.881883420616, + 338.54405602256605 + ], + [ + 589.7780651050828, + 329.1878887414998 + ], + [ + 569.5208759220457, + 328.95256182914875 + ], + [ + 566.5787840591399, + 308.84119215086645 + ], + [ + 587.5966112647561, + 309.07898903982357 + ], + [ + 588.5308559471338, + 299.85285517118837 + ], + [ + 567.7711486865783, + 299.6208706263563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 169, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 7.25494909286499, + "z": 0.6538519859313965 + }, + "extent": { + "x": 0.27258816361427307, + "y": 0.3548656702041626, + "z": 0.6145350337028503 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 774.9750133532398, + "ymin": 264.9393814636097, + "xmax": 799.1872318187227, + "ymax": 304.4128391914966 + }, + "corners_3d": [ + [ + 8.401421546936035, + 6.946760654449463, + 0.03931695222854614 + ], + [ + 7.695578098297119, + 7.0209479331970215, + 0.03931695222854614 + ], + [ + 7.752564430236816, + 7.563137531280518, + 0.03931695222854614 + ], + [ + 8.45840835571289, + 7.488950252532959, + 0.03931695222854614 + ], + [ + 8.401421546936035, + 6.946760654449463, + 1.268386960029602 + ], + [ + 7.695578098297119, + 7.0209479331970215, + 1.268386960029602 + ], + [ + 7.752564430236816, + 7.563137531280518, + 1.268386960029602 + ], + [ + 8.45840835571289, + 7.488950252532959, + 1.268386960029602 + ] + ], + "corners_2d": [ + [ + 774.9750133532398, + 302.92025844727084 + ], + [ + 795.4428163091342, + 304.4128391914966 + ], + [ + 795.4408751760828, + 295.2760031175795 + ], + [ + 775.2234191808501, + 293.8197466828631 + ], + [ + 778.2197199628031, + 273.8924348035051 + ], + [ + 799.1872318187227, + 275.3613334072571 + ], + [ + 799.1382614939306, + 266.3716879567578 + ], + [ + 778.4333920121969, + 264.9393814636097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 661, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": 0.3122367858886719, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.39195895195007324, + "y": 0.5386270880699158, + "z": 0.928009033203125 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 992.5317800646201, + "ymin": 413.78764416448655, + "xmax": 1052.0666262059017, + "ymax": 486.9278945510099 + }, + "corners_3d": [ + [ + 1.3714439868927002, + -0.0797223448753357, + 0.05674642324447632 + ], + [ + 0.2941898703575134, + -0.07972198724746704, + 0.05674642324447632 + ], + [ + 0.29419010877609253, + 0.7041959166526794, + 0.05674642324447632 + ], + [ + 1.3714442253112793, + 0.7041955590248108, + 0.05674642324447632 + ], + [ + 1.3714439868927002, + -0.0797223448753357, + 1.912764549255371 + ], + [ + 0.2941898703575134, + -0.07972198724746704, + 1.912764549255371 + ], + [ + 0.29419010877609253, + 0.7041959166526794, + 1.912764549255371 + ], + [ + 1.3714442253112793, + 0.7041955590248108, + 1.912764549255371 + ] + ], + "corners_2d": [ + [ + 993.8760643766668, + 480.5080270520557 + ], + [ + 1033.8303791458243, + 486.9278945510099 + ], + [ + 1031.623788414369, + 467.11202076656406 + ], + [ + 992.5317800646201, + 460.9624838352433 + ], + [ + 1010.1436659700698, + 433.1625226375272 + ], + [ + 1052.0666262059017, + 439.5345789910532 + ], + [ + 1049.3531141889162, + 419.87941499707676 + ], + [ + 1008.3784371443187, + 413.78764416448655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 694, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -7.857978343963623, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3269274830818176, + "y": 0.5728839039802551, + "z": 0.8766033053398132 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 145.75946768408534, + "ymin": 503.54876019980605, + "xmax": 220.79907560134825, + "ymax": 582.2500257734067 + }, + "corners_3d": [ + [ + 22.206491470336914, + -8.0586519241333, + 0.10816192626953125 + ], + [ + 21.08576011657715, + -8.296871185302734, + 0.10816192626953125 + ], + [ + 20.94981575012207, + -7.657304286956787, + 0.10816192626953125 + ], + [ + 22.070547103881836, + -7.419085502624512, + 0.10816192626953125 + ], + [ + 22.206491470336914, + -8.0586519241333, + 1.8613685369491577 + ], + [ + 21.08576011657715, + -8.296871185302734, + 1.8613685369491577 + ], + [ + 20.94981575012207, + -7.657304286956787, + 1.8613685369491577 + ], + [ + 22.070547103881836, + -7.419085502624512, + 1.8613685369491577 + ] + ], + "corners_2d": [ + [ + 168.25671903002802, + 566.7866467938619 + ], + [ + 202.00913460994747, + 582.2500257734067 + ], + [ + 220.79907560134825, + 563.4565805850056 + ], + [ + 187.37851758114368, + 548.5518291605292 + ], + [ + 145.75946768408534, + 521.7844309729586 + ], + [ + 180.7855244003273, + 537.2732089482665 + ], + [ + 200.8767406347282, + 518.451860700455 + ], + [ + 166.2019780875757, + 503.54876019980605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 6393, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 255.2121222629192, + "ymin": 88.34371625056525, + "xmax": 387.57255821026513, + "ymax": 208.0445875463571 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 268.49944208959573, + 201.38780815707455 + ], + [ + 322.76058674031657, + 208.0445875463571 + ], + [ + 387.57255821026513, + 137.45290173408767 + ], + [ + 338.5651723991931, + 132.15931391582095 + ], + [ + 255.2121222629192, + 154.56761474869785 + ], + [ + 311.29219132271635, + 160.9623935292003 + ], + [ + 379.471368968515, + 93.38959674042917 + ], + [ + 328.98251212967875, + 88.34371625056525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 11699, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 275.0571833970961, + "ymin": 422.2221193245983, + "xmax": 479.90925598701597, + "ymax": 537.7555285853248 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 319.8941383138547, + 459.64552798617075 + ], + [ + 288.2611109417679, + 506.55584769022147 + ], + [ + 455.84280506797484, + 537.7555285853248 + ], + [ + 479.90925598701597, + 487.7868909175006 + ], + [ + 308.4937070902116, + 422.2221193245983 + ], + [ + 275.0571833970961, + 468.8712263017416 + ], + [ + 448.693289112083, + 499.993295028739 + ], + [ + 474.0230118433494, + 450.18599053270304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 585, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 390.332358716803, + "ymin": 0.0, + "xmax": 461.77294518205485, + "ymax": 21.899676362059154 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 461.77294518205485, + -7.520080353332617 + ], + [ + 428.632651622652, + -10.28659859969298 + ], + [ + 394.7754732285962, + 18.746356425197064 + ], + [ + 429.93230582201915, + 21.899676362059154 + ], + [ + 458.73133376275973, + -33.42540288239303 + ], + [ + 425.0488770989356, + -36.070728299565985 + ], + [ + 390.332358716803, + -8.280887959025677 + ], + [ + 426.0996056502955, + -5.2587565481472325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822610029145, + "ymin": 426.95658529392927, + "xmax": 1079.9635683134823, + "ymax": 451.1294655670037 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352532173479, + 451.1294655670037 + ], + [ + 1072.2242308561367, + 449.1758401331728 + ], + [ + 1045.7822610029145, + 445.12688813100107 + ], + [ + 1046.034105068166, + 447.06276434288105 + ], + [ + 1079.9635683134823, + 432.93706431363626 + ], + [ + 1079.6306724175968, + 430.99047943586544 + ], + [ + 1052.7034388934048, + 426.95658529392927 + ], + [ + 1052.974965334352, + 428.88518363394206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822679028843, + "ymin": 426.9565863464824, + "xmax": 1079.9635754212218, + "ymax": 451.12946663792945 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352601961647, + 451.12946663792945 + ], + [ + 1072.2242378193, + 449.17584119941387 + ], + [ + 1045.7822679028843, + 445.12688918756555 + ], + [ + 1046.0341119835093, + 447.0627654040666 + ], + [ + 1079.9635754212218, + 432.93706538074264 + ], + [ + 1079.630679509101, + 430.99048049822403 + ], + [ + 1052.7034459194556, + 426.9565863464824 + ], + [ + 1052.9749723763432, + 428.8851846911775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.9513218110596, + "ymin": 413.49974002078096, + "xmax": 970.0685379351678, + "ymax": 437.4355807664935 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 964.5812160549615, + 437.4355807664935 + ], + [ + 964.5077160894457, + 435.5414006004594 + ], + [ + 938.9513218110596, + 431.61524524265536 + ], + [ + 938.9695186832494, + 433.49247833412403 + ], + [ + 970.0685379351678, + 419.29561272017065 + ], + [ + 969.9817673546805, + 417.4092512744275 + ], + [ + 943.9713026601382, + 413.49974002078096 + ], + [ + 944.0007857357584, + 415.36894128322444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.1711178708845, + "ymin": 410.2414336072546, + "xmax": 967.1032867202748, + "ymax": 434.1192344142371 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 961.6857895758706, + 434.1192344142371 + ], + [ + 961.6187857630747, + 432.23931257279924 + ], + [ + 936.1711178708845, + 428.34261384576115 + ], + [ + 936.1832884630259, + 430.2057791800315 + ], + [ + 967.1032867202748, + 415.99304582771094 + ], + [ + 967.0233247840993, + 414.1211222661907 + ], + [ + 941.1254518336109, + 410.2414336072546 + ], + [ + 941.1486214401002, + 412.0963931756677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.246406766809, + "ymin": 418.91040400324994, + "xmax": 1082.1774651367969, + "ymax": 443.36122385965206 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.7875874148576, + 443.36122385965206 + ], + [ + 1073.7459497558793, + 443.104228089867 + ], + [ + 1050.246406766809, + 439.53131424886 + ], + [ + 1050.281073452212, + 439.7862369387607 + ], + [ + 1082.1774651367969, + 422.7229707176397 + ], + [ + 1082.1325374077637, + 422.4671187076987 + ], + [ + 1058.1459544863542, + 418.91040400324994 + ], + [ + 1058.1836197125858, + 419.1641524949406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.246669133588, + "ymin": 418.9104276068531, + "xmax": 1082.1777346214055, + "ymax": 443.36124777931997 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.787851559362, + 443.36124777931997 + ], + [ + 1073.746213822505, + 443.1042519956361 + ], + [ + 1050.246669133588, + 439.53133796181885 + ], + [ + 1050.281335895875, + 439.7862606654505 + ], + [ + 1082.1777346214055, + 422.72299453098697 + ], + [ + 1082.1328068113155, + 422.46714250694146 + ], + [ + 1058.146222121979, + 418.9104276068531 + ], + [ + 1058.1838874282128, + 419.1641761124747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822610029145, + "ymin": 426.95658529392927, + "xmax": 1079.9635683134823, + "ymax": 451.1294655670037 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352532173479, + 451.1294655670037 + ], + [ + 1072.2242308561367, + 449.1758401331728 + ], + [ + 1045.7822610029145, + 445.12688813100107 + ], + [ + 1046.034105068166, + 447.06276434288105 + ], + [ + 1079.9635683134823, + 432.93706431363626 + ], + [ + 1079.6306724175968, + 430.99047943586544 + ], + [ + 1052.7034388934048, + 426.95658529392927 + ], + [ + 1052.974965334352, + 428.88518363394206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822609782636, + "ymin": 426.95658510516233, + "xmax": 1079.9635682643896, + "ymax": 451.1294652789108 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352531714827, + 451.1294652789108 + ], + [ + 1072.2242308256937, + 449.17583994195104 + ], + [ + 1045.7822609782636, + 445.1268879415147 + ], + [ + 1046.0341050310278, + 447.0627640574084 + ], + [ + 1079.9635682643896, + 432.93706402657074 + ], + [ + 1079.630672385014, + 430.99047924534 + ], + [ + 1052.7034388668285, + 426.95658510516233 + ], + [ + 1052.97496529431, + 428.8851833495321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822667528894, + "ymin": 426.95658617105687, + "xmax": 1079.9635742202342, + "ymax": 451.1294663634108 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352590177401, + 451.1294663634108 + ], + [ + 1072.224236658773, + 449.175841021707 + ], + [ + 1045.7822667528894, + 445.12688901147146 + ], + [ + 1046.0341108185726, + 447.0627651320448 + ], + [ + 1079.9635742202342, + 432.93706510720307 + ], + [ + 1079.6306783271834, + 430.9904803211642 + ], + [ + 1052.703444748447, + 426.95658617105687 + ], + [ + 1052.9749711893305, + 428.88518442016823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.959194226653, + "ymin": 438.3917586649257, + "xmax": 1006.8426959891967, + "ymax": 462.76269509563576 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1000.5681912442546, + 462.76269509563576 + ], + [ + 1000.4127537405489, + 460.75784918839474 + ], + [ + 973.959194226653, + 456.6031062547661 + ], + [ + 974.0553780866227, + 458.58950199611763 + ], + [ + 1006.8426959891967, + 444.5314016496167 + ], + [ + 1006.6704004912503, + 442.5328879504017 + ], + [ + 979.7303682835284, + 438.3917586649257 + ], + [ + 979.8412095799949, + 440.3715630305617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.2460517544087, + "ymin": 418.91033454245724, + "xmax": 1082.177099093803, + "ymax": 443.3611534687428 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.7872289848924, + 443.3611534687428 + ], + [ + 1073.7455914333764, + 443.1041577398589 + ], + [ + 1050.2460517544087, + 439.53124446625463 + ], + [ + 1050.2807183342943, + 439.78616711574807 + ], + [ + 1082.177099093803, + 422.72290063961157 + ], + [ + 1082.1321714768317, + 422.4670486711771 + ], + [ + 1058.145591999937, + 418.91033454245724 + ], + [ + 1058.1832571161717, + 419.16408299315214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822679028843, + "ymin": 426.9565863464824, + "xmax": 1079.9635754212218, + "ymax": 451.12946663792945 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352601961647, + 451.12946663792945 + ], + [ + 1072.2242378193, + 449.17584119941387 + ], + [ + 1045.7822679028843, + 445.12688918756555 + ], + [ + 1046.0341119835093, + 447.0627654040666 + ], + [ + 1079.9635754212218, + 432.93706538074264 + ], + [ + 1079.630679509101, + 430.99048049822403 + ], + [ + 1052.7034459194556, + 426.9565863464824 + ], + [ + 1052.9749723763432, + 428.8851846911775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.8362556545649, + "ymin": 417.59506944711063, + "xmax": 1086.0882122425799, + "ymax": 444.3419742752479 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.1888176867146, + 444.3419742752479 + ], + [ + 1077.137725110717, + 444.0335909245821 + ], + [ + 1045.8362556545649, + 439.2722325284556 + ], + [ + 1045.8762263021276, + 439.5773064425762 + ], + [ + 1086.0882122425799, + 422.6406370176324 + ], + [ + 1086.032917388238, + 422.33369054359457 + ], + [ + 1054.0491803553723, + 417.59506944711063 + ], + [ + 1054.0928638412738, + 417.89865541509033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.2462458477821, + "ymin": 418.9103159773837, + "xmax": 1082.1772971092296, + "ymax": 443.3611346550731 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.7874234216397, + 443.3611346550731 + ], + [ + 1073.7457858145117, + 443.10413893712104 + ], + [ + 1050.2462458477821, + 439.5312258151689 + ], + [ + 1050.2809124831197, + 439.78614845386244 + ], + [ + 1082.1772971092296, + 422.72288190956687 + ], + [ + 1082.1323694345822, + 422.4670299522261 + ], + [ + 1058.1457896601676, + 418.9103159773837 + ], + [ + 1058.18345483391, + 419.1640644171214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822609782636, + "ymin": 426.95658510516233, + "xmax": 1079.9635682643896, + "ymax": 451.1294652789108 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352531714827, + 451.1294652789108 + ], + [ + 1072.2242308256937, + 449.17583994195104 + ], + [ + 1045.7822609782636, + 445.1268879415147 + ], + [ + 1046.0341050310278, + 447.0627640574084 + ], + [ + 1079.9635682643896, + 432.93706402657074 + ], + [ + 1079.630672385014, + 430.99047924534 + ], + [ + 1052.7034388668285, + 426.95658510516233 + ], + [ + 1052.97496529431, + 428.8851833495321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.8362666695114, + "ymin": 417.59515310749487, + "xmax": 1086.0882274740356, + "ymax": 444.3420592215619 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.188831760516, + 444.3420592215619 + ], + [ + 1077.1377391905721, + 444.03367590743665 + ], + [ + 1045.8362666695114, + 439.27231659946847 + ], + [ + 1045.8762373122968, + 439.5773904771256 + ], + [ + 1086.0882274740356, + 422.64072156874846 + ], + [ + 1086.0329326260298, + 422.33377512988176 + ], + [ + 1054.049192393403, + 417.59515310749487 + ], + [ + 1054.0928758742523, + 417.8987390403621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.8364901315313, + "ymin": 417.59509367507127, + "xmax": 1086.08845399554, + "ymax": 444.34199880757876 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.1890543701656, + 444.34199880757876 + ], + [ + 1077.137961726175, + 444.0336155355287 + ], + [ + 1045.8364901315313, + 439.27225687533394 + ], + [ + 1045.876460849041, + 439.5773307115912 + ], + [ + 1086.08845399554, + 422.64066143583085 + ], + [ + 1086.0331590708824, + 422.3337150396957 + ], + [ + 1054.0494198091883, + 417.59509367507127 + ], + [ + 1054.0931033674153, + 417.8986795659067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7822574789768, + "ymin": 426.9565842013518, + "xmax": 1079.963564645063, + "ymax": 451.129464359324 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.5352496209207, + 451.129464359324 + ], + [ + 1072.224227283226, + 449.17583902638694 + ], + [ + 1045.7822574789768, + 445.1268870342597 + ], + [ + 1046.034101523839, + 447.0627631461854 + ], + [ + 1079.963564645063, + 432.9370631102635 + ], + [ + 1079.6306687740964, + 430.99047833310976 + ], + [ + 1052.7034353006502, + 426.9565842013518 + ], + [ + 1052.9749617199254, + 428.8851824417009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.8362503740786, + "ymin": 417.59498628542934, + "xmax": 1086.0882029023528, + "ymax": 444.34188974010476 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.18880938248, + 444.34188974010476 + ], + [ + 1077.137716814251, + 444.03350644831363 + ], + [ + 1045.8362503740786, + 439.2721489585932 + ], + [ + 1045.8762210160157, + 439.57722281478425 + ], + [ + 1086.0882029023528, + 422.6405528757747 + ], + [ + 1086.0329080567149, + 422.3336064615298 + ], + [ + 1054.04917417262, + 417.59498628542934 + ], + [ + 1054.0928576521035, + 417.8985721945953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.4797414835125, + "ymin": 406.6357558485718, + "xmax": 942.7626165401145, + "ymax": 430.44903535044733 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 937.7692783427498, + 430.44903535044733 + ], + [ + 937.7537119532954, + 428.58483072272674 + ], + [ + 912.518097823774, + 424.7206034633301 + ], + [ + 912.4797414835125, + 426.568260820508 + ], + [ + 942.7626165401145, + 412.3385878111581 + ], + [ + 942.7359302954715, + 410.48257619011173 + ], + [ + 917.0574578412239, + 406.6357558485718 + ], + [ + 917.0283100236123, + 408.4750188292284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.8362533657432, + "ymin": 417.5950692853208, + "xmax": 1086.0882098689176, + "ymax": 444.34197401501785 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.188815363022, + 444.34197401501785 + ], + [ + 1077.1377228037043, + 444.0335907602348 + ], + [ + 1045.8362533657432, + 439.2722323658717 + ], + [ + 1045.8762240000926, + 439.57730618513926 + ], + [ + 1086.0882098689176, + 422.6406367586131 + ], + [ + 1086.0329150325956, + 422.33369038001416 + ], + [ + 1054.0491780186842, + 417.5950692853208 + ], + [ + 1054.0928614901854, + 417.8986551589072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.3402821998257, + "ymin": 432.5839507642357, + "xmax": 1078.398460648585, + "ymax": 456.63853068216184 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 1071.0154176616343, + 456.63853068216184 + ], + [ + 1070.7085048878275, + 454.677836365842 + ], + [ + 1044.3402821998257, + 450.6141640687873 + ], + [ + 1044.5883460381147, + 452.5570899366352 + ], + [ + 1078.398460648585, + 438.58761206980876 + ], + [ + 1078.069901667005, + 436.6335050155748 + ], + [ + 1051.2191259329134, + 432.5839507642357 + ], + [ + 1051.4866631420546, + 434.5200481594812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.246406766809, + "ymin": 418.91040400324994, + "xmax": 1082.1774651367969, + "ymax": 443.36122385965206 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.7875874148576, + 443.36122385965206 + ], + [ + 1073.7459497558793, + 443.104228089867 + ], + [ + 1050.246406766809, + 439.53131424886 + ], + [ + 1050.281073452212, + 439.7862369387607 + ], + [ + 1082.1774651367969, + 422.7229707176397 + ], + [ + 1082.1325374077637, + 422.4671187076987 + ], + [ + 1058.1459544863542, + 418.91040400324994 + ], + [ + 1058.1836197125858, + 419.1641524949406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.0677818101876, + "ymin": 407.4263803790932, + "xmax": 930.1150795663998, + "ymax": 431.2538339761304 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 925.3251053028551, + 431.2538339761304 + ], + [ + 925.3361669861408, + 429.38618854466375 + ], + [ + 900.1326286031928, + 425.5148524924475 + ], + [ + 900.0677818101876, + 427.3659049217728 + ], + [ + 930.1142577055298, + 413.1398905700402 + ], + [ + 930.1150795663998, + 411.28039580314106 + ], + [ + 904.4697238709944, + 407.4263803790932 + ], + [ + 904.413212329355, + 409.26907944240764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.2466295575239, + "ymin": 418.9104207844625, + "xmax": 1082.1776938500188, + "ymax": 443.361240865574 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1073.7878116271559, + 443.361240865574 + ], + [ + 1073.7461739022274, + 443.10424508590745 + ], + [ + 1050.2466295575239, + 439.53133110782005 + ], + [ + 1050.2812963080844, + 439.786253807483 + ], + [ + 1082.1776938500188, + 422.722987647972 + ], + [ + 1082.132766052363, + 422.46713562800323 + ], + [ + 1058.1461817211862, + 418.9104207844625 + ], + [ + 1058.1838470152002, + 419.16416928605753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 342.6610780249461, + "ymin": 244.31123817087717, + "xmax": 365.5084218615299, + "ymax": 281.67335639749444 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 365.5084218615299, + 273.55312015754066 + ], + [ + 355.8010353964717, + 272.1947986839633 + ], + [ + 349.2835692096502, + 280.2840160996617 + ], + [ + 359.08870099052365, + 281.67335639749444 + ], + [ + 359.3151913140379, + 245.64590948126462 + ], + [ + 349.40124368225844, + 244.31123817087717 + ], + [ + 342.6610780249461, + 252.26130111591078 + ], + [ + 352.67696389720504, + 253.62715005782442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.3468052175428, + "ymin": 196.2245081101854, + "xmax": 404.40265835113655, + "ymax": 231.39123559478296 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 404.40265835113655, + 224.35604148433137 + ], + [ + 395.29351592315095, + 223.17814559903368 + ], + [ + 389.6454268091415, + 230.18832527934208 + ], + [ + 398.84075189769806, + 231.39123559478296 + ], + [ + 399.460597131162, + 197.37831487082343 + ], + [ + 390.1696510757446, + 196.2245081101854 + ], + [ + 384.3468052175428, + 203.09258544814602 + ], + [ + 393.7274043000047, + 204.27141693038604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 283.39141150322956, + "ymin": 312.54755108167626, + "xmax": 310.5050054740478, + "ymax": 352.91577608481236 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 310.5050054740478, + 343.12666254579597 + ], + [ + 299.96923418331454, + 341.4912923101082 + ], + [ + 292.11523305218077, + 351.2393670246309 + ], + [ + 302.7659016063671, + 352.91577608481236 + ], + [ + 302.3290411249572, + 314.1615157040746 + ], + [ + 291.54986984988926, + 312.54755108167626 + ], + [ + 283.39141150322956, + 322.1705019245186 + ], + [ + 294.2908218241248, + 323.8259914188756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 510.2198015799381, + "ymin": 116.94900160475848, + "xmax": 522.1299435474532, + "ymax": 142.82391118698516 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 515.3321069600831, + 137.6449632968299 + ], + [ + 512.1620065779449, + 142.0640882655955 + ], + [ + 519.00768760395, + 142.82391118698516 + ], + [ + 522.1299435474532, + 138.39330659702603 + ], + [ + 513.452633789852, + 116.94900160475848 + ], + [ + 510.2198015799381, + 121.27483269662412 + ], + [ + 517.1670554886331, + 122.0187150561917 + ], + [ + 520.3506210109625, + 117.68147628726837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 245.72918148199807, + "ymin": 18.439892115549924, + "xmax": 263.2036872496833, + "ymax": 44.93522975744088 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 256.77907763152024, + 40.63060397068108 + ], + [ + 251.63799108330636, + 44.30659014869309 + ], + [ + 258.1050319750244, + 44.93522975744088 + ], + [ + 263.2036872496833, + 41.24975195128155 + ], + [ + 250.99331089444888, + 18.439892115549924 + ], + [ + 245.72918148199807, + 21.999894077053 + ], + [ + 252.28697666192306, + 22.608781080962785 + ], + [ + 257.50749529930886, + 19.039447375866132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.16308388245653, + "ymin": 30.637003792017026, + "xmax": 394.19347838877695, + "ymax": 57.755226506907434 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 387.42840647847265, + 53.221575921860335 + ], + [ + 383.17513674619227, + 57.09300845618321 + ], + [ + 389.9876093457889, + 57.755226506907434 + ], + [ + 394.19347838877695, + 53.87353486271002 + ], + [ + 383.51393417559166, + 30.637003792017026 + ], + [ + 379.16308388245653, + 34.38926940305498 + ], + [ + 386.0767063475355, + 35.031194906380904 + ], + [ + 390.3787517278804, + 31.268830938358008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 4.637877575205948, + "ymin": 78.62593874748137, + "xmax": 25.715964272103065, + "ymax": 102.94945253873328 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 13.497761280364557, + 102.28979225594065 + ], + [ + 19.27057620426183, + 102.94945253873328 + ], + [ + 25.715964272103065, + 99.10128213534915 + ], + [ + 19.97617334427332, + 98.45091528836224 + ], + [ + 4.637877575205948, + 82.37605289410942 + ], + [ + 10.481522955522678, + 83.0205359060867 + ], + [ + 17.080560182182012, + 79.26121504273618 + ], + [ + 11.270722318354956, + 78.62593874748137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 195.59214849959778, + "ymin": 552.3860339348014, + "xmax": 228.30486775345923, + "ymax": 593.5779267297655 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 228.30486775345923, + 579.7476146691605 + ], + [ + 217.0091075832164, + 577.4275158754699 + ], + [ + 207.36509114535687, + 591.1946099507375 + ], + [ + 218.7916206342921, + 593.5779267297655 + ], + [ + 217.22931593581524, + 554.7099716575218 + ], + [ + 205.65623035499954, + 552.3860339348014 + ], + [ + 195.59214849959778, + 566.1800687792348 + ], + [ + 207.30243376103897, + 568.5690661927262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.5085871704406, + "ymin": 23.90491794972047, + "xmax": 321.90647218126253, + "ymax": 50.6798556344927 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 315.3303705397601, + 46.27333147136028 + ], + [ + 310.58067543147416, + 50.03627744716306 + ], + [ + 317.20139396621187, + 50.6798556344927 + ], + [ + 321.90647218126253, + 46.90707901748158 + ], + [ + 310.3703002417788, + 23.90491794972047 + ], + [ + 305.5085871704406, + 27.550435286023287 + ], + [ + 312.2246319057709, + 28.174015740926222 + ], + [ + 317.0404509346569, + 24.518828182260677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.3271511157725, + "ymin": 0.0, + "xmax": 111.94997593029564, + "ymax": 6.506310884154743 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 90.35113834256435, + 4.652474819372344 + ], + [ + 110.44734150097304, + 6.506310884154743 + ], + [ + 111.94997593029564, + 5.686146695324226 + ], + [ + 91.8842322313418, + 3.839084258469711 + ], + [ + 87.3271511157725, + -3.6318449949152978 + ], + [ + 107.52173309784314, + -1.8024119188700638 + ], + [ + 109.0380441977992, + -2.6117901949122597 + ], + [ + 88.87421260095311, + -4.434502056579106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.6096110964659, + "ymin": 413.6720224228973, + "xmax": 955.5404931396513, + "ymax": 474.8940420322276 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 938.413472783735, + 474.8940420322276 + ], + [ + 938.4017153550083, + 473.5345297903143 + ], + [ + 935.6096110964659, + 473.0849395769808 + ], + [ + 935.617214545099, + 474.44311459669035 + ], + [ + 955.5404931396513, + 415.46063255667116 + ], + [ + 955.5011851722702, + 414.11648211333755 + ], + [ + 952.540279863713, + 413.6720224228973 + ], + [ + 952.5749160509963, + 415.01477499183375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 47.895993410351366, + "ymax": 317.39252543605477 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 47.895993410351366, + 154.79526176693244 + ], + [ + 39.3892244053452, + 153.68860314229488 + ], + [ + -206.38566336159693, + 315.60044471955126 + ], + [ + -196.13973496466406, + 317.39252543605477 + ], + [ + -39.764423746322564, + -45.905863045113335 + ], + [ + -49.34107545408426, + -46.74820988144097 + ], + [ + -372.12934605898545, + 81.62168204813719 + ], + [ + -360.3409410522653, + 83.10273393312843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3610425795207463592, + "instance_id": 43138, + "pixel_count": null, + "type_id": "BP_StreetLight_wall41_74_SM_0", + "bbox_3d": { + "center_world": { + "x": -3.7471089363098145, + "y": 22.76371955871582, + "z": 4.686147212982178 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.5500971992524, + "ymin": 21.16684262147146, + "xmax": 1152.6858923034024, + "ymax": 47.25471385212518 + }, + "corners_3d": [ + [ + -4.894715309143066, + 22.88140869140625, + 4.274991512298584 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 4.274991512298584 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 4.274991512298584 + ], + [ + -4.894715785980225, + 22.646034240722656, + 4.274991512298584 + ], + [ + -4.894715309143066, + 22.88140869140625, + 5.0973029136657715 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 5.0973029136657715 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 5.0973029136657715 + ], + [ + -4.894715785980225, + 22.646034240722656, + 5.0973029136657715 + ] + ], + "corners_2d": [ + [ + 1145.03899875957, + 45.12889934236068 + ], + [ + 1087.5500971992524, + 40.380624146599075 + ], + [ + 1088.2300561102957, + 42.4650320558265 + ], + [ + 1145.9770428714937, + 47.25471385212518 + ], + [ + 1151.705875409576, + 25.785809633396582 + ], + [ + 1093.3996291984176, + 21.16684262147146 + ], + [ + 1094.1141708628772, + 23.194339914287127 + ], + [ + 1152.6858923034024, + 27.85411851004477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.7556405458452, + "ymin": 410.0390160447025, + "xmax": 931.2756874922143, + "ymax": 471.20361513000773 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 915.5294181980587, + 471.20361513000773 + ], + [ + 915.5515362237597, + 469.8550275094734 + ], + [ + 912.7818460482182, + 469.4090465157291 + ], + [ + 912.7556405458452, + 470.7563129959726 + ], + [ + 931.2756874922143, + 411.81243838080263 + ], + [ + 931.2744626136565, + 410.4797045971823 + ], + [ + 928.3386794935877, + 410.0390160447025 + ], + [ + 928.3353115153221, + 411.3703697209303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.0186048433122, + "ymin": 442.03946620857187, + "xmax": 994.8502389174434, + "ymax": 503.6535164431407 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 974.9848142870753, + 503.6535164431407 + ], + [ + 974.9167070297472, + 502.20736155347436 + ], + [ + 972.0186048433122, + 501.72914813860956 + ], + [ + 972.0822367315159, + 503.1738359910319 + ], + [ + 994.8502389174434, + 443.94889781224566 + ], + [ + 994.745890070499, + 442.5139247222447 + ], + [ + 991.6656466107644, + 442.03946620857187 + ], + [ + 991.7649397000988, + 443.4728974178079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.7846349027188, + "ymin": 0.0, + "xmax": 607.7464703505534, + "ymax": 66.9003809482412 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 605.5762486430018, + 66.9003809482412 + ], + [ + 607.7464703505534, + 63.507351367681 + ], + [ + 536.2598771802675, + 56.76426821404027 + ], + [ + 533.6446215371834, + 60.06692253586169 + ], + [ + 601.6792920315962, + -96.51561355016878 + ], + [ + 604.1223231547584, + -99.07574069160808 + ], + [ + 524.776200540532, + -104.15210181487583 + ], + [ + 521.7846349027188, + -101.66768466170254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.9441042221567, + "ymin": 96.46987983094306, + "xmax": 1009.0344487409609, + "ymax": 106.8235726883346 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1007.2807034893643, + 100.90893517325213 + ], + [ + 996.9441042221567, + 99.93444545442708 + ], + [ + 997.6679905808484, + 105.82771099101146 + ], + [ + 1008.1187086915193, + 106.8235726883346 + ], + [ + 1008.1844718384809, + 97.44051175037953 + ], + [ + 997.8208541939382, + 96.46987983094306 + ], + [ + 998.5561120237884, + 102.33994625919132 + ], + [ + 1009.0344487409609, + 103.33191872742248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.7789887256984, + "ymin": 434.8741202225417, + "xmax": 1066.3146822158365, + "ymax": 495.874679679416 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1042.8334303811025, + 495.874679679416 + ], + [ + 1042.6642338632778, + 494.46352968066265 + ], + [ + 1039.7789887256984, + 493.99687648519784 + ], + [ + 1039.9437509036613, + 495.4066180113669 + ], + [ + 1066.3146822158365, + 436.7357321890761 + ], + [ + 1066.0982159091338, + 435.3367091224108 + ], + [ + 1063.0327770737636, + 434.8741202225417 + ], + [ + 1063.2442382209267, + 436.27166565514875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.6476270670403, + "ymin": 48.276630610214966, + "xmax": 1013.1864349515324, + "ymax": 312.6264640756294 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 954.767556854696, + 252.25421722101905 + ], + [ + 942.6476270670403, + 250.77906252701672 + ], + [ + 943.7038651961443, + 310.8835438172684 + ], + [ + 956.8815764523628, + 312.6264640756294 + ], + [ + 1005.4949052173406, + 49.48817389526397 + ], + [ + 991.3012961823275, + 48.276630610214966 + ], + [ + 997.5203527968954, + 98.32239298892688 + ], + [ + 1013.1864349515324, + 99.79478805652496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.2899874491177, + "ymin": 416.95508442234575, + "xmax": 958.4576420136391, + "ymax": 478.22758273796535 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 941.1093768823966, + 478.22758273796535 + ], + [ + 941.093560893323, + 476.8581644296687 + ], + [ + 938.2899874491177, + 476.40530156974 + ], + [ + 938.301615240827, + 477.7733680174365 + ], + [ + 958.4576420136391, + 418.7574753212977 + ], + [ + 958.4135876205394, + 417.4029658282064 + ], + [ + 955.439790303371, + 416.95508442234575 + ], + [ + 955.4791321335834, + 418.30817985460124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.7843025854477, + "ymin": 410.8356932135318, + "xmax": 918.649264996762, + "ymax": 472.0130245299571 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 903.5546634987661, + 472.0130245299571 + ], + [ + 903.594518380874, + 470.6620445228609 + ], + [ + 900.8282348197959, + 470.2152731717003 + ], + [ + 900.7843025854477, + 471.5649285223118 + ], + [ + 918.6307136131743, + 412.61244059808365 + ], + [ + 918.649264996762, + 411.2772073578281 + ], + [ + 915.7172735943473, + 410.8356932135318 + ], + [ + 915.694141244397, + 412.1695424631748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.0074714253617, + "ymin": 96.52471606830795, + "xmax": 1008.9690204884951, + "ymax": 106.76817712298899 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1007.234701139272, + 100.91677329154459 + ], + [ + 997.0074714253617, + 99.9525729429559 + ], + [ + 997.7242971638655, + 105.78305770000912 + ], + [ + 1008.0632305913289, + 106.76817712298899 + ], + [ + 1008.1287760073265, + 97.48514014441412 + ], + [ + 997.8750969552153, + 96.52471606830795 + ], + [ + 998.6030564620277, + 102.33249279219888 + ], + [ + 1008.9690204884951, + 103.31380550564188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.222190266454, + "ymin": 0.0, + "xmax": 532.9239490530705, + "ymax": 199.72215057417583 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 529.5358671447422, + 199.72215057417583 + ], + [ + 532.9239490530705, + 194.46130514229975 + ], + [ + 267.62392511161795, + 161.17588640343567 + ], + [ + 262.3345366013048, + 165.89806577148954 + ], + [ + 511.7502086861417, + -11.313680629521002 + ], + [ + 515.8479079810711, + -15.404670691011006 + ], + [ + 211.8152177823123, + -41.04012310706719 + ], + [ + 205.222190266454, + -37.42912015556027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.37759241630408, + "ymin": 110.30649565922616, + "xmax": 456.10941704888324, + "ymax": 668.5707192636746 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 245.4920512010554, + 664.7392663186574 + ], + [ + 262.04743996816944, + 668.5707192636746 + ], + [ + 456.10941704888324, + 351.975017796315 + ], + [ + 443.7864005174089, + 350.016050492201 + ], + [ + 121.37759241630408, + 398.67856526034507 + ], + [ + 142.59921417219294, + 402.5077295271114 + ], + [ + 418.0092972728493, + 111.9547771401302 + ], + [ + 403.25424888223387, + 110.30649565922616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.309737849504, + "ymin": 430.5152913431605, + "xmax": 1068.0460561148705, + "ymax": 491.9821090393743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1044.378984290364, + 491.9821090393743 + ], + [ + 1044.2068029368359, + 490.57143807486995 + ], + [ + 1041.309737849504, + 490.1049468782282 + ], + [ + 1041.4774484734594, + 491.51420445434866 + ], + [ + 1068.0460561148705, + 432.3751627091451 + ], + [ + 1067.825941541536, + 430.9774447327294 + ], + [ + 1064.7471640647263, + 430.5152913431605 + ], + [ + 1064.9622298581794, + 431.9115270780449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 113.19312583202009, + "ymax": 120.34922063229766 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 38.80534628508315, + 120.34922063229766 + ], + [ + 113.19312583202009, + 83.71329688405427 + ], + [ + 48.837537692682645, + 70.24833711844371 + ], + [ + -27.701028524160165, + 104.8845350508864 + ], + [ + -139.0124895292986, + -284.209760503667 + ], + [ + -30.214932234915523, + -297.1617089581912 + ], + [ + -106.03476320477296, + -300.77233879535834 + ], + [ + -217.26809463677307, + -288.6244466602428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.0827831274161, + "ymin": 0.0, + "xmax": 802.6035264632305, + "ymax": 134.052239049094 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 774.3754151350824, + 134.052239049094 + ], + [ + 761.1688876021692, + 68.99591993406636 + ], + [ + 615.649668408091, + 68.1604111790831 + ], + [ + 610.3065292954029, + 132.99024132182646 + ], + [ + 802.6035264632305, + -155.08312257071816 + ], + [ + 783.2195761961439, + -193.3216080500041 + ], + [ + 611.2268966499208, + -193.8011580390512 + ], + [ + 604.0827831274161, + -155.72192305036106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 983.5930424800715, + "ymin": 0.0, + "xmax": 1278.5022984312461, + "ymax": 58.66021740374856 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1022.9026247574973, + 57.01645812393383 + ], + [ + 1178.1125997322347, + 58.66021740374856 + ], + [ + 1121.1743118115432, + 2.269445601810844 + ], + [ + 983.5930424800715, + 0.9752342237503626 + ], + [ + 1094.057899057691, + -213.0741194934227 + ], + [ + 1278.5022984312461, + -212.18128962290666 + ], + [ + 1199.1705724187168, + -242.19761431011625 + ], + [ + 1039.0991345165116, + -242.8719898510775 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00070/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00070/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4e8b143f16e5e202ab325aefc63b279090f02195 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00070/meta.json @@ -0,0 +1,8192 @@ +{ + "frame_id": 70, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.0, + "sim_timestamp": 7540.150142216589 + }, + "drone_pose": { + "x": 6.382440108024434, + "y": -19.319528250765313, + "z": 20.000000121282852, + "pitch": -42.15157272803433, + "yaw": 79.16073004892024, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.13941842317581177, + -0.7281449437141418, + 0.6710941791534424, + -0.24429702758789062 + ], + [ + 0.9821586012840271, + 0.188054621219635, + 0.0, + 9.901695251464844 + ], + [ + -0.12620237469673157, + 0.6591209173202515, + 0.7413721084594727, + -26.755868911743164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 6.157238946197161, + "y": -18.746851734879005, + "z": 20.00000006369711 + }, + "t1_image_uv": [ + 1458.7945044505366, + -508.9972491871388 + ], + "t1_depth": 0.38559437683847514 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": 1.312236785888672, + "z": 0.9847505927086968 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 28.334694658028006, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 546, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 1.3122367858886719, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.3698953092098236, + "y": 0.5692610144615173, + "z": 0.9175601601600647 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.0769684270397, + "ymin": 325.93708811625623, + "xmax": 661.6245772930814, + "ymax": 393.4267939188594 + }, + "corners_3d": [ + [ + 10.902077674865723, + 0.9423413276672363, + 0.06719040870666504 + ], + [ + 9.763555526733398, + 0.942341685295105, + 0.06719040870666504 + ], + [ + 9.763556480407715, + 1.6821322441101074, + 0.06719040870666504 + ], + [ + 10.902078628540039, + 1.6821318864822388, + 0.06719040870666504 + ], + [ + 10.902077674865723, + 0.9423413276672363, + 1.9023107290267944 + ], + [ + 9.763555526733398, + 0.942341685295105, + 1.9023107290267944 + ], + [ + 9.763556480407715, + 1.6821322441101074, + 1.9023107290267944 + ], + [ + 10.902078628540039, + 1.6821318864822388, + 1.9023107290267944 + ] + ], + "corners_2d": [ + [ + 619.0157235853708, + 388.44626786276837 + ], + [ + 656.4312570226205, + 393.4267939188594 + ], + [ + 660.710675318112, + 376.74505032324623 + ], + [ + 623.9598547719123, + 371.94646760678813 + ], + [ + 618.0769684270397, + 342.2747334040651 + ], + [ + 657.1705907111954, + 347.21159422717204 + ], + [ + 661.6245772930814, + 330.68574200861065 + ], + [ + 623.2560525748642, + 325.93708811625623 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 70, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 505918, + "2": 277471, + "3": 36819, + "5": 4845, + "6": 15010, + "7": 2174, + "9": 2005, + "10": 9014, + "12": 2416, + "14": 19911, + "20": 2369, + "24": 27287, + "25": 16361 + }, + "instance_pixel_counts": { + "381": 4524, + "586": 2117, + "3146": 2369, + "11676": 68531, + "14236": 125720, + "16284": 57239, + "17502": 3319, + "18013": 16361, + "19038": 5623, + "19354": 911, + "19866": 3702, + "20378": 5896, + "20573": 5151, + "20890": 7293, + "21085": 81656, + "21597": 43627, + "23418": 4859, + "23450": 14798, + "25498": 10105, + "25978": 4267, + "27516": 5429, + "28026": 1811, + "28530": 1435, + "28786": 32536, + "29052": 56, + "31612": 14793, + "33660": 3369, + "34816": 12686, + "34899": 162, + "35072": 3241, + "36252": 83622, + "36764": 35484, + "38300": 85085, + "38483": 1095, + "40860": 50237, + "43008": 546, + "43264": 250, + "43520": 186, + "43776": 618, + "44032": 150, + "44288": 666, + "44544": 7229, + "44922": 6785, + "45434": 1458, + "45824": 12682, + "49778": 2848, + "51309": 2005, + "52636": 5173, + "54684": 2934, + "57241": 15232, + "58265": 10, + "58697": 2728, + "59772": 755, + "60284": 1925, + "60796": 1542, + "61308": 2299, + "61337": 47034, + "63385": 586, + "63868": 6778 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 546, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 1.3122367858886719, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.36438873410224915, + "y": 0.4793732762336731, + "z": 0.9208143949508667 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1844316727731, + "ymin": 326.3442582158682, + "xmax": 658.5479881151309, + "ymax": 392.983597381909 + }, + "corners_3d": [ + [ + 10.812190055847168, + 0.9478479027748108, + 0.06393617391586304 + ], + [ + 9.85344409942627, + 0.9478482007980347, + 0.06393617391586304 + ], + [ + 9.85344409942627, + 1.6766257286071777, + 0.06393617391586304 + ], + [ + 10.812190055847168, + 1.676625370979309, + 0.06393617391586304 + ], + [ + 10.812190055847168, + 0.9478479027748108, + 1.9055650234222412 + ], + [ + 9.85344409942627, + 0.9478482007980347, + 1.9055650234222412 + ], + [ + 9.85344409942627, + 1.6766257286071777, + 1.9055650234222412 + ], + [ + 10.812190055847168, + 1.676625370979309, + 1.9055650234222412 + ] + ], + "corners_2d": [ + [ + 621.9931594457291, + 388.79064753297126 + ], + [ + 653.4939547494797, + 392.983597381909 + ], + [ + 657.7616183071707, + 376.56429701845883 + ], + [ + 626.8121539224459, + 372.52227056052254 + ], + [ + 621.1844316727731, + 342.4527983177074 + ], + [ + 654.1029568092822, + 346.60880299053684 + ], + [ + 658.5479881151309, + 330.3441253138148 + ], + [ + 626.2310636600627, + 326.3442582158682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 250, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": 4.30994176864624, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.2478296160697937, + "y": 0.33608996868133545, + "z": 0.6007386445999146 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 519.7783537374585, + "ymin": 263.2239667065733, + "xmax": 544.327786037097, + "ymax": 302.34120036795366 + }, + "corners_3d": [ + [ + 14.736021995544434, + 3.997650623321533, + 0.38402169942855835 + ], + [ + 14.078530311584473, + 4.1374053955078125, + 0.38402169942855835 + ], + [ + 14.181584358215332, + 4.622232913970947, + 0.38402169942855835 + ], + [ + 14.839076042175293, + 4.482478141784668, + 0.38402169942855835 + ], + [ + 14.736021995544434, + 3.997650623321533, + 1.5854990482330322 + ], + [ + 14.078530311584473, + 4.1374053955078125, + 1.5854990482330322 + ], + [ + 14.181584358215332, + 4.622232913970947, + 1.5854990482330322 + ], + [ + 14.839076042175293, + 4.482478141784668, + 1.5854990482330322 + ] + ], + "corners_2d": [ + [ + 522.8746244865674, + 302.34120036795366 + ], + [ + 543.5132339946703, + 302.07965976713393 + ], + [ + 544.327786037097, + 292.6749759625619 + ], + [ + 523.9288233233254, + 292.93048548801346 + ], + [ + 519.7783537374585, + 272.78122764681086 + ], + [ + 540.9633996730989, + 272.5225560485908 + ], + [ + 541.8295597222367, + 263.2239667065733 + ], + [ + 520.896940918544, + 263.47651853692093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 186, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 8.254949569702148, + "z": 0.6669261455535889 + }, + "extent": { + "x": 0.30975064635276794, + "y": 0.41433313488960266, + "z": 0.5902634859085083 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 728.37318947948, + "ymin": 223.18668640037623, + "xmax": 754.9458675122667, + "ymax": 262.7203553204957 + }, + "corners_3d": [ + [ + 8.45667839050293, + 7.903586387634277, + 0.07666265964508057 + ], + [ + 7.632551670074463, + 7.99020528793335, + 0.07666265964508057 + ], + [ + 7.697307586669922, + 8.60631275177002, + 0.07666265964508057 + ], + [ + 8.52143383026123, + 8.519693374633789, + 0.07666265964508057 + ], + [ + 8.45667839050293, + 7.903586387634277, + 1.2571896314620972 + ], + [ + 7.632551670074463, + 7.99020528793335, + 1.2571896314620972 + ], + [ + 7.697307586669922, + 8.60631275177002, + 1.2571896314620972 + ], + [ + 8.52143383026123, + 8.519693374633789, + 1.2571896314620972 + ] + ], + "corners_2d": [ + [ + 728.37318947948, + 261.5258016743783 + ], + [ + 752.2218230808123, + 262.7203553204957 + ], + [ + 752.1868002861786, + 252.298561801458 + ], + [ + 728.6598080517276, + 251.13603936433063 + ], + [ + 730.5149371694948, + 233.43696773181279 + ], + [ + 754.9458675122667, + 234.6159140992193 + ], + [ + 754.8723384016937, + 224.33326938431938 + ], + [ + 730.7788364789238, + 223.18668640037623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 618, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": 1.3122367858886719, + "z": 0.9847456812858582 + }, + "extent": { + "x": 0.3863906264305115, + "y": 0.47070884704589844, + "z": 0.943119466304779 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.651923992449, + "ymin": 366.66865007797685, + "xmax": 998.4798820155286, + "ymax": 437.8029286212652 + }, + "corners_3d": [ + [ + 1.3035258054733276, + 0.9258459806442261, + 0.0416262149810791 + ], + [ + 0.36210811138153076, + 0.9258463382720947, + 0.0416262149810791 + ], + [ + 0.36210834980010986, + 1.6986275911331177, + 0.0416262149810791 + ], + [ + 1.3035260438919067, + 1.698627233505249, + 0.0416262149810791 + ], + [ + 1.3035258054733276, + 0.9258459806442261, + 1.9278651475906372 + ], + [ + 0.36210811138153076, + 0.9258463382720947, + 1.9278651475906372 + ], + [ + 0.36210834980010986, + 1.6986275911331177, + 1.9278651475906372 + ], + [ + 1.3035260438919067, + 1.698627233505249, + 1.9278651475906372 + ] + ], + "corners_2d": [ + [ + 947.8565678319393, + 433.27212828806273 + ], + [ + 981.8555867822147, + 437.8029286212652 + ], + [ + 979.9585512308913, + 418.67933987128504 + ], + [ + 946.651923992449, + 414.3292979873173 + ], + [ + 962.752396831942, + 385.5029308974826 + ], + [ + 998.4798820155286, + 390.01319932667775 + ], + [ + 996.1407835860012, + 370.99052604190706 + ], + [ + 961.1770515777432, + 366.66865007797685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 150, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -9.81512451171875, + "z": 1.1428170204162598 + }, + "extent": { + "x": 0.4094531536102295, + "y": 0.5925449132919312, + "z": 0.9234646558761597 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 676.9438871607712, + "ymin": 686.7782802270356, + "xmax": 747.4011831703114, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.349416732788086, + -10.160396575927734, + 0.2193523645401001 + ], + [ + 6.17081880569458, + -10.284272193908691, + 0.2193523645401001 + ], + [ + 6.085219383239746, + -9.469852447509766, + 0.2193523645401001 + ], + [ + 7.263817310333252, + -9.345976829528809, + 0.2193523645401001 + ], + [ + 7.349416732788086, + -10.160396575927734, + 2.066281795501709 + ], + [ + 6.17081880569458, + -10.284272193908691, + 2.066281795501709 + ], + [ + 6.085219383239746, + -9.469852447509766, + 2.066281795501709 + ], + [ + 7.263817310333252, + -9.345976829528809, + 2.066281795501709 + ] + ], + "corners_2d": [ + [ + 676.9438871607712, + 766.6792371123781 + ], + [ + 732.3463416111076, + 783.0573502812822 + ], + [ + 740.8773728672588, + 746.2633976569173 + ], + [ + 686.9280843222753, + 730.7992223555019 + ], + [ + 679.3744890164896, + 723.6611090366827 + ], + [ + 738.505171985976, + 740.5423894032124 + ], + [ + 747.4011831703114, + 702.6579451686645 + ], + [ + 689.9231820729744, + 686.7782802270356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 666, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -6.857978343963623, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.32468748092651367, + "y": 0.5824255347251892, + "z": 0.8822872638702393 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 94.4920652927326, + "ymin": 479.61570213693517, + "xmax": 174.88812954781957, + "ymax": 557.6186655675875 + }, + "corners_3d": [ + [ + 22.21535873413086, + -7.054477214813232, + 0.10247796773910522 + ], + [ + 21.07596206665039, + -7.296663761138916, + 0.10247796773910522 + ], + [ + 20.940948486328125, + -6.661479473114014, + 0.10247796773910522 + ], + [ + 22.080345153808594, + -6.41929292678833, + 0.10247796773910522 + ], + [ + 22.21535873413086, + -7.054477214813232, + 1.8670525550842285 + ], + [ + 21.07596206665039, + -7.296663761138916, + 1.8670525550842285 + ], + [ + 20.940948486328125, + -6.661479473114014, + 1.8670525550842285 + ], + [ + 22.080345153808594, + -6.41929292678833, + 1.8670525550842285 + ] + ], + "corners_2d": [ + [ + 120.86835421674004, + 543.0204114977819 + ], + [ + 156.32822069930273, + 557.6186655675875 + ], + [ + 174.88812954781957, + 538.3810848306928 + ], + [ + 139.80972227265534, + 524.3011970624003 + ], + [ + 94.4920652927326, + 498.43535942074385 + ], + [ + 131.39500656857047, + 513.1355771122749 + ], + [ + 151.36598747210508, + 493.76796824742985 + ], + [ + 114.87056771244181, + 479.61570213693517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 7229, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 184.71114671702628, + "ymin": 62.15339639076501, + "xmax": 326.63745099725026, + "ymax": 189.0068922221502 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 201.8398847628619, + 183.0838583520745 + ], + [ + 258.9047247116828, + 189.0068922221502 + ], + [ + 326.63745099725026, + 112.3892278808919 + ], + [ + 275.2769251104649, + 107.69075686639286 + ], + [ + 184.71114671702628, + 134.70900109246332 + ], + [ + 243.87425965939764, + 140.4353058353685 + ], + [ + 315.6824187627046, + 66.65705159637895 + ], + [ + 262.6261035910727, + 62.15339639076501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 12682, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 206.65315804867595, + "ymin": 419.2549370272507, + "xmax": 423.2468595149944, + "ymax": 534.8673157812292 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 256.6326460579061, + 456.5886079448966 + ], + [ + 223.65926656810018, + 507.28416867596235 + ], + [ + 398.36367541360687, + 534.8673157812292 + ], + [ + 423.2468595149944, + 481.4548340626602 + ], + [ + 241.78477859623433, + 419.2549370272507 + ], + [ + 206.65315804867595, + 469.98106958349877 + ], + [ + 388.21451374108756, + 497.6677812977544 + ], + [ + 414.62719615166793, + 444.11035529707124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825100941566, + "ymin": 404.095623137938, + "xmax": 1031.9702971495324, + "ymax": 427.6962904029702 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432038070563, + 427.6962904029702 + ], + [ + 1024.647103555513, + 425.67192644258927 + ], + [ + 998.1825100941566, + 422.2112075684147 + ], + [ + 998.4204056904246, + 424.2205922952682 + ], + [ + 1031.9702971495324, + 409.57218169054363 + ], + [ + 1031.653340078391, + 407.5508274476765 + ], + [ + 1004.6821067457274, + 404.095623137938 + ], + [ + 1004.9386087364453, + 406.1017492230368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825170058951, + "ymin": 404.0956240402703, + "xmax": 1031.9703042624892, + "ymax": 427.69629131748263 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432107856337, + 427.69629131748263 + ], + [ + 1024.6471105187202, + 425.67192735315314 + ], + [ + 998.1825170058951, + 422.2112084722482 + ], + [ + 998.4204126173088, + 424.2205932030065 + ], + [ + 1031.9703042624892, + 409.5721826037325 + ], + [ + 1031.653347175381, + 407.5508283568507 + ], + [ + 1004.6821137893096, + 404.0956240402703 + ], + [ + 1004.938615795757, + 406.1017501293385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.7822491676752, + "ymin": 393.0505289848662, + "xmax": 921.58585476451, + "ymax": 416.5004739251839 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 916.5980295117223, + 416.5004739251839 + ], + [ + 916.536821547001, + 414.5241621601351 + ], + [ + 890.7822491676752, + 411.1453534911299 + ], + [ + 890.7883206872597, + 413.1072152278749 + ], + [ + 921.58585476451, + 398.39500828104184 + ], + [ + 921.5127027800049, + 396.42249379201746 + ], + [ + 895.2779086975515, + 393.0505289848662 + ], + [ + 895.2938468185623, + 395.0083628709089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.9964950140696, + "ymin": 389.71483795141705, + "xmax": 918.6190276233658, + "ymax": 413.11862274621876 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 913.7017887038676, + 413.11862274621876 + ], + [ + 913.6469660123805, + 411.1567124237195 + ], + [ + 887.9964950140696, + 407.80245447864195 + ], + [ + 887.996626470343, + 409.75007214539414 + ], + [ + 918.6190276233658, + 395.01974740642004 + ], + [ + 918.5525725842615, + 393.0618641659494 + ], + [ + 892.4257757251514, + 389.71483795141705 + ], + [ + 892.4354873613695, + 391.6582033259887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4733013238779, + "ymin": 396.0816624607602, + "xmax": 1033.9803761315547, + "ymax": 419.97988806131286 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.0391439421514, + 419.97988806131286 + ], + [ + 1025.999518336758, + 419.7133414872219 + ], + [ + 1002.4733013238779, + 416.6570589153362 + ], + [ + 1002.506066524676, + 416.9218537765114 + ], + [ + 1033.9803761315547, + 399.3974666741304 + ], + [ + 1033.9376102302754, + 399.13146561635443 + ], + [ + 1009.9025418774711, + 396.0816624607602 + ], + [ + 1009.9381476257179, + 396.3458796161706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4735643137138, + "ymin": 396.0816797045896, + "xmax": 1033.980646097327, + "ymax": 419.9799054672415 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.039408317589, + 419.9799054672415 + ], + [ + 1025.9997826355975, + 419.7133588831636 + ], + [ + 1002.4735643137138, + 416.65707619697025 + ], + [ + 1002.5063295903553, + 416.9218710680341 + ], + [ + 1033.980646097327, + 399.3974840445385 + ], + [ + 1033.9378801161772, + 399.13148297659103 + ], + [ + 1009.9028103990818, + 396.0816797045896 + ], + [ + 1009.9384162263959, + 396.3458968700693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825100941566, + "ymin": 404.095623137938, + "xmax": 1031.9702971495324, + "ymax": 427.6962904029702 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432038070563, + 427.6962904029702 + ], + [ + 1024.647103555513, + 425.67192644258927 + ], + [ + 998.1825100941566, + 422.2112075684147 + ], + [ + 998.4204056904246, + 424.2205922952682 + ], + [ + 1031.9702971495324, + 409.57218169054363 + ], + [ + 1031.653340078391, + 407.5508274476765 + ], + [ + 1004.6821067457274, + 404.095623137938 + ], + [ + 1004.9386087364453, + 406.1017492230368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825100708703, + "ymin": 404.0956229415779, + "xmax": 1031.9702971027914, + "ymax": 427.6962901044543 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432037633928, + 427.6962901044543 + ], + [ + 1024.64710352653, + 425.67192624443794 + ], + [ + 998.1825100708703, + 422.211207371728 + ], + [ + 998.4204056553444, + 424.2205919989636 + ], + [ + 1031.9702971027914, + 409.5721813924598 + ], + [ + 1031.6533400473675, + 407.55082724982753 + ], + [ + 1004.6821067206209, + 404.0956229415779 + ], + [ + 1004.93860869862, + 406.10174892720113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825158539386, + "ymin": 404.09562388988155, + "xmax": 1031.970303061416, + "ymax": 427.69629106555857 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432096079831, + 427.69629106555857 + ], + [ + 1024.6471093581858, + 425.67192720139246 + ], + [ + 998.1825158539386, + 422.2112083216092 + ], + [ + 998.4204114511347, + 424.2205929529485 + ], + [ + 1031.970303061416, + 409.57218235217306 + ], + [ + 1031.6533459925492, + 407.55082820532164 + ], + [ + 1004.6821126153793, + 404.09562388988155 + ], + [ + 1004.9386146065965, + 406.1017498796763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.9157975120315, + "ymin": 418.10887018424137, + "xmax": 958.4455646136917, + "ymax": 441.89607316379 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 952.6500495378651, + 441.89607316379 + ], + [ + 952.5080721938259, + 439.80993503819644 + ], + [ + 925.9157975120315, + 436.2439282958112 + ], + [ + 925.9989920035466, + 438.31439765686855 + ], + [ + 958.4455646136917, + 423.7553373090028 + ], + [ + 958.2880115760909, + 421.6711499014864 + ], + [ + 931.1836629890972, + 418.10887018424137 + ], + [ + 931.2801455943584, + 420.1771152913123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4729457653889, + "ymin": 396.0815999122507, + "xmax": 1033.980009770868, + "ymax": 419.9798249248205 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.0387855056956, + 419.9798249248205 + ], + [ + 1025.999160005839, + 419.71327838695527 + ], + [ + 1002.4729457653889, + 416.656996229698 + ], + [ + 1002.5057108622557, + 416.92179105500395 + ], + [ + 1033.980009770868, + 399.39740366648186 + ], + [ + 1033.9372439798337, + 399.13140264560104 + ], + [ + 1009.9021785180453, + 396.0815999122507 + ], + [ + 1009.9377841577563, + 396.34581703113645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825170058951, + "ymin": 404.0956240402703, + "xmax": 1031.9703042624892, + "ymax": 427.69629131748263 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432107856337, + 427.69629131748263 + ], + [ + 1024.6471105187202, + 425.67192735315314 + ], + [ + 998.1825170058951, + 422.2112084722482 + ], + [ + 998.4204126173088, + 424.2205932030065 + ], + [ + 1031.9703042624892, + 409.5721826037325 + ], + [ + 1031.653347175381, + 407.5508283568507 + ], + [ + 1004.6821137893096, + 404.0956240402703 + ], + [ + 1004.938615795757, + 406.1017501293385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.0855117455807, + "ymin": 394.8202619218831, + "xmax": 1037.9014208123956, + "ymax": 420.84389510573556 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1029.4701720889816, + 420.84389510573556 + ], + [ + 1029.421504487681, + 420.52416522057194 + ], + [ + 998.0855117455807, + 416.4517126968435 + ], + [ + 998.1232345697106, + 416.7686466181918 + ], + [ + 1037.9014208123956, + 399.2026409501264 + ], + [ + 1037.8487381664522, + 398.88359445776223 + ], + [ + 1005.7999401931281, + 394.8202619218831 + ], + [ + 1005.841174842414, + 395.13645844467374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4731406048376, + "ymin": 396.08157501663345, + "xmax": 1033.9802084623475, + "ymax": 419.9797997951738 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.0389804070846, + 419.9797997951738 + ], + [ + 1025.9993548523773, + 419.7132532717271 + ], + [ + 1002.4731406048376, + 416.6569712795006 + ], + [ + 1002.5059057565571, + 416.92176609052996 + ], + [ + 1033.9802084623475, + 399.39737858811776 + ], + [ + 1033.9374426143115, + 399.1313775819219 + ], + [ + 1009.9023771465636, + 396.08157501663345 + ], + [ + 1009.93798284328, + 396.3457921209817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825100708703, + "ymin": 404.0956229415779, + "xmax": 1031.9702971027914, + "ymax": 427.6962901044543 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.9432037633928, + 427.6962901044543 + ], + [ + 1024.64710352653, + 425.67192624443794 + ], + [ + 998.1825100708703, + 422.211207371728 + ], + [ + 998.4204056553444, + 424.2205919989636 + ], + [ + 1031.9702971027914, + 409.5721813924598 + ], + [ + 1031.6533400473675, + 407.55082724982753 + ], + [ + 1004.6821067206209, + 404.0956229415779 + ], + [ + 1004.93860869862, + 406.10174892720113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.0855221411234, + "ymin": 394.82034905773014, + "xmax": 1037.9014353242362, + "ymax": 420.84398317713993 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1029.4701854947477, + 420.84398317713993 + ], + [ + 1029.4215178993325, + 420.5242533306424 + ], + [ + 998.0855221411234, + 416.4518000365434 + ], + [ + 998.12324496066, + 416.76873391930053 + ], + [ + 1037.9014353242362, + 399.20272883394074 + ], + [ + 1037.848752684448, + 398.88368237885135 + ], + [ + 1005.7999515563653, + 394.82034905773014 + ], + [ + 1005.8411862007979, + 395.1365455433049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.0857468049986, + "ymin": 394.82028061291953, + "xmax": 1037.9016629111502, + "ymax": 420.8439139194604 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1029.4704088872436, + 420.8439139194604 + ], + [ + 1029.4217412186376, + 420.52418412058375 + ], + [ + 998.0857468049986, + 416.4517314316073 + ], + [ + 998.1234696986774, + 416.7686652673668 + ], + [ + 1037.9016629111502, + 399.2026597237784 + ], + [ + 1037.8489801954192, + 398.8836133172366 + ], + [ + 1005.8001804760925, + 394.82028061291953 + ], + [ + 1005.8414151974879, + 395.1364770505957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.1825065684286, + "ymin": 404.0956220976917, + "xmax": 1031.970293483992, + "ymax": 427.6962892491768 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1024.943200215886, + 427.6962892491768 + ], + [ + 1024.6470999869598, + 425.67192539285327 + ], + [ + 998.1825065684286, + 422.21120652643793 + ], + [ + 998.4204021451287, + 424.2205911500215 + ], + [ + 1031.970293483992, + 409.5721805384202 + ], + [ + 1031.6533364368256, + 407.55082639954253 + ], + [ + 1004.6821031486168, + 404.0956220976917 + ], + [ + 1004.9386051185304, + 406.1017480796026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.085507099478, + "ymin": 394.82017514507845, + "xmax": 1037.9014122018693, + "ymax": 420.84380729834606 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1029.4701644570916, + 420.84380729834606 + ], + [ + 1029.4214968630095, + 420.52407747355795 + ], + [ + 998.085507099478, + 416.4516257170257 + ], + [ + 998.1232299184701, + 416.76855957878877 + ], + [ + 1037.9014122018693, + 399.20255332976495 + ], + [ + 1037.8487295640318, + 398.8835068989512 + ], + [ + 1005.7999347062588, + 394.82017514507845 + ], + [ + 1005.8411693496647, + 395.13637160714154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.066789754894, + "ymin": 386.5991961178707, + "xmax": 894.0649859711161, + "ymax": 409.9595969694387 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 889.5964529105183, + 409.9595969694387 + ], + [ + 889.5929292419196, + 408.01109191145565 + ], + [ + 864.1172139006835, + 404.6796868485039 + ], + [ + 864.066789754894, + 406.6140452225458 + ], + [ + 894.0649859711161, + 391.86727947429426 + ], + [ + 894.0517552649592, + 389.9230128072011 + ], + [ + 868.1061277422962, + 386.5991961178707 + ], + [ + 868.0633998113474, + 388.52909582849503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.085509450488, + "ymin": 394.82026181752326, + "xmax": 1037.90141843551, + "ymax": 420.843894900845 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1029.4701697643186, + 420.843894900845 + ], + [ + 1029.421502178931, + 420.5241651150453 + ], + [ + 998.085509450488, + 416.4517125922395 + ], + [ + 998.1232322621128, + 416.76864641509326 + ], + [ + 1037.90141843551, + 399.2026407456723 + ], + [ + 1037.8487358067628, + 398.88359435246196 + ], + [ + 1005.7999378477002, + 394.82026181752326 + ], + [ + 1005.8411724833553, + 395.1364582420462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.8312554535728, + "ymin": 409.76378375515804, + "xmax": 1030.4896732680818, + "ymax": 433.23007955928705 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 1023.5088004700772, + 433.23007955928705 + ], + [ + 1023.2166219487563, + 431.19946700056937 + ], + [ + 996.8312554535728, + 427.72800863203116 + ], + [ + 997.0655772935464, + 429.74363767123 + ], + [ + 1030.4896732680818, + 415.2585692348805 + ], + [ + 1030.1768701329147, + 413.2305094719181 + ], + [ + 1003.2879115189444, + 409.76378375515804 + ], + [ + 1003.5406278256195, + 411.7766082719633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4733013238779, + "ymin": 396.0816624607602, + "xmax": 1033.9803761315547, + "ymax": 419.97988806131286 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.0391439421514, + 419.97988806131286 + ], + [ + 1025.999518336758, + 419.7133414872219 + ], + [ + 1002.4733013238779, + 416.6570589153362 + ], + [ + 1002.506066524676, + 416.9218537765114 + ], + [ + 1033.9803761315547, + 399.3974666741304 + ], + [ + 1033.9376102302754, + 399.13146561635443 + ], + [ + 1009.9025418774711, + 396.0816624607602 + ], + [ + 1009.9381476257179, + 396.3458796161706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 851.505041673223, + "ymin": 387.7760659949517, + "xmax": 881.2853168042843, + "ymax": 411.1528847108014 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 877.0218967502756, + 411.1528847108014 + ], + [ + 877.0450654489479, + 409.1993213850594 + ], + [ + 851.5821036459631, + 405.85929300144363 + ], + [ + 851.505041673223, + 407.79865462129237 + ], + [ + 881.2709160900214, + 393.05804445621123 + ], + [ + 881.2853168042843, + 391.1086400813607 + ], + [ + 855.3528618720288, + 387.7760659949517 + ], + [ + 855.2825597755015, + 389.7110465345492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.4735246694845, + "ymin": 396.0816736943252, + "xmax": 1033.9806052823433, + "ymax": 419.97989940047813 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1026.03936837715, + 419.97989940047813 + ], + [ + 1025.999742706877, + 419.71335281988115 + ], + [ + 1002.4735246694845, + 416.65707017352923 + ], + [ + 1002.506289934572, + 416.9218650411465 + ], + [ + 1033.9806052823433, + 399.39747799015566 + ], + [ + 1033.93783931343, + 399.1314769257534 + ], + [ + 1009.9027698929712, + 396.0816736943252 + ], + [ + 1009.9383757082239, + 396.34589085629534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.9366478405005, + "ymin": 234.60379256776002, + "xmax": 293.2489687655875, + "ymax": 273.37720011211786 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 293.2489687655875, + 264.4337876342394 + ], + [ + 283.01990548176013, + 263.20074245289936 + ], + [ + 276.0363836956259, + 272.1154915335745 + ], + [ + 286.37244397709077, + 273.37720011211786 + ], + [ + 284.6669456117162, + 235.82056164470765 + ], + [ + 274.19914850041613, + 234.60379256776002 + ], + [ + 266.9366478405005, + 243.4030306074289 + ], + [ + 277.5164891986103, + 244.64879651838567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 311.7990330691581, + "ymin": 181.4674246353329, + "xmax": 334.85252652553805, + "ymax": 218.05478009858584 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 334.85252652553805, + 210.3251978159017 + ], + [ + 325.27632622063464, + 209.25852317856572 + ], + [ + 319.23926413656824, + 216.96507606490437 + ], + [ + 328.909305403368, + 218.05478009858584 + ], + [ + 327.84067995859584, + 182.51638925426226 + ], + [ + 318.0554025892094, + 181.4674246353329 + ], + [ + 311.7990330691581, + 189.047633314087 + ], + [ + 321.68229346673377, + 190.11977357307563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.9287841063392, + "ymin": 310.26144089048074, + "xmax": 234.24312505941424, + "ymax": 351.99408903573556 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 234.24312505941424, + 341.17543943253514 + ], + [ + 223.10427636987163, + 339.68579923119046 + ], + [ + 214.65916596392208, + 350.46632963564184 + ], + [ + 225.92474732090022, + 351.99408903573556 + ], + [ + 223.17711209017568, + 311.73865207791056 + ], + [ + 211.75494297289742, + 310.26144089048074 + ], + [ + 202.9287841063392, + 320.9552096624344 + ], + [ + 214.48419628326263, + 322.47127223178694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 450.40191955527996, + "ymin": 90.39653787508934, + "xmax": 463.8706942167114, + "ymax": 117.28858646460895 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 456.80085087009184, + 111.83007085546546 + ], + [ + 453.4805918469292, + 116.6112045220475 + ], + [ + 460.60134558231124, + 117.28858646460895 + ], + [ + 463.8706942167114, + 112.49713323241826 + ], + [ + 453.8004704765839, + 90.39653787508934 + ], + [ + 450.40191955527996, + 95.08879945217126 + ], + [ + 457.6369486294718, + 95.75368590810666 + ], + [ + 460.98295135103467, + 91.05112979152972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.74455897248606, + "ymin": 0.0, + "xmax": 187.84634938972528, + "ymax": 18.859544019332702 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 181.02946787711699, + 14.207536662832695 + ], + [ + 175.52049328044654, + 18.28491953690542 + ], + [ + 182.38455365186735, + 18.859544019332702 + ], + [ + 187.84634938972528, + 14.773303795537402 + ], + [ + 173.40616395857364, + -9.150917939216583 + ], + [ + 167.74455897248606, + -5.190356854487447 + ], + [ + 174.71504301095143, + -4.632113593351221 + ], + [ + 180.32801490281827, + -8.60142196199763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.01114853596397, + "ymin": 1.9836495833662866, + "xmax": 326.2310892093042, + "ymax": 30.526826681403406 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 319.1121355975822, + 25.667845413315774 + ], + [ + 314.58137997277277, + 29.926533931635788 + ], + [ + 321.7520535836645, + 30.526826681403406 + ], + [ + 326.2310892093042, + 26.258683173231645 + ], + [ + 313.66359893510634, + 1.9836495833662866 + ], + [ + 309.01114853596397, + 6.123357353185725 + ], + [ + 316.2983916765526, + 6.706968967678222 + ], + [ + 320.8974418224342, + 2.5579134085850797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.0454027999433, + "ymin": 565.720291305501, + "xmax": 154.3222707496197, + "ymax": 607.3311284750982 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 154.3222707496197, + 592.1985185582447 + ], + [ + 142.39412924543444, + 590.1060384324994 + ], + [ + 132.1686636315473, + 605.1807997226438 + ], + [ + 144.24098656061182, + 607.3311284750982 + ], + [ + 140.03223218436676, + 567.8265465093534 + ], + [ + 127.78176800262963, + 565.720291305501 + ], + [ + 117.0454027999433, + 580.8995570677603 + ], + [ + 129.44789675320726, + 583.0657897133424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 231.17962257797387, + "ymin": 0.0, + "xmax": 250.00502413204765, + "ymax": 24.099684698819203 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 243.05326913871392, + 19.3552711781648 + ], + [ + 237.97781608360964, + 23.51360109951173 + ], + [ + 244.9787580971352, + 24.099684698819203 + ], + [ + 250.00502413204765, + 19.932232211399878 + ], + [ + 236.39419710826576, + -4.150502107837212 + ], + [ + 231.17962257797387, + -0.10998224727887873 + ], + [ + 238.2914742136175, + 0.45958275820146355 + ], + [ + 243.45530854124644, + -3.589950765199603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.7382953801507, + "ymin": 392.9805074437658, + "xmax": 906.9594053423871, + "ymax": 453.97055283337966 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 891.5523761198785, + 453.97055283337966 + ], + [ + 891.5470691133139, + 452.5579451600448 + ], + [ + 888.7382953801507, + 452.17291235708217 + ], + [ + 888.739475582742, + 453.58438813390694 + ], + [ + 906.9594053423871, + 394.7707636741162 + ], + [ + 906.929790639692, + 393.3639241821675 + ], + [ + 903.9427902960601, + 392.9805074437658 + ], + [ + 903.967737451647, + 394.386150715756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3610425795207463592, + "instance_id": 43138, + "pixel_count": null, + "type_id": "BP_StreetLight_wall41_74_SM_0", + "bbox_3d": { + "center_world": { + "x": -3.7471089363098145, + "y": 22.76371955871582, + "z": 4.686147212982178 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.8939404292098, + "ymin": 0.0, + "xmax": 1107.0679925421725, + "ymax": 6.010755523769149 + }, + "corners_3d": [ + [ + -4.894715309143066, + 22.88140869140625, + 4.274991512298584 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 4.274991512298584 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 4.274991512298584 + ], + [ + -4.894715785980225, + 22.646034240722656, + 4.274991512298584 + ], + [ + -4.894715309143066, + 22.88140869140625, + 5.0973029136657715 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 5.0973029136657715 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 5.0973029136657715 + ], + [ + -4.894715785980225, + 22.646034240722656, + 5.0973029136657715 + ] + ], + "corners_2d": [ + [ + 1099.6312180061584, + 3.78795124295641 + ], + [ + 1041.8939404292098, + -0.3112474614143821 + ], + [ + 1042.5559717039273, + 1.8760849416870542 + ], + [ + 1100.548884863394, + 6.010755523769149 + ], + [ + 1106.108859518065, + -16.178410300153644 + ], + [ + 1047.511972706156, + -20.173069288241607 + ], + [ + 1048.207795300274, + -18.04163127295749 + ], + [ + 1107.0679925421725, + -14.01191664472509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.7225539970265, + "ymin": 389.8437138488213, + "xmax": 882.4728920891005, + "ymax": 450.8080526391701 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 868.517013127013, + 450.8080526391701 + ], + [ + 868.5454040012042, + 449.40470130910364 + ], + [ + 865.7550177453884, + 449.0221891516138 + ], + [ + 865.7225539970265, + 450.42441969012225 + ], + [ + 882.4644065833454, + 391.62152757143593 + ], + [ + 882.4728920891005, + 390.2244678575745 + ], + [ + 879.506635275173, + 389.8437138488213 + ], + [ + 879.4935468515829, + 391.23958979184977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.2056722365405, + "ymin": 421.570467064008, + "xmax": 946.38468670422, + "ymax": 482.73829393740743 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 928.1740619757959, + 482.73829393740743 + ], + [ + 928.1132727456106, + 481.2400911507376 + ], + [ + 925.2056722365405, + 480.8317504217704 + ], + [ + 925.2620390567099, + 482.32871691214086 + ], + [ + 946.38468670422, + 423.4761327011802 + ], + [ + 946.2908159306774, + 421.9785808096209 + ], + [ + 943.1918819864098, + 421.570467064008 + ], + [ + 943.2807288408078, + 423.0667052188762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.94434125868946, + "ymin": 0.0, + "xmax": 555.3261570379384, + "ymax": 33.45804639285211 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 553.0808853250171, + 33.45804639285211 + ], + [ + 555.3261570379384, + 29.820756860540314 + ], + [ + 481.32222289932963, + 23.849908245320194 + ], + [ + 478.6080075947492, + 27.406765988911218 + ], + [ + 542.3566316753233, + -137.68196065442544 + ], + [ + 544.957558557039, + -140.4765959200285 + ], + [ + 462.1329494721049, + -145.05416871910745 + ], + [ + 458.94434125868946, + -142.32878597203398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.406642188646, + "ymin": 63.821861466718985, + "xmax": 958.5191852532998, + "ymax": 74.56816220459064 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 956.9140134095239, + 68.26060208687579 + ], + [ + 946.406642188646, + 67.40388961491595 + ], + [ + 947.0446266168724, + 73.69263209914556 + ], + [ + 957.6677687147753, + 74.56816220459064 + ], + [ + 957.7542045522159, + 64.67550709642512 + ], + [ + 947.217767780802, + 63.821861466718985 + ], + [ + 947.8663329198989, + 70.08824796710718 + ], + [ + 958.5191852532998, + 70.96069433824408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 993.2798744865672, + "ymin": 411.80714734827916, + "xmax": 1018.4023524977076, + "ymax": 472.4071386953967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 996.3226789652977, + 472.4071386953967 + ], + [ + 996.1619295955275, + 470.95162632816 + ], + [ + 993.2798744865672, + 470.5549072140494 + ], + [ + 993.4362797192157, + 472.0092404563869 + ], + [ + 1018.4023524977076, + 413.6561836979057 + ], + [ + 1018.1968858175752, + 412.2031457225995 + ], + [ + 1015.1271287272859, + 411.80714734827916 + ], + [ + 1015.3276670063908, + 413.2589353669152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.718559122234, + "ymin": 12.566376835579092, + "xmax": 962.5960478110946, + "ymax": 284.79046044521715 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 908.9408022021399, + 221.78790455075847 + ], + [ + 896.718559122234, + 220.51771972645966 + ], + [ + 897.4746418979246, + 283.292040325373 + ], + [ + 910.7520205341774, + 284.79046044521715 + ], + [ + 955.6409663316459, + 13.632179305243653 + ], + [ + 941.2054867345556, + 12.566376835579092 + ], + [ + 946.6654493612145, + 66.02103310743468 + ], + [ + 962.5960478110946, + 67.31677601407785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.4208163224524, + "ymin": 396.33889349059456, + "xmax": 909.8801607712463, + "ymax": 457.3551002891818 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 894.2498223738885, + 457.3551002891818 + ], + [ + 894.2405258867703, + 455.9325526075419 + ], + [ + 891.4208163224524, + 455.5448130387815 + ], + [ + 891.4259537855377, + 456.96621685825215 + ], + [ + 909.8801607712463, + 398.14251949256953 + ], + [ + 909.845872259906, + 396.7251713507358 + ], + [ + 906.8465065797076, + 396.33889349059456 + ], + [ + 906.876088799045, + 397.7550319873042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.6442688488409, + "ymin": 391.02862958859356, + "xmax": 869.6933176396041, + "ymax": 452.00282345737725 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 856.4373709195042, + 452.00282345737725 + ], + [ + 856.4834809326372, + 450.5959786195373 + ], + [ + 853.6944477303043, + 450.2125151492878 + ], + [ + 853.6442688488409, + 451.6182350086885 + ], + [ + 869.664939945126, + 392.8111384228043 + ], + [ + 869.6933176396041, + 391.41038834573965 + ], + [ + 866.7285688355058, + 391.02862958859356 + ], + [ + 866.6955929376319, + 392.4281912023316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.4701342392079, + "ymin": 63.878807958464506, + "xmax": 958.4536442673093, + "ymax": 74.51069732374884 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 956.8663361749881, + 68.2705379185175 + ], + [ + 946.4701342392079, + 67.42286942438693 + ], + [ + 947.101977819201, + 73.64460988713967 + ], + [ + 957.6115007278433, + 74.51069732374884 + ], + [ + 957.6974954190373, + 64.7234744633634 + ], + [ + 947.2728400929129, + 63.878807958464506 + ], + [ + 947.9150436566188, + 70.07866573482943 + ], + [ + 958.4536442673093, + 70.94173482340301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.86567197395652, + "ymin": 0.0, + "xmax": 478.0082999758686, + "ymax": 175.69453407792057 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 474.49917773130784, + 175.69453407792057 + ], + [ + 478.0082999758686, + 170.04634843533967 + ], + [ + 200.76623619504335, + 140.1158276012035 + ], + [ + 195.20941119130947, + 145.27517981525372 + ], + [ + 445.3239962355517, + -43.750735587210954 + ], + [ + 449.728416163036, + -48.258676363370625 + ], + [ + 128.02607960186987, + -71.93004499926644 + ], + [ + 120.86567197395652, + -67.87545206239145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 18.068012619669958, + "ymin": 90.72383772613847, + "xmax": 398.42465747029956, + "ymax": 679.5988719134893 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 179.40220160955334, + 676.1642651233756 + ], + [ + 196.76496287145704, + 679.5988719134893 + ], + [ + 398.42465747029956, + 338.7018285846369 + ], + [ + 385.6154348552617, + 336.9533884340989 + ], + [ + 18.068012619669958, + 415.43344902998155 + ], + [ + 40.90431559584704, + 419.0545111109246 + ], + [ + 343.3904300744064, + 92.24574314773406 + ], + [ + 327.80978086364667, + 90.72383772613847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7133840340825, + "ymin": 407.4598116030311, + "xmax": 1020.03645413294, + "ymax": 468.5526107159609 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 997.7712804290717, + 468.5526107159609 + ], + [ + 997.6077213896351, + 467.0969297124789 + ], + [ + 994.7133840340825, + 466.70016767860005 + ], + [ + 994.8725618296149, + 468.15466463286504 + ], + [ + 1020.03645413294, + 409.3080654391851 + ], + [ + 1019.8275170088266, + 407.8556396985939 + ], + [ + 1016.7438261045681, + 407.4598116030311 + ], + [ + 1016.9477899896857, + 408.91098252580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 36.14526456389376, + "ymax": 101.09911072020589 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -43.10604869517783, + 101.09911072020589 + ], + [ + 36.14526456389376, + 60.19383253379618 + ], + [ + -32.58309125571964, + 46.788854123612225 + ], + [ + -114.45841084547999, + 85.63239168009198 + ], + [ + -271.1869658376719, + -333.45219905245483 + ], + [ + -148.38334956572032, + -348.74015080784966 + ], + [ + -230.86101884592256, + -352.4706592395173 + ], + [ + -356.80525406789945, + -338.0787979643826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 539.5356499221426, + "ymin": 0.0, + "xmax": 746.5176707750985, + "ymax": 103.18471576016447 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 726.6754661645168, + 101.19689526096278 + ], + [ + 713.3394321018465, + 32.85119797550857 + ], + [ + 563.8490005128318, + 34.41808593669913 + ], + [ + 558.3112028888626, + 103.18471576016447 + ], + [ + 746.5176707750985, + -200.8323580753928 + ], + [ + 727.8754576297954, + -242.19006900149805 + ], + [ + 548.7033899482475, + -241.26507944905552 + ], + [ + 539.5356499221426, + -199.59771364779908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.6133426922568, + "ymin": 0.0, + "xmax": 1233.3466075234437, + "ymax": 15.94408733492935 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 978.930687204379, + 15.94408733492935 + ], + [ + 1134.3836431166756, + 15.166153892415764 + ], + [ + 1077.9173434209367, + -42.83225297035733 + ], + [ + 939.6133426922568, + -42.21705240378918 + ], + [ + 1046.8968285383041, + -265.71955602436867 + ], + [ + 1233.3466075234437, + -266.15224767349196 + ], + [ + 1154.1883440756574, + -297.702933596639 + ], + [ + 991.8771501773795, + -297.37544588097387 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00071/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00071/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b0088b0ad15a4dab870f5099ad89074c57c237c3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00071/meta.json @@ -0,0 +1,8190 @@ +{ + "frame_id": 71, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.5, + "sim_timestamp": 7555.908397877123 + }, + "drone_pose": { + "x": 6.157238946197161, + "y": -18.746851734879005, + "z": 20.00000006369711, + "pitch": -42.18921011888085, + "yaw": 78.5193113462928, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.14747321605682373, + -0.7261064648628235, + 0.6715810298919678, + -0.7274389266967773 + ], + [ + 0.9799918532371521, + 0.19903767108917236, + 0.0, + 9.765374183654785 + ], + [ + -0.133669912815094, + 0.658143937587738, + 0.7409310936927795, + -26.333709716796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 6.042499481038322, + "y": -18.145603114878448, + "z": 20.147705635151866 + }, + "t1_image_uv": [ + 1335.3596932749745, + -1107.353526219746 + ], + "t1_depth": 0.32045322225146244 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": 1.812236785888672, + "z": 0.9847505927086968 + }, + "image_uv": [ + 639.9999999999998, + 360.0 + ], + "depth": 28.31415345689224, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 537, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 1.8122367858886719, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.403510719537735, + "y": 0.4824810028076172, + "z": 0.9305936694145203 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.6673842925871, + "ymin": 325.10986917193804, + "xmax": 659.025301719226, + "ymax": 394.25319714432027 + }, + "corners_3d": [ + [ + 10.815298080444336, + 1.4087259769439697, + 0.05415689945220947 + ], + [ + 9.850336074829102, + 1.4087262153625488, + 0.05415689945220947 + ], + [ + 9.850336074829102, + 2.215747594833374, + 0.05415689945220947 + ], + [ + 10.815298080444336, + 2.215747356414795, + 0.05415689945220947 + ], + [ + 10.815298080444336, + 1.4087259769439697, + 1.91534423828125 + ], + [ + 9.850336074829102, + 1.4087262153625488, + 1.91534423828125 + ], + [ + 9.850336074829102, + 2.215747594833374, + 1.91534423828125 + ], + [ + 10.815298080444336, + 2.215747356414795, + 1.91534423828125 + ] + ], + "corners_2d": [ + [ + 621.5088487833247, + 389.7715333411672 + ], + [ + 653.1868206488966, + 394.25319714432027 + ], + [ + 658.2098124490858, + 376.0794955115431 + ], + [ + 627.1409182185247, + 371.77570963642853 + ], + [ + 620.6673842925871, + 342.9290561955539 + ], + [ + 653.7900296763039, + 347.3717756723151 + ], + [ + 659.025301719226, + 329.36846303660104 + ], + [ + 626.5679716947024, + 325.10986917193804 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + 0.0 + ] + }, + "trace_timestep_index": 71, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 515956, + "2": 270367, + "3": 37400, + "5": 4372, + "6": 15828, + "7": 2269, + "9": 2500, + "10": 10648, + "12": 2428, + "14": 20412, + "20": 2423, + "24": 27695, + "25": 9302 + }, + "instance_pixel_counts": { + "381": 4576, + "586": 1574, + "3146": 2423, + "9617": 20, + "11676": 66026, + "14236": 131899, + "16284": 56697, + "17502": 4833, + "18013": 9302, + "19038": 5740, + "19354": 894, + "19866": 3793, + "20378": 6203, + "20573": 5289, + "20890": 7422, + "21085": 84418, + "21597": 44584, + "23418": 4816, + "23450": 15267, + "25498": 10265, + "25978": 4473, + "27516": 5290, + "28026": 1484, + "28530": 1569, + "28786": 32792, + "31612": 15342, + "33660": 388, + "34816": 13211, + "34899": 172, + "35072": 3575, + "36252": 84865, + "36764": 36416, + "38300": 88630, + "38483": 1119, + "40860": 51423, + "43008": 537, + "43264": 233, + "43520": 180, + "43776": 652, + "44032": 100, + "44288": 726, + "44544": 7396, + "44922": 6987, + "45434": 1509, + "45824": 13016, + "49778": 3039, + "51309": 2500, + "52636": 5407, + "54684": 3019, + "57241": 14390, + "58697": 2798, + "59772": 747, + "60284": 1961, + "60796": 1596, + "61308": 2349, + "61337": 38521, + "63868": 7072 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 537, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 1.8122367858886719, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.3844549357891083, + "y": 0.5632631182670593, + "z": 0.9131803512573242 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.0629642340145, + "ymin": 325.623019251419, + "xmax": 661.6286435567013, + "ymax": 393.77271978770676 + }, + "corners_3d": [ + [ + 10.896080017089844, + 1.4277817010879517, + 0.07157021760940552 + ], + [ + 9.769554138183594, + 1.4277820587158203, + 0.07157021760940552 + ], + [ + 9.769554138183594, + 2.1966919898986816, + 0.07157021760940552 + ], + [ + 10.896080017089844, + 2.1966915130615234, + 0.07157021760940552 + ], + [ + 10.896080017089844, + 1.4277817010879517, + 1.8979308605194092 + ], + [ + 9.769554138183594, + 1.4277820587158203, + 1.8979308605194092 + ], + [ + 9.769554138183594, + 2.1966919898986816, + 1.8979308605194092 + ], + [ + 10.896080017089844, + 2.1966915130615234, + 1.8979308605194092 + ] + ], + "corners_2d": [ + [ + 618.9994626841869, + 388.5460292268726 + ], + [ + 655.9793430331988, + 393.77271978770676 + ], + [ + 660.7177440969594, + 376.44421667749435 + ], + [ + 624.4158858100976, + 371.4154462943055 + ], + [ + 618.0629642340145, + 342.5879989356833 + ], + [ + 656.6962564680802, + 347.7699063801141 + ], + [ + 661.6286435567013, + 330.6001871397265 + ], + [ + 623.7347535308419, + 325.623019251419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 233, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": 4.80994176864624, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.24938784539699554, + "y": 0.33641207218170166, + "z": 0.6027830243110657 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 521.0231447888526, + "ymin": 262.3696245215074, + "xmax": 545.7106938799591, + "ymax": 301.5024609650537 + }, + "corners_3d": [ + [ + 14.73601245880127, + 4.496059417724609, + 0.3819773197174072 + ], + [ + 14.07789134979248, + 4.635948181152344, + 0.3819773197174072 + ], + [ + 14.181593894958496, + 5.123824119567871, + 0.3819773197174072 + ], + [ + 14.839715003967285, + 4.983935356140137, + 0.3819773197174072 + ], + [ + 14.73601245880127, + 4.496059417724609, + 1.5875433683395386 + ], + [ + 14.07789134979248, + 4.635948181152344, + 1.5875433683395386 + ], + [ + 14.181593894958496, + 5.123824119567871, + 1.5875433683395386 + ], + [ + 14.839715003967285, + 4.983935356140137, + 1.5875433683395386 + ] + ], + "corners_2d": [ + [ + 524.0990360277204, + 301.5024609650537 + ], + [ + 544.7368323846243, + 301.3853605063158 + ], + [ + 545.7106938799591, + 291.922277806587 + ], + [ + 525.313723535742, + 292.03666303003115 + ], + [ + 521.0231447888526, + 271.8417004479006 + ], + [ + 542.2090212645347, + 271.7258855808202 + ], + [ + 543.2386640168644, + 262.3696245215074 + ], + [ + 522.3064960563798, + 262.48268397608047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 180, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 8.754949569702148, + "z": 0.8002743721008301 + }, + "extent": { + "x": 0.30520200729370117, + "y": 0.3463219702243805, + "z": 0.6120110154151917 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 732.6318401087084, + "ymin": 219.9866521431877, + "xmax": 755.6111950433746, + "ymax": 260.52437884510323 + }, + "corners_3d": [ + [ + 8.38951587677002, + 8.4152193069458, + 0.1882634162902832 + ], + [ + 7.7006659507751465, + 8.48762035369873, + 0.1882634162902832 + ], + [ + 7.76447057723999, + 9.094679832458496, + 0.1882634162902832 + ], + [ + 8.453320503234863, + 9.022278785705566, + 0.1882634162902832 + ], + [ + 8.38951587677002, + 8.4152193069458, + 1.4122854471206665 + ], + [ + 7.7006659507751465, + 8.48762035369873, + 1.4122854471206665 + ], + [ + 7.76447057723999, + 9.094679832458496, + 1.4122854471206665 + ], + [ + 8.453320503234863, + 9.022278785705566, + 1.4122854471206665 + ] + ], + "corners_2d": [ + [ + 732.6318401087084, + 259.39192582231414 + ], + [ + 752.6402659635024, + 260.52437884510323 + ], + [ + 752.79599509022, + 250.2467053314869 + ], + [ + 733.0537894701147, + 249.1442341446367 + ], + [ + 734.9722845237725, + 230.08979720666335 + ], + [ + 755.4905391955436, + 231.20669383605525 + ], + [ + 755.6111950433746, + 221.07324639492194 + ], + [ + 735.3728056937371, + 219.9866521431877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 652, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": 1.8122367858886719, + "z": 0.9847456812858582 + }, + "extent": { + "x": 0.42303308844566345, + "y": 0.349935382604599, + "z": 0.9340810179710388 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 951.4471479091724, + "ymin": 369.100607382508, + "xmax": 994.2979628241586, + "ymax": 440.7772865521264 + }, + "corners_3d": [ + [ + 1.1827523708343506, + 1.3892035484313965, + 0.050664663314819336 + ], + [ + 0.4828815758228302, + 1.3892037868499756, + 0.050664663314819336 + ], + [ + 0.4828818142414093, + 2.2352700233459473, + 0.050664663314819336 + ], + [ + 1.1827526092529297, + 2.235269784927368, + 0.050664663314819336 + ], + [ + 1.1827523708343506, + 1.3892035484313965, + 1.918826699256897 + ], + [ + 0.4828815758228302, + 1.3892037868499756, + 1.918826699256897 + ], + [ + 0.4828818142414093, + 2.2352700233459473, + 1.918826699256897 + ], + [ + 1.1827526092529297, + 2.235269784927368, + 1.918826699256897 + ] + ], + "corners_2d": [ + [ + 952.5345539489595, + 437.18018360905216 + ], + [ + 977.9446767419162, + 440.7772865521264 + ], + [ + 976.2916310186839, + 419.76046311403445 + ], + [ + 951.4471479091724, + 416.3203182311649 + ], + [ + 967.5982669318688, + 389.8514678283462 + ], + [ + 994.2979628241586, + 393.43422724227435 + ], + [ + 992.1882597679052, + 372.5197451592293 + ], + [ + 966.1123400703591, + 369.100607382508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 100, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -9.31512451171875, + "z": 1.133124589920044 + }, + "extent": { + "x": 0.430259108543396, + "y": 0.5290283560752869, + "z": 0.9411928057670593 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 673.2598065019729, + "ymin": 687.587590328774, + "xmax": 738.3375989946705, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.288422584533691, + -9.687727928161621, + 0.19193178415298462 + ], + [ + 6.236162185668945, + -9.798325538635254, + 0.19193178415298462 + ], + [ + 6.146213531494141, + -8.942521095275879, + 0.19193178415298462 + ], + [ + 7.198473930358887, + -8.831923484802246, + 0.19193178415298462 + ], + [ + 7.288422584533691, + -9.687727928161621, + 2.074317455291748 + ], + [ + 6.236162185668945, + -9.798325538635254, + 2.074317455291748 + ], + [ + 6.146213531494141, + -8.942521095275879, + 2.074317455291748 + ], + [ + 7.198473930358887, + -8.831923484802246, + 2.074317455291748 + ] + ], + "corners_2d": [ + [ + 673.2598065019729, + 770.0515689481604 + ], + [ + 722.5562280285053, + 785.2680581290814 + ], + [ + 732.2496766172842, + 746.688743188897 + ], + [ + 684.2941262948561, + 732.3600841523032 + ], + [ + 675.4983002642693, + 726.3662491798373 + ], + [ + 728.1830760295064, + 742.065223608472 + ], + [ + 738.3375989946705, + 702.311461027783 + ], + [ + 687.1817733518125, + 687.587590328774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 726, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.578153610229492, + "y": -6.357978343963623, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.31431517004966736, + "y": 0.5837149024009705, + "z": 0.8909521102905273 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 94.0769855676026, + "ymin": 475.3913090258727, + "xmax": 173.76812769997787, + "ymax": 553.3236226825081 + }, + "corners_3d": [ + [ + 22.214462280273438, + -6.544063568115234, + 0.09381312131881714 + ], + [ + 21.07254409790039, + -6.786786079406738, + 0.09381312131881714 + ], + [ + 20.941844940185547, + -6.171893119812012, + 0.09381312131881714 + ], + [ + 22.083763122558594, + -5.929170608520508, + 0.09381312131881714 + ], + [ + 22.214462280273438, + -6.544063568115234, + 1.8757174015045166 + ], + [ + 21.07254409790039, + -6.786786079406738, + 1.8757174015045166 + ], + [ + 20.941844940185547, + -6.171893119812012, + 1.8757174015045166 + ], + [ + 22.083763122558594, + -5.929170608520508, + 1.8757174015045166 + ] + ], + "corners_2d": [ + [ + 120.63706783224427, + 538.4227521425103 + ], + [ + 155.64101886147563, + 553.3236226825081 + ], + [ + 173.76812769997787, + 534.9150873793308 + ], + [ + 139.11209314583124, + 520.5221261273169 + ], + [ + 94.0769855676026, + 493.38345171155294 + ], + [ + 130.5007606865231, + 508.38447986407806 + ], + [ + 150.0089776322722, + 489.85537966441177 + ], + [ + 113.95607176522549, + 475.3913090258727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 7396, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 182.32865414930825, + "ymin": 65.03375703217375, + "xmax": 326.6832349449806, + "ymax": 193.32153404231335 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 199.67397010916716, + 186.9475164120813 + ], + [ + 256.77318899244904, + 193.32153404231335 + ], + [ + 326.6832349449806, + 115.79431537401848 + ], + [ + 275.26178527644254, + 110.7427636705988 + ], + [ + 182.32865414930825, + 138.4092758172666 + ], + [ + 241.53360135527214, + 144.57529694404192 + ], + [ + 315.6452289182727, + 69.87828226736303 + ], + [ + 262.51954836830214, + 65.03375703217375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 13016, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 195.43643119063466, + "ymin": 429.33992338620794, + "xmax": 415.17180719686706, + "ymax": 548.3577206043374 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 247.63647630060882, + 466.6798280003287 + ], + [ + 213.09573078904265, + 518.4102363774737 + ], + [ + 388.7560516272993, + 548.3577206043374 + ], + [ + 415.17180719686706, + 493.651186878297 + ], + [ + 232.25428931742414, + 429.33992338620794 + ], + [ + 195.43643119063466, + 481.1509756791087 + ], + [ + 378.0476087287487, + 511.2437919385487 + ], + [ + 406.1044768001392, + 456.3264568690847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6174945692608, + "ymin": 420.54177017448154, + "xmax": 1034.0753132297077, + "ymax": 444.573439886188 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.8735929699715, + 444.573439886188 + ], + [ + 1026.6019961653099, + 442.4776216147405 + ], + [ + 999.6174945692608, + 438.6783302056881 + ], + [ + 999.8288758484924, + 440.75744630976277 + ], + [ + 1034.0753132297077, + 426.43183699975475 + ], + [ + 1033.782568909343, + 424.3376564380222 + ], + [ + 1006.2697375045257, + 420.54177017448154 + ], + [ + 1006.4998846777326, + 422.61895318793245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.617501614763, + "ymin": 420.5417711654928, + "xmax": 1034.0753204878756, + "ymax": 444.5734408905264 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.8736000879203, + 444.5734408905264 + ], + [ + 1026.6020032673482, + 442.47762261467426 + ], + [ + 999.617501614763, + 438.6783311976618 + ], + [ + 999.8288829096546, + 440.7574473060886 + ], + [ + 1034.0753204878756, + 426.4318380033493 + ], + [ + 1033.7825761509685, + 424.33765743713377 + ], + [ + 1006.2697446874397, + 420.5417711654928 + ], + [ + 1006.4998918769236, + 422.61895418337224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.1860765528484, + "ymin": 408.23531681279286, + "xmax": 921.5207570913695, + "ymax": 432.0994990463072 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 916.4431891546503, + 432.0994990463072 + ], + [ + 916.414391805197, + 430.0580306413121 + ], + [ + 890.2140572958415, + 426.3569656947818 + ], + [ + 890.1860765528484, + 428.38237614165797 + ], + [ + 921.5207570913695, + 413.97016507755313 + ], + [ + 921.4802292966626, + 411.93128163697816 + ], + [ + 894.7813413732107, + 408.23531681279286 + ], + [ + 894.7629073049508, + 410.2578701518322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.3990769646398, + "ymin": 404.7669345165499, + "xmax": 918.5524880722726, + "ymax": 428.58319424808906 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 913.5472053313879, + 428.58319424808906 + ], + [ + 913.5247662911572, + 426.5569177852102 + ], + [ + 887.4329461598192, + 422.8833115859635 + ], + [ + 887.3990769646398, + 424.8937086547471 + ], + [ + 918.5524880722726, + 410.458413679845 + ], + [ + 918.5186380307198, + 408.43497974015514 + ], + [ + 891.932407994517, + 404.7669345165499 + ], + [ + 891.907793227481, + 406.77422324483086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.9808855324627, + "ymin": 412.57961517696083, + "xmax": 1036.1508325418315, + "ymax": 436.8166457274494 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0102045374304, + 436.8166457274494 + ], + [ + 1027.973810046586, + 436.5406196450016 + ], + [ + 1003.9808855324627, + 433.1842619471377 + ], + [ + 1004.0101801253202, + 433.45833398360344 + ], + [ + 1036.1508325418315, + 416.207203188155 + ], + [ + 1036.1112520581871, + 415.93152103924353 + ], + [ + 1011.5874632645902, + 412.57961517696083 + ], + [ + 1011.6196264356547, + 412.85330499724637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.981153937425, + "ymin": 412.5796352012531, + "xmax": 1036.1511083341263, + "ymax": 436.8166659345525 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0104744886708, + 436.8166659345525 + ], + [ + 1027.9740799183633, + 436.5406398403263 + ], + [ + 1003.981153937425, + 433.1842819995162 + ], + [ + 1004.0104486088868, + 433.4583540476355 + ], + [ + 1036.1511083341263, + 416.2072233702031 + ], + [ + 1036.1115277675442, + 415.93154120928114 + ], + [ + 1011.5877374438292, + 412.5796352012531 + ], + [ + 1011.6199006969164, + 412.85332503341914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6174945692608, + "ymin": 420.54177017448154, + "xmax": 1034.0753132297077, + "ymax": 444.573439886188 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.8735929699715, + 444.573439886188 + ], + [ + 1026.6019961653099, + 442.4776216147405 + ], + [ + 999.6174945692608, + 438.6783302056881 + ], + [ + 999.8288758484924, + 440.75744630976277 + ], + [ + 1034.0753132297077, + 426.43183699975475 + ], + [ + 1033.782568909343, + 424.3376564380222 + ], + [ + 1006.2697375045257, + 420.54177017448154 + ], + [ + 1006.4998846777326, + 422.61895318793245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6174945485707, + "ymin": 420.5417699711735, + "xmax": 1034.0753131865358, + "ymax": 444.57343957712476 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.87359292992, + 444.57343957712476 + ], + [ + 1026.601996138726, + 442.47762140960197 + ], + [ + 999.6174945485707, + 438.67833000218263 + ], + [ + 999.828875817321, + 440.7574460031652 + ], + [ + 1034.0753131865358, + 426.43183669092036 + ], + [ + 1033.7825688806902, + 424.3376562330523 + ], + [ + 1006.2697374819995, + 420.5417699711735 + ], + [ + 1006.4998846437925, + 422.6189528816076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6175004405127, + "ymin": 420.5417710003242, + "xmax": 1034.0753192637903, + "ymax": 444.57344062011555 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.873598888245, + 444.57344062011555 + ], + [ + 1026.6020020836752, + 442.47762244801856 + ], + [ + 999.6175004405127, + 438.6783310323329 + ], + [ + 999.8288817224037, + 440.7574470378351 + ], + [ + 1034.0753192637903, + 426.43183773313876 + ], + [ + 1033.7825749440308, + 424.3376572706151 + ], + [ + 1006.2697434902873, + 420.5417710003242 + ], + [ + 1006.4998906657449, + 422.61895391535734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.6136215549682, + "ymin": 434.42830844455983, + "xmax": 958.7152184283927, + "ymax": 458.64419416033655 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 952.804860372127, + 458.64419416033655 + ], + [ + 952.6942578391829, + 456.4862129221233 + ], + [ + 925.6136215549682, + 452.5745893595555 + ], + [ + 925.6635638665057, + 454.71512139297243 + ], + [ + 958.7152184283927, + 440.4960292268719 + ], + [ + 958.5891173081266, + 438.33855325625603 + ], + [ + 930.9757638119936, + 434.42830844455983 + ], + [ + 931.0387925075386, + 436.5680120859372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.9805232734261, + "ymin": 412.57954750317896, + "xmax": 1036.1504588896, + "ymax": 436.81657743584265 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0098391505692, + 436.81657743584265 + ], + [ + 1027.973444768854, + 436.54055139320116 + ], + [ + 1003.9805232734261, + 433.18419417843575 + ], + [ + 1004.009817758929, + 433.4582661755172 + ], + [ + 1036.1504588896, + 416.2071349812238 + ], + [ + 1036.1108785200677, + 415.931452872903 + ], + [ + 1011.5870928770844, + 412.57954750317896 + ], + [ + 1011.6192559359287, + 412.8532372833131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.617501614763, + "ymin": 420.5417711654928, + "xmax": 1034.0753204878756, + "ymax": 444.5734408905264 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.8736000879203, + 444.5734408905264 + ], + [ + 1026.6020032673482, + 442.47762261467426 + ], + [ + 999.617501614763, + 438.6783311976618 + ], + [ + 999.8288829096546, + 440.7574473060886 + ], + [ + 1034.0753204878756, + 426.4318380033493 + ], + [ + 1033.7825761509685, + 424.33765743713377 + ], + [ + 1006.2697446874397, + 420.5417711654928 + ], + [ + 1006.4998918769236, + 422.61895418337224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5177517169377, + "ymin": 411.2411546351264, + "xmax": 1040.1635938692932, + "ymax": 437.70696219812913 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1031.5190434924746, + 437.70696219812913 + ], + [ + 1031.4742017518774, + 437.3758549903408 + ], + [ + 999.5177517169377, + 432.90385289126607 + ], + [ + 999.5512674258115, + 433.23184149029686 + ], + [ + 1040.1635938692932, + 416.0375464148008 + ], + [ + 1040.1146760023294, + 415.7068678429797 + ], + [ + 1007.4146209824187, + 411.2411546351264 + ], + [ + 1007.4516799780076, + 411.5686503765723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.9807227206213, + "ymin": 412.5795233558399, + "xmax": 1036.150662460206, + "ymax": 436.81655306805135 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0100387474185, + 436.81655306805135 + ], + [ + 1027.9736443084598, + 436.54052703961355 + ], + [ + 1003.9807227206213, + 433.1841699972273 + ], + [ + 1004.0100172633196, + 433.45824198025565 + ], + [ + 1036.150662460206, + 416.2071106436465 + ], + [ + 1036.111082031131, + 415.93142854980925 + ], + [ + 1011.5872962933233, + 412.5795233558399 + ], + [ + 1011.619459411661, + 412.85321312164723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6174945485707, + "ymin": 420.5417699711735, + "xmax": 1034.0753131865358, + "ymax": 444.57343957712476 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.87359292992, + 444.57343957712476 + ], + [ + 1026.601996138726, + 442.47762140960197 + ], + [ + 999.6174945485707, + 438.67833000218263 + ], + [ + 999.828875817321, + 440.7574460031652 + ], + [ + 1034.0753131865358, + 426.43183669092036 + ], + [ + 1033.7825688806902, + 424.3376562330523 + ], + [ + 1006.2697374819995, + 420.5417699711735 + ], + [ + 1006.4998846437925, + 422.6189528816076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5177609530471, + "ymin": 411.24124488425093, + "xmax": 1040.1636073441741, + "ymax": 437.7070534039805 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1031.519055844453, + 437.7070534039805 + ], + [ + 1031.4742141091438, + 437.37594623523586 + ], + [ + 999.5177609530471, + 432.9039432768993 + ], + [ + 999.5512766579383, + 433.2319318369561 + ], + [ + 1040.1636073441741, + 416.03763750328403 + ], + [ + 1040.1146894827705, + 415.70695896905073 + ], + [ + 1007.4146311948931, + 411.24124488425093 + ], + [ + 1007.4516901862346, + 411.5687405881599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5179915361546, + "ymin": 411.2411759230805, + "xmax": 1040.1638411607998, + "ymax": 437.70698363318513 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1031.5192852463651, + 437.70698363318513 + ], + [ + 1031.4744434342201, + 437.3758765131771 + ], + [ + 999.5179915361546, + 432.90387421141986 + ], + [ + 999.5515073187862, + 433.2318627234269 + ], + [ + 1040.1638411607998, + 416.0375678222731 + ], + [ + 1040.1149232195949, + 415.7068893377878 + ], + [ + 1007.4148662517573, + 411.2411759230805 + ], + [ + 1007.4519253238722, + 411.568671577958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6174909844392, + "ymin": 420.54176906905184, + "xmax": 1034.0753094998895, + "ymax": 444.57343866287135 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1026.8735893175435, + 444.57343866287135 + ], + [ + 1026.601992534539, + 442.47762049935807 + ], + [ + 999.6174909844392, + 438.67832909918485 + ], + [ + 999.8288722451782, + 440.75744509620574 + ], + [ + 1034.0753094998895, + 426.431835777344 + ], + [ + 1033.7825652025722, + 424.33765532355693 + ], + [ + 1006.2697338454905, + 420.54176906905184 + ], + [ + 1006.4998809989436, + 422.6189519754546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5177483482483, + "ymin": 411.2410648051548, + "xmax": 1040.1635864253212, + "ymax": 437.7068713135262 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1031.5190370381918, + 437.7068713135262 + ], + [ + 1031.4741953041475, + 437.37576416922303 + ], + [ + 999.5177483482483, + 432.90376292541936 + ], + [ + 999.5512640527521, + 433.23175146185974 + ], + [ + 1040.1635864253212, + 416.0374556471529 + ], + [ + 1040.1146685658073, + 415.70677714013453 + ], + [ + 1007.4146167698354, + 411.2410648051548 + ], + [ + 1007.4516757603129, + 411.5685604827314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.0699450867478, + "ymin": 401.3543444196019, + "xmax": 893.58654184624, + "ymax": 425.1231437173714 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 889.0260500730575, + 425.1231437173714 + ], + [ + 889.0564286015264, + 423.1117610855351 + ], + [ + 863.155807823234, + 419.46507536561046 + ], + [ + 863.0699450867478, + 421.4607530191417 + ], + [ + 893.5655509540793, + 407.00331357111486 + ], + [ + 893.58654184624, + 404.995022881111 + ], + [ + 867.1986641613254, + 401.3543444196019 + ], + [ + 867.1200792127445, + 403.3466704442894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5177493741305, + "ymin": 411.2411545081251, + "xmax": 1040.1635914417393, + "ymax": 437.7069619668117 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1031.5190411194712, + 437.7069619668117 + ], + [ + 1031.4741993936302, + 437.37585486193814 + ], + [ + 999.5177493741305, + 432.90385276407267 + ], + [ + 999.5512650717767, + 433.2318412611585 + ], + [ + 1040.1635914417393, + 416.037546183781 + ], + [ + 1040.1146735908346, + 415.7068677147443 + ], + [ + 1007.4146185870629, + 411.2411545081251 + ], + [ + 1007.4516775702866, + 411.5686501477765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.2140872711832, + "ymin": 426.26262908466833, + "xmax": 1032.5362737205705, + "ymax": 450.1565200134744 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 1025.38326830074, + 450.1565200134744 + ], + [ + 1025.1157114872142, + 448.0544825234491 + ], + [ + 998.2140872711832, + 444.2438492232619 + ], + [ + 998.421797875422, + 446.3291827202296 + ], + [ + 1032.5362737205705, + 432.17157792144087 + ], + [ + 1032.2478144999536, + 430.07070892243206 + ], + [ + 1004.8211202224271, + 426.26262908466833 + ], + [ + 1005.0473736220663, + 428.3464957359789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.9808855324627, + "ymin": 412.57961517696083, + "xmax": 1036.1508325418315, + "ymax": 436.8166457274494 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0102045374304, + 436.8166457274494 + ], + [ + 1027.973810046586, + 436.5406196450016 + ], + [ + 1003.9808855324627, + 433.1842619471377 + ], + [ + 1004.0101801253202, + 433.45833398360344 + ], + [ + 1036.1508325418315, + 416.207203188155 + ], + [ + 1036.1112520581871, + 415.93152103924353 + ], + [ + 1011.5874632645902, + 412.57961517696083 + ], + [ + 1011.6196264356547, + 412.85330499724637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.2525947152853, + "ymin": 402.46719028873827, + "xmax": 880.5500195107022, + "ymax": 426.2515000425572 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 876.189565297585, + 426.2515000425572 + ], + [ + 876.2476196920277, + 424.23526644278934 + ], + [ + 850.3660505400059, + 420.5798124796381 + ], + [ + 850.2525947152853, + 422.5802843633113 + ], + [ + 880.5003588266148, + 408.1300043078827 + ], + [ + 880.5500195107022, + 406.1167817486929 + ], + [ + 854.1818511493077, + 402.46719028873827 + ], + [ + 854.0746835167101, + 404.46438945593286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.981113530849, + "ymin": 412.57962865308707, + "xmax": 1036.1510666917552, + "ymax": 436.81665932660536 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1028.0104337588275, + 436.81665932660536 + ], + [ + 1027.974039200646, + 436.5406332362308 + ], + [ + 1003.981113530849, + 433.1842754421657 + ], + [ + 1004.0104081903676, + 433.4583474864742 + ], + [ + 1036.1510666917552, + 416.20721677044924 + ], + [ + 1036.1114861378478, + 415.9315346134548 + ], + [ + 1011.5876961388444, + 412.57962865308707 + ], + [ + 1011.6198593794518, + 412.85331848136815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.9802941679045, + "ymin": 243.80469547483534, + "xmax": 284.08190477559265, + "ymax": 283.0336307880218 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 284.08190477559265, + 273.8737716148706 + ], + [ + 273.79226652736054, + 272.53448266085985 + ], + [ + 266.4520416782993, + 281.66288620571146 + ], + [ + 276.84918420450424, + 283.0336307880218 + ], + [ + 275.1481887945035, + 245.1272060572477 + ], + [ + 264.6163711779644, + 243.80469547483534 + ], + [ + 256.9802941679045, + 252.8209884077448 + ], + [ + 267.62472285601524, + 254.1753533973009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.120107035532, + "ymin": 189.4050659005287, + "xmax": 327.80394298200576, + "ymax": 226.40711414943777 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 327.80394298200576, + 218.50193185720588 + ], + [ + 318.17044283365084, + 217.3449979654376 + ], + [ + 311.8340972418622, + 225.22496164478235 + ], + [ + 321.56192681662304, + 226.40711414943777 + ], + [ + 320.5340004517249, + 190.5434729065896 + ], + [ + 310.68834606005254, + 189.4050659005287 + ], + [ + 304.120107035532, + 197.16050788644299 + ], + [ + 314.0642861712738, + 198.3243166809848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.59793055454213, + "ymin": 321.4017359042754, + "xmax": 221.96379568488288, + "ymax": 363.6467396164928 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 221.96379568488288, + 352.543407870067 + ], + [ + 210.76036023109486, + 350.9221398843889 + ], + [ + 201.8658243703415, + 361.98350987940483 + ], + [ + 213.19649217379407, + 363.6467396164928 + ], + [ + 210.3888583600238, + 323.01077317093376 + ], + [ + 198.89816603304712, + 321.4017359042754 + ], + [ + 189.59793055454213, + 332.3829869894057 + ], + [ + 201.22243024462767, + 334.0348443392815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.48578265594654, + "ymin": 95.27345795058142, + "xmax": 463.1834373251392, + "ymax": 122.40983443479391 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 456.0759215485584, + 116.81955616081038 + ], + [ + 452.6104761896411, + 121.67938791039452 + ], + [ + 459.76914220571024, + 122.40983443479391 + ], + [ + 463.1834373251392, + 117.53880269711115 + ], + [ + 453.0329939556854, + 95.27345795058142 + ], + [ + 449.48578265594654, + 100.04453023931296 + ], + [ + 456.7602859759391, + 100.76174176562972 + ], + [ + 460.25468836243977, + 95.97949109016889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.88047755635813, + "ymin": 0.0, + "xmax": 186.23099175097923, + "ymax": 21.810957677709382 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 179.41247649797458, + 17.067880166714815 + ], + [ + 173.74819738744947, + 21.194067474260578 + ], + [ + 180.61356280448484, + 21.810957677709382 + ], + [ + 186.23099175097923, + 17.675221011476765 + ], + [ + 171.70170397284824, + -6.404329869173864 + ], + [ + 165.88047755635813, + -2.3953186170537606 + ], + [ + 172.85253985785334, + -1.795856663395341 + ], + [ + 178.62547126954337, + -5.814302313256917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.37667555707, + "ymin": 5.568109314934816, + "xmax": 324.8572198232416, + "ymax": 34.355416120876725 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 317.7161407451307, + 29.387045605100354 + ], + [ + 313.02636273072164, + 33.70910585113808 + ], + [ + 320.2191419156917, + 34.355416120876725 + ], + [ + 324.8572198232416, + 30.02311811687224 + ], + [ + 312.19250001436774, + 5.568109314934816 + ], + [ + 307.37667555707, + 9.770744786643604 + ], + [ + 314.68705686688827, + 10.399295771813911 + ], + [ + 319.44949346153777, + 6.18653380162084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.92370799044875, + "ymin": 581.2826495455988, + "xmax": 137.58628851083313, + "ymax": 623.374968328226 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 137.58628851083313, + 607.8281289958146 + ], + [ + 125.60227931630732, + 605.5484702716387 + ], + [ + 114.81182391869424, + 621.0315321196377 + ], + [ + 126.9401315785708, + 623.374968328226 + ], + [ + 122.56986194526894, + 583.5793805755873 + ], + [ + 110.25995327509338, + 581.2826495455988 + ], + [ + 98.92370799044875, + 596.8871718501654 + ], + [ + 111.3857942560378, + 599.2501177595763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.36718367664184, + "ymin": 0.0, + "xmax": 248.44897731855355, + "ymax": 27.440578625182866 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 241.4866103988481, + 22.597036280518523 + ], + [ + 236.25341013033017, + 26.810570137256775 + ], + [ + 243.2647678835488, + 27.440578625182866 + ], + [ + 248.44897731855355, + 23.21719040594371 + ], + [ + 234.74387919385617, + -1.0319521483914968 + ], + [ + 229.36718367664184, + 3.0633745585045062 + ], + [ + 236.49005099081648, + 3.6758028973173396 + ], + [ + 241.8162047695705, + -0.429264716139528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.152725834937, + "ymin": 408.22626282836336, + "xmax": 906.6679464237816, + "ymax": 469.34108149362027 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 891.0116994184025, + 469.34108149362027 + ], + [ + 891.02975162446, + 467.88458279831127 + ], + [ + 888.1750197383362, + 467.46349267682467 + ], + [ + 888.152725834937, + 468.9187365201709 + ], + [ + 906.6679464237816, + 410.10009493425036 + ], + [ + 906.6623921452272, + 408.64647145215844 + ], + [ + 903.6228162613236, + 408.22626282836336 + ], + [ + 903.6235612763669, + 409.678555937029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3610425795207463592, + "instance_id": 43138, + "pixel_count": null, + "type_id": "BP_StreetLight_wall41_74_SM_0", + "bbox_3d": { + "center_world": { + "x": -3.7471089363098145, + "y": 22.76371955871582, + "z": 4.686147212982178 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1049.9790087338663, + "ymin": 0.0, + "xmax": 1116.3156929414665, + "ymax": 12.456771965330631 + }, + "corners_3d": [ + [ + -4.894715309143066, + 22.88140869140625, + 4.274991512298584 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 4.274991512298584 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 4.274991512298584 + ], + [ + -4.894715785980225, + 22.646034240722656, + 4.274991512298584 + ], + [ + -4.894715309143066, + 22.88140869140625, + 5.0973029136657715 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 5.0973029136657715 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 5.0973029136657715 + ], + [ + -4.894715785980225, + 22.646034240722656, + 5.0973029136657715 + ] + ], + "corners_2d": [ + [ + 1108.667656733311, + 10.175808516786901 + ], + [ + 1049.9790087338663, + 5.716644626169739 + ], + [ + 1050.6171361347685, + 7.958595567473935 + ], + [ + 1109.5686012797005, + 12.456771965330631 + ], + [ + 1115.3719905039122, + -9.97945670211567 + ], + [ + 1055.7928219282844, + -14.326674431319361 + ], + [ + 1056.4656652238261, + -12.141140315666746 + ], + [ + 1116.3156929414665, + -7.755344165018869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.7652908805042, + "ymin": 404.78950098952964, + "xmax": 881.7808240159843, + "ymax": 465.8830409054975 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 867.6041178007098, + 465.8830409054975 + ], + [ + 867.6567907915108, + 464.4368006918136 + ], + [ + 864.8221459289532, + 464.0186735828024 + ], + [ + 864.7652908805042, + 465.4636721756747 + ], + [ + 881.747139876876, + 406.64932050029745 + ], + [ + 881.7808240159843, + 405.20656974601087 + ], + [ + 878.7639599125293, + 404.78950098952964 + ], + [ + 878.7255382236142, + 406.2309362653371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 924.8708095291989, + "ymin": 438.1012986643688, + "xmax": 946.4073249780604, + "ymax": 499.33928118187805 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 927.86700279042, + 499.33928118187805 + ], + [ + 927.8291272412989, + 497.79227252085764 + ], + [ + 924.8708095291989, + 497.3450410556769 + ], + [ + 924.9041297627866, + 498.8906761240595 + ], + [ + 946.4073249780604, + 440.0991589545004 + ], + [ + 946.3367744971291, + 438.54929777563893 + ], + [ + 943.1795845679505, + 438.1012986643688 + ], + [ + 943.2449462885604, + 439.6496952222929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.7854894244835, + "ymin": 0.0, + "xmax": 558.4262042628452, + "ymax": 36.786211403223945 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 556.0878946627735, + 36.786211403223945 + ], + [ + 558.4262042628452, + 33.10131082521326 + ], + [ + 484.0972325711194, + 26.689749810594208 + ], + [ + 481.2885144537172, + 30.28789502301231 + ], + [ + 545.6370510787141, + -135.37837159927653 + ], + [ + 548.3434957204341, + -138.21542016426758 + ], + [ + 465.08246056100006, + -143.1404336404567 + ], + [ + 461.7854894244835, + -140.37830171724232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.1564381217875, + "ymin": 72.75506962541539, + "xmax": 962.3700475151154, + "ymax": 83.82176577123278 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 960.8532771495433, + 77.31052754957335 + ], + [ + 950.1564381217875, + 76.37268061863136 + ], + [ + 950.676621748053, + 82.86302319654578 + ], + [ + 961.4928638865072, + 83.82176577123278 + ], + [ + 961.7190929813569, + 73.68964711990196 + ], + [ + 950.992049004435, + 72.75506962541539 + ], + [ + 951.5229216017357, + 79.22295112866374 + ], + [ + 962.3700475151154, + 80.1784084839814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.5383858877361, + "ymin": 428.46694159393945, + "xmax": 1020.2088204292269, + "ymax": 489.15851896769016 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 997.6161747311867, + 489.15851896769016 + ], + [ + 997.47400721524, + 487.6545825415157 + ], + [ + 994.5383858877361, + 487.2197877334626 + ], + [ + 994.6760685693748, + 488.7224127673519 + ], + [ + 1020.2088204292269, + 430.406731515122 + ], + [ + 1020.0215395494906, + 428.90193247305814 + ], + [ + 1016.8903962381657, + 428.46694159393945 + ], + [ + 1017.072574977921, + 429.9703457197762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.7625614683235, + "ymin": 20.014460727347796, + "xmax": 966.5055981319294, + "ymax": 295.59282433468866 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 912.4271923024783, + 230.95879779613418 + ], + [ + 900.0337068387362, + 229.57801174862234 + ], + [ + 899.7625614683235, + 293.9609469477353 + ], + [ + 913.2363713415275, + 295.59282433468866 + ], + [ + 960.5260030677686, + 21.17879236979411 + ], + [ + 945.8437587633666, + 20.014460727347796 + ], + [ + 950.2824656276218, + 75.13188888166889 + ], + [ + 966.5055981319294, + 76.55123346349137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.8331587782343, + "ymin": 411.71926854275995, + "xmax": 909.5880015996609, + "ymax": 472.85420852237866 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 893.7035470719558, + 472.85420852237866 + ], + [ + 893.7176468114058, + 471.3872507585503 + ], + [ + 890.8515341347087, + 470.963139747865 + ], + [ + 890.8331587782343, + 472.4288291218977 + ], + [ + 909.5880015996609, + 413.60739666370574 + ], + [ + 909.5777961029091, + 412.1426804899562 + ], + [ + 906.525320833638, + 411.71926854275995 + ], + [ + 906.5306761303602, + 413.1826390893848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.4482925672628, + "ymin": 405.91028889653927, + "xmax": 868.7333702457804, + "ymax": 467.01092981258853 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 855.2850993881871, + 467.01092981258853 + ], + [ + 855.3561080558244, + 465.56134752918626 + ], + [ + 852.5234772452002, + 465.14225513749125 + ], + [ + 852.4482925672628, + 466.5905914947325 + ], + [ + 868.6790545031386, + 407.77467246702935 + ], + [ + 868.7333702457804, + 406.3283803240131 + ], + [ + 865.7187627005692, + 405.91028889653927 + ], + [ + 865.6597165815353, + 407.3552607157794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.2204361863578, + "ymin": 72.81369836160673, + "xmax": 962.3039353237527, + "ymax": 83.76257064707272 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 960.8041124964593, + 77.32091426141238 + ], + [ + 950.2204361863578, + 76.39296583020018 + ], + [ + 950.7357530494985, + 82.81416928752168 + ], + [ + 961.436305766226, + 83.76257064707272 + ], + [ + 961.6606185540713, + 73.73844650473046 + ], + [ + 951.0473734077839, + 72.81369836160673 + ], + [ + 951.5731563973029, + 79.21291627259518 + ], + [ + 962.3039353237527, + 80.1581020593328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.8868589624227, + "ymin": 0.0, + "xmax": 477.55861791638995, + "ymax": 181.07293792004006 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 473.89682284270646, + 181.07293792004006 + ], + [ + 477.55861791638995, + 175.33697127457262 + ], + [ + 199.72412282789134, + 143.26621936766153 + ], + [ + 194.01979243123077, + 148.47597985608337 + ], + [ + 444.2820501886194, + -39.66260215739459 + ], + [ + 448.87947918147256, + -44.256123951634834 + ], + [ + 126.2368164364359, + -69.69123723929943 + ], + [ + 118.8868589624227, + -65.58779724355765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 97.75539262341101, + "xmax": 393.46528820809897, + "ymax": 695.4778217004321 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 163.9707845505336, + 691.752411235311 + ], + [ + 181.40565157966688, + 695.4778217004321 + ], + [ + 393.46528820809897, + 347.04728345606054 + ], + [ + 380.59178220953686, + 345.1623555662174 + ], + [ + -5.993763334213213, + 432.04365703798334 + ], + [ + 16.97665917896768, + 436.0111874847023 + ], + [ + 336.5178660881001, + 99.40454243123219 + ], + [ + 320.8328073870632, + 97.75539262341101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.00346260051, + "ymin": 424.113933639994, + "xmax": 1021.8829335990056, + "ymax": 485.308036754171 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 999.0968544549631, + 485.308036754171 + ], + [ + 998.9518615841987, + 483.8037016865996 + ], + [ + 996.00346260051, + 483.3687951230129 + ], + [ + 996.1439315074903, + 484.87181302721086 + ], + [ + 1021.8829335990056, + 426.05322894455264 + ], + [ + 1021.6921392149657, + 424.54881053957536 + ], + [ + 1018.5464603309763, + 424.113933639994 + ], + [ + 1018.7321050981977, + 425.61695135034176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 36.94345956783104, + "ymax": 102.50215491812241 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -43.36147966122485, + 102.50215491812241 + ], + [ + 36.94345956783104, + 61.479560625650834 + ], + [ + -31.202250710486737, + 47.5660406649813 + ], + [ + -113.98338950503648, + 86.45592995757977 + ], + [ + -272.77796389724335, + -333.6234024383085 + ], + [ + -148.3558562562, + -348.99605410152105 + ], + [ + -229.95097210410847, + -352.91820783482353 + ], + [ + -357.2227713536083, + -338.4794562079139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 541.4892249221755, + "ymin": 0.0, + "xmax": 750.8987483911073, + "ymax": 107.59653488816411 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 730.0200483751245, + 106.47817675606237 + ], + [ + 717.8300630418084, + 36.82703302287223 + ], + [ + 567.0874705430214, + 37.70682862149408 + ], + [ + 560.0693016745747, + 107.59653488816411 + ], + [ + 750.8987483911073, + -197.97101965626098 + ], + [ + 733.4336930663042, + -240.30231603780737 + ], + [ + 552.4414886818519, + -239.78109264018565 + ], + [ + 541.4892249221755, + -197.27322407906888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.8757063893178, + "ymin": 0.0, + "xmax": 1247.2643931564571, + "ymax": 20.859844111215523 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 986.818071453439, + 20.859844111215523 + ], + [ + 1144.6585939082238, + 20.788078286439145 + ], + [ + 1088.0731035801034, + -38.57445558448734 + ], + [ + 947.8757063893178, + -38.51784200035769 + ], + [ + 1057.3436387193972, + -263.4795052158463 + ], + [ + 1247.2643931564571, + -263.51962034459973 + ], + [ + 1167.1897743140025, + -295.96321476467006 + ], + [ + 1002.2452754946098, + -295.9329606569755 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00074/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00074/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c26211dd7199cc8354fb1494ae9823ee9baba6a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00074/meta.json @@ -0,0 +1,7455 @@ +{ + "frame_id": 74, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 37.0, + "sim_timestamp": 7605.015012401622 + }, + "drone_pose": { + "x": 5.842899523746437, + "y": -17.005530309552103, + "z": 20.000000006666085, + "pitch": -45.98459651814465, + "yaw": 80.69932618215816, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.11229872703552246, + -0.6857171058654785, + 0.7191530466079712, + -3.3782291412353516 + ], + [ + 0.986853837966919, + 0.16161537170410156, + 0.0, + 8.514443397521973 + ], + [ + -0.1162261962890625, + 0.7096989154815674, + 0.6948517560958862, + -25.2867431640625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 5.875193602152526, + "y": -16.41757572373461, + "z": 20.00000000270588 + }, + "t1_image_uv": [ + 789.0346861111611, + -633.5743953067279 + ], + "t1_depth": 0.40679709240952316 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 10.33281707763672, + "y": 3.312236785888672, + "z": 0.9847457098963059 + }, + "image_uv": [ + 600.8222531248988, + 300.96976738485375 + ], + "depth": 28.111329774817268, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 547, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 3.312236785888672, + "z": 0.9847456812858582 + }, + "extent": { + "x": 0.3771395683288574, + "y": 0.32710692286491394, + "z": 0.9347736239433289 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 583.0354313319035, + "ymin": 265.48009075144853, + "xmax": 617.8752990341732, + "ymax": 335.64377655619563 + }, + "corners_3d": [ + [ + 10.297438621520996, + 2.8142592906951904, + 0.0499720573425293 + ], + [ + 9.834839820861816, + 3.2768585681915283, + 0.0499720573425293 + ], + [ + 10.368195533752441, + 3.8102142810821533, + 0.0499720573425293 + ], + [ + 10.830794334411621, + 3.3476150035858154, + 0.0499720573425293 + ], + [ + 10.297438621520996, + 2.8142592906951904, + 1.919519305229187 + ], + [ + 9.834839820861816, + 3.2768585681915283, + 1.919519305229187 + ], + [ + 10.368195533752441, + 3.8102142810821533, + 1.919519305229187 + ], + [ + 10.830794334411621, + 3.3476150035858154, + 1.919519305229187 + ] + ], + "corners_2d": [ + [ + 599.7342256194943, + 335.64377655619563 + ], + [ + 617.8752990341732, + 326.6867282436949 + ], + [ + 603.6927781579482, + 312.6556208418331 + ], + [ + 585.6888740225569, + 321.3516397770129 + ], + [ + 597.7360831238148, + 288.4060285723515 + ], + [ + 616.7880313325771, + 279.4668083819902 + ], + [ + 601.9358753699072, + 265.48009075144853 + ], + [ + 583.0354313319035, + 274.1462322442272 + ] + ], + "center_offset_px": [ + -39.17774687510121, + -59.03023261514625 + ] + }, + "trace_timestep_index": 74, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 541768, + "2": 266052, + "3": 27532, + "5": 3437, + "6": 11987, + "7": 1753, + "9": 32, + "10": 3675, + "12": 3563, + "14": 23543, + "20": 2774, + "24": 30224, + "25": 5260 + }, + "instance_pixel_counts": { + "381": 5450, + "586": 1093, + "3146": 2774, + "11676": 51648, + "14236": 147109, + "16284": 70606, + "18013": 5260, + "19038": 3667, + "19866": 4419, + "20378": 4892, + "20890": 1896, + "21085": 79572, + "21597": 47416, + "23418": 4559, + "23450": 17495, + "25498": 12420, + "25978": 4981, + "27516": 4261, + "28026": 2344, + "28530": 588, + "28786": 26944, + "31612": 17190, + "33660": 2001, + "34816": 11108, + "35072": 1481, + "36252": 81231, + "36764": 28698, + "38300": 100299, + "38483": 1151, + "40860": 62177, + "43008": 547, + "43264": 239, + "43520": 177, + "43776": 582, + "44032": 1163, + "44288": 855, + "44544": 8887, + "44922": 7628, + "45434": 1091, + "45824": 14656, + "51309": 32, + "52636": 6026, + "54684": 3595, + "57241": 13324, + "58697": 2344, + "60284": 2257, + "60796": 1221, + "61308": 1318, + "61337": 42996, + "63868": 7924 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 547, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 3.312236785888672, + "z": 0.9847456812858582 + }, + "extent": { + "x": 0.4505847096443176, + "y": 0.36332106590270996, + "z": 0.9319488406181335 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 580.5765855461593, + "ymin": 263.74228338516787, + "xmax": 620.2725259163307, + "ymax": 337.4924698442402 + }, + "corners_3d": [ + [ + 10.271112442016602, + 2.7367186546325684, + 0.05279684066772461 + ], + [ + 9.757298469543457, + 3.2505321502685547, + 0.05279684066772461 + ], + [ + 10.394521713256836, + 3.8877549171447754, + 0.05279684066772461 + ], + [ + 10.90833568572998, + 3.373941421508789, + 0.05279684066772461 + ], + [ + 10.271112442016602, + 2.7367186546325684, + 1.9166945219039917 + ], + [ + 9.757298469543457, + 3.2505321502685547, + 1.9166945219039917 + ], + [ + 10.394521713256836, + 3.8877549171447754, + 1.9166945219039917 + ], + [ + 10.90833568572998, + 3.373941421508789, + 1.9166945219039917 + ] + ], + "corners_2d": [ + [ + 600.1066215507947, + 337.4924698442402 + ], + [ + 620.2725259163307, + 327.5148088546157 + ], + [ + 603.317687181999, + 310.76789086246356 + ], + [ + 583.333835923357, + 320.39911886751344 + ], + [ + 598.1289925093739, + 290.394894917029 + ], + [ + 619.3051196327286, + 280.43560019704336 + ], + [ + 601.5516943857842, + 263.74228338516787 + ], + [ + 580.5765855461593, + 273.3392007541288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 239, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 14.458803176879883, + "y": 6.30994176864624, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.2829473912715912, + "y": 0.2631698548793793, + "z": 0.61832195520401 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 477.1230952084618, + "ymin": 201.0518402198909, + "xmax": 505.6862880111931, + "ymax": 246.9147508104792 + }, + "corners_3d": [ + [ + 14.364836692810059, + 5.93512487411499, + 0.3664383888244629 + ], + [ + 14.078170776367188, + 6.376550197601318, + 0.3664383888244629 + ], + [ + 14.552769660949707, + 6.68475866317749, + 0.3664383888244629 + ], + [ + 14.839435577392578, + 6.243333339691162, + 0.3664383888244629 + ], + [ + 14.364836692810059, + 5.93512487411499, + 1.603082299232483 + ], + [ + 14.078170776367188, + 6.376550197601318, + 1.603082299232483 + ], + [ + 14.552769660949707, + 6.68475866317749, + 1.603082299232483 + ], + [ + 14.839435577392578, + 6.243333339691162, + 1.603082299232483 + ] + ], + "corners_2d": [ + [ + 493.4683900673833, + 246.9147508104792 + ], + [ + 505.6862880111931, + 239.2509970395173 + ], + [ + 494.00049663745244, + 231.8812829722211 + ], + [ + 481.7849267883762, + 239.41560650557204 + ], + [ + 489.1126222711801, + 215.98074552625306 + ], + [ + 501.7294819498735, + 208.36840255867222 + ], + [ + 489.73681040681674, + 201.0518402198909 + ], + [ + 477.1230952084618, + 208.53186638911987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 177, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 8.076992988586426, + "y": 10.254949569702148, + "z": 0.7939658761024475 + }, + "extent": { + "x": 0.3285665512084961, + "y": 0.23573577404022217, + "z": 0.6325681805610657 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 692.119933682137, + "ymin": 154.04227862981048, + "xmax": 717.2886117401281, + "ymax": 198.72506195819406 + }, + "corners_3d": [ + [ + 7.970001697540283, + 9.864974975585938, + 0.16139769554138184 + ], + [ + 7.673295497894287, + 10.231377601623535, + 0.16139769554138184 + ], + [ + 8.18398380279541, + 10.64492416381836, + 0.16139769554138184 + ], + [ + 8.480690956115723, + 10.278521537780762, + 0.16139769554138184 + ], + [ + 7.970001697540283, + 9.864974975585938, + 1.4265340566635132 + ], + [ + 7.673295497894287, + 10.231377601623535, + 1.4265340566635132 + ], + [ + 8.18398380279541, + 10.64492416381836, + 1.4265340566635132 + ], + [ + 8.480690956115723, + 10.278521537780762, + 1.4265340566635132 + ] + ], + "corners_2d": [ + [ + 705.4027947288646, + 198.72506195819406 + ], + [ + 715.1673264998161, + 193.25340115289617 + ], + [ + 701.8715258231338, + 184.83642862985604 + ], + [ + 692.119933682137, + 190.19689145747827 + ], + [ + 707.2610780567096, + 167.78809592170265 + ], + [ + 717.2886117401281, + 162.3711441428007 + ], + [ + 703.5993213335056, + 154.04227862981048 + ], + [ + 693.5852119147787, + 159.34607600723052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 582, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 0.8328170776367188, + "y": 3.312236785888672, + "z": 0.9847164154052734 + }, + "extent": { + "x": 0.5210394263267517, + "y": 0.41652753949165344, + "z": 0.9582816362380981 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 901.3954040698666, + "ymin": 296.66359573776083, + "xmax": 964.639738402579, + "ymax": 378.32516068849566 + }, + "corners_3d": [ + [ + 0.758915901184082, + 2.6492767333984375, + 0.026434779167175293 + ], + [ + 0.16985714435577393, + 3.2383358478546143, + 0.026434779167175293 + ], + [ + 0.9067182540893555, + 3.9751968383789062, + 0.026434779167175293 + ], + [ + 1.4957770109176636, + 3.3861377239227295, + 0.026434779167175293 + ], + [ + 0.758915901184082, + 2.6492767333984375, + 1.9429980516433716 + ], + [ + 0.16985714435577393, + 3.2383358478546143, + 1.9429980516433716 + ], + [ + 0.9067182540893555, + 3.9751968383789062, + 1.9429980516433716 + ], + [ + 1.4957770109176636, + 3.3861377239227295, + 1.9429980516433716 + ] + ], + "corners_2d": [ + [ + 928.4379249403985, + 378.32516068849566 + ], + [ + 948.4327349467773, + 365.9450512116123 + ], + [ + 921.2971838534692, + 345.10052026389184 + ], + [ + 901.3954040698666, + 356.9665856467356 + ], + [ + 943.7919953770896, + 329.92494547609675 + ], + [ + 964.639738402579, + 317.5175759535544 + ], + [ + 935.7542178056397, + 296.66359573776083 + ], + [ + 915.0009653680103, + 308.5294394380254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1163, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 6.717318058013916, + "y": -7.81512451171875, + "z": 1.1368988752365112 + }, + "extent": { + "x": 0.44244110584259033, + "y": 0.43553435802459717, + "z": 0.932963490486145 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 641.149945863967, + "ymin": 623.1451656263155, + "xmax": 701.0669900492536, + "ymax": 719.0734791513125 + }, + "corners_3d": [ + [ + 6.777355194091797, + -8.433056831359863, + 0.2039353847503662 + ], + [ + 6.100407123565674, + -7.884875774383545, + 0.2039353847503662 + ], + [ + 6.657280921936035, + -7.197192668914795, + 0.2039353847503662 + ], + [ + 7.334228992462158, + -7.745373249053955, + 0.2039353847503662 + ], + [ + 6.777355194091797, + -8.433056831359863, + 2.0698623657226562 + ], + [ + 6.100407123565674, + -7.884875774383545, + 2.0698623657226562 + ], + [ + 6.657280921936035, + -7.197192668914795, + 2.0698623657226562 + ], + [ + 7.334228992462158, + -7.745373249053955, + 2.0698623657226562 + ] + ], + "corners_2d": [ + [ + 661.9955516717804, + 719.0734791513125 + ], + [ + 697.0734727962591, + 699.305578003474 + ], + [ + 675.6349132611225, + 665.4927868364705 + ], + [ + 641.149945863967, + 684.2633737375695 + ], + [ + 663.559062011215, + 678.6637291482818 + ], + [ + 701.0669900492536, + 658.1445174213868 + ], + [ + 678.0607821708917, + 623.1451656263155 + ], + [ + 641.2294384742484, + 642.5591206834184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 855, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 21.74150276184082, + "y": -4.873907566070557, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3508032262325287, + "y": 0.4794706702232361, + "z": 0.898888885974884 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 48.46455002629966, + "ymin": 431.96760368613917, + "xmax": 121.31129765514618, + "ymax": 509.5466319133669 + }, + "corners_3d": [ + [ + 21.952558517456055, + -5.429254531860352, + 0.08587634563446045 + ], + [ + 21.14832305908203, + -4.90697717666626, + 0.08587634563446045 + ], + [ + 21.530447006225586, + -4.318560600280762, + 0.08587634563446045 + ], + [ + 22.33468246459961, + -4.8408379554748535, + 0.08587634563446045 + ], + [ + 21.952558517456055, + -5.429254531860352, + 1.8836541175842285 + ], + [ + 21.14832305908203, + -4.90697717666626, + 1.8836541175842285 + ], + [ + 21.530447006225586, + -4.318560600280762, + 1.8836541175842285 + ], + [ + 22.33468246459961, + -4.8408379554748535, + 1.8836541175842285 + ] + ], + "corners_2d": [ + [ + 80.51667519800435, + 509.5466319133669 + ], + [ + 121.31129765514618, + 496.96662035623933 + ], + [ + 119.73031960884543, + 476.6026784641249 + ], + [ + 79.66126871601386, + 488.73114417636407 + ], + [ + 48.757061295526796, + 465.3819410870003 + ], + [ + 92.2096389668302, + 452.6094131376998 + ], + [ + 91.0946911077616, + 431.96760368613917 + ], + [ + 48.46455002629966, + 444.2565406602793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 8887, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 100.094974818894, + "ymin": 20.3778238188076, + "xmax": 258.49474048289744, + "ymax": 161.1421202638444 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 123.3516584942837, + 155.3864225621495 + ], + [ + 184.77283752406623, + 161.1421202638444 + ], + [ + 258.49474048289744, + 73.5450381462 + ], + [ + 203.3245508711742, + 68.9846072417418 + ], + [ + 100.094974818894, + 104.42215251086043 + ], + [ + 164.1247249132531, + 110.05025302046138 + ], + [ + 243.17443599997762, + 24.793205057221826 + ], + [ + 185.90635337632028, + 20.3778238188076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 14656, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 120.08896183599416, + "ymin": 425.8191361441277, + "xmax": 357.1397814566142, + "ymax": 546.7743542945248 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 179.30549678028524, + 462.4498949603719 + ], + [ + 143.3517858608153, + 520.103073219739 + ], + [ + 329.9256670815719, + 546.7743542945248 + ], + [ + 357.1397814566142, + 486.494286022103 + ], + [ + 158.85296973806248, + 425.8191361441277 + ], + [ + 120.08896183599416, + 484.1556606070608 + ], + [ + 315.0500207557573, + 511.2355627317881 + ], + [ + 344.29420877879414, + 450.11536546792286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833713354195, + "ymin": 394.9060842324804, + "xmax": 997.5792109798256, + "ymax": 418.4133973459917 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481561220253, + 418.4133973459917 + ], + [ + 990.0823143173232, + 416.159645943658 + ], + [ + 962.4833713354195, + 412.86230056455565 + ], + [ + 962.6893086293267, + 415.101900472646 + ], + [ + 997.5792109798256, + 400.4745341407295 + ], + [ + 997.2920836300898, + 398.21359109913743 + ], + [ + 969.1034646247524, + 394.9060842324804 + ], + [ + 969.3280986490663, + 397.152539337507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833785474775, + "ymin": 394.9060850967304, + "xmax": 997.5792184094371, + "ymax": 418.41339821680833 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481633954077, + 418.41339821680833 + ], + [ + 990.0823215749035, + 416.15964681074735 + ], + [ + 962.4833785474775, + 412.86230142620616 + ], + [ + 962.6893158569901, + 415.10190133798875 + ], + [ + 997.5792184094371, + 400.4745350143635 + ], + [ + 997.2920910432144, + 398.21359196895514 + ], + [ + 969.103471990426, + 394.9060850967304 + ], + [ + 969.3281060310176, + 397.15254020553664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.0636402491289, + "ymin": 384.793280242712, + "xmax": 881.9476670018205, + "ymax": 408.2222622517504 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 877.1023399917901, + 408.2222622517504 + ], + [ + 877.0793376220289, + 406.011920021397 + ], + [ + 850.0978980049886, + 402.77791884636673 + ], + [ + 850.0636402491289, + 404.97451583488703 + ], + [ + 881.9476670018205, + 390.25247130033324 + ], + [ + 881.9137058017271, + 388.0359604956812 + ], + [ + 854.3684797964056, + 384.793280242712 + ], + [ + 854.3427602751368, + 386.9957274144841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.1991136156925, + "ymin": 381.0996926064583, + "xmax": 878.8994478233092, + "ymax": 404.4993196794254 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 874.1322625068634, + 404.4993196794254 + ], + [ + 874.1156211976999, + 402.30473013991855 + ], + [ + 847.2392867057895, + 399.09371727076575 + ], + [ + 847.1991136156925, + 401.2747080196729 + ], + [ + 878.8994478233092, + 386.519249584744 + ], + [ + 878.8721853509849, + 384.31885613959145 + ], + [ + 851.4364840513651, + 381.0996926064583 + ], + [ + 851.4045399674616, + 383.2861752941367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8665233749634, + "ymin": 387.0973280760977, + "xmax": 999.641981137873, + "ymax": 410.74154670329085 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.4572537003746, + 410.74154670329085 + ], + [ + 991.4216109454333, + 410.4442358840674 + ], + [ + 966.8665233749634, + 407.52696840013317 + ], + [ + 966.8950933665083, + 407.8226197734928 + ], + [ + 999.641981137873, + 390.32221838666624 + ], + [ + 999.6031241832302, + 390.0239344243454 + ], + [ + 974.4546073894041, + 387.0973280760977 + ], + [ + 974.4860457138866, + 387.39390856116023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.866798368695, + "ymin": 387.0973418510472, + "xmax": 999.6422638482493, + "ymax": 410.7415605201075 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.457529868544, + 410.7415605201075 + ], + [ + 991.4218870345076, + 410.444249693018 + ], + [ + 966.866798368695, + 407.5269821320197 + ], + [ + 966.8953684387095, + 407.82263351317965 + ], + [ + 999.6422638482493, + 390.3222322487993 + ], + [ + 999.6034068107208, + 390.023948278403 + ], + [ + 974.4548888694209, + 387.0973418510472 + ], + [ + 974.4863272761186, + 387.39392234411616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833713354195, + "ymin": 394.9060842324804, + "xmax": 997.5792109798256, + "ymax": 418.4133973459917 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481561220253, + 418.4133973459917 + ], + [ + 990.0823143173232, + 416.159645943658 + ], + [ + 962.4833713354195, + 412.86230056455565 + ], + [ + 962.6893086293267, + 415.101900472646 + ], + [ + 997.5792109798256, + 400.4745341407295 + ], + [ + 997.2920836300898, + 398.21359109913743 + ], + [ + 969.1034646247524, + 394.9060842324804 + ], + [ + 969.3280986490663, + 397.152539337507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833713152611, + "ymin": 394.9060840125941, + "xmax": 997.5792109374843, + "ymax": 418.4133970136562 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481560828246, + 418.4133970136562 + ], + [ + 990.0823142913011, + 416.15964572304927 + ], + [ + 962.4833713152611, + 412.86230034533065 + ], + [ + 962.6893085989595, + 415.1019001423995 + ], + [ + 997.5792109374843, + 400.4745338073187 + ], + [ + 997.2920836019855, + 398.2135908778346 + ], + [ + 969.1034646027649, + 394.9060840125941 + ], + [ + 969.3280986159408, + 397.15253900623503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833773454679, + "ymin": 394.90608495268873, + "xmax": 997.5792171570547, + "ymax": 418.4133979608937 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481621701103, + 418.4133979608937 + ], + [ + 990.0823203653067, + 416.15964666623245 + ], + [ + 962.4833773454679, + 412.8623012825978 + ], + [ + 962.6893146422572, + 415.1019010836828 + ], + [ + 997.5792171570547, + 400.4745347576208 + ], + [ + 997.2920898076935, + 398.2135918239855 + ], + [ + 969.1034707628138, + 394.90608495268873 + ], + [ + 969.3281047896505, + 397.152539950441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.468909862725, + "ymin": 412.21217166651877, + "xmax": 920.1445786074851, + "ymax": 435.84660026730376 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 914.3855448694928, + 435.84660026730376 + ], + [ + 914.2807385143326, + 433.5176149421205 + ], + [ + 886.468909862725, + 430.1104972734313 + ], + [ + 886.5128742857039, + 432.42461778284655 + ], + [ + 920.1445786074851, + 417.9701231728516 + ], + [ + 920.0247726974264, + 415.63211054224865 + ], + [ + 891.613679505708, + 412.21217166651877 + ], + [ + 891.6699906371364, + 414.53495053811105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8661524393485, + "ymin": 387.0972653074895, + "xmax": 999.641598369948, + "ymax": 410.74148374390586 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.4568801369148, + 410.74148374390586 + ], + [ + 991.421237490473, + 410.44417296052575 + ], + [ + 966.8661524393485, + 407.52690582775057 + ], + [ + 966.8947223238379, + 407.8225571655666 + ], + [ + 999.641598369948, + 390.32215522078707 + ], + [ + 999.6027415292106, + 390.0238712952642 + ], + [ + 974.4542273760113, + 387.0972653074895 + ], + [ + 974.4856655881379, + 387.39384575606886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833785474775, + "ymin": 394.9060850967304, + "xmax": 997.5792184094371, + "ymax": 418.41339821680833 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481633954077, + 418.41339821680833 + ], + [ + 990.0823215749035, + 416.15964681074735 + ], + [ + 962.4833785474775, + 412.86230142620616 + ], + [ + 962.6893158569901, + 415.10190133798875 + ], + [ + 997.5792184094371, + 400.4745350143635 + ], + [ + 997.2920910432144, + 398.21359196895514 + ], + [ + 969.103471990426, + 394.9060850967304 + ], + [ + 969.3281060310176, + 397.15254020553664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.3106073876212, + "ymin": 385.76387181367875, + "xmax": 1003.7578462577021, + "ymax": 411.4890969692453 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 995.0571030162102, + 411.4890969692453 + ], + [ + 995.0131694684519, + 411.13261699707823 + ], + [ + 962.3106073876212, + 407.2464152580871 + ], + [ + 962.3432600497136, + 407.6002475769471 + ], + [ + 1003.7578462577021, + 390.02080641237154 + ], + [ + 1003.7097958857161, + 389.6630962861497 + ], + [ + 970.1760439600675, + 385.76387181367875 + ], + [ + 970.2122329013743, + 386.11886042809533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8663569900522, + "ymin": 387.09723312767727, + "xmax": 999.6418072939047, + "ymax": 410.74145146628734 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.4570845591558, + 410.74145146628734 + ], + [ + 991.4214418556174, + 410.44414070128306 + ], + [ + 966.8663569900522, + 407.5268737485379 + ], + [ + 966.8949269317492, + 407.8225250681317 + ], + [ + 999.6418072939047, + 390.32212283730445 + ], + [ + 999.6029503935315, + 390.02383893064683 + ], + [ + 974.4544364360452, + 387.09723312767727 + ], + [ + 974.4858747079277, + 387.3938135575527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833713152611, + "ymin": 394.9060840125941, + "xmax": 997.5792109374843, + "ymax": 418.4133970136562 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481560828246, + 418.4133970136562 + ], + [ + 990.0823142913011, + 416.15964572304927 + ], + [ + 962.4833713152611, + 412.86230034533065 + ], + [ + 962.6893085989595, + 415.1019001423995 + ], + [ + 997.5792109374843, + 400.4745338073187 + ], + [ + 997.2920836019855, + 398.2135908778346 + ], + [ + 969.1034646027649, + 394.9060840125941 + ], + [ + 969.3280986159408, + 397.15253900623503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.3106163859665, + "ymin": 385.7639696398109, + "xmax": 1003.757859493523, + "ymax": 411.48919516339913 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 995.0571151179212, + 411.48919516339913 + ], + [ + 995.0131815755421, + 411.13271523488197 + ], + [ + 962.3106163859665, + 407.24651276638133 + ], + [ + 962.3432690440379, + 407.6003450416681 + ], + [ + 1003.757859493523, + 390.0209049462012 + ], + [ + 1003.7098091271993, + 389.6631948621323 + ], + [ + 970.1760539328498, + 385.7639696398109 + ], + [ + 970.2122428698655, + 386.11895821213466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.3108531162086, + "ymin": 385.7638878172789, + "xmax": 1003.7580996726387, + "ymax": 411.4891129404575 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 995.057350236732, + 411.4891129404575 + ], + [ + 995.0134166176075, + 411.13263306802463 + ], + [ + 962.3108531162086, + 407.2464312096914 + ], + [ + 962.3435058521984, + 407.60026342951755 + ], + [ + 1003.7580996726387, + 390.0208224388318 + ], + [ + 1003.7100492262526, + 389.6631124124196 + ], + [ + 970.1762958087263, + 385.7638878172789 + ], + [ + 970.2124848270704, + 386.1188763326027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.4833676689154, + "ymin": 394.90608314069635, + "xmax": 997.5792071662235, + "ymax": 418.413396135134 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 990.3481523938658, + 418.413396135134 + ], + [ + 990.0823106104672, + 416.15964484828726 + ], + [ + 962.4833676689154, + 412.8622994760554 + ], + [ + 962.6893049446386, + 415.1018992693994 + ], + [ + 997.5792071662235, + 400.47453292595424 + ], + [ + 997.2920798392148, + 398.21359000032 + ], + [ + 969.1034608759531, + 394.90608314069635 + ], + [ + 969.3280948807978, + 397.1525381305243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.3106044018039, + "ymin": 385.76377426856595, + "xmax": 1003.7578392034089, + "ymax": 411.48899894678186 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 995.0570969467415, + 411.48899894678186 + ], + [ + 995.0131634051727, + 411.1325190414759 + ], + [ + 962.3106044018039, + 407.2463180298987 + ], + [ + 962.34325705983, + 407.60015028264104 + ], + [ + 1003.7578392034089, + 390.02070805082667 + ], + [ + 1003.7097888385038, + 389.6629979933405 + ], + [ + 970.176040148707, + 385.76377426856595 + ], + [ + 970.2122290852221, + 386.11876281502975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 822.0995237165496, + "ymin": 378.09987061772705, + "xmax": 853.1448053244759, + "ymax": 401.4753626690667 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 848.8762320740989, + 401.4753626690667 + ], + [ + 848.9128776494564, + 399.2935270592758 + ], + [ + 822.1923255950687, + 396.1011265145077 + ], + [ + 822.0995237165496, + 398.26948152324815 + ], + [ + 853.1165368472427, + 383.4873446071956 + ], + [ + 853.1448053244759, + 381.29999775145444 + ], + [ + 825.8713402119423, + 378.09987061772705 + ], + [ + 825.7845646365837, + 380.2734300574893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.3106049866637, + "ymin": 385.76387174534443, + "xmax": 1003.75784377017, + "ymax": 411.4890967898728 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 995.0571005896709, + 411.4890967898728 + ], + [ + 995.0131670563816, + 411.1326169284563 + ], + [ + 962.3106049866637, + 407.2464151899748 + ], + [ + 962.3432576377977, + 407.60024739890713 + ], + [ + 1003.75784377017, + 390.02080623237856 + ], + [ + 1003.7097934139731, + 389.6630962172915 + ], + [ + 970.1760414999917, + 385.76387174534443 + ], + [ + 970.2122304292009, + 386.1188602494721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.0875998601916, + "ymin": 400.7001647063309, + "xmax": 996.0267506595993, + "ymax": 424.0422822148881 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 988.8513021643862, + 424.0422822148881 + ], + [ + 988.5895484914789, + 421.784074899366 + ], + [ + 961.0875998601916, + 418.4801515183318 + ], + [ + 961.2898695574567, + 420.7242267683567 + ], + [ + 996.0267506595993, + 406.2807667867953 + ], + [ + 995.7439894065365, + 404.01491457060195 + ], + [ + 967.6565388342892, + 400.7001647063309 + ], + [ + 967.8772547517799, + 402.9515470653444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8665233749634, + "ymin": 387.0973280760977, + "xmax": 999.641981137873, + "ymax": 410.74154670329085 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.4572537003746, + 410.74154670329085 + ], + [ + 991.4216109454333, + 410.4442358840674 + ], + [ + 966.8665233749634, + 407.52696840013317 + ], + [ + 966.8950933665083, + 407.8226197734928 + ], + [ + 999.641981137873, + 390.32221838666624 + ], + [ + 999.6031241832302, + 390.0239344243454 + ], + [ + 974.4546073894041, + 387.0973280760977 + ], + [ + 974.4860457138866, + 387.39390856116023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.8555040722308, + "ymin": 379.6906737842419, + "xmax": 839.6676200322127, + "ymax": 403.07899734075124 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 835.6324862340368, + 403.07899734075124 + ], + [ + 835.6971488126134, + 400.89040287040405 + ], + [ + 808.9763233537369, + 397.6881387114776 + ], + [ + 808.8555040722308, + 399.8631899894629 + ], + [ + 839.6102137297029, + 385.09514937422733 + ], + [ + 839.6676200322127, + 382.9008888522156 + ], + [ + 812.3938322870711, + 379.6906737842419 + ], + [ + 812.2779182155591, + 381.87108157419254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.8667569890118, + "ymin": 387.0973359368544, + "xmax": 999.6422211836602, + "ymax": 410.7415545879392 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 991.4574882214079, + 410.7415545879392 + ], + [ + 991.4218453994307, + 410.44424376422705 + ], + [ + 966.8667569890118, + 407.5269762363157 + ], + [ + 966.8953270471136, + 407.8226276141266 + ], + [ + 999.6422211836602, + 390.3222262971747 + ], + [ + 999.6033641587867, + 390.0239423302456 + ], + [ + 974.4548464851554, + 387.0973359368544 + ], + [ + 974.486284879355, + 387.39391642648576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.54518537174766, + "ymin": 231.43854224589418, + "xmax": 202.03008728558234, + "ymax": 272.91615603997616 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 202.03008728558234, + 262.32189017522796 + ], + [ + 190.87708861105943, + 261.07264349284645 + ], + [ + 182.90173069834907, + 271.6372035470963 + ], + [ + 194.17534400861564, + 272.91615603997616 + ], + [ + 189.3679827182001, + 232.68132966296568 + ], + [ + 177.9111692944373, + 231.43854224589418 + ], + [ + 169.54518537174766, + 241.95163827020926 + ], + [ + 181.12927263684162, + 243.22484708799828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.1395260690088, + "ymin": 168.0938130368643, + "xmax": 249.46532868531227, + "ymax": 207.46973472586043 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 249.46532868531227, + 198.3423075486965 + ], + [ + 239.0463538023389, + 197.2650085883464 + ], + [ + 232.17384038099692, + 206.3686831426899 + ], + [ + 242.69811931565846, + 207.46973472586043 + ], + [ + 239.00253686040497, + 169.1611359812619 + ], + [ + 228.3187103649774, + 168.0938130368643 + ], + [ + 221.1395260690088, + 177.11551757547272 + ], + [ + 231.93408128018746, + 178.20701391396585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.58201273848738, + "ymin": 322.05030566804123, + "xmax": 134.49775502747292, + "ymax": 366.28155568390014 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 134.49775502747292, + 353.40804941856163 + ], + [ + 122.31629501367627, + 351.8920814604309 + ], + [ + 112.62790511720652, + 364.72581454199246 + ], + [ + 124.9531532528465, + 366.28155568390014 + ], + [ + 118.34990017449456, + 323.567327182628 + ], + [ + 105.80552368992494, + 322.05030566804123 + ], + [ + 95.58201273848738, + 334.8976638977957 + ], + [ + 108.27885833903872, + 336.45578233365035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.6526035335388, + "ymin": 52.39975091668373, + "xmax": 400.66290420812345, + "ymax": 81.38992006703165 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 393.079765309726, + 75.22237684208892 + ], + [ + 389.40739263206666, + 80.72337213114895 + ], + [ + 397.0460125614278, + 81.38992006703165 + ], + [ + 400.66290420812345, + 75.87869307166756 + ], + [ + 388.43141696675593, + 52.39975091668373 + ], + [ + 384.6526035335388, + 57.82463508061869 + ], + [ + 392.43177661934544, + 58.482068429680794 + ], + [ + 396.15306015141005, + 53.04690314917548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 10.402845939313693, + "ymin": 605.8699061258443, + "xmax": 55.780176150269995, + "ymax": 647.9757502061927 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 55.780176150269995, + 630.3760250846598 + ], + [ + 42.84794356771624, + 628.2943547858222 + ], + [ + 31.401578163242107, + 645.8357534387671 + ], + [ + 44.4947383702912, + 647.9757502061927 + ], + [ + 35.87446208230574, + 607.9842502883726 + ], + [ + 22.536247900261174, + 605.8699061258443 + ], + [ + 10.402845939313693, + 623.6940624687269 + ], + [ + 23.912209451819535, + 625.869709033162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.9963748976994, + "ymin": 384.5023690967856, + "xmax": 866.6428508265096, + "ymax": 444.9539110281202 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 851.9289053311475, + 444.9539110281202 + ], + [ + 851.9496888715515, + 443.38985864443293 + ], + [ + 849.0214026365519, + 443.02519753819 + ], + [ + 848.9963748976994, + 444.58819015341203 + ], + [ + 866.6428508265096, + 386.4528686816401 + ], + [ + 866.6422581847858, + 384.87111216511124 + ], + [ + 863.5057339885026, + 384.5023690967856 + ], + [ + 863.501456819042, + 386.08297953577517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.9869118554841, + "ymin": 381.48386073920807, + "xmax": 840.9494843907723, + "ymax": 441.95748110208945 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 827.9031733987633, + 441.95748110208945 + ], + [ + 827.9586440838905, + 440.4021010614446 + ], + [ + 825.0465797367774, + 440.03946012298337 + ], + [ + 824.9869118554841, + 441.5937891957433 + ], + [ + 840.9102901404551, + 383.4228003360128 + ], + [ + 840.9494843907723, + 381.85042007368975 + ], + [ + 837.8315345765378, + 381.48386073920807 + ], + [ + 837.7875281128347, + 383.05510509753316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.5619655974672, + "ymin": 415.8116795424398, + "xmax": 907.4872478521945, + "ymax": 475.9681833441962 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 889.622264082717, + 475.9681833441962 + ], + [ + 889.5874129973605, + 474.312955108144 + ], + [ + 886.5619655974672, + 473.92705593089534 + ], + [ + 886.5922859621974, + 475.58113040923195 + ], + [ + 907.4872478521945, + 417.8841143275249 + ], + [ + 907.4213510179077, + 416.20345591863276 + ], + [ + 904.1731493458108, + 415.8116795424398 + ], + [ + 904.2338232322925, + 417.49108274087985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.9845116067229, + "ymin": 25.161272581827404, + "xmax": 922.6937860049478, + "ymax": 37.21869565040208 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 921.212160111207, + 29.863845381518843 + ], + [ + 909.9845116067229, + 29.009386673328947 + ], + [ + 910.4686369567512, + 36.3451908223152 + ], + [ + 921.8213865388212, + 37.21869565040208 + ], + [ + 922.0730997823322, + 26.01336957524387 + ], + [ + 910.8100096770626, + 25.161272581827404 + ], + [ + 911.3047994827667, + 32.47701945361206 + ], + [ + 922.6937860049478, + 33.34816897961457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 957.8079119281165, + "ymin": 402.70832381673756, + "xmax": 983.412696599721, + "ymax": 462.4952676439825 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 960.9356633301069, + 462.4952676439825 + ], + [ + 960.7972476215637, + 460.8928036573825 + ], + [ + 957.8079119281165, + 460.51919229088696 + ], + [ + 957.9419049783276, + 462.12056161780424 + ], + [ + 983.412696599721, + 404.7110688017817 + ], + [ + 983.2294424542895, + 403.0869387727605 + ], + [ + 980.0229568335283, + 402.70832381673756 + ], + [ + 980.2011222042718, + 404.33126678699153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.0789772563081, + "ymin": 0.0, + "xmax": 926.9486512662849, + "ymax": 257.50903052112153 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 874.2704148553797, + 187.38201440048087 + ], + [ + 861.485946322054, + 186.1715495054922 + ], + [ + 861.0789772563081, + 256.08310477003397 + ], + [ + 874.9548570616907, + 257.50903052112153 + ], + [ + 921.2152637302186, + -33.079860983514266 + ], + [ + 905.7904171245641, + -34.14237411547202 + ], + [ + 909.9065623346241, + 28.270707363987924 + ], + [ + 926.9486512662849, + 29.56624546581736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 851.7409620060753, + "ymin": 388.2190120596171, + "xmax": 869.6442322559683, + "ymax": 448.6418287577527 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 854.6844540966579, + 448.6418287577527 + ], + [ + 854.701298936149, + 447.067069552597 + ], + [ + 851.7620828142234, + 446.6999144054185 + ], + [ + 851.7409620060753, + 448.2736029433306 + ], + [ + 869.6442322559683, + 390.1837926764974 + ], + [ + 869.6389662095557, + 388.59045283788237 + ], + [ + 866.4899026953652, + 388.2190120596171 + ], + [ + 866.4902598846357, + 389.81119321079325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.3261704663126, + "ymin": 383.08463260633874, + "xmax": 827.4525189524845, + "ymax": 443.54668417789645 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.2424520545617, + 443.54668417789645 + ], + [ + 815.3163409013837, + 441.9867075176472 + ], + [ + 812.4042565010152, + 441.6229958485063 + ], + [ + 812.3261704663126, + 443.18191687936235 + ], + [ + 827.3923297632655, + 385.0296985032999 + ], + [ + 827.4525189524845, + 383.45234920804944 + ], + [ + 824.3345320229005, + 383.08463260633874 + ], + [ + 824.2695305643848, + 384.6608406098315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.0511040734782, + "ymin": 25.22519419202638, + "xmax": 922.6249868397374, + "ymax": 37.154244662322185 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 921.1599926582289, + 29.87793929570512 + ], + [ + 910.0511040734782, + 29.032495742951937 + ], + [ + 910.5307764748387, + 36.290158377363355 + ], + [ + 921.7621192940189, + 37.154244662322185 + ], + [ + 922.0116472660761, + 26.068326071042293 + ], + [ + 910.868063483629, + 25.22519419202638 + ], + [ + 911.3581786178544, + 32.46322429227445 + ], + [ + 922.6249868397374, + 33.32500511299901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 13.8619786875106, + "ymin": 0.0, + "xmax": 419.75757002148424, + "ymax": 142.64112300616532 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 415.93526566806975, + 142.64112300616532 + ], + [ + 419.75757002148424, + 136.2324194765492 + ], + [ + 122.64130604036461, + 106.79602617608663 + ], + [ + 116.58815579828877, + 112.72209331783912 + ], + [ + 369.8340234858615, + -92.92556810286317 + ], + [ + 374.8931133817931, + -98.29864614010523 + ], + [ + 22.066154733415715, + -122.74593185385595 + ], + [ + 13.8619786875106, + -117.85469008564235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 68.40031782995226, + "xmax": 332.5303818514014, + "ymax": 713.7815812321795 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 94.04400913547556, + 710.4234030920245 + ], + [ + 112.64477537733376, + 713.7815812321795 + ], + [ + 332.5303818514014, + 327.13663729593645 + ], + [ + 318.86684491638357, + 325.42806273379057 + ], + [ + -134.91091153473747, + 468.3923713787484 + ], + [ + -109.29477764298224, + 472.30459007138586 + ], + [ + 250.20621640924907, + 69.9858256425104 + ], + [ + 233.0780700252496, + 68.40031782995226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.2552889747831, + "ymin": 398.39542443105904, + "xmax": 985.0897919143667, + "ymax": 458.73089749298555 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.3999368654062, + 458.73089749298555 + ], + [ + 962.2587400262921, + 457.12666159649103 + ], + [ + 959.2552889747831, + 456.75264018920916 + ], + [ + 959.3920212747871, + 458.35577522192875 + ], + [ + 985.0897919143667, + 400.3995741318059 + ], + [ + 984.9030080581861, + 398.77430205148613 + ], + [ + 981.6802793414615, + 398.39542443105904 + ], + [ + 981.86192272019, + 400.01950282443386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 470.7527498458761, + "ymin": 0.0, + "xmax": 697.2249470210544, + "ymax": 59.38932866976347 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 685.147280354937, + 54.76686635708006 + ], + [ + 672.1752088079797, + -21.640730072405518 + ], + [ + 513.5885695798289, + -17.990244109683488 + ], + [ + 506.71326941288737, + 59.38932866976347 + ], + [ + 697.2249470210544, + -275.0263325961988 + ], + [ + 679.6065078014568, + -324.0183473803705 + ], + [ + 484.17744851968297, + -321.7420468223992 + ], + [ + 470.7527498458761, + -271.9689367614027 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00076/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00076/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..39061be3bd50e1716ced165eaf11c9f13cbc989d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00076/meta.json @@ -0,0 +1,8194 @@ +{ + "frame_id": 76, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.0, + "sim_timestamp": 7631.166577877011 + }, + "drone_pose": { + "x": 5.912350934571624, + "y": -15.828225261791117, + "z": 20.000000000988535, + "pitch": -42.35513562544863, + "yaw": 74.9367267199294, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.19205093383789062, + -0.7135912179946899, + 0.6737240552902222, + -3.3150691986083984 + ], + [ + 0.9656394720077515, + 0.25988543033599854, + 0.0, + 9.822725296020508 + ], + [ + -0.17509111762046814, + 0.6505745053291321, + 0.7389830350875854, + -24.041900634765625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 5.994870955522912, + "y": -15.258559189084146, + "z": 19.98466489439957 + }, + "t1_image_uv": [ + 791.6770031360052, + -469.1815883064712 + ], + "t1_depth": 0.4326883954130671 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 11.33281707763672, + "y": 4.312236785888672, + "z": 0.9847554755210877 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.224088808417974, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 518, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 11.332817077636719, + "y": 4.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.35655149817466736, + "y": 0.3683973550796509, + "z": 0.9420509934425354 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.757955953355, + "ymin": 324.6893160870176, + "xmax": 657.3580125484511, + "ymax": 394.64029231479674 + }, + "corners_3d": [ + [ + 11.341193199157715, + 3.7996206283569336, + 0.04270446300506592 + ], + [ + 10.82020092010498, + 4.320613384246826, + 0.04270446300506592 + ], + [ + 11.324440956115723, + 4.82485294342041, + 0.04270446300506592 + ], + [ + 11.845433235168457, + 4.303860187530518, + 0.04270446300506592 + ], + [ + 11.341193199157715, + 3.7996206283569336, + 1.9268064498901367 + ], + [ + 10.82020092010498, + 4.320613384246826, + 1.9268064498901367 + ], + [ + 11.324440956115723, + 4.82485294342041, + 1.9268064498901367 + ], + [ + 11.845433235168457, + 4.303860187530518, + 1.9268064498901367 + ] + ], + "corners_2d": [ + [ + 635.2391836623559, + 394.64029231479674 + ], + [ + 656.5920590874607, + 386.0459685797776 + ], + [ + 644.6421534473316, + 371.9620380304024 + ], + [ + 623.5139318357944, + 380.2886164926004 + ], + [ + 635.0172125422401, + 347.16020719069246 + ], + [ + 657.3580125484511, + 338.63832419373483 + ], + [ + 644.8529522772975, + 324.6893160870176 + ], + [ + 622.757955953355, + 332.9336956370466 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 76, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 536033, + "2": 244771, + "3": 34476, + "5": 3200, + "6": 15877, + "7": 2485, + "9": 9972, + "10": 18389, + "12": 2206, + "14": 23364, + "20": 2669, + "24": 28158 + }, + "instance_pixel_counts": { + "381": 4367, + "3146": 2570, + "3669": 8, + "9617": 129, + "9856": 33, + "11676": 68406, + "14236": 136972, + "16284": 25775, + "17502": 11776, + "19038": 6523, + "19354": 1584, + "19866": 4378, + "20378": 7363, + "20573": 7258, + "20890": 8096, + "21085": 100704, + "21597": 47496, + "21914": 354, + "23418": 4814, + "23450": 18914, + "25498": 9998, + "25978": 3203, + "27516": 4218, + "28026": 449, + "28530": 3421, + "28786": 25618, + "31612": 4930, + "34816": 11788, + "34899": 241, + "35072": 4867, + "36252": 97625, + "36764": 42893, + "37276": 461, + "38300": 111901, + "38483": 1337, + "40860": 52000, + "41121": 2, + "43008": 518, + "43264": 249, + "43520": 182, + "43776": 631, + "44032": 1, + "44288": 625, + "44544": 8232, + "44922": 8095, + "45434": 1765, + "45824": 15132, + "49778": 5437, + "51309": 9972, + "51587": 56, + "51612": 25, + "52636": 6768, + "54684": 3039, + "57241": 5584, + "58697": 3200, + "59772": 984, + "60284": 2229, + "60796": 1861, + "61308": 2598, + "61337": 3393, + "62844": 98, + "63868": 8364 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 518, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 11.332817077636719, + "y": 4.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.4189123511314392, + "y": 0.3217170536518097, + "z": 0.9309621453285217 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.1209509259836, + "ymin": 324.2979337264889, + "xmax": 657.0630722806613, + "ymax": 395.09926023183357 + }, + "corners_3d": [ + [ + 11.264089584350586, + 3.7885327339172363, + 0.05379331111907959 + ], + [ + 10.809112548828125, + 4.243509292602539, + 0.05379331111907959 + ], + [ + 11.401544570922852, + 4.835940837860107, + 0.05379331111907959 + ], + [ + 11.856521606445312, + 4.380964279174805, + 0.05379331111907959 + ], + [ + 11.264089584350586, + 3.7885327339172363, + 1.915717601776123 + ], + [ + 10.809112548828125, + 4.243509292602539, + 1.915717601776123 + ], + [ + 11.401544570922852, + 4.835940837860107, + 1.915717601776123 + ], + [ + 11.856521606445312, + 4.380964279174805, + 1.915717601776123 + ] + ], + "corners_2d": [ + [ + 637.6480202120974, + 395.09926023183357 + ], + [ + 656.3173211330276, + 387.57325605459476 + ], + [ + 642.2897321994085, + 371.00663692054604 + ], + [ + 623.8510472773625, + 378.25785661835994 + ], + [ + 637.5395901855455, + 348.1729246620487 + ], + [ + 657.0630722806613, + 340.7086492482068 + ], + [ + 642.3923735139022, + 324.2979337264889 + ], + [ + 623.1209509259836, + 331.47752854977495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 249, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 15.458803176879883, + "y": 7.30994176864624, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.24986693263053894, + "y": 0.21830077469348907, + "z": 0.5919688940048218 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 529.7838552242538, + "ymin": 256.77155721866393, + "xmax": 552.4265382322101, + "ymax": 298.3180435843516 + }, + "corners_3d": [ + [ + 15.368142127990723, + 6.990772247314453, + 0.3927914500236511 + ], + [ + 15.130352020263672, + 7.356936931610107, + 0.3927914500236511 + ], + [ + 15.549464225769043, + 7.629111289978027, + 0.3927914500236511 + ], + [ + 15.787254333496094, + 7.262946605682373, + 0.3927914500236511 + ], + [ + 15.368142127990723, + 6.990772247314453, + 1.5767292976379395 + ], + [ + 15.130352020263672, + 7.356936931610107, + 1.5767292976379395 + ], + [ + 15.549464225769043, + 7.629111289978027, + 1.5767292976379395 + ], + [ + 15.787254333496094, + 7.262946605682373, + 1.5767292976379395 + ] + ], + "corners_2d": [ + [ + 541.865063023886, + 298.3180435843516 + ], + [ + 552.4265382322101, + 292.75358466541786 + ], + [ + 543.1006231071362, + 285.77359425907025 + ], + [ + 532.5673417448623, + 291.24200202714036 + ], + [ + 539.2995800813903, + 269.17787220245873 + ], + [ + 550.1532230146946, + 263.6734527076901 + ], + [ + 540.6075062333153, + 256.77155721866393 + ], + [ + 529.7838552242538, + 262.1785196717624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 182, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 9.076992988586426, + "y": 11.254949569702148, + "z": 0.8029059171676636 + }, + "extent": { + "x": 0.2675866484642029, + "y": 0.3502068519592285, + "z": 0.614151656627655 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 742.1444000981246, + "ymin": 221.5432941055166, + "xmax": 770.8739435900048, + "ymax": 265.3928520529174 + }, + "corners_3d": [ + [ + 9.089430809020996, + 10.814390182495117, + 0.18875420093536377 + ], + [ + 8.64864730834961, + 11.35871410369873, + 0.18875420093536377 + ], + [ + 9.064555168151855, + 11.69550895690918, + 0.18875420093536377 + ], + [ + 9.505338668823242, + 11.151185035705566, + 0.18875420093536377 + ], + [ + 9.089430809020996, + 10.814390182495117, + 1.4170575141906738 + ], + [ + 8.64864730834961, + 11.35871410369873, + 1.4170575141906738 + ], + [ + 9.064555168151855, + 11.69550895690918, + 1.4170575141906738 + ], + [ + 9.505338668823242, + 11.151185035705566, + 1.4170575141906738 + ] + ], + "corners_2d": [ + [ + 752.2820685739927, + 265.3928520529174 + ], + [ + 767.618977420527, + 258.26611835452877 + ], + [ + 757.4267897619842, + 250.89328486442963 + ], + [ + 742.1444000981246, + 257.8841892415063 + ], + [ + 755.1729271966999, + 235.84639140729496 + ], + [ + 770.8739435900048, + 228.81451618213907 + ], + [ + 760.3925314489705, + 221.5432941055166 + ], + [ + 744.7483091715671, + 228.4377639373313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 631, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 1.8328170776367188, + "y": 4.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.5199929475784302, + "y": 0.4830358922481537, + "z": 0.9344826340675354 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 940.0167003768254, + "ymin": 378.5125917514976, + "xmax": 1009.2186455270344, + "ymax": 462.08630445926974 + }, + "corners_3d": [ + [ + 1.8066843748092651, + 3.6029882431030273, + 0.05027282238006592 + ], + [ + 1.1235685348510742, + 4.286104202270508, + 0.05027282238006592 + ], + [ + 1.8589497804641724, + 5.021485328674316, + 0.05027282238006592 + ], + [ + 2.5420656204223633, + 4.338369369506836, + 0.05027282238006592 + ], + [ + 1.8066843748092651, + 3.6029882431030273, + 1.9192380905151367 + ], + [ + 1.1235685348510742, + 4.286104202270508, + 1.9192380905151367 + ], + [ + 1.8589497804641724, + 5.021485328674316, + 1.9192380905151367 + ], + [ + 2.5420656204223633, + 4.338369369506836, + 1.9192380905151367 + ] + ], + "corners_2d": [ + [ + 966.3401635593754, + 462.08630445926974 + ], + [ + 991.9193172505288, + 449.13013454176087 + ], + [ + 965.3178182867451, + 425.8097186882791 + ], + [ + 940.0167003768254, + 438.1428345692838 + ], + [ + 982.6083639563499, + 414.6833963087877 + ], + [ + 1009.2186455270344, + 401.7496495263829 + ], + [ + 980.9042483606795, + 378.5125917514976 + ], + [ + 954.5884561926973, + 390.79474446021777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 7.717318058013916, + "y": -6.81512451171875, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.4609002470970154, + "y": 0.4812728762626648, + "z": 0.9372842907905579 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 638.6219520799335, + "ymin": 694.4916658755244, + "xmax": 702.6504174748272, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 7.801283836364746, + -7.4761857986450195, + 0.04747116565704346 + ], + [ + 7.0532450675964355, + -6.870436668395996, + 0.04747116565704346 + ], + [ + 7.633352279663086, + -6.1540632247924805, + 0.04747116565704346 + ], + [ + 8.381391525268555, + -6.759812355041504, + 0.04747116565704346 + ], + [ + 7.801283836364746, + -7.4761857986450195, + 1.9220397472381592 + ], + [ + 7.0532450675964355, + -6.870436668395996, + 1.9220397472381592 + ], + [ + 7.633352279663086, + -6.1540632247924805, + 1.9220397472381592 + ], + [ + 8.381391525268555, + -6.759812355041504, + 1.9220397472381592 + ] + ], + "corners_2d": [ + [ + 656.8318339088854, + 796.1711526444562 + ], + [ + 698.7048408295999, + 777.2987944976321 + ], + [ + 679.5724421073404, + 738.3783896554324 + ], + [ + 638.7073164983724, + 756.1234836618397 + ], + [ + 657.9807538826348, + 754.067948063708 + ], + [ + 702.6504174748272, + 734.5738043357919 + ], + [ + 682.1468239123582, + 694.4916658755244 + ], + [ + 638.6219520799335, + 712.746332194464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 625, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 22.578153610229492, + "y": -3.857978105545044, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3457910120487213, + "y": 0.45799314975738525, + "z": 0.8856303691864014 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 98.73422148075633, + "ymin": 453.81984123642496, + "xmax": 163.60586046079868, + "ymax": 527.1096843041307 + }, + "corners_3d": [ + [ + 22.773927688598633, + -4.39742374420166, + 0.09913486242294312 + ], + [ + 22.00571632385254, + -3.8985414505004883, + 0.09913486242294312 + ], + [ + 22.38237953186035, + -3.3185322284698486, + 0.09913486242294312 + ], + [ + 23.150590896606445, + -3.8174147605895996, + 0.09913486242294312 + ], + [ + 22.773927688598633, + -4.39742374420166, + 1.8703956604003906 + ], + [ + 22.00571632385254, + -3.8985414505004883, + 1.8703956604003906 + ], + [ + 22.38237953186035, + -3.3185322284698486, + 1.8703956604003906 + ], + [ + 23.150590896606445, + -3.8174147605895996, + 1.8703956604003906 + ] + ], + "corners_2d": [ + [ + 124.77612527978226, + 527.1096843041307 + ], + [ + 162.51952246814216, + 518.4221510696218 + ], + [ + 163.60586046079868, + 498.71097861095154 + ], + [ + 126.59709586315034, + 507.06900322679223 + ], + [ + 98.73422148075633, + 482.3330725232424 + ], + [ + 138.59658162039062, + 473.60217059701233 + ], + [ + 140.21485870578596, + 453.81984123642496 + ], + [ + 101.17087408520467, + 462.2034246072097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 8232, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 193.82024828051027, + "ymin": 82.12537995598467, + "xmax": 348.38033898580466, + "ymax": 218.38912353336602 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 211.40549935176023, + 209.31425412002042 + ], + [ + 268.7202923843211, + 218.38912353336602 + ], + [ + 348.38033898580466, + 135.90468013248773 + ], + [ + 296.5631155507773, + 128.74581545890638 + ], + [ + 193.82024828051027, + 159.9274338392008 + ], + [ + 253.28793704939125, + 168.73521912419653 + ], + [ + 337.6719895036337, + 89.0098194838888 + ], + [ + 284.095711038097, + 82.12537995598467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 15132, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 166.17748613798483, + "ymin": 487.8472635954762, + "xmax": 401.06724534776583, + "ymax": 627.6457731839005 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 228.28265860859136, + 525.0351352770083 + ], + [ + 186.27918933965452, + 582.6829861475982 + ], + [ + 367.3109886055879, + 627.6457731839005 + ], + [ + 401.06724534776583, + 565.3135253964198 + ], + [ + 211.03976430132315, + 487.8472635954762 + ], + [ + 166.17748613798483, + 545.8970129397669 + ], + [ + 354.71211535358293, + 591.3610782226525 + ], + [ + 390.6563076161318, + 528.3780504036356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.8809508780037, + "ymin": 522.3466843837007, + "xmax": 1081.3840583892572, + "ymax": 549.0232013071726 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874157517919, + 549.0232013071726 + ], + [ + 1072.1889482781435, + 546.4710619663172 + ], + [ + 1041.8809508780037, + 540.3525616483421 + ], + [ + 1042.005837240167, + 542.8753350470964 + ], + [ + 1081.3840583892572, + 531.0467530927941 + ], + [ + 1081.1594491285973, + 528.4856452139268 + ], + [ + 1050.1733166226015, + 522.3466843837007 + ], + [ + 1050.3210144335928, + 524.8777161173164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880958777152, + "ymin": 522.3466859835016, + "xmax": 1081.3840665804166, + "ymax": 549.0232029281373 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874237622895, + 549.0232029281373 + ], + [ + 1072.1889562691297, + 546.4710635795169 + ], + [ + 1041.880958777152, + 540.3525632430018 + ], + [ + 1042.0058451583827, + 542.8753366493876 + ], + [ + 1081.3840665804166, + 531.0467547195362 + ], + [ + 1081.1594572993577, + 528.4856468327147 + ], + [ + 1050.173324697526, + 522.3466859835016 + ], + [ + 1050.321022528443, + 524.8777177249318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.7374061118653, + "ymin": 501.39237952048165, + "xmax": 955.1939418773188, + "ymax": 527.7864717491811 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 948.8164890100861, + 527.7864717491811 + ], + [ + 948.9124052900361, + 525.3350534124871 + ], + [ + 919.9007399926847, + 519.4570657830116 + ], + [ + 919.7374061118653, + 521.8808345512289 + ], + [ + 955.1111706305752, + 509.74317679575915 + ], + [ + 955.1939418773188, + 507.2851804976418 + ], + [ + 925.5595416946214, + 501.39237952048165 + ], + [ + 925.4064223213486, + 503.8220925141224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.85942803148, + "ymin": 497.073089718863, + "xmax": 952.0964398796553, + "ymax": 523.4076682537956 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 945.8001105454669, + 523.4076682537956 + ], + [ + 945.9026848901685, + 520.9767658880602 + ], + [ + 917.0287796398135, + 515.1477761178709 + ], + [ + 916.85942803148, + 517.5513743180668 + ], + [ + 952.0066090178473, + 505.35278889282006 + ], + [ + 952.0964398796553, + 502.9157797354559 + ], + [ + 922.6057225843169, + 497.073089718863 + ], + [ + 922.4462257403095, + 499.48217600286944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0237319183198, + "ymin": 514.8674188647352, + "xmax": 1084.2193337175556, + "ymax": 541.1061872233919 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.031034487729, + 541.1061872233919 + ], + [ + 1074.0041348898715, + 540.7695380580177 + ], + [ + 1047.0237319183198, + 535.353923251806 + ], + [ + 1047.0419363237447, + 535.6871277434054 + ], + [ + 1084.2193337175556, + 520.6399059572705 + ], + [ + 1084.1884797171133, + 520.3020325847665 + ], + [ + 1056.5248279110174, + 514.8674188647352 + ], + [ + 1056.5465411608423, + 515.2017545354466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0240342158772, + "ymin": 514.8674583216124, + "xmax": 1084.219646237915, + "ymax": 541.106226978863 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.0313394569012, + 541.106226978863 + ], + [ + 1074.004439760839, + 540.7695777881529 + ], + [ + 1047.0240342158772, + 535.3539625754773 + ], + [ + 1047.0422387178617, + 535.6871670920248 + ], + [ + 1084.219646237915, + 520.6399458576087 + ], + [ + 1084.1887921343482, + 520.30207245908 + ], + [ + 1056.5251376289962, + 514.8674583216124 + ], + [ + 1056.5468509801779, + 515.201794017941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.8809508780037, + "ymin": 522.3466843837007, + "xmax": 1081.3840583892572, + "ymax": 549.0232013071726 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874157517919, + 549.0232013071726 + ], + [ + 1072.1889482781435, + 546.4710619663172 + ], + [ + 1041.8809508780037, + 540.3525616483421 + ], + [ + 1042.005837240167, + 542.8753350470964 + ], + [ + 1081.3840583892572, + 531.0467530927941 + ], + [ + 1081.1594491285973, + 528.4856452139268 + ], + [ + 1050.1733166226015, + 522.3466843837007 + ], + [ + 1050.3210144335928, + 524.8777161173164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880950865782, + "ymin": 522.3466841360228, + "xmax": 1081.3840583561266, + "ymax": 549.0232009307407 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874157225187, + 549.0232009307407 + ], + [ + 1072.1889482587212, + 546.4710617165648 + ], + [ + 1041.880950865782, + 540.3525614014601 + ], + [ + 1042.0058372217468, + 542.8753346750011 + ], + [ + 1081.3840583561266, + 531.0467527150206 + ], + [ + 1081.159449106618, + 528.4856449633091 + ], + [ + 1050.1733166081483, + 522.3466841360228 + ], + [ + 1050.321014411807, + 524.8777157439845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880957460627, + "ymin": 522.3466857168683, + "xmax": 1081.38406520418, + "ymax": 549.0232025324992 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.387422417449, + 549.0232025324992 + ], + [ + 1072.1889549372986, + 546.4710633106503 + ], + [ + 1041.880957460627, + 540.3525629772251 + ], + [ + 1042.0058438325402, + 542.8753362583072 + ], + [ + 1081.38406520418, + 531.0467543224881 + ], + [ + 1081.1594559375642, + 528.4856465629166 + ], + [ + 1050.173323351705, + 522.3466857168683 + ], + [ + 1050.3210211720395, + 524.877717332552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 957.730263205737, + "ymin": 534.9657279439027, + "xmax": 995.3104708158531, + "ymax": 561.8072928505583 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 987.9812527659112, + 561.8072928505583 + ], + [ + 987.9852446518204, + 559.193545288789 + ], + [ + 957.8072170911832, + 552.9279596494321 + ], + [ + 957.730263205737, + 555.5112747005172 + ], + [ + 995.3104708158531, + 543.8796171029915 + ], + [ + 995.2963862574751, + 541.2553760568567 + ], + [ + 964.4445692670787, + 534.9657279439027 + ], + [ + 964.3823927100098, + 537.5587772924155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0233261295966, + "ymin": 514.8673162028163, + "xmax": 1084.2189124017004, + "ymax": 541.1060837845683 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.030623832542, + 541.1060837845683 + ], + [ + 1074.0037243681923, + 540.769434685115 + ], + [ + 1047.0233261295966, + 535.353820936472 + ], + [ + 1047.0415304045468, + 535.6870253631597 + ], + [ + 1084.2189124017004, + 520.6398021415206 + ], + [ + 1084.1880585417723, + 520.30192883673 + ], + [ + 1056.52441170312, + 514.8673162028163 + ], + [ + 1056.5461248156919, + 515.2016518068751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880958777152, + "ymin": 522.3466859835016, + "xmax": 1081.3840665804166, + "ymax": 549.0232029281373 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874237622895, + 549.0232029281373 + ], + [ + 1072.1889562691297, + 546.4710635795169 + ], + [ + 1041.880958777152, + 540.3525632430018 + ], + [ + 1042.0058451583827, + 542.8753366493876 + ], + [ + 1081.3840665804166, + 531.0467547195362 + ], + [ + 1081.1594572993577, + 528.4856468327147 + ], + [ + 1050.173324697526, + 522.3466859835016 + ], + [ + 1050.321022528443, + 524.8777177249318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.008797510611, + "ymin": 513.0117119130105, + "xmax": 1088.791164585649, + "ymax": 542.1728361579702 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.969695481276, + 542.1728361579702 + ], + [ + 1077.935951893273, + 541.7689545445573 + ], + [ + 1042.008797510611, + 534.5560774340971 + ], + [ + 1042.0286765249298, + 534.9544646671284 + ], + [ + 1088.791164585649, + 520.6564882448549 + ], + [ + 1088.7523521353976, + 520.2510526652644 + ], + [ + 1051.8684304511094, + 513.0117119130105 + ], + [ + 1051.8926307040726, + 513.4114971473546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0235528877538, + "ymin": 514.8672980842546, + "xmax": 1084.2191450955133, + "ymax": 541.1060655288926 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.0308513655314, + 541.1060655288926 + ], + [ + 1074.0039518291323, + 540.7694164410734 + ], + [ + 1047.0235528877538, + 535.3538028790781 + ], + [ + 1047.0417572343104, + 535.6870072943099 + ], + [ + 1084.2191450955133, + 520.639783819322 + ], + [ + 1084.1882911602318, + 520.3019105264821 + ], + [ + 1056.5246435873419, + 514.8672980842546 + ], + [ + 1056.5463567747943, + 515.20163367655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880950865782, + "ymin": 522.3466841360228, + "xmax": 1081.3840583561266, + "ymax": 549.0232009307407 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874157225187, + 549.0232009307407 + ], + [ + 1072.1889482587212, + 546.4710617165648 + ], + [ + 1041.880950865782, + 540.3525614014601 + ], + [ + 1042.0058372217468, + 542.8753346750011 + ], + [ + 1081.3840583561266, + 531.0467527150206 + ], + [ + 1081.159449106618, + 528.4856449633091 + ], + [ + 1050.1733166081483, + 522.3466841360228 + ], + [ + 1050.321014411807, + 524.8777157439845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.0088029886074, + "ymin": 513.0118220795244, + "xmax": 1088.7911752772666, + "ymax": 542.1729474136857 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.9697047764923, + 542.1729474136857 + ], + [ + 1077.9359611918617, + 541.7690658406325 + ], + [ + 1042.0088029886074, + 534.5561872163935 + ], + [ + 1042.028682000911, + 534.9545744090419 + ], + [ + 1088.7911752772666, + 520.65659992969 + ], + [ + 1088.7523628306917, + 520.2511643885057 + ], + [ + 1051.8684371198335, + 513.0118220795244 + ], + [ + 1051.892637370468, + 513.4116072753944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.0090672291637, + "ymin": 513.0117512684209, + "xmax": 1088.7914447656385, + "ymax": 542.172875821861 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.9699684995066, + 542.172875821861 + ], + [ + 1077.9362248164284, + 541.7689943034875 + ], + [ + 1042.0090672291637, + 534.5561166522514 + ], + [ + 1042.028946340409, + 534.954503791332 + ], + [ + 1088.7914447656385, + 520.6565280617315 + ], + [ + 1088.7526322162796, + 520.2510925767933 + ], + [ + 1051.868707162131, + 513.0117512684209 + ], + [ + 1051.8929075160927, + 513.4115364092164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.880946891765, + "ymin": 522.3466828407663, + "xmax": 1081.3840542163725, + "ymax": 549.023199618349 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1072.3874116782388, + 549.023199618349 + ], + [ + 1072.1889442243842, + 546.4710604104602 + ], + [ + 1041.880946891765, + 540.3525601103661 + ], + [ + 1042.005833238079, + 542.8753333777285 + ], + [ + 1081.3840542163725, + 531.0467513979513 + ], + [ + 1081.1594449772797, + 528.4856436526801 + ], + [ + 1050.17331254178, + 522.3466828407663 + ], + [ + 1050.3210103353344, + 524.877714442401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.008798637134, + "ymin": 513.0116025858356, + "xmax": 1088.7911607372596, + "ymax": 542.172725625418 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.9696928568792, + 542.172725625418 + ], + [ + 1077.9359492734047, + 541.768844096427 + ], + [ + 1042.008798637134, + 534.5559684882121 + ], + [ + 1042.0286776498167, + 534.9543556385385 + ], + [ + 1088.7911607372596, + 520.6563772859733 + ], + [ + 1088.75234829267, + 520.2509417932228 + ], + [ + 1051.868430556935, + 513.0116025858356 + ], + [ + 1051.8926308073653, + 513.4113877351487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.0210171288302, + "ymin": 491.65571246806854, + "xmax": 924.4375596773186, + "ymax": 517.9150195794505 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 918.6572699861056, + 517.9150195794505 + ], + [ + 918.8224954505562, + 515.5097305309339 + ], + [ + 890.2516141311853, + 509.7419153277581 + ], + [ + 890.0210171288302, + 512.1203294108566 + ], + [ + 924.2823665631539, + 499.84667127446073 + ], + [ + 924.4375596773186, + 497.43585610339096 + ], + [ + 895.262537943176, + 491.65571246806854 + ], + [ + 895.0391737885841, + 494.0390524686549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.0087948712708, + "ymin": 513.0117116269087, + "xmax": 1088.791161836305, + "ymax": 542.1728357432848 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 1077.9696928024694, + 542.1728357432848 + ], + [ + 1077.9359492259741, + 541.7689542555222 + ], + [ + 1042.0087948712708, + 534.5560771489932 + ], + [ + 1042.0286738784089, + 534.9544642580854 + ], + [ + 1088.791161836305, + 520.6564878285702 + ], + [ + 1088.7523493991891, + 520.2510523751198 + ], + [ + 1051.8684277442935, + 513.0117116269087 + ], + [ + 1051.892627988682, + 513.4114967368724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.045398738511, + "ymin": 528.3398902821523, + "xmax": 1079.3647538369307, + "ymax": 554.8574769930459 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 1070.4382209579599, + 554.8574769930459 + ], + [ + 1070.245052754185, + 552.2996220986395 + ], + [ + 1040.045398738511, + 546.1672575038056 + ], + [ + 1040.1655109371427, + 548.6957748977732 + ], + [ + 1079.3647538369307, + 537.06133961555 + ], + [ + 1079.1458105773727, + 534.4939875487662 + ], + [ + 1048.2728777000646, + 528.3398902821523 + ], + [ + 1048.4154703292543, + 530.8771913616048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0237319183198, + "ymin": 514.8674188647352, + "xmax": 1084.2193337175556, + "ymax": 541.1061872233919 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.031034487729, + 541.1061872233919 + ], + [ + 1074.0041348898715, + 540.7695380580177 + ], + [ + 1047.0237319183198, + 535.353923251806 + ], + [ + 1047.0419363237447, + 535.6871277434054 + ], + [ + 1084.2193337175556, + 520.6399059572705 + ], + [ + 1084.1884797171133, + 520.3020325847665 + ], + [ + 1056.5248279110174, + 514.8674188647352 + ], + [ + 1056.5465411608423, + 515.2017545354466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.7140585158348, + "ymin": 492.2941271186353, + "xmax": 909.8160613982673, + "ymax": 518.5623409217905 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 904.2875052499983, + 518.5623409217905 + ], + [ + 904.486309722049, + 516.1540403336378 + ], + [ + 875.9779416475512, + 510.37903216830273 + ], + [ + 875.7140585158348, + 512.7604074435326 + ], + [ + 909.6259377439615, + 500.4955185283227 + ], + [ + 909.8160613982673, + 498.0816239807079 + ], + [ + 880.7060519469162, + 492.2941271186353 + ], + [ + 880.4480678899604, + 494.68049398766925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.0239888994881, + "ymin": 514.8674480864173, + "xmax": 1084.2195992321826, + "ymax": 541.106216666212 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 1074.0312936287246, + 541.106216666212 + ], + [ + 1074.0043939475302, + 540.7695674820742 + ], + [ + 1047.0239888994881, + 535.3539523748361 + ], + [ + 1047.042193386923, + 535.6871568849119 + ], + [ + 1084.2195992321826, + 520.6399355073789 + ], + [ + 1084.188745144256, + 520.3020621156011 + ], + [ + 1056.525091160388, + 514.8674480864173 + ], + [ + 1056.5468044962715, + 515.2017837761008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.48189919945753, + "ymin": 298.2179989026556, + "xmax": 266.91441971494464, + "ymax": 340.0269332936602 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 266.91441971494464, + 329.5952822890163 + ], + [ + 256.2733394480612, + 327.5768585388334 + ], + [ + 247.2399486994903, + 337.9584100201054 + ], + [ + 257.99051597117335, + 340.0269332936602 + ], + [ + 256.79815875416494, + 300.21893433195083 + ], + [ + 245.89407563820254, + 298.2179989026556 + ], + [ + 236.48189919945753, + 308.51236426141946 + ], + [ + 247.50086876027382, + 310.56433561201356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.3800971691289, + "ymin": 236.40640381700902, + "xmax": 320.61123063446973, + "ymax": 275.7568008425238 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 320.61123063446973, + 266.8258872679291 + ], + [ + 310.6402468301036, + 265.0959474743644 + ], + [ + 302.90364785907167, + 273.9871693976557 + ], + [ + 312.97115219778624, + 275.7568008425238 + ], + [ + 312.6105352812798, + 238.11448164692877 + ], + [ + 302.4084848043179, + 236.40640381700902 + ], + [ + 294.3800971691289, + 245.1872778974472 + ], + [ + 304.68314911822824, + 246.93554363381668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.86170434615156, + "ymin": 387.2808668846169, + "xmax": 189.88757805722565, + "ymax": 432.42721476483905 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 189.88757805722565, + 419.6366036240649 + ], + [ + 178.31895506079422, + 417.16563086861163 + ], + [ + 167.248508884265, + 429.88825630514407 + ], + [ + 178.94567229639284, + 432.42721476483905 + ], + [ + 176.34277931258788, + 389.74461376583537 + ], + [ + 164.4638559691096, + 387.2808668846169 + ], + [ + 152.86170434615156, + 399.9704749305155 + ], + [ + 164.87599375625302, + 402.50408890369346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.1965754789853, + "ymin": 124.3099466128956, + "xmax": 483.60916812645377, + "ymax": 152.82179662728313 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 476.27290371183756, + 146.45701631083944 + ], + [ + 472.1555247792006, + 151.76405809649216 + ], + [ + 479.5441939033242, + 152.82179662728313 + ], + [ + 483.60916812645377, + 147.497976372412 + ], + [ + 473.40990778740075, + 124.3099466128956 + ], + [ + 469.1965754789853, + 129.52978352033617 + ], + [ + 476.7109352082301, + 130.5703163992726 + ], + [ + 480.87007936532814, + 125.33368627007212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.26323676274285, + "ymin": 9.954751582553683, + "xmax": 202.38148448810205, + "ymax": 39.296487658502144 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 195.54708891737602, + 34.03574052005246 + ], + [ + 189.19970585084627, + 38.42617907483191 + ], + [ + 196.07883951389857, + 39.296487658502144 + ], + [ + 202.38148448810205, + 34.89229005877206 + ], + [ + 187.78550098672957, + 9.954751582553683 + ], + [ + 181.26323676274285, + 14.226607538115104 + ], + [ + 188.25097757067186, + 15.073551371469819 + ], + [ + 194.72712099615666, + 10.788072689355943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.2321992894819, + "ymin": 27.000348737848753, + "xmax": 342.5469665768765, + "ymax": 57.150449257575815 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 335.2694761288446, + 51.54719764044131 + ], + [ + 329.8708130559053, + 56.223242354410274 + ], + [ + 337.1996830071749, + 57.150449257575815 + ], + [ + 342.5469665768765, + 52.45928017321933 + ], + [ + 329.77517217728473, + 27.000348737848753 + ], + [ + 324.2321992894819, + 31.5552090735751 + ], + [ + 331.6852236143997, + 32.45854750215551 + ], + [ + 337.17508958786135, + 27.888687354588455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15654434059784889851, + "instance_id": 64293, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": -9.845049858093262, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 36.98056046094234, + "ymin": 672.587953152889, + "xmax": 82.0966017902332, + "ymax": 717.3726998446044 + }, + "corners_3d": [ + [ + 18.744693756103516, + -9.655092239379883, + 2.645533323287964 + ], + [ + 19.023365020751953, + -9.6550931930542, + 2.645533323287964 + ], + [ + 19.023365020751953, + -10.03500747680664, + 2.645533323287964 + ], + [ + 18.744693756103516, + -10.035006523132324, + 2.645533323287964 + ], + [ + 18.744693756103516, + -9.655092239379883, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -9.6550931930542, + 3.5146729946136475 + ], + [ + 19.023365020751953, + -10.03500747680664, + 3.5146729946136475 + ], + [ + 18.744693756103516, + -10.035006523132324, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 82.0966017902332, + 699.3699638162869 + ], + [ + 69.82306823450278, + 695.878026110413 + ], + [ + 56.229491659492055, + 713.7766329958113 + ], + [ + 68.64516897033025, + 717.3726998446044 + ], + [ + 63.923266016207435, + 676.1242993127611 + ], + [ + 51.30506192626535, + 672.587953152889 + ], + [ + 36.98056046094234, + 690.7211904401984 + ], + [ + 49.74867769585853, + 694.3664988494666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 245.10931088671805, + "ymin": 17.56797501416935, + "xmax": 265.00231816673954, + "ymax": 47.27186777293633 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 257.9716809012296, + 41.85944545568225 + ], + [ + 252.03930116123473, + 46.376364935142874 + ], + [ + 259.1175754104339, + 47.27186777293633 + ], + [ + 265.00231816673954, + 42.740589939744666 + ], + [ + 251.20351609904878, + 17.56797501416935 + ], + [ + 245.10931088671805, + 21.965100852627415 + ], + [ + 252.30297881847304, + 22.83700405409286 + ], + [ + 258.3480161666586, + 18.425651400189565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.2683931777028, + "ymin": 501.8155671948905, + "xmax": 938.8206385262415, + "ymax": 562.9976766820864 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 919.4159004002734, + 562.9976766820864 + ], + [ + 919.5285361633881, + 561.267926660801 + ], + [ + 916.3860059477256, + 560.6054487258054 + ], + [ + 916.2683931777028, + 562.3330687000002 + ], + [ + 938.7333581648447, + 504.23341835550536 + ], + [ + 938.8206385262415, + 502.4850666902385 + ], + [ + 935.448673000532, + 501.8155671948905 + ], + [ + 935.3556611700249, + 503.5616173362934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3610425795207463592, + "instance_id": 43138, + "pixel_count": null, + "type_id": "BP_StreetLight_wall41_74_SM_0", + "bbox_3d": { + "center_world": { + "x": -3.7471089363098145, + "y": 22.76371955871582, + "z": 4.686147212982178 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.6910599104378, + "ymin": 22.12556714331913, + "xmax": 1193.8515467205973, + "ymax": 52.63863271096022 + }, + "corners_3d": [ + [ + -4.894715309143066, + 22.88140869140625, + 4.274991512298584 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 4.274991512298584 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 4.274991512298584 + ], + [ + -4.894715785980225, + 22.646034240722656, + 4.274991512298584 + ], + [ + -4.894715309143066, + 22.88140869140625, + 5.0973029136657715 + ], + [ + -2.5995020866394043, + 22.881404876708984, + 5.0973029136657715 + ], + [ + -2.5995025634765625, + 22.64603042602539, + 5.0973029136657715 + ], + [ + -4.894715785980225, + 22.646034240722656, + 5.0973029136657715 + ] + ], + "corners_2d": [ + [ + 1184.4125172556, + 49.999608092282074 + ], + [ + 1119.6910599104378, + 43.189034515071455 + ], + [ + 1120.2909950239787, + 45.764700236629665 + ], + [ + 1185.321988069982, + 52.63863271096022 + ], + [ + 1192.887661189315, + 28.7812682369904 + ], + [ + 1127.0672889348625, + 22.12556714331913 + ], + [ + 1127.7110408324393, + 24.64236865410919 + ], + [ + 1193.8515467205973, + 31.360952691299246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.5643872975697, + "ymin": 496.35004444440017, + "xmax": 911.2579110448978, + "ymax": 557.5633426082812 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 893.6802571400657, + 557.5633426082812 + ], + [ + 893.8334051107083, + 555.8509710089729 + ], + [ + 890.7224119714984, + 555.1951415118754 + ], + [ + 890.5643872975697, + 556.9054150737575 + ], + [ + 911.1240050464908, + 498.7419480096763 + ], + [ + 911.2579110448978, + 497.01236520661337 + ], + [ + 907.9221010278166, + 496.35004444440017 + ], + [ + 907.7825867110969, + 498.07736267282405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.3258883507984, + "ymin": 540.0518473888867, + "xmax": 981.4807828860589, + "ymax": 600.9139970749009 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 958.609016438267, + 600.9139970749009 + ], + [ + 958.6605230233331, + 599.06055766093 + ], + [ + 955.3828105641774, + 598.3507629923271 + ], + [ + 955.3258883507984, + 600.2018399283284 + ], + [ + 981.4662623109273, + 542.6551497007958 + ], + [ + 981.4807828860589, + 540.7726516291552 + ], + [ + 977.9529268675894, + 540.0518473888867 + ], + [ + 977.9321314976578, + 541.9317741291912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 499.0382289624551, + "ymin": 0.0, + "xmax": 594.6922953868119, + "ymax": 56.9752101980107 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 591.9452091222528, + 56.9752101980107 + ], + [ + 594.6922953868119, + 53.0226001458924 + ], + [ + 518.3429474058025, + 43.94925105983282 + ], + [ + 515.1174909096296, + 47.77621875934369 + ], + [ + 585.6435558360266, + -120.8453048866694 + ], + [ + 588.7972624842802, + -123.92403009401005 + ], + [ + 502.7990589143454, + -130.97031224680512 + ], + [ + 499.0382289624551, + -128.00188904507587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.325812304236, + "ymin": 128.36456401306785, + "xmax": 1017.691462430573, + "ymax": 141.45567192147266 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1016.2349700492264, + 133.6618188313958 + ], + [ + 1004.325812304236, + 132.1766451512562 + ], + [ + 1004.5020015085513, + 139.9346394113569 + ], + [ + 1016.5546111960031, + 141.45567192147266 + ], + [ + 1017.357334668357, + 129.84539695445517 + ], + [ + 1005.4101551740441, + 128.36456401306785 + ], + [ + 1005.5999082356839, + 136.1001069504482 + ], + [ + 1017.691462430573, + 137.61680235389653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1034.0922523244342, + "ymin": 531.640918816548, + "xmax": 1065.4760110270174, + "ymax": 592.0755047538042 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1037.4457398267239, + 592.0755047538042 + ], + [ + 1037.3675852701228, + 590.2657768631498 + ], + [ + 1034.0922523244342, + 589.5726970574112 + ], + [ + 1034.1649993224864, + 591.3801546073614 + ], + [ + 1065.4760110270174, + 534.1797450156329 + ], + [ + 1065.3433172766638, + 532.3438918708323 + ], + [ + 1061.8187737399196, + 531.640918816548 + ], + [ + 1061.945205705525, + 533.4743067218305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.8395296847393, + "ymin": 66.36712588235866, + "xmax": 1022.4495229198109, + "ymax": 361.2295700957087 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 957.5242067654527, + 286.6644583974063 + ], + [ + 944.0638611828964, + 284.5663487725534 + ], + [ + 939.8395296847393, + 358.72372470191266 + ], + [ + 954.5393996788792, + 361.2295700957087 + ], + [ + 1019.1150958571745, + 68.18877117029314 + ], + [ + 1002.8596575123381, + 66.36712588235866 + ], + [ + 1004.3509929325174, + 131.89511244712722 + ], + [ + 1022.4495229198109, + 134.15117913042528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.021218709748, + "ymin": 506.1733651672758, + "xmax": 941.8580434320479, + "ymax": 567.3279947644509 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 922.1830715471641, + 567.3279947644509 + ], + [ + 922.2917018816622, + 565.5843340160266 + ], + [ + 919.1348715624722, + 564.9165343999435 + ], + [ + 919.021218709748, + 566.6580393628446 + ], + [ + 941.7756286561582, + 508.61200565569686 + ], + [ + 941.8580434320479, + 506.84861619027566 + ], + [ + 938.4696230180434, + 506.1733651672758 + ], + [ + 938.3814205810888, + 507.9344233614669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.8615818776889, + "ymin": 496.9942199821694, + "xmax": 896.6414685976338, + "ymax": 558.2040319620753 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 879.9708986272703, + 558.2040319620753 + ], + [ + 880.1460337262749, + 556.4896159446685 + ], + [ + 877.0415726555723, + 555.8330043565102 + ], + [ + 876.8615818776889, + 557.5453185792906 + ], + [ + 896.4824863997917, + 499.38917459801837 + ], + [ + 896.6414685976338, + 497.6573848288508 + ], + [ + 893.3131041653089, + 496.9942199821694 + ], + [ + 893.1485392393566, + 498.72374084238106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.3956970396919, + "ymin": 128.4338080556313, + "xmax": 1017.618961875495, + "ymax": 141.38552947823348 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1016.1789437777401, + 133.67499993587657 + ], + [ + 1004.3956970396919, + 132.2054829489536 + ], + [ + 1004.5708226465224, + 139.88091333355803 + ], + [ + 1016.4944862319464, + 141.38552947823348 + ], + [ + 1017.2892444402618, + 129.89907623373097 + ], + [ + 1005.4687763453034, + 128.4338080556313 + ], + [ + 1005.6571833363923, + 136.0872625372077 + ], + [ + 1017.618961875495, + 137.58763338968856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.5477197377682, + "ymin": 0.0, + "xmax": 498.0101351818291, + "ymax": 212.84107385127118 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 493.65831761360914, + 212.84107385127118 + ], + [ + 498.0101351818291, + 206.60873583243915 + ], + [ + 216.44551758428116, + 161.6379192730043 + ], + [ + 210.08865268090642, + 167.11493997612217 + ], + [ + 465.89407598469234, + -14.853398925431861 + ], + [ + 471.34543255559447, + -19.941000189178453 + ], + [ + 142.72293656447988, + -56.16834303497893 + ], + [ + 134.5477197377682, + -51.80106762011934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 139.76734925968069, + "xmax": 393.3804436495109, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 113.61354976938935, + 782.3026479892898 + ], + [ + 131.42196368222955, + 787.8907286375526 + ], + [ + 393.3804436495109, + 395.79896128599364 + ], + [ + 380.1279284707487, + 393.06422423756925 + ], + [ + -95.3783586336018, + 531.9004802419787 + ], + [ + -71.71641268916142, + 538.2114193466412 + ], + [ + 331.902436648639, + 142.23105034101184 + ], + [ + 315.5890562669611, + 139.76734925968069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.8980014582469, + "ymin": 527.317025886247, + "xmax": 1067.5684835482537, + "ymax": 588.3054811471754 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1039.2709993034666, + 588.3054811471754 + ], + [ + 1039.189489598898, + 586.4936456111903 + ], + [ + 1035.8980014582469, + 585.7997658335095 + ], + [ + 1035.9740501178808, + 587.6093179645042 + ], + [ + 1067.5684835482537, + 529.8578001624218 + ], + [ + 1067.431459764539, + 528.020532288963 + ], + [ + 1063.888216687654, + 527.317025886247 + ], + [ + 1064.0189120774373, + 529.1518145100911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 62.27605042490086, + "ymax": 110.71226038520413 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -22.307397462491394, + 110.71226038520413 + ], + [ + 62.27605042490086, + 69.22851763424882 + ], + [ + -2.9867705642723195, + 52.4308685485351 + ], + [ + -89.25827102145468, + 91.39266244856157 + ], + [ + -251.1008864987724, + -333.57875293633606 + ], + [ + -120.49367484165248, + -349.3417481071864 + ], + [ + -197.81879409979445, + -354.3630801359692 + ], + [ + -329.7461561454345, + -339.74513241081934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.3677692325042, + "ymin": 0.0, + "xmax": 801.9038705479172, + "ymax": 138.3720073117252 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 769.5770639916581, + 138.3720073117252 + ], + [ + 761.7433503836327, + 61.07892428172238 + ], + [ + 603.8455833724436, + 57.679418469637596 + ], + [ + 590.5914104365925, + 134.00293369197283 + ], + [ + 801.9038705479172, + -179.61861620393165 + ], + [ + 787.7565414118267, + -227.7868778210991 + ], + [ + 596.175620219658, + -229.8421126667106 + ], + [ + 578.3677692325042, + -182.41704118067503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.3768423861468, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 55.767791871837574 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1050.246311151015, + 51.235136043690034 + ], + [ + 1222.5628480068922, + 55.767791871837574 + ], + [ + 1163.0016875700753, + -11.888050399618976 + ], + [ + 1011.3768423861468, + -15.413524165368074 + ], + [ + 1140.5256292133333, + -248.43409015245925 + ], + [ + 1352.016130853152, + -245.82493615906742 + ], + [ + 1262.8209692335827, + -283.8378160846984 + ], + [ + 1081.6668164812118, + -285.76523385836913 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00084/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00084/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2a04e8b8a1e7788397819196bc859afa65cef135 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00084/meta.json @@ -0,0 +1,3514 @@ +{ + "frame_id": 84, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.0, + "sim_timestamp": 7732.468698786106 + }, + "drone_pose": { + "x": 8.332737403593386, + "y": -11.31717731249093, + "z": 20.086555359123615, + "pitch": -42.50784678304567, + "yaw": 70.37316844954614, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.24761509895324707, + -0.6943545341491699, + 0.6756911277770996, + -7.777484893798828 + ], + [ + 0.9419002532958984, + 0.33589279651641846, + 0.0, + 11.649964332580566 + ], + [ + -0.22695975005626678, + 0.6364336609840393, + 0.7371848225593567, + -20.118942260742188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 8.574285974472414, + "y": -10.838896558852982, + "z": 20.0 + }, + "t1_image_uv": [ + 497.48174979817554, + -269.65604755649645 + ], + "t1_depth": 0.4503921617143314 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 15.33281707763672, + "y": 8.312236785888672, + "z": 0.9847554755210877 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.270015424152426, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 541, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 8.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.3508550822734833, + "y": 0.46481597423553467, + "z": 0.9297652840614319 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.2546746753799, + "ymin": 324.57015683305156, + "xmax": 659.8698143855839, + "ymax": 394.81434141206404 + }, + "corners_3d": [ + [ + 15.413399696350098, + 7.735470294952393, + 0.054990172386169434 + ], + [ + 14.756050109863281, + 8.39281940460205, + 0.054990172386169434 + ], + [ + 15.25223445892334, + 8.88900375366211, + 0.054990172386169434 + ], + [ + 15.909584045410156, + 8.231654167175293, + 0.054990172386169434 + ], + [ + 15.413399696350098, + 7.735470294952393, + 1.9145207405090332 + ], + [ + 14.756050109863281, + 8.39281940460205, + 1.9145207405090332 + ], + [ + 15.25223445892334, + 8.88900375366211, + 1.9145207405090332 + ], + [ + 15.909584045410156, + 8.231654167175293, + 1.9145207405090332 + ] + ], + "corners_2d": [ + [ + 630.9232883973649, + 394.81434141206404 + ], + [ + 659.0032891386625, + 385.49079651165243 + ], + [ + 648.8407824676107, + 371.03731135959583 + ], + [ + 621.1106098323984, + 380.06408656284043 + ], + [ + 630.5049436979085, + 348.1458410333194 + ], + [ + 659.8698143855839, + 338.89451942196007 + ], + [ + 649.2371867717376, + 324.57015683305156 + ], + [ + 620.2546746753799, + 333.51384553841706 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 84, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 484058, + "2": 283285, + "3": 13554, + "5": 3402, + "6": 16333, + "7": 3011, + "9": 33961, + "10": 32360, + "12": 2329, + "14": 18582, + "20": 3748, + "24": 26977 + }, + "instance_pixel_counts": { + "381": 1950, + "3146": 2492, + "3669": 34, + "4480": 117, + "9856": 60, + "11676": 72001, + "14236": 32026, + "17502": 23749, + "19038": 8488, + "19354": 3915, + "19866": 5740, + "20378": 9528, + "20573": 13872, + "20890": 11412, + "21085": 144800, + "21402": 36, + "21597": 34166, + "21914": 2171, + "22426": 68, + "23418": 3645, + "23450": 27643, + "25498": 4687, + "25978": 235, + "34304": 665, + "34816": 9672, + "34899": 399, + "35072": 6455, + "36252": 139579, + "36764": 55593, + "37276": 7411, + "38300": 163110, + "38483": 2036, + "40860": 14338, + "41121": 301, + "41633": 104, + "43008": 541, + "43264": 234, + "43520": 156, + "43776": 662, + "44288": 736, + "44544": 9945, + "44922": 11413, + "45388": 24, + "45434": 2289, + "45824": 7396, + "46848": 1241, + "49778": 13554, + "50509": 14, + "51021": 22, + "51309": 33961, + "51587": 697, + "51612": 369, + "52636": 8380, + "54684": 646, + "58697": 3402, + "59772": 1820, + "60284": 3001, + "60796": 2565, + "61308": 3384, + "61820": 99, + "62844": 528, + "63868": 11900 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 541, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 8.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.4000445604324341, + "y": 0.4588436782360077, + "z": 0.9486362338066101 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.7277703970583, + "ymin": 323.1478599633702, + "xmax": 660.4513333399104, + "ymax": 396.2584095985445 + }, + "corners_3d": [ + [ + 15.374394416809082, + 7.704911231994629, + 0.03611922264099121 + ], + [ + 14.725491523742676, + 8.353814125061035, + 0.03611922264099121 + ], + [ + 15.291239738464355, + 8.919562339782715, + 0.03611922264099121 + ], + [ + 15.940142631530762, + 8.270659446716309, + 0.03611922264099121 + ], + [ + 15.374394416809082, + 7.704911231994629, + 1.9333916902542114 + ], + [ + 14.725491523742676, + 8.353814125061035, + 1.9333916902542114 + ], + [ + 15.291239738464355, + 8.919562339782715, + 1.9333916902542114 + ], + [ + 15.940142631530762, + 8.270659446716309, + 1.9333916902542114 + ] + ], + "corners_2d": [ + [ + 631.8093012921099, + 396.2584095985445 + ], + [ + 659.5406536518643, + 387.033116532957 + ], + [ + 647.9608616924137, + 370.54977609877926 + ], + [ + 620.6229183467341, + 379.44114402282946 + ], + [ + 631.4235133448601, + 348.6343954303427 + ], + [ + 660.4513333399104, + 339.4810536995407 + ], + [ + 648.3248213865094, + 323.1478599633702 + ], + [ + 619.7277703970583, + 331.954800694336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 234, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 19.458803176879883, + "y": 11.309941291809082, + "z": 1.1371577978134155 + }, + "extent": { + "x": 0.21649231016635895, + "y": 0.23366209864616394, + "z": 0.5992574095726013 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 540.6523205869161, + "ymin": 248.5393288040084, + "xmax": 562.2890983666554, + "ymax": 289.69460601389164 + }, + "corners_3d": [ + [ + 19.404499053955078, + 10.996065139770508, + 0.5379003882408142 + ], + [ + 19.14997673034668, + 11.387996673583984, + 0.5379003882408142 + ], + [ + 19.513107299804688, + 11.623817443847656, + 0.5379003882408142 + ], + [ + 19.767629623413086, + 11.23188591003418, + 0.5379003882408142 + ], + [ + 19.404499053955078, + 10.996065139770508, + 1.736415147781372 + ], + [ + 19.14997673034668, + 11.387996673583984, + 1.736415147781372 + ], + [ + 19.513107299804688, + 11.623817443847656, + 1.736415147781372 + ], + [ + 19.767629623413086, + 11.23188591003418, + 1.736415147781372 + ] + ], + "corners_2d": [ + [ + 550.43371780011, + 289.69460601389164 + ], + [ + 562.2890983666554, + 284.34584618082755 + ], + [ + 554.9991250780032, + 277.9518483197305 + ], + [ + 543.1905239473, + 283.2156214879498 + ], + [ + 548.0659756485297, + 260.14818857276373 + ], + [ + 560.248689251021, + 254.85931471307723 + ], + [ + 552.7855127119531, + 248.5393288040084 + ], + [ + 540.6523205869161, + 253.74198065677396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 156, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 13.076992988586426, + "y": 15.254949569702148, + "z": 0.8375670909881592 + }, + "extent": { + "x": 0.1788647472858429, + "y": 0.3438360095024109, + "z": 0.5681711435317993 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 758.4163465890603, + "ymin": 228.78605292876847, + "xmax": 784.1008916238089, + "ymax": 267.5736950110087 + }, + "corners_3d": [ + [ + 13.15437126159668, + 14.875175476074219, + 0.26939594745635986 + ], + [ + 12.721606254577637, + 15.409597396850586, + 0.26939594745635986 + ], + [ + 12.999614715576172, + 15.634723663330078, + 0.26939594745635986 + ], + [ + 13.432379722595215, + 15.100301742553711, + 0.26939594745635986 + ], + [ + 13.15437126159668, + 14.875175476074219, + 1.4057382345199585 + ], + [ + 12.721606254577637, + 15.409597396850586, + 1.4057382345199585 + ], + [ + 12.999614715576172, + 15.634723663330078, + 1.4057382345199585 + ], + [ + 13.432379722595215, + 15.100301742553711, + 1.4057382345199585 + ] + ], + "corners_2d": [ + [ + 764.685635440717, + 267.5736950110087 + ], + [ + 780.7516131930328, + 261.2823263563704 + ], + [ + 774.4233113743284, + 255.9939162378542 + ], + [ + 758.4163465890603, + 262.20005501807157 + ], + [ + 767.6770808893972, + 240.22785903180352 + ], + [ + 784.1008916238089, + 234.01045044038807 + ], + [ + 777.599838148341, + 228.78605292876847 + ], + [ + 761.237531578317, + 234.91724201409397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 662, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 5.832817077636719, + "y": 8.312236785888672, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.43704497814178467, + "y": 0.49580076336860657, + "z": 0.9276320338249207 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 939.1229941575916, + "ymin": 399.60701123822173, + "xmax": 1005.7111011652271, + "ymax": 479.5672872629831 + }, + "corners_3d": [ + [ + 5.874363422393799, + 7.652615070343018, + 0.057123422622680664 + ], + [ + 5.1731953620910645, + 8.35378360748291, + 0.057123422622680664 + ], + [ + 5.791270732879639, + 8.971858024597168, + 0.057123422622680664 + ], + [ + 6.492438793182373, + 8.270689964294434, + 0.057123422622680664 + ], + [ + 5.874363422393799, + 7.652615070343018, + 1.912387490272522 + ], + [ + 5.1731953620910645, + 8.35378360748291, + 1.912387490272522 + ], + [ + 5.791270732879639, + 8.971858024597168, + 1.912387490272522 + ], + [ + 6.492438793182373, + 8.270689964294434, + 1.912387490272522 + ] + ], + "corners_2d": [ + [ + 959.5748928644442, + 479.5672872629831 + ], + [ + 988.3521284379474, + 467.7127092471957 + ], + [ + 967.5168585304198, + 446.40998791079613 + ], + [ + 939.1229941575916, + 457.7557374464306 + ], + [ + 975.7006404575432, + 432.7504600710972 + ], + [ + 1005.7111011652271, + 420.8880974742407 + ], + [ + 983.4683999080984, + 399.60701123822173 + ], + [ + 953.871111865659, + 410.93554670400783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 736, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 26.578153610229492, + "y": 0.1420217901468277, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.30165648460388184, + "y": 0.46903055906295776, + "z": 0.8999583125114441 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 101.78518021868672, + "ymin": 425.57780194573735, + "xmax": 167.05579865556757, + "ymax": 493.859444861905 + }, + "corners_3d": [ + [ + 26.807222366333008, + -0.366421103477478, + 0.08480691909790039 + ], + [ + 26.020498275756836, + 0.14448408782482147, + 0.08480691909790039 + ], + [ + 26.349084854125977, + 0.650464653968811, + 0.08480691909790039 + ], + [ + 27.13580894470215, + 0.13955949246883392, + 0.08480691909790039 + ], + [ + 26.807222366333008, + -0.366421103477478, + 1.8847235441207886 + ], + [ + 26.020498275756836, + 0.14448408782482147, + 1.8847235441207886 + ], + [ + 26.349084854125977, + 0.650464653968811, + 1.8847235441207886 + ], + [ + 27.13580894470215, + 0.13955949246883392, + 1.8847235441207886 + ] + ], + "corners_2d": [ + [ + 127.26151070647961, + 493.859444861905 + ], + [ + 164.3218794416498, + 487.58755256342755 + ], + [ + 167.05579865556757, + 471.00295360511666 + ], + [ + 130.6259541395607, + 477.0694394432302 + ], + [ + 101.78518021868672, + 448.4701281452085 + ], + [ + 140.84039870641055, + 442.1832981882193 + ], + [ + 144.11222690794665, + 425.57780194573735 + ], + [ + 105.75642242988306, + 431.6488031204546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 9945, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 251.8966713012273, + "ymin": 130.9465944449288, + "xmax": 419.16215605102104, + "ymax": 285.8356802690377 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 268.5466550757552, + 271.7706547258528 + ], + [ + 328.7021130177115, + 285.8356802690377 + ], + [ + 419.16215605102104, + 190.25988770227085 + ], + [ + 364.6374821583005, + 179.31098393145714 + ], + [ + 251.8966713012273, + 220.86875780076417 + ], + [ + 314.48931599896287, + 234.6303428313119 + ], + [ + 410.3232965082915, + 141.54609486185404 + ], + [ + 353.79292180106773, + 130.9465944449288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 179, + "instance_id": 45824, + "pixel_count": 7396, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 17.85337257385254, + "y": -4.494150161743164, + "z": 0.7437387108802795 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 185.64476385180325, + "ymin": 638.8142496168398, + "xmax": 451.60395427422054, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 20.30179214477539, + -3.5817525386810303, + -0.0014001298695802689 + ], + [ + 20.297321319580078, + -5.418460369110107, + -0.0014001298695802689 + ], + [ + 15.404953002929688, + -5.406548023223877, + -0.0014001298695802689 + ], + [ + 15.409425735473633, + -3.5698401927948, + -0.0014001298695802689 + ], + [ + 20.30179214477539, + -3.5817525386810303, + 1.4888774156570435 + ], + [ + 20.297321319580078, + -5.418460369110107, + 1.4888774156570435 + ], + [ + 15.404953002929688, + -5.406548023223877, + 1.4888774156570435 + ], + [ + 15.409425735473633, + -3.5698401927948, + 1.4888774156570435 + ] + ], + "corners_2d": [ + [ + 259.8498233882317, + 674.1394828721619 + ], + [ + 207.82042879653017, + 748.013174542047 + ], + [ + 408.95066279880336, + 826.5326452812947 + ], + [ + 451.60395427422054, + 743.5255427312912 + ], + [ + 241.53508167491196, + 638.8142496168398 + ], + [ + 185.64476385180325, + 714.1808603919906 + ], + [ + 396.3209329998687, + 794.7827360413088 + ], + [ + 441.97308476605434, + 709.5896843490823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 1241, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 448.16611421174866, + "ymin": 0.0, + "xmax": 532.2858902802698, + "ymax": 34.732144263685996 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 532.2858902802698, + -2.5917346417917884 + ], + [ + 495.74096743448524, + -7.933218919816113 + ], + [ + 452.271845323686, + 28.596698951561848 + ], + [ + 490.96714650820996, + 34.732144263685996 + ], + [ + 530.0668238634149, + -31.638947100238 + ], + [ + 492.80033401356604, + -36.78328420172295 + ], + [ + 448.16611421174866, + -1.5578873641662199 + ], + [ + 487.67044057446725, + 4.368522015523922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1038.0408255898747, + "ymin": 712.1327354941986, + "xmax": 1084.5555761305807, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1073.7917586902342, + 743.1529956535081 + ], + [ + 1073.8758888351304, + 739.6810928589653 + ], + [ + 1038.2216352219716, + 728.6888237036485 + ], + [ + 1038.0408255898747, + 732.100311733353 + ], + [ + 1084.4995329033877, + 726.7574192911218 + ], + [ + 1084.5555761305807, + 723.2462340243244 + ], + [ + 1047.936079527572, + 712.1327354941986 + ], + [ + 1047.7780381843122, + 715.5813365939825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1020.4070180282296, + "ymin": 711.7308931833536, + "xmax": 1066.363192178559, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 1055.9908174838124, + 742.7461858849441 + ], + [ + 1056.1238356696426, + 739.2765161153764 + ], + [ + 1020.6358031610027, + 728.2912763447449 + ], + [ + 1020.4070180282296, + 731.7005893715226 + ], + [ + 1066.2558020250208, + 726.3459820732314 + ], + [ + 1066.363192178559, + 722.837110734765 + ], + [ + 1029.9182201994668, + 711.7308931833536 + ], + [ + 1029.7098137961934, + 715.1772419343561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 277.264751877453, + "ymin": 442.3980463334016, + "xmax": 311.82989513622897, + "ymax": 489.73305633279324 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 311.82989513622897, + 475.72893786407883 + ], + [ + 299.8794789310439, + 472.1489423794512 + ], + [ + 288.60493100494824, + 486.0518223684403 + ], + [ + 300.68216866564023, + 489.73305633279324 + ], + [ + 301.3513765581337, + 445.9815640144314 + ], + [ + 289.05967307196727, + 442.3980463334016 + ], + [ + 277.264751877453, + 456.3192133657465 + ], + [ + 289.69037483461966, + 460.00736898708516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.1590785144722, + "ymin": 359.84372327113647, + "xmax": 378.11870406021615, + "ymax": 404.2003551880594 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 378.11870406021615, + 392.4546523694814 + ], + [ + 366.9460252837644, + 389.4475562851499 + ], + [ + 357.4839243255081, + 401.11546719578905 + ], + [ + 368.7687463108595, + 404.2003551880594 + ], + [ + 370.47658058426896, + 362.83782066408133 + ], + [ + 359.0048908585559, + 359.84372327113647 + ], + [ + 349.1590785144722, + 371.46441667118086 + ], + [ + 360.74886738209574, + 374.5382710710647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.59341595260088, + "ymin": 564.5095426857546, + "xmax": 214.3458868922761, + "ymax": 615.8833446864137 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 214.3458868922761, + 598.1917939735338 + ], + [ + 201.32498184653588, + 593.6789693569134 + ], + [ + 187.09450185872254, + 611.2268774318856 + ], + [ + 200.26285179628377, + 615.8833446864137 + ], + [ + 199.02282023583746, + 569.0623603252159 + ], + [ + 185.59919972471533, + 564.5095426857546 + ], + [ + 170.59341595260088, + 582.2203946423654 + ], + [ + 184.17317307279075, + 586.9234619724457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.5311729548001, + "ymin": 197.9659976612427, + "xmax": 566.0399533138489, + "ymax": 229.27473855248954 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 557.9848889195658, + 221.13966903462196 + ], + [ + 553.2410644017064, + 227.57336362805532 + ], + [ + 561.355422583624, + 229.27473855248954 + ], + [ + 566.0399533138489, + 222.81184967734737 + ], + [ + 556.3826754658885, + 197.9659976612427 + ], + [ + 551.5311729548001, + 204.32133775965673 + ], + [ + 559.8018556541736, + 206.0023525287916 + ], + [ + 564.5917761732952, + 199.61760585068387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 246.06254332825745, + "ymin": 59.089090039286816, + "xmax": 267.87074575366864, + "ymax": 90.8913408530671 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 260.6872778826803, + 84.41115159630084 + ], + [ + 253.52390820192954, + 89.54211081128386 + ], + [ + 260.7526426785779, + 90.8913408530671 + ], + [ + 267.87074575366864, + 85.73773465373102 + ], + [ + 253.42704182952275, + 59.089090039286816 + ], + [ + 246.06254332825745, + 64.09996541244789 + ], + [ + 253.4143141343049, + 65.41788886405749 + ], + [ + 260.7320696282791, + 60.384469928770216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.4243232773691, + "ymin": 85.9251382371873, + "xmax": 417.2329428711903, + "ymax": 118.95679721157643 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 409.3810549965935, + 111.87087965300344 + ], + [ + 403.2096341785159, + 117.48088004371306 + ], + [ + 411.11711443828233, + 118.95679721157643 + ], + [ + 417.2329428711903, + 113.32090140983925 + ], + [ + 404.7623038435107, + 85.9251382371873 + ], + [ + 398.4243232773691, + 91.41346976616552 + ], + [ + 406.48067884742784, + 92.85770186641673 + ], + [ + 412.7610013045485, + 87.34352505928831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 106.81437780616815, + "xmax": 10.48477595212762, + "ymax": 134.84567717338547 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + -3.817724916519296, + 133.54577443699978 + ], + [ + 2.1657567372060385, + 134.84567717338547 + ], + [ + 10.48477595212762, + 129.90388203887588 + ], + [ + 4.529973909280102, + 128.6235079135272 + ], + [ + -14.88287722698351, + 111.65287205177628 + ], + [ + -8.818741072096373, + 112.93086079896793 + ], + [ + -0.2732336896257266, + 108.07284064380067 + ], + [ + -6.308037073431365, + 106.81437780616815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.59513798416225, + "ymin": 70.98652483303391, + "xmax": 334.11699507379967, + "ymax": 103.33646977914469 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 326.6407250732958, + 96.59098393426592 + ], + [ + 319.903081289253, + 101.93176238317847 + ], + [ + 327.4290441170523, + 103.33646977914469 + ], + [ + 334.11699507379967, + 97.97163947286714 + ], + [ + 320.51962764751596, + 70.98652483303391 + ], + [ + 313.59513798416225, + 76.20637034694863 + ], + [ + 321.255221210055, + 77.57956399770944 + ], + [ + 328.12829469068583, + 72.33574843024633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.74082295739674, + "ymin": 0.0, + "xmax": 132.99483435039963, + "ymax": 9.641590708909405 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 110.2100040367983, + 6.117685960203801 + ], + [ + 131.12353228338964, + 9.641590708909405 + ], + [ + 132.99483435039963, + 8.62341009470856 + ], + [ + 112.10882062195924, + 5.112998134413203 + ], + [ + 106.74082295739674, + -3.058009382202556 + ], + [ + 127.7688279048366, + 0.4272534247704698 + ], + [ + 129.65893490522478, + -0.5797935784444803 + ], + [ + 108.65871865807674, + -4.051624127458183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 38.66945937337857, + "ymax": 397.62518587563 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 38.66945937337857, + 189.8918893942475 + ], + [ + 29.901653702372187, + 187.7824147079143 + ], + [ + -287.170404865549, + 394.1033950629767 + ], + [ + -277.0582992861914, + 397.62518587563 + ], + [ + -71.52767451702766, + -33.217341665828656 + ], + [ + -81.50928536543745, + -34.92789568926531 + ], + [ + -518.139214453879, + 141.68749277761526 + ], + [ + -506.60863110983223, + 144.8748070587955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1130.05082496435, + "ymin": 0.0, + "xmax": 1215.2750956725354, + "ymax": 35.77100084828288 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1176.1935158834337, + 35.77100084828288 + ], + [ + 1173.814049982685, + 17.354104416300913 + ], + [ + 1130.05082496435, + 11.736480149368163 + ], + [ + 1130.9206511980758, + 29.763802383632253 + ], + [ + 1215.2750956725354, + -64.20071057150159 + ], + [ + 1211.3420358192911, + -80.36611750094721 + ], + [ + 1164.116928886404, + -85.28148429532627 + ], + [ + 1166.2877445715185, + -69.48209710286642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.4427416786176, + "ymin": 0.0, + "xmax": 694.6688129087456, + "ymax": 107.39765187084521 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 684.7275408264004, + 107.39765187084521 + ], + [ + 687.797920429518, + 102.80809369357684 + ], + [ + 605.4287685616687, + 88.9432148983525 + ], + [ + 601.833788585158, + 93.32995768030509 + ], + [ + 691.2113253681827, + -81.04840321732956 + ], + [ + 694.6688129087456, + -84.72081553795482 + ], + [ + 600.5853441988596, + -95.76792170324205 + ], + [ + 596.4427416786176, + -92.28033139016856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.9397877057695, + "ymin": 266.2222642808133, + "xmax": 1216.6682124518966, + "ymax": 284.4057285143599 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1213.015581098944, + 273.15904217946655 + ], + [ + 1197.9397877057695, + 270.32900793118523 + ], + [ + 1199.2615514785607, + 281.4949936407853 + ], + [ + 1214.555937537458, + 284.4057285143599 + ], + [ + 1215.0926300979058, + 269.0477963942637 + ], + [ + 1199.9549476022562, + 266.2222642808133 + ], + [ + 1201.310130927263, + 277.370911439009 + ], + [ + 1216.6682124518966, + 280.2773135099386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.5419991592555, + "ymin": 180.07726626254035, + "xmax": 1224.0294790353064, + "ymax": 513.120936269949 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1102.4736250575456, + 414.1774264741317 + ], + [ + 1086.4361095133318, + 410.5362622508618 + ], + [ + 1084.5419991592555, + 508.66936809946617 + ], + [ + 1102.2700781638616, + 513.120936269949 + ], + [ + 1209.9091772344207, + 183.45293095590569 + ], + [ + 1189.6483149054068, + 180.07726626254035 + ], + [ + 1200.995182386393, + 273.2442920699782 + ], + [ + 1224.0294790353064, + 277.58112922784005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.2234910811849, + "ymin": 719.6094405117383, + "xmax": 1049.8933840830136, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1018.0466835948313, + 776.3656244710171 + ], + [ + 1018.2076130371833, + 773.9497947825847 + ], + [ + 1014.3913864955284, + 772.724541596166 + ], + [ + 1014.2234910811849, + 775.1357937605723 + ], + [ + 1049.783073024484, + 723.3940133975184 + ], + [ + 1049.8933840830136, + 720.8827800067985 + ], + [ + 1045.7252502041024, + 719.6094405117383 + ], + [ + 1045.6066254571883, + 722.1155171739384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.0373129930383, + "ymin": 266.31813561137056, + "xmax": 1216.566216769347, + "ymax": 284.30796772747823 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1212.9539768480804, + 273.1815965936402 + ], + [ + 1198.0373129930383, + 270.3813140078849 + ], + [ + 1199.346302091324, + 281.4286935383756 + ], + [ + 1214.4769356900651, + 284.30796772747823 + ], + [ + 1215.0087875175284, + 269.11401223977197 + ], + [ + 1200.0315358654714, + 266.31813561137056 + ], + [ + 1201.3732460973356, + 277.3485445778925 + ], + [ + 1216.566216769347, + 280.22357678924396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.40508606895912, + "ymin": 0.0, + "xmax": 577.536198756746, + "ymax": 291.24966807386994 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 572.520046262841, + 291.24966807386994 + ], + [ + 577.536198756746, + 283.7832507237132 + ], + [ + 277.7540769631231, + 214.73079955969519 + ], + [ + 270.6288866399643, + 220.96436035328298 + ], + [ + 558.0084151327094, + 51.22727898375712 + ], + [ + 564.2532323074613, + 44.852218237218494 + ], + [ + 208.60406854955903, + -12.934655297835207 + ], + [ + 199.40508606895912, + -7.803358279745112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 252.12897900472, + "xmax": 452.84526543743175, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 104.86354895152488, + 1018.9903176324023 + ], + [ + 124.48375475189926, + 1028.9998496447263 + ], + [ + 452.84526543743175, + 516.810257987865 + ], + [ + 438.26153015365355, + 512.3164369564724 + ], + [ + -165.65561856218346, + 822.659741066474 + ], + [ + -138.6774211180375, + 835.850074381761 + ], + [ + 398.1341459869047, + 256.4726323427655 + ], + [ + 379.61707547300387, + 252.12897900472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 126.0878468356484, + "ymax": 145.74999513484838 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 35.59256409165994, + 145.74999513484838 + ], + [ + 126.0878468356484, + 101.19361398083606 + ], + [ + 61.80888794451221, + 79.205434764801 + ], + [ + -29.48362717321072, + 120.46094509278373 + ], + [ + -190.09083947245585, + -319.68985533268324 + ], + [ + -49.30266113789594, + -337.5578967964864 + ], + [ + -125.27702784674739, + -344.83570598998324 + ], + [ + -265.5075615902316, + -328.6067929848316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.0442654625226, + "ymin": 0.0, + "xmax": 948.8635792595658, + "ymax": 212.410820996384 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 880.0246980570511, + 212.410820996384 + ], + [ + 870.75797603604, + 118.0757766415758 + ], + [ + 697.1338274918111, + 107.34206643152555 + ], + [ + 681.0442654625226, + 198.3033311714641 + ], + [ + 948.8635792595658, + -130.30193440058576 + ], + [ + 926.3598939967128, + -192.58359912208311 + ], + [ + 710.6141596465108, + -199.39011290514964 + ], + [ + 692.5255305987242, + -139.906979061007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.29018400928, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 131.79820980619377 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1197.209941339593, + 118.5620096732541 + ], + [ + 1398.8634725664442, + 131.79820980619377 + ], + [ + 1323.6558434323097, + 46.397183147832834 + ], + [ + 1149.29018400928, + 36.37596590864365 + ], + [ + 1338.7296238092513, + -208.7678210704022 + ], + [ + 1596.6357928870154, + -200.63632681836646 + ], + [ + 1473.3673706618247, + -251.637338118623 + ], + [ + 1258.4215320297753, + -257.40198211908023 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00088/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00088/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3d5d76a6fe8ded82afd6f7fd691189452b8f83 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00088/meta.json @@ -0,0 +1,3200 @@ +{ + "frame_id": 88, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.0, + "sim_timestamp": 7778.577691489365 + }, + "drone_pose": { + "x": 9.382573658479746, + "y": -9.292438640173359, + "z": 20.0, + "pitch": -41.72127417638289, + "yaw": 67.92607153809054, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2804957628250122, + -0.6916804313659668, + 0.6655075550079346, + -9.5145263671875 + ], + [ + 0.9266996383666992, + 0.3758026957511902, + 0.0, + 12.186952590942383 + ], + [ + -0.2500995099544525, + 0.6167256236076355, + 0.7463911175727844, + -18.312129974365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.526010691606182, + "y": -8.793701607954212, + "z": 20.0 + }, + "t1_image_uv": [ + 775.8345306120954, + -495.9684238718771 + ], + "t1_depth": 0.3852001353011645 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.33281707763672, + "y": 10.312236785888672, + "z": 1.1371578168869019 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.343543959958858, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 550, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 10.312235832214355, + "z": 1.1371577978134155 + }, + "extent": { + "x": 0.3872882127761841, + "y": 0.5588507056236267, + "z": 0.9160555601119995 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.9431484746988, + "ymin": 323.78150233202297, + "xmax": 662.8727957786297, + "ymax": 395.7487862408286 + }, + "corners_3d": [ + [ + 17.89166831970215, + 9.924947738647461, + 0.22110223770141602 + ], + [ + 16.77396583557129, + 9.924947738647461, + 0.22110223770141602 + ], + [ + 16.77396583557129, + 10.69952392578125, + 0.22110223770141602 + ], + [ + 17.89166831970215, + 10.69952392578125, + 0.22110223770141602 + ], + [ + 17.89166831970215, + 9.924947738647461, + 2.053213357925415 + ], + [ + 16.77396583557129, + 9.924947738647461, + 2.053213357925415 + ], + [ + 16.77396583557129, + 10.69952392578125, + 2.053213357925415 + ], + [ + 17.89166831970215, + 10.69952392578125, + 2.053213357925415 + ] + ], + "corners_2d": [ + [ + 617.9178653888627, + 386.05589480956445 + ], + [ + 652.529530275944, + 395.7487862408286 + ], + [ + 661.91325367813, + 379.3112476078262 + ], + [ + 627.8326567748294, + 369.97054029010087 + ], + [ + 616.9431484746988, + 339.68101055152283 + ], + [ + 653.0889394001505, + 349.2742786037258 + ], + [ + 662.8727957786297, + 333.0111740560915 + ], + [ + 627.3058025449012, + 323.78150233202297 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 88, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 442551, + "2": 305832, + "3": 21962, + "5": 3412, + "6": 15040, + "7": 3336, + "9": 37790, + "10": 45527, + "12": 2348, + "14": 13497, + "20": 5276, + "24": 25029 + }, + "instance_pixel_counts": { + "3146": 2210, + "3669": 36, + "4480": 282, + "9856": 69, + "11676": 57321, + "14236": 2858, + "17502": 35699, + "19038": 9683, + "19354": 4978, + "19866": 6834, + "20378": 10817, + "20573": 17660, + "20890": 12390, + "21085": 174122, + "21402": 1568, + "21597": 8991, + "21914": 3772, + "22426": 709, + "23418": 2360, + "23450": 35213, + "25498": 46, + "29260": 181, + "34304": 1338, + "34816": 7848, + "34899": 527, + "35072": 6988, + "35442": 102, + "36252": 165824, + "36764": 61548, + "37276": 15560, + "38300": 139440, + "38483": 1393, + "41121": 361, + "41633": 283, + "43008": 550, + "43264": 237, + "43520": 170, + "43776": 681, + "44032": 19, + "44288": 691, + "44544": 10912, + "44922": 13462, + "45388": 484, + "45434": 2510, + "45644": 472, + "46848": 2585, + "49778": 21860, + "51021": 457, + "51309": 37790, + "51587": 723, + "51612": 756, + "52636": 5941, + "58697": 3412, + "59772": 2279, + "60284": 3472, + "60796": 2781, + "61308": 3553, + "61820": 576, + "62844": 956, + "63868": 15115 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 550, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 10.312235832214355, + "z": 1.1371577978134155 + }, + "extent": { + "x": 0.3701159656047821, + "y": 0.5697207450866699, + "z": 0.9173574447631836 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.8291339563272, + "ymin": 324.00434673175386, + "xmax": 663.0106510536605, + "ymax": 395.5045310851747 + }, + "corners_3d": [ + [ + 17.902538299560547, + 9.942119598388672, + 0.21980035305023193 + ], + [ + 16.76309585571289, + 9.942119598388672, + 0.21980035305023193 + ], + [ + 16.76309585571289, + 10.682352066040039, + 0.21980035305023193 + ], + [ + 17.902538299560547, + 10.682352066040039, + 0.21980035305023193 + ], + [ + 17.902538299560547, + 9.942119598388672, + 2.0545153617858887 + ], + [ + 16.76309585571289, + 9.942119598388672, + 2.0545153617858887 + ], + [ + 16.76309585571289, + 10.682352066040039, + 2.0545153617858887 + ], + [ + 17.902538299560547, + 10.682352066040039, + 2.0545153617858887 + ] + ], + "corners_2d": [ + [ + 617.809526118302, + 385.6312202416979 + ], + [ + 653.0812077742754, + 395.5045310851747 + ], + [ + 662.0434859137135, + 379.79251402719507 + ], + [ + 627.2891656675615, + 370.2623058323482 + ], + [ + 616.8291339563272, + 339.1952894473532 + ], + [ + 653.6659073830486, + 348.966618755598 + ], + [ + 663.0106510536605, + 333.42143985573136 + ], + [ + 626.7378058320508, + 324.00434673175386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 237, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.458803176879883, + "y": 13.309941291809082, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.26347050070762634, + "y": 0.28289127349853516, + "z": 0.6007692217826843 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 546.4809810800431, + "ymin": 251.95140507096733, + "xmax": 569.118045832116, + "ymax": 292.65934583331165 + }, + "corners_3d": [ + [ + 21.68073272705078, + 12.993412017822266, + 0.536403238773346 + ], + [ + 21.127315521240234, + 13.111044883728027, + 0.536403238773346 + ], + [ + 21.236873626708984, + 13.626470565795898, + 0.536403238773346 + ], + [ + 21.79029083251953, + 13.508837699890137, + 0.536403238773346 + ], + [ + 21.68073272705078, + 12.993412017822266, + 1.7379417419433594 + ], + [ + 21.127315521240234, + 13.111044883728027, + 1.7379417419433594 + ], + [ + 21.236873626708984, + 13.626470565795898, + 1.7379417419433594 + ], + [ + 21.79029083251953, + 13.508837699890137, + 1.7379417419433594 + ] + ], + "corners_2d": [ + [ + 548.8312924079249, + 290.82848124793384 + ], + [ + 565.4658928488142, + 292.65934583331165 + ], + [ + 569.118045832116, + 283.1548064227437 + ], + [ + 552.6750888855129, + 281.36775705051326 + ], + [ + 546.4809810800431, + 261.2887777058654 + ], + [ + 563.5398314589828, + 263.0964395496608 + ], + [ + 567.308999847342, + 253.7147110433895 + ], + [ + 550.4516285676756, + 251.95140507096733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 170, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.076992988586426, + "y": 17.25494956970215, + "z": 0.8021551370620728 + }, + "extent": { + "x": 0.3025664985179901, + "y": 0.2673742473125458, + "z": 0.6304179430007935 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 766.8276733691755, + "ymin": 236.84074590648606, + "xmax": 788.9818906075346, + "ymax": 279.5922213775208 + }, + "corners_3d": [ + [ + 15.311275482177734, + 16.92609214782715, + 0.1717371940612793 + ], + [ + 14.779457092285156, + 16.98198890686035, + 0.1717371940612793 + ], + [ + 14.842710494995117, + 17.58380699157715, + 0.1717371940612793 + ], + [ + 15.374528884887695, + 17.527910232543945, + 0.1717371940612793 + ], + [ + 15.311275482177734, + 16.92609214782715, + 1.4325730800628662 + ], + [ + 14.779457092285156, + 16.98198890686035, + 1.4325730800628662 + ], + [ + 14.842710494995117, + 17.58380699157715, + 1.4325730800628662 + ], + [ + 15.374528884887695, + 17.527910232543945, + 1.4325730800628662 + ] + ], + "corners_2d": [ + [ + 766.8276733691755, + 276.9945334253977 + ], + [ + 782.2551450163932, + 279.5922213775208 + ], + [ + 785.2297697291367, + 269.48933624531486 + ], + [ + 769.9927665930331, + 266.95877493761145 + ], + [ + 770.1373280020928, + 246.73187473636392 + ], + [ + 785.9801924284138, + 249.29321835861015 + ], + [ + 788.9818906075346, + 239.33420640759323 + ], + [ + 773.3398392102926, + 236.84074590648606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 681, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 7.832817077636719, + "y": 10.312235832214355, + "z": 1.1344574689865112 + }, + "extent": { + "x": 0.4096877872943878, + "y": 0.6413183212280273, + "z": 0.9201227426528931 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 935.2772169171252, + "ymin": 408.0584348289673, + "xmax": 1004.2907225024212, + "ymax": 489.2572869431351 + }, + "corners_3d": [ + [ + 8.474135398864746, + 9.902547836303711, + 0.21433472633361816 + ], + [ + 7.191498756408691, + 9.902547836303711, + 0.21433472633361816 + ], + [ + 7.191498756408691, + 10.721923828125, + 0.21433472633361816 + ], + [ + 8.474135398864746, + 10.721923828125, + 0.21433472633361816 + ], + [ + 8.474135398864746, + 9.902547836303711, + 2.0545802116394043 + ], + [ + 7.191498756408691, + 9.902547836303711, + 2.0545802116394043 + ], + [ + 7.191498756408691, + 10.721923828125, + 2.0545802116394043 + ], + [ + 8.474135398864746, + 10.721923828125, + 2.0545802116394043 + ] + ], + "corners_2d": [ + [ + 935.2772169171252, + 475.7229009835957 + ], + [ + 983.5668385774409, + 489.2572869431351 + ], + [ + 987.3889959318692, + 468.10395928940034 + ], + [ + 940.0708431439291, + 455.14069184067296 + ], + [ + 949.7626223754271, + 428.5814917572389 + ], + [ + 1000.6676304623445, + 442.10024132599926 + ], + [ + 1004.2907225024212, + 420.97947641757344 + ], + [ + 954.4646438747177, + 408.0584348289673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 19, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 13.717317581176758, + "y": -0.8151243925094604, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.46205568313598633, + "y": 0.5535373091697693, + "z": 0.9386690258979797 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 562.3365442034566, + "ymin": 689.7485798284758, + "xmax": 634.1208885575062, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 14.316120147705078, + -1.216788411140442, + 0.04608154296875 + ], + [ + 13.215110778808594, + -1.3325093984603882, + 0.04608154296875 + ], + [ + 13.118515014648438, + -0.4134604036808014, + 0.04608154296875 + ], + [ + 14.219524383544922, + -0.2977393865585327, + 0.04608154296875 + ], + [ + 14.316120147705078, + -1.216788411140442, + 1.9234195947647095 + ], + [ + 13.215110778808594, + -1.3325093984603882, + 1.9234195947647095 + ], + [ + 13.118515014648438, + -0.4134604036808014, + 1.9234195947647095 + ], + [ + 14.219524383544922, + -0.2977393865585327, + 1.9234195947647095 + ] + ], + "corners_2d": [ + [ + 567.128431924461, + 771.4715997568518 + ], + [ + 612.9187867247024, + 796.2885386738468 + ], + [ + 634.1208885575062, + 757.8662244571495 + ], + [ + 589.2713311616749, + 734.4897475725916 + ], + [ + 562.3365442034566, + 727.7291471941076 + ], + [ + 611.1007709702548, + 753.2981053173921 + ], + [ + 633.7387097432525, + 713.739416598644 + ], + [ + 586.0390514615242, + 689.7485798284758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 691, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 28.578153610229492, + "y": 2.142021894454956, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.35170164704322815, + "y": 0.2907443940639496, + "z": 0.8667805194854736 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.94145146437972, + "ymin": 411.9326477446053, + "xmax": 169.2612424645738, + "ymax": 480.5893940525125 + }, + "corners_3d": [ + [ + 28.935667037963867, + 1.8584550619125366, + 0.11798471212387085 + ], + [ + 28.366886138916016, + 1.7375565767288208, + 0.11798471212387085 + ], + [ + 28.220640182495117, + 2.425588846206665, + 0.11798471212387085 + ], + [ + 28.78942108154297, + 2.546487331390381, + 0.11798471212387085 + ], + [ + 28.935667037963867, + 1.8584550619125366, + 1.851545810699463 + ], + [ + 28.366886138916016, + 1.7375565767288208, + 1.851545810699463 + ], + [ + 28.220640182495117, + 2.425588846206665, + 1.851545810699463 + ], + [ + 28.78942108154297, + 2.546487331390381, + 1.851545810699463 + ] + ], + "corners_2d": [ + [ + 134.03626102882373, + 471.60445173883795 + ], + [ + 146.99579765148923, + 480.5893940525125 + ], + [ + 169.2612424645738, + 464.6363314166939 + ], + [ + 156.3099569430084, + 455.9412407426656 + ], + [ + 110.94145146437972, + 427.553615417938 + ], + [ + 124.27393081294144, + 436.52474925525144 + ], + [ + 147.93603534259023, + 420.60143834715893 + ], + [ + 134.6052760955272, + 411.9326477446053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 10912, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 278.00097327774006, + "ymin": 168.09060313780438, + "xmax": 452.79522718085025, + "ymax": 332.20689804345835 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 293.9356330077952, + 315.0942674929725 + ], + [ + 355.30745582131726, + 332.20689804345835 + ], + [ + 452.79522718085025, + 230.38829503648972 + ], + [ + 397.06033183758814, + 217.19124696278436 + ], + [ + 278.00097327774006, + 263.4506638501025 + ], + [ + 341.9090850478692, + 280.2277488622468 + ], + [ + 445.1125092450243, + 180.883348476521 + ], + [ + 387.27874037819413, + 168.09060313780438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 2585, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 489.3132225517335, + "ymin": 0.0, + "xmax": 575.3619271379386, + "ymax": 65.37299374678594 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 575.3619271379386, + 26.71436492502795 + ], + [ + 538.1378663427045, + 20.44492247320312 + ], + [ + 492.57625863819294, + 58.148286567063565 + ], + [ + 531.9594217756714, + 65.37299374678594 + ], + [ + 574.0140979981237, + -2.686052760088785 + ], + [ + 536.0398452049985, + -8.724711180041254 + ], + [ + 489.3132225517335, + 27.636354619195345 + ], + [ + 529.5362034955027, + 34.61635858114937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 285.7278337908336, + "ymin": 535.9956046840648, + "xmax": 323.27645835548435, + "ymax": 586.8698234929714 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 323.27645835548435, + 570.5462545083085 + ], + [ + 310.60002177445773, + 565.8107296949132 + ], + [ + 297.6339621818214, + 581.9885513561626 + ], + [ + 310.44569640746727, + 586.8698234929714 + ], + [ + 312.38301063165534, + 540.7564552652824 + ], + [ + 299.3226054585471, + 535.9956046840648 + ], + [ + 285.7278337908336, + 552.2659497809951 + ], + [ + 298.9313993893617, + 557.1784744308527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 368.0559982148912, + "ymin": 440.3597238453752, + "xmax": 398.9305582061589, + "ymax": 487.78882480466 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 398.9305582061589, + 474.2972328612715 + ], + [ + 387.0877764997747, + 470.37629416497765 + ], + [ + 376.3624690818448, + 483.7583138458026 + ], + [ + 388.3258031124196, + 487.78882480466 + ], + [ + 391.41077961916886, + 444.27737881116013 + ], + [ + 379.2314524818217, + 440.3597238453752 + ], + [ + 368.0559982148912, + 453.7346044803693 + ], + [ + 380.3626093575159, + 457.7652213017453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4714965382367816797, + "instance_id": 23852, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 18.784038543701172, + "y": -4.944299697875977, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.1777819077414, + "ymin": 680.1490094487865, + "xmax": 210.00178474119605, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.64545249938965, + -4.754342079162598, + 5.545533180236816 + ], + [ + 18.922624588012695, + -4.754342555999756, + 5.545533180236816 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 5.545533180236816 + ], + [ + 18.64545249938965, + -5.134256839752197, + 5.545533180236816 + ], + [ + 18.64545249938965, + -4.754342079162598, + 6.416468620300293 + ], + [ + 18.922624588012695, + -4.754342555999756, + 6.416468620300293 + ], + [ + 18.922624588012695, + -5.1342573165893555, + 6.416468620300293 + ], + [ + 18.64545249938965, + -5.134256839752197, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 210.00178474119605, + 714.6572011018202 + ], + [ + 196.1916747900882, + 708.5591131973266 + ], + [ + 179.47061224086502, + 729.4220803609633 + ], + [ + 193.43502518090804, + 735.7337944738015 + ], + [ + 193.13556495712345, + 686.3368166483048 + ], + [ + 178.87487563466658, + 680.1490094487865 + ], + [ + 161.1777819077414, + 701.3290591111063 + ], + [ + 175.60186578416352, + 707.7423462864874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.457845575097, + "ymin": 249.52626712703258, + "xmax": 605.0656079989335, + "ymax": 282.3318568989976 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 596.6168744468529, + 273.18799204921237 + ], + [ + 591.454320864457, + 280.2163664117949 + ], + [ + 599.966396883311, + 282.3318568989976 + ], + [ + 605.0656079989335, + 275.2652930785803 + ], + [ + 595.7345961121588, + 249.52626712703258 + ], + [ + 590.457845575097, + 256.4782562100065 + ], + [ + 599.1423593603431, + 258.5712612965073 + ], + [ + 604.3531928245426, + 251.58072278402864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.99545494895386, + "ymin": 96.32879867440124, + "xmax": 299.03676253638474, + "ymax": 129.23747777239396 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 291.7196718589392, + 122.15896181857033 + ], + [ + 284.0526683946805, + 127.60714071434347 + ], + [ + 291.4143752095081, + 129.23747777239396 + ], + [ + 299.03676253638474, + 123.76089823031427 + ], + [ + 284.87598501328637, + 96.32879867440124 + ], + [ + 276.99545494895386, + 101.65281516190731 + ], + [ + 284.48469045778097, + 103.24635589591571 + ], + [ + 292.3191505260496, + 97.89403600777183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.46814589917983, + "ymin": 129.0160933372661, + "xmax": 452.49980421149274, + "ymax": 163.44831255794202 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 444.3689721199505, + 155.57881445279898 + ], + [ + 437.7024609234377, + 161.63493085864684 + ], + [ + 445.89069400040864, + 163.44831255794202 + ], + [ + 452.49980421149274, + 157.35890451658847 + ], + [ + 440.3126869173876, + 129.0160933372661 + ], + [ + 433.46814589917983, + 134.94690330483013 + ], + [ + 441.8163289677161, + 136.7232093688676 + ], + [ + 448.60126424065345, + 130.7591145223055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 12.282878369067703, + "ymin": 136.58913162112384, + "xmax": 37.67806584721757, + "ymax": 165.25440517858337 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 23.013722125694244, + 163.72686146919975 + ], + [ + 28.929099303990597, + 165.25440517858337 + ], + [ + 37.67806584721757, + 160.14692840535614 + ], + [ + 31.788220089351626, + 158.64286509702575 + ], + [ + 12.282878369067703, + 141.58729281547022 + ], + [ + 18.276099503082833, + 143.08930816171713 + ], + [ + 27.26010126026847, + 138.06766167023693 + ], + [ + 21.292914293462218, + 136.58913162112384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 346.0218313310622, + "ymin": 110.75248470354242, + "xmax": 366.78915434136104, + "ymax": 144.33718729851796 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 359.1180792785125, + 136.91465741398153 + ], + [ + 351.87475901584565, + 142.62725653016804 + ], + [ + 359.5958659667229, + 144.33718729851796 + ], + [ + 366.78915434136104, + 138.59409219541607 + ], + [ + 353.46436006760433, + 110.75248470354242 + ], + [ + 346.0218313310622, + 116.34018363812785 + ], + [ + 353.8842208045118, + 118.01312343493012 + ], + [ + 361.2749543742977, + 112.39498962187494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 308996133291023887, + "instance_id": 4062, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_0", + "bbox_3d": { + "center_world": { + "x": -0.04459415376186371, + "y": 40.953365325927734, + "z": 3.652277708053589 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.3142794177802, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 8.778480510581062 + }, + "corners_3d": [ + [ + -1.0119582414627075, + 39.86409378051758, + 3.48895263671875 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.4889559745788574 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.4889559745788574 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.48895263671875 + ], + [ + -1.0119582414627075, + 39.86409378051758, + 3.8155994415283203 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.8156027793884277 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.8156027793884277 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.8155994415283203 + ] + ], + "corners_2d": [ + [ + 1281.2994973721516, + 8.778480510581062 + ], + [ + 1277.1603236122173, + -8.67403945264266 + ], + [ + 1230.3142794177802, + -14.667505949310566 + ], + [ + 1232.7443223060448, + 2.350845181298098 + ], + [ + 1284.6302035321542, + 1.3624377407963948 + ], + [ + 1280.3545374861733, + -15.91986835854334 + ], + [ + 1233.2370657104723, + -21.853448766121573 + ], + [ + 1235.7834441887862, + -5.003230534102386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.1833090843113, + "ymin": 20.81683971616377, + "xmax": 169.11339088137356, + "ymax": 35.152377496441886 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 146.4288742646712, + 31.070586364239148 + ], + [ + 167.16964913001283, + 35.152377496441886 + ], + [ + 169.11339088137356, + 34.11421861636535 + ], + [ + 148.39793700065212, + 30.04830781228293 + ], + [ + 143.1833090843113, + 21.827781726334138 + ], + [ + 164.03622918735374, + 25.864564966331727 + ], + [ + 165.99899192971407, + 24.837814360658513 + ], + [ + 145.17163108567036, + 20.81683971616377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 65.006394419799, + "ymax": 436.32530205090217 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 65.006394419799, + 220.58276083062788 + ], + [ + 56.33638879162197, + 218.11493129565736 + ], + [ + -278.9536420250371, + 432.1520491857783 + ], + [ + -269.1808314008108, + 436.32530205090217 + ], + [ + -41.74536730831824, + -5.193686581175314 + ], + [ + -51.582817263253446, + -7.196459521841348 + ], + [ + -512.7549832024652, + 176.57999824139506 + ], + [ + -501.8019764070707, + 180.37781866149396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3700170815823105936, + "instance_id": 36943, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_1", + "bbox_3d": { + "center_world": { + "x": -0.04460056126117706, + "y": 40.953365325927734, + "z": 3.6533782482147217 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.3637518718788, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 8.71521527941428 + }, + "corners_3d": [ + [ + -1.0107700824737549, + 39.86528778076172, + 3.491137981414795 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.4911415576934814 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.4911415576934814 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.491137981414795 + ], + [ + -1.0107700824737549, + 39.86528778076172, + 3.815614938735962 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.8156185150146484 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.8156185150146484 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.815614938735962 + ] + ], + "corners_2d": [ + [ + 1281.289112132582, + 8.71521527941428 + ], + [ + 1277.1546490470123, + -8.71677353150551 + ], + [ + 1230.3637518718788, + -14.702668502770052 + ], + [ + 1232.7929311315124, + 2.296176607802522 + ], + [ + 1284.5975487103801, + 1.3483115595050776 + ], + [ + 1280.3276529655727, + -15.914766199748158 + ], + [ + 1233.2674436109899, + -21.841240276616986 + ], + [ + 1235.8120782396245, + -5.009243455104695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.9896109372498, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 80.16165092327776 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1251.126858984126, + 80.16165092327776 + ], + [ + 1248.0152861875451, + 60.141056219050654 + ], + [ + 1200.9896109372498, + 53.2220606118986 + ], + [ + 1202.3899271075516, + 72.73882859205276 + ], + [ + 1297.5117538026377, + -22.79854265942413 + ], + [ + 1292.443155632903, + -40.44273166843959 + ], + [ + 1241.4345200647285, + -46.518891170286054 + ], + [ + 1244.484535146943, + -29.35113685358442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.7626509305088, + "ymin": 0.0, + "xmax": 748.0412503824962, + "ymax": 147.25675710985965 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 730.8275778347569, + 147.25675710985965 + ], + [ + 734.1000339636483, + 142.37019337283914 + ], + [ + 648.5861294505902, + 125.65520267392714 + ], + [ + 644.7626509305088, + 130.28827745668357 + ], + [ + 744.4023755732757, + -45.455581947203996 + ], + [ + 748.0412503824962, + -49.385174541018955 + ], + [ + 649.820095376184, + -62.7596181499066 + ], + [ + 645.4529619429132, + -59.06284511069907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.393647544561, + "ymin": 261.4478420732449, + "xmax": 1280.0, + "ymax": 617.6785405254507 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1181.1933839517656, + 502.2161985987522 + ], + [ + 1163.393647544561, + 497.4308169512754 + ], + [ + 1163.6020216587335, + 611.725342993469 + ], + [ + 1183.461814978543, + 617.6785405254507 + ], + [ + 1317.98753490923, + 266.01868833281753 + ], + [ + 1294.8950844542333, + 261.4478420732449 + ], + [ + 1314.6581847834723, + 373.7320587634427 + ], + [ + 1341.3348234161235, + 379.7639938735425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 231.11485447622778, + "ymin": 21.6072453496746, + "xmax": 614.9770500958595, + "ymax": 345.2810259583855 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 609.5145152823742, + 345.2810259583855 + ], + [ + 614.9770500958595, + 337.1538647607252 + ], + [ + 306.26495519679895, + 253.30611698524507 + ], + [ + 298.65124022095404, + 259.8732701963432 + ], + [ + 602.6478469545974, + 99.4511798438948 + ], + [ + 609.4073550540024, + 92.4185828631339 + ], + [ + 240.92098734381761, + 21.6072453496746 + ], + [ + 231.11485447622778, + 27.041162700463417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 326.4547558326758, + "xmax": 475.94462362646516, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 74.8101599755787, + 1176.3566684177244 + ], + [ + 95.35933251646247, + 1189.95448199365 + ], + [ + 475.94462362646516, + 595.6180781301866 + ], + [ + 460.6085314145334, + 589.9013702940437 + ], + [ + -250.69202367876483, + 1026.4348998803994 + ], + [ + -222.34646019186266, + 1046.0346176969115 + ], + [ + 424.55114968402336, + 332.1408925875262 + ], + [ + 404.7966112693397, + 326.4547558326758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 158.27657251649202, + "ymax": 174.23240869112246 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 64.41685454837307, + 174.23240869112246 + ], + [ + 158.27657251649202, + 128.9402344447555 + ], + [ + 95.27685218683666, + 104.34184711866303 + ], + [ + 1.216578060614438, + 145.92138102352118 + ], + [ + -153.00454451784458, + -296.97143428807703 + ], + [ + -7.93273485583029, + -314.94381808004266 + ], + [ + -81.88067844035606, + -323.09688644491325 + ], + [ + -225.18349014168325, + -306.9598821579731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.405338021027, + "ymin": 0.0, + "xmax": 1025.6850591137882, + "ymax": 266.017405739944 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 936.111561741272, + 266.017405739944 + ], + [ + 926.0623686835822, + 162.4086241228794 + ], + [ + 743.5671887964013, + 146.86700120788225 + ], + [ + 725.405338021027, + 245.2763758627588 + ], + [ + 1025.6850591137882, + -88.10559765107269 + ], + [ + 997.8760393776511, + -157.48582009153245 + ], + [ + 768.8036021086168, + -167.42301616190764 + ], + [ + 750.3319145154634, + -102.44772864300921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.5100599884363, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 189.94470084291677 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1275.4962837726184, + 170.4876164775467 + ], + [ + 1496.0673186933332, + 189.94470084291677 + ], + [ + 1409.9326178768033, + 94.18910527960116 + ], + [ + 1221.5100599884363, + 79.72809139864853 + ], + [ + 1446.1842613957601, + -169.59777604654357 + ], + [ + 1734.5815839422266, + -157.41468285376675 + ], + [ + 1587.5911436820145, + -215.58359478234502 + ], + [ + 1351.6670761826936, + -223.99183178063618 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00092/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00092/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8eb904a12f8b317a95b9dfa23255b3275e0a79ca --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00092/meta.json @@ -0,0 +1,4049 @@ +{ + "frame_id": 92, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 46.0, + "sim_timestamp": 7829.547365132254 + }, + "drone_pose": { + "x": 9.627429738115591, + "y": -7.293872530245179, + "z": 20.0, + "pitch": -38.50206281575328, + "yaw": 66.69370774045022, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30962711572647095, + -0.7187290787696838, + 0.6225427985191345, + -10.189452171325684 + ], + [ + 0.9184029698371887, + 0.39564627408981323, + 0.0, + 11.727653503417969 + ], + [ + -0.24630676209926605, + 0.5717451572418213, + 0.7825857400894165, + -17.45064926147461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.581813665712573, + "y": -6.784528319140401, + "z": 20.0 + }, + "t1_image_uv": [ + 1303.9387377019991, + -403.67491294905676 + ], + "t1_depth": 0.3519565017166267 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.33281707763672, + "y": 12.312236785888672, + "z": 1.1352876913547516 + }, + "image_uv": [ + 663.1462228481128, + 416.3204803292861 + ], + "depth": 28.221368833607322, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 545, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 12.312235832214355, + "z": 1.1352876424789429 + }, + "extent": { + "x": 0.3949102759361267, + "y": 0.3065893352031708, + "z": 0.9372121095657349 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 648.1392828050793, + "ymin": 381.2759028047585, + "xmax": 678.5786968333982, + "ymax": 450.86039506838574 + }, + "corners_3d": [ + [ + 17.639406204223633, + 11.917325019836426, + 0.198075532913208 + ], + [ + 17.026227951049805, + 11.917325973510742, + 0.198075532913208 + ], + [ + 17.026227951049805, + 12.707146644592285, + 0.198075532913208 + ], + [ + 17.639406204223633, + 12.707145690917969, + 0.198075532913208 + ], + [ + 17.639406204223633, + 11.917325019836426, + 2.0724997520446777 + ], + [ + 17.026227951049805, + 11.917325973510742, + 2.0724997520446777 + ], + [ + 17.026227951049805, + 12.707146644592285, + 2.0724997520446777 + ], + [ + 17.639406204223633, + 12.707145690917969, + 2.0724997520446777 + ] + ], + "corners_2d": [ + [ + 648.1392828050793, + 445.1908706850106 + ], + [ + 667.2120825067858, + 450.86039506838574 + ], + [ + 677.0260216998058, + 434.12948219163223 + ], + [ + 658.2603729255978, + 428.6790832608817 + ], + [ + 648.485299135129, + 397.5093025642797 + ], + [ + 668.376976881916, + 403.0894327465744 + ], + [ + 678.5786968333982, + 386.63144159069407 + ], + [ + 659.0209271104959, + 381.2759028047585 + ] + ], + "center_offset_px": [ + 23.146222848112757, + 56.32048032928611 + ] + }, + "trace_timestep_index": 92, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 76, + "semantic_pixel_counts": { + "1": 345973, + "2": 346514, + "3": 46710, + "5": 3443, + "6": 11831, + "7": 2759, + "9": 52904, + "10": 66235, + "12": 2323, + "14": 14718, + "20": 7254, + "21": 735, + "24": 20201 + }, + "instance_pixel_counts": { + "3146": 2652, + "3485": 88, + "3669": 40, + "3925": 22, + "4181": 38, + "4224": 99, + "4480": 358, + "6289": 20, + "7299": 259, + "9856": 73, + "11651": 735, + "11676": 11874, + "17502": 55475, + "19038": 10567, + "19354": 4935, + "19866": 8141, + "20378": 11857, + "20573": 23171, + "20890": 13067, + "21085": 198819, + "21402": 5704, + "21597": 949, + "21914": 5791, + "22426": 369, + "23421": 215, + "23450": 40613, + "25693": 1054, + "26205": 101, + "29260": 183, + "34304": 1084, + "34816": 3458, + "34899": 1006, + "35072": 7407, + "35442": 1888, + "36252": 176748, + "36764": 66705, + "36978": 312, + "37276": 33821, + "38300": 54907, + "38483": 1157, + "39073": 396, + "40531": 1, + "40562": 3, + "41121": 391, + "41633": 305, + "42145": 153, + "42657": 131, + "43008": 545, + "43264": 239, + "43520": 166, + "43776": 721, + "44288": 652, + "44544": 12075, + "44658": 2, + "44705": 373, + "44922": 13204, + "45388": 516, + "45434": 2745, + "45644": 494, + "46848": 2643, + "47002": 526, + "49778": 44505, + "51021": 483, + "51309": 52904, + "51587": 745, + "51612": 1551, + "52636": 2613, + "58697": 3443, + "59772": 2196, + "60284": 4025, + "60796": 3105, + "61308": 3752, + "61820": 1751, + "62844": 1563, + "63386": 1918, + "63868": 14810 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 545, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 12.312235832214355, + "z": 1.1352876424789429 + }, + "extent": { + "x": 0.40110960602760315, + "y": 0.4684460461139679, + "z": 0.9319882988929749 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 643.0655699374048, + "ymin": 379.8874314461457, + "xmax": 683.8584559108228, + "ymax": 452.37632344743605 + }, + "corners_3d": [ + [ + 17.8012638092041, + 11.911126136779785, + 0.20329934358596802 + ], + [ + 16.864370346069336, + 11.911126136779785, + 0.20329934358596802 + ], + [ + 16.864370346069336, + 12.713345527648926, + 0.20329934358596802 + ], + [ + 17.8012638092041, + 12.713345527648926, + 0.20329934358596802 + ], + [ + 17.8012638092041, + 11.911126136779785, + 2.0672760009765625 + ], + [ + 16.864370346069336, + 11.911126136779785, + 2.0672760009765625 + ], + [ + 16.864370346069336, + 12.713345527648926, + 2.0672760009765625 + ], + [ + 17.8012638092041, + 12.713345527648926, + 2.0672760009765625 + ] + ], + "corners_2d": [ + [ + 643.0655699374048, + 443.7111298722212 + ], + [ + 672.2149718470661, + 452.37632344743605 + ], + [ + 682.1001589098599, + 435.32385262306656 + ], + [ + 653.427561839606, + 426.998761940378 + ], + [ + 643.1949362126843, + 396.31722329241995 + ], + [ + 673.5889299947578, + 404.84667458649096 + ], + [ + 683.8584559108228, + 388.06834276841704 + ], + [ + 653.9825642199121, + 379.8874314461457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 239, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.458803176879883, + "y": 15.309941291809082, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.23937256634235382, + "y": 0.21717774868011475, + "z": 0.5851223468780518 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 572.7040921483076, + "ymin": 307.9995459732446, + "xmax": 590.3700506603434, + "ymax": 346.55226033212085 + }, + "corners_3d": [ + [ + 21.6214656829834, + 15.030645370483398, + 0.5520550012588501 + ], + [ + 21.19660186767578, + 15.120953559875488, + 0.5520550012588501 + ], + [ + 21.296140670776367, + 15.589237213134766, + 0.5520550012588501 + ], + [ + 21.721004486083984, + 15.498929023742676, + 0.5520550012588501 + ], + [ + 21.6214656829834, + 15.030645370483398, + 1.7222996950149536 + ], + [ + 21.19660186767578, + 15.120953559875488, + 1.7222996950149536 + ], + [ + 21.296140670776367, + 15.589237213134766, + 1.7222996950149536 + ], + [ + 21.721004486083984, + 15.498929023742676, + 1.7222996950149536 + ] + ], + "corners_2d": [ + [ + 574.2426191851226, + 344.9832955762901 + ], + [ + 586.9631672641895, + 346.55226033212085 + ], + [ + 590.3700506603434, + 337.9836592714447 + ], + [ + 577.7874442600448, + 336.45029258914974 + ], + [ + 572.7040921483076, + 316.3965088403358 + ], + [ + 585.7196016583424, + 317.9409473341392 + ], + [ + 589.2199657759219, + 309.5081364608911 + ], + [ + 576.3488296257652, + 307.9995459732446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 166, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.076992988586426, + "y": 19.25494956970215, + "z": 0.8382142782211304 + }, + "extent": { + "x": 0.30594968795776367, + "y": 0.40035882592201233, + "z": 0.5634692311286926 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 786.590866006608, + "ymin": 294.6859839141045, + "xmax": 816.508192098064, + "ymax": 335.69010519180796 + }, + "corners_3d": [ + [ + 15.443178176879883, + 18.90882682800293, + 0.27474498748779297 + ], + [ + 14.646846771240234, + 18.992525100708008, + 0.27474498748779297 + ], + [ + 14.710807800292969, + 19.601072311401367, + 0.27474498748779297 + ], + [ + 15.507139205932617, + 19.51737403869629, + 0.27474498748779297 + ], + [ + 15.443178176879883, + 18.90882682800293, + 1.4016834497451782 + ], + [ + 14.646846771240234, + 18.992525100708008, + 1.4016834497451782 + ], + [ + 14.710807800292969, + 19.601072311401367, + 1.4016834497451782 + ], + [ + 15.507139205932617, + 19.51737403869629, + 1.4016834497451782 + ] + ], + "corners_2d": [ + [ + 786.590866006608, + 331.5025823605846 + ], + [ + 809.8505836393963, + 335.69010519180796 + ], + [ + 812.7764960312543, + 325.50366372387145 + ], + [ + 789.819099649295, + 321.43041358665243 + ], + [ + 789.7836092400919, + 304.5979359956926 + ], + [ + 813.5714553914556, + 308.7205895344396 + ], + [ + 816.508192098064, + 298.6937291266265 + ], + [ + 793.03648874589, + 294.6859839141045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 721, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 7.832817077636719, + "y": 12.312235832214355, + "z": 1.1360591650009155 + }, + "extent": { + "x": 0.4314062297344208, + "y": 0.4818023443222046, + "z": 0.9447436332702637 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 968.3350587278675, + "ymin": 470.3236466452797, + "xmax": 1026.9962982528205, + "ymax": 552.6793992160018 + }, + "corners_3d": [ + [ + 8.314619064331055, + 11.880829811096191, + 0.19131553173065186 + ], + [ + 7.351014614105225, + 11.880829811096191, + 0.19131553173065186 + ], + [ + 7.351015090942383, + 12.74364185333252, + 0.19131553173065186 + ], + [ + 8.314620018005371, + 12.74364185333252, + 0.19131553173065186 + ], + [ + 8.314619064331055, + 11.880829811096191, + 2.0808029174804688 + ], + [ + 7.351014614105225, + 11.880829811096191, + 2.0808029174804688 + ], + [ + 7.351015090942383, + 12.74364185333252, + 2.0808029174804688 + ], + [ + 8.314620018005371, + 12.74364185333252, + 2.0808029174804688 + ] + ], + "corners_2d": [ + [ + 968.3350587278675, + 541.5797154216165 + ], + [ + 1005.6275343455403, + 552.6793992160018 + ], + [ + 1009.5070318142064, + 529.8942498071649 + ], + [ + 973.0489969198426, + 519.314234855631 + ], + [ + 984.0794484451054, + 492.4183243379874 + ], + [ + 1023.3760519807254, + 503.4515139294675 + ], + [ + 1026.9962982528205, + 480.8162802260859 + ], + [ + 988.6256526120588, + 470.3236466452797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 652, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 28.578153610229492, + "y": 4.142021656036377, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3551428020000458, + "y": 0.5194463729858398, + "z": 0.8947425484657288 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 128.9386861683032, + "ymin": 456.9089714528368, + "xmax": 195.76044531525275, + "ymax": 534.9720853982888 + }, + "corners_3d": [ + [ + 29.16008758544922, + 3.9026386737823486, + 0.09002268314361572 + ], + [ + 28.143896102905273, + 3.686640501022339, + 0.09002268314361572 + ], + [ + 27.996219635009766, + 4.381404399871826, + 0.09002268314361572 + ], + [ + 29.01241111755371, + 4.597403049468994, + 0.09002268314361572 + ], + [ + 29.16008758544922, + 3.9026386737823486, + 1.8795077800750732 + ], + [ + 28.143896102905273, + 3.686640501022339, + 1.8795077800750732 + ], + [ + 27.996219635009766, + 4.381404399871826, + 1.8795077800750732 + ], + [ + 29.01241111755371, + 4.597403049468994, + 1.8795077800750732 + ] + ], + "corners_2d": [ + [ + 150.4313268887966, + 518.3221308671659 + ], + [ + 172.87023195496806, + 534.9720853982888 + ], + [ + 195.76044531525275, + 518.8884991222744 + ], + [ + 173.30013878722644, + 502.799343731085 + ], + [ + 128.9386861683032, + 472.2928847384014 + ], + [ + 151.97578349442483, + 488.8191794536923 + ], + [ + 176.24529977834447, + 472.85461602678134 + ], + [ + 153.171291790618, + 456.9089714528368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 12075, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 261.9967422478891, + "ymin": 249.04756107085046, + "xmax": 448.3367136569426, + "ymax": 422.3583117875735 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 278.22197516295694, + 402.69204350723396 + ], + [ + 340.58906251956773, + 422.3583117875735 + ], + [ + 448.3367136569426, + 313.14288184952056 + ], + [ + 391.81157453569847, + 298.286477061986 + ], + [ + 261.9967422478891, + 350.48361695461267 + ], + [ + 326.8183471446393, + 369.7225301346259 + ], + [ + 440.73334436864286, + 263.4098866123794 + ], + [ + 382.1778061886765, + 249.04756107085046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 2643, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 495.68662857209955, + "ymin": 65.41846791737623, + "xmax": 583.8566934152306, + "ymax": 140.19778594096195 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 583.8566934152306, + 100.81119452499365 + ], + [ + 546.5509566735202, + 94.06133154068363 + ], + [ + 498.65164890258643, + 132.3610293515919 + ], + [ + 538.1696480651726, + 140.19778594096195 + ], + [ + 582.7496762632363, + 71.90533434296708 + ], + [ + 544.7334888994133, + 65.41846791737623 + ], + [ + 495.68662857209955, + 102.27132914080244 + ], + [ + 536.0016907380686, + 109.82565745333468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 225.47837419382438, + "ymin": 684.2836684044014, + "xmax": 269.2920955444055, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 269.2920955444055, + 720.5413100541497 + ], + [ + 255.88815544488898, + 714.4573197965334 + ], + [ + 239.89943894287734, + 734.0475287871228 + ], + [ + 253.45098206123572, + 740.347188650307 + ], + [ + 256.0947147328192, + 690.4142256134373 + ], + [ + 242.29021117721572, + 684.2836684044014 + ], + [ + 225.47837419382438, + 704.0322676315818 + ], + [ + 239.43842112392446, + 710.3880711569366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 326.09674748904405, + "ymin": 570.0481365119056, + "xmax": 361.2520602156674, + "ymax": 621.4981640972685 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 361.2520602156674, + 605.5650242594946 + ], + [ + 348.7652960875477, + 600.6591284277526 + ], + [ + 335.8884282522805, + 616.4365338560056 + ], + [ + 348.50843230467643, + 621.4981640972685 + ], + [ + 352.37572333214945, + 574.9559659711549 + ], + [ + 339.5378445966887, + 570.0481365119056 + ], + [ + 326.09674748904405, + 585.8371764364344 + ], + [ + 339.07501046129903, + 590.9058714244255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 585.4400380878577, + "ymin": 342.92210560464594, + "xmax": 601.042370511261, + "ymax": 377.04590761192685 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 592.2708660060695, + 366.8913854034951 + ], + [ + 586.5192481610894, + 374.5832913284916 + ], + [ + 595.360388519264, + 377.04590761192685 + ], + [ + 601.042370511261, + 369.3054882660076 + ], + [ + 591.3174295900354, + 342.92210560464594 + ], + [ + 585.4400380878577, + 350.52513656657214 + ], + [ + 594.4566793721225, + 352.95993986895826 + ], + [ + 600.2616665985344, + 345.307988577995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 265.6274161024846, + "ymin": 179.51980849613352, + "xmax": 288.42425653496656, + "ymax": 212.9561454097862 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 281.0669215757852, + 205.3552329957464 + ], + [ + 272.66541229036596, + 211.12129637903357 + ], + [ + 280.06753739377405, + 212.9561454097862 + ], + [ + 288.42425653496656, + 207.15577558517217 + ], + [ + 274.255617581706, + 179.51980849613352 + ], + [ + 265.6274161024846, + 185.14706122732576 + ], + [ + 273.15038616169255, + 186.9381627916495 + ], + [ + 281.7324695556626, + 181.27678817812608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 423.9842374410373, + "ymin": 216.48253149190325, + "xmax": 443.97457162961854, + "ymax": 251.7732152113136 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 435.6731537403755, + 243.19188272392813 + ], + [ + 428.300044517925, + 249.7004750666258 + ], + [ + 436.6618637861625, + 251.7732152113136 + ], + [ + 443.97457162961854, + 245.2234691881681 + ], + [ + 431.54998993698837, + 216.48253149190325 + ], + [ + 423.9842374410373, + 222.84959012508017 + ], + [ + 432.5031049251154, + 224.8778000915788 + ], + [ + 440.0062494388244, + 218.46966216191808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11624208775370583876, + "instance_id": 17455, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.615966796875, + "y": 10.395048141479492, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 213.79138556517717, + "xmax": 25.408535721743647, + "ymax": 242.75839382362105 + }, + "corners_3d": [ + [ + 40.75530242919922, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.205089569091797, + 2.645533323287964 + ], + [ + 40.47663116455078, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.585006713867188, + 2.645533323287964 + ], + [ + 40.75530242919922, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.205089569091797, + 3.5146729946136475 + ], + [ + 40.47663116455078, + 10.585006713867188, + 3.5146729946136475 + ], + [ + 40.75530242919922, + 10.585006713867188, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 10.1208042326042, + 241.0691520770479 + ], + [ + 15.931041416344783, + 242.75839382362105 + ], + [ + 25.408535721743647, + 237.44263941369206 + ], + [ + 19.621390289799933, + 235.78102969952187 + ], + [ + -0.37289269537143355, + 218.98272950991412 + ], + [ + 5.506447106481232, + 220.64135527721172 + ], + [ + 15.22807585058797, + 215.42243316028853 + ], + [ + 9.372142248087016, + 213.79138556517717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.17865067471837, + "ymin": 195.7596328672785, + "xmax": 356.8044584289317, + "ymax": 230.01455241523436 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 349.03909900369484, + 221.99001801441196 + ], + [ + 341.0671647199682, + 228.07694060707354 + ], + [ + 348.8838526177169, + 230.01455241523436 + ], + [ + 356.8044584289317, + 223.89041579880234 + ], + [ + 343.36391958255643, + 195.7596328672785 + ], + [ + 335.17865067471837, + 201.7062433719679 + ], + [ + 343.1313795922157, + 203.59966417886758 + ], + [ + 351.26363597085486, + 197.61598149670786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 308996133291023887, + "instance_id": 4062, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_0", + "bbox_3d": { + "center_world": { + "x": -0.04459415376186371, + "y": 40.953365325927734, + "z": 3.652277708053589 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.6536986920405, + "ymin": 59.75894148538674, + "xmax": 1280.0, + "ymax": 91.79825559904543 + }, + "corners_3d": [ + [ + -1.0119582414627075, + 39.86409378051758, + 3.48895263671875 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.4889559745788574 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.4889559745788574 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.48895263671875 + ], + [ + -1.0119582414627075, + 39.86409378051758, + 3.8155994415283203 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.8156027793884277 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.8156027793884277 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.8155994415283203 + ] + ], + "corners_2d": [ + [ + 1307.6377949199107, + 91.79825559904543 + ], + [ + 1302.5036684868164, + 73.5200279005868 + ], + [ + 1253.6536986920405, + 66.87872740139466 + ], + [ + 1256.8695860980433, + 84.6422577975851 + ], + [ + 1310.9755969938942, + 84.42412053691436 + ], + [ + 1305.6930292092304, + 66.3312428890863 + ], + [ + 1256.5665808846677, + 59.75894148538674 + ], + [ + 1259.9088157797592, + 77.3398936946088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 145.74768607994724, + "ymin": 93.9412078328262, + "xmax": 171.21514381460378, + "ymax": 108.43554657638393 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 148.7984461324785, + 104.04738429550503 + ], + [ + 169.1634237028041, + 108.43554657638393 + ], + [ + 171.21514381460378, + 107.38410103770636 + ], + [ + 150.87407632843644, + 103.0138625853632 + ], + [ + 145.74768607994724, + 94.96252760747973 + ], + [ + 166.2137142842858, + 99.29917009824004 + ], + [ + 168.284355603777, + 98.26002677794656 + ], + [ + 147.84242984999315, + 93.9412078328262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2944233421792972484, + "instance_id": 50318, + "pixel_count": null, + "type_id": "AmericanLights_Town04_6_Poles_4", + "bbox_3d": { + "center_world": { + "x": 40.95203399658203, + "y": 4.648189544677734, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 70.98573313161245, + "xmax": 52.359444856026926, + "ymax": 527.4330862668587 + }, + "corners_3d": [ + [ + 40.68203353881836, + 10.67330265045166, + 0.0 + ], + [ + 41.11485290527344, + 10.677151679992676, + 0.0 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 0.0 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 0.0 + ], + [ + 40.68203353881836, + 10.67330265045166, + 8.446706771850586 + ], + [ + 41.11485290527344, + 10.677151679992676, + 8.446706771850586 + ], + [ + 41.2220344543457, + -1.3769240379333496, + 8.446706771850586 + ], + [ + 40.789215087890625, + -1.3807724714279175, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 52.359444856026926, + 297.7040822613432 + ], + [ + 43.82318773073632, + 294.97220649166866 + ], + [ + -326.86744106726724, + 522.6246873350626 + ], + [ + -317.4594543108217, + 527.4330862668587 + ], + [ + -51.60877139041975, + 73.17014753620037 + ], + [ + -61.172110377421745, + 70.98573313161245 + ], + [ + -566.3763250299457, + 263.9663145542352 + ], + [ + -556.1759763595091, + 268.2961046865521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3700170815823105936, + "instance_id": 36943, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_1", + "bbox_3d": { + "center_world": { + "x": -0.04460056126117706, + "y": 40.953365325927734, + "z": 3.6533782482147217 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.7047009808223, + "ymin": 59.77190354820186, + "xmax": 1280.0, + "ymax": 91.73430556587118 + }, + "corners_3d": [ + [ + -1.0107700824737549, + 39.86528778076172, + 3.491137981414795 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.4911415576934814 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.4911415576934814 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.491137981414795 + ], + [ + -1.0107700824737549, + 39.86528778076172, + 3.815614938735962 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.8156185150146484 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.8156185150146484 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.815614938735962 + ] + ], + "corners_2d": [ + [ + 1307.6254580526384, + 91.73430556587118 + ], + [ + 1302.4971897940022, + 73.47766828191584 + ], + [ + 1253.7047009808223, + 66.84475905722405 + ], + [ + 1256.9190519286349, + 84.58791649119559 + ], + [ + 1310.9409273767333, + 84.40905683991019 + ], + [ + 1305.6653707717967, + 66.33634978357168 + ], + [ + 1256.5985577366318, + 59.77190354820186 + ], + [ + 1259.9382998584822, + 77.3338783076166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1224.2865403167407, + "ymin": 35.299912968201, + "xmax": 1280.0, + "ymax": 162.9815340523234 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1277.4295279699868, + 162.9815340523234 + ], + [ + 1273.3818896291527, + 141.9330035501101 + ], + [ + 1224.2865403167407, + 134.23761808998518 + ], + [ + 1226.4086421165123, + 154.68546269854926 + ], + [ + 1323.9769366364703, + 60.46991022900727 + ], + [ + 1317.795224483495, + 42.02025218881448 + ], + [ + 1264.6394929032829, + 35.299912968201 + ], + [ + 1268.5583331681014, + 53.18622143169449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5895972337886691861, + "instance_id": 5378, + "pixel_count": null, + "type_id": "BP_Lamppost_tall20_41_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.16912078857422, + "y": 27.644338607788086, + "z": 2.854240894317627 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 40.10901833139451, + "ymax": 50.16647786977927 + }, + "corners_3d": [ + [ + 62.14069366455078, + 26.49398422241211, + 0.511415958404541 + ], + [ + 62.14069366455078, + 28.794692993164062, + 0.511415958404541 + ], + [ + 64.19754791259766, + 28.794692993164062, + 0.511415958404541 + ], + [ + 64.19754791259766, + 26.49398422241211, + 0.511415958404541 + ], + [ + 62.14069366455078, + 26.49398422241211, + 5.197065830230713 + ], + [ + 62.14069366455078, + 28.794692993164062, + 5.197065830230713 + ], + [ + 64.19754791259766, + 28.794692993164062, + 5.197065830230713 + ], + [ + 64.19754791259766, + 26.49398422241211, + 5.197065830230713 + ] + ], + "corners_2d": [ + [ + 4.688404506643224, + 50.16647786977927 + ], + [ + 40.10901833139451, + 36.35335312809087 + ], + [ + 14.067562395280902, + 31.255081419257465 + ], + [ + -21.737644663583296, + 44.74506975047626 + ], + [ + -32.555181839850206, + -38.742226524146304 + ], + [ + 6.072954820518703, + -50.479508652008406 + ], + [ + -21.011488687322753, + -54.80105321080413 + ], + [ + -60.04016817658351, + -43.353892924592685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.24041224216114, + "ymin": 0.0, + "xmax": 128.5554384337807, + "ymax": 13.102504929407758 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 98.57729665595991, + 13.102504929407758 + ], + [ + 128.5554384337807, + 1.4244051630720378 + ], + [ + 103.61472610473834, + -2.9005858185859665 + ], + [ + 73.25467785899411, + 8.52596878618391 + ], + [ + 69.56868538943684, + -70.14205942965202 + ], + [ + 101.96075232583507, + -79.97360988487168 + ], + [ + 76.03623542150092, + -83.60725489507178 + ], + [ + 43.24041224216114, + -73.99846584806863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.3979891974659, + "ymin": 17.641038107501515, + "xmax": 756.3816987900547, + "ymax": 228.11926210452626 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 738.4278055998911, + 228.11926210452626 + ], + [ + 741.9220176117108, + 222.9856558825936 + ], + [ + 654.4826870127234, + 204.40758225911065 + ], + [ + 650.3979891974659, + 209.2401434086936 + ], + [ + 752.5225364617912, + 36.42250172508511 + ], + [ + 756.3816987900547, + 32.33919097174038 + ], + [ + 656.4680833408565, + 17.641038107501515 + ], + [ + 651.8363194848356, + 21.452486779370076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.1651729124203, + "ymin": 23.132142959912358, + "xmax": 668.5568223105881, + "ymax": 30.21233448796346 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 665.4946270076686, + 30.21233448796346 + ], + [ + 668.5021589093577, + 27.61786904710567 + ], + [ + 658.2235012141626, + 26.076460547010868 + ], + [ + 655.1651729124203, + 28.652358892072186 + ], + [ + 665.5438170574791, + 27.247606353045228 + ], + [ + 668.5568223105881, + 24.665926909822815 + ], + [ + 658.2583263500867, + 23.132142959912358 + ], + [ + 655.1943276206938, + 25.695311459850984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.0932286116919, + "ymin": 23.09421222531296, + "xmax": 668.6290875450655, + "ymax": 30.250598262107133 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 665.5340856449163, + 30.250598262107133 + ], + [ + 668.5736979314647, + 27.628021496904125 + ], + [ + 658.1847361828217, + 26.070073655174212 + ], + [ + 655.0932286116919, + 28.673680965834308 + ], + [ + 665.5838845835736, + 27.25388467937114 + ], + [ + 668.6290875450655, + 24.644370864328494 + ], + [ + 658.2198593973312, + 23.09421222531296 + ], + [ + 655.1225576427506, + 25.684814571039965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1199.0485837821418, + "ymin": 382.44647517790213, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1218.7089632396844, + 629.5941811531873 + ], + [ + 1199.0485837821418, + 623.6650923062975 + ], + [ + 1203.0727610147173, + 758.8131380119934 + ], + [ + 1225.3626954373535, + 766.4105819883089 + ], + [ + 1367.7959450014928, + 388.15222588951457 + ], + [ + 1342.032864547746, + 382.44647517790213 + ], + [ + 1371.7052853613527, + 516.8333503827162 + ], + [ + 1402.1625229858741, + 524.6663706137415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 250.64803865995577, + "ymin": 42.99426320917905, + "xmax": 273.53622779777083, + "ymax": 55.7941602106589 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 252.80616589124628, + 52.258661717484756 + ], + [ + 271.88428479031234, + 55.7941602106589 + ], + [ + 273.53622779777083, + 54.947588548494764 + ], + [ + 254.48030229792784, + 51.425056422373245 + ], + [ + 250.64803865995577, + 43.816986090612716 + ], + [ + 269.8164946925904, + 47.30651631908307 + ], + [ + 271.48153111261865, + 46.470924245443314 + ], + [ + 252.33545691340373, + 42.99426320917905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.26975256521627, + "ymin": 8.284681173036631, + "xmax": 356.74698748448424, + "ymax": 20.149267355373638 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 336.85340614863696, + 17.091601324804515 + ], + [ + 355.34284433261604, + 20.149267355373638 + ], + [ + 356.74698748448424, + 19.417381623889412 + ], + [ + 338.2791352702933, + 16.3702288451218 + ], + [ + 335.26975256521627, + 8.995863731166878 + ], + [ + 353.84491733499067, + 12.010479401313546 + ], + [ + 355.2590368635252, + 11.288877406505321 + ], + [ + 336.70564614810456, + 8.284681173036631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.2921487603237, + "ymin": 0.0, + "xmax": 1105.625952861796, + "ymax": 52.758876314217446 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1078.1493743579667, + 52.758876314217446 + ], + [ + 1080.8711631223034, + 39.003041888778114 + ], + [ + 1043.1403358407808, + 33.923764154747175 + ], + [ + 1039.2921487603237, + 47.360950296624196 + ], + [ + 1103.5601579530303, + -35.04879295304676 + ], + [ + 1105.625952861796, + -46.78210830854317 + ], + [ + 1065.5024159495206, + -51.10423641403145 + ], + [ + 1062.159831115079, + -39.65794868822735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.4764936153941, + "ymin": 0.0, + "xmax": 896.8827513728352, + "ymax": 30.0160977792533 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 873.2675384868742, + 30.0160977792533 + ], + [ + 874.9182335921498, + 27.590939662003677 + ], + [ + 811.4425640174352, + 18.70999279662817 + ], + [ + 809.4764936153941, + 21.03602865800599 + ], + [ + 895.2119026821738, + -114.55465115128493 + ], + [ + 896.8827513728352, + -116.32254581469743 + ], + [ + 827.1119339611789, + -122.78075061167976 + ], + [ + 825.0593135815288, + -121.09166288342345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.37653100573647, + "ymin": 103.99310062657105, + "xmax": 611.7450579680379, + "ymax": 440.69488368817963 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 605.669218353645, + 440.69488368817963 + ], + [ + 611.7450579680379, + 431.78461755228375 + ], + [ + 295.8661076097529, + 335.8546728454282 + ], + [ + 287.5160814236127, + 342.82766916052896 + ], + [ + 598.0833222843188, + 191.86606859989348 + ], + [ + 605.5819630064203, + 184.21078446543305 + ], + [ + 231.0446501004269, + 103.99310062657105 + ], + [ + 220.37653100573647, + 109.69164776634688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 448.29597739309196, + "xmax": 450.4167179360627, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -51.980271573123446, + 1446.1506139838611 + ], + [ + -30.230420740579802, + 1465.426118774708 + ], + [ + 450.4167179360627, + 723.9871003459036 + ], + [ + 434.2379419533178, + 716.9421513530266 + ], + [ + -506.56838500316826, + 1366.8939332318087 + ], + [ + -478.18466188688944, + 1397.6745420225488 + ], + [ + 389.9909780516657, + 455.3591695494824 + ], + [ + 369.194787450559, + 448.29597739309196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 155.0752825835139, + "ymax": 249.3908263346085 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 55.68803869423198, + 249.3908263346085 + ], + [ + 155.0752825835139, + 202.94391497286844 + ], + [ + 94.17930669495729, + 176.64100443677103 + ], + [ + -4.795001868943018, + 218.90654404549628 + ], + [ + -151.76296874289062, + -212.95327048428499 + ], + [ + -1.687565110070409, + -230.7879823812823 + ], + [ + -71.3853935589791, + -239.3197449911537 + ], + [ + -218.48720636795542, + -223.4608701830199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 107.66940416243324, + "ymax": 41.19846210316632 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + 37.22032426330588, + 41.19846210316632 + ], + [ + 107.66940416243324, + 19.06347762888106 + ], + [ + 66.00616054347051, + 6.337526664086624 + ], + [ + -4.163641414779363, + 27.07878699125928 + ], + [ + -94.56385369832003, + -288.2536794809903 + ], + [ + -2.063060893397278, + -295.1520869331074 + ], + [ + -47.563375285836855, + -298.24628383269646 + ], + [ + -139.06108379123827, + -291.8182269402296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.6076507787787, + "ymin": 0.0, + "xmax": 1042.8002973784364, + "ymax": 357.7020418282554 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 951.121050094448, + 357.7020418282554 + ], + [ + 940.5574641485443, + 245.8631781987341 + ], + [ + 751.8102667603686, + 227.26328955858875 + ], + [ + 730.6076507787787, + 332.2709855651231 + ], + [ + 1042.8002973784364, + 1.4135672104673631 + ], + [ + 1012.9795800694503, + -72.42792235174016 + ], + [ + 777.8011615633181, + -84.11830846737854 + ], + [ + 756.1640122443176, + -15.933309731621193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.9595186351921, + "ymin": 0.0, + "xmax": 1120.9905734972106, + "ymax": 49.32034817122667 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1055.8562747070837, + 49.32034817122667 + ], + [ + 1039.4413887346518, + 7.226580842840519 + ], + [ + 916.9595186351921, + -0.2960164389296551 + ], + [ + 920.749162251937, + 40.19465556839941 + ], + [ + 1120.9905734972106, + -188.35726547279285 + ], + [ + 1095.3769914111022, + -211.1670815822073 + ], + [ + 954.9360273825666, + -215.1746832024794 + ], + [ + 963.700678417204, + -193.35849680705462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.3174547389494, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 282.3622736755709 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1306.4988118623883, + 258.6461032122328 + ], + [ + 1541.3212078595316, + 282.3622736755709 + ], + [ + 1443.8867307837236, + 178.87269817543918 + ], + [ + 1246.3174547389494, + 161.68242124334822 + ], + [ + 1479.8109023181103, + -81.5168914264492 + ], + [ + 1786.369081255735, + -66.84487343223537 + ], + [ + 1622.1631376638288, + -128.92441978572305 + ], + [ + 1375.9630831284812, + -138.76557059807755 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9353b0b79d62537bd87dd518f4f8d58f485c0460 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00094/meta.json @@ -0,0 +1,2992 @@ +{ + "frame_id": 94, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 7856.8467431846075 + }, + "drone_pose": { + "x": 9.511231396107371, + "y": -6.268802796865975, + "z": 20.0, + "pitch": -41.81211487582284, + "yaw": 68.22591463699325, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.276480495929718, + -0.6921581625938416, + 0.6666899919509888, + -11.624467849731445 + ], + [ + 0.9286536574363708, + 0.3709478974342346, + 0.0, + 11.158039093017578 + ], + [ + -0.2473072111606598, + 0.619124174118042, + 0.7453351020812988, + -16.435672760009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.296567202393206, + "y": -5.700290043575937, + "z": 20.01209384159115 + }, + "t1_image_uv": [ + 1847.7367513950583, + -546.473802420498 + ], + "t1_depth": 0.326087442608282 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.33281707763672, + "y": 13.312236785888672, + "z": 1.1394478571414948 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.289834585030604, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 530, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 13.312235832214355, + "z": 1.139447808265686 + }, + "extent": { + "x": 0.38105344772338867, + "y": 0.34651488065719604, + "z": 0.9084345698356628 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.841590566633, + "ymin": 325.81218501303175, + "xmax": 655.963518793319, + "ymax": 393.59819497324014 + }, + "corners_3d": [ + [ + 17.679332733154297, + 12.931181907653809, + 0.2310132384300232 + ], + [ + 16.98630142211914, + 12.931182861328125, + 0.2310132384300232 + ], + [ + 16.98630142211914, + 13.693289756774902, + 0.2310132384300232 + ], + [ + 17.679332733154297, + 13.693288803100586, + 0.2310132384300232 + ], + [ + 17.679332733154297, + 12.931181907653809, + 2.047882318496704 + ], + [ + 16.98630142211914, + 12.931182861328125, + 2.047882318496704 + ], + [ + 16.98630142211914, + 13.693289756774902, + 2.047882318496704 + ], + [ + 17.679332733154297, + 13.693288803100586, + 2.047882318496704 + ] + ], + "corners_2d": [ + [ + 624.5229054829861, + 387.6466520343906 + ], + [ + 646.0703915757879, + 393.59819497324014 + ], + [ + 655.2982004572214, + 377.40298376204316 + ], + [ + 634.0787993221097, + 371.664825555043 + ], + [ + 623.841590566633, + 341.6185298840795 + ], + [ + 646.3394892538157, + 347.5111383352636 + ], + [ + 655.963518793319, + 331.48445203773645 + ], + [ + 633.8230459173144, + 325.81218501303175 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 363305, + "2": 364637, + "3": 29795, + "5": 3642, + "6": 11843, + "7": 2672, + "9": 39237, + "10": 60254, + "12": 2146, + "14": 16173, + "20": 6102, + "21": 23, + "24": 21771 + }, + "instance_pixel_counts": { + "3146": 2698, + "3669": 41, + "4480": 587, + "7299": 40, + "9856": 76, + "11651": 23, + "11676": 9828, + "17502": 48967, + "19038": 11108, + "19354": 3007, + "19866": 8691, + "20378": 12888, + "20573": 17384, + "20890": 14617, + "21085": 213592, + "21402": 3042, + "21597": 7684, + "21914": 4980, + "23450": 44653, + "29260": 197, + "34816": 3755, + "34899": 708, + "35072": 8009, + "35442": 900, + "36252": 178557, + "36764": 73493, + "37276": 23512, + "38300": 77915, + "38483": 1456, + "39073": 7, + "41121": 407, + "41633": 326, + "42145": 2, + "43008": 530, + "43264": 4, + "43520": 165, + "43776": 686, + "44032": 4, + "44288": 757, + "44544": 13245, + "44922": 14318, + "45388": 551, + "45434": 2967, + "45644": 534, + "46848": 2928, + "49778": 28895, + "51021": 488, + "51309": 39237, + "51587": 735, + "51612": 1105, + "52636": 3381, + "58697": 3642, + "59772": 1551, + "60284": 4244, + "60796": 3525, + "61308": 4193, + "61820": 1007, + "62844": 1314, + "63868": 18265 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 530, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 13.312235832214355, + "z": 1.139447808265686 + }, + "extent": { + "x": 0.3734930455684662, + "y": 0.4446929693222046, + "z": 0.917457103729248 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.7769903825085, + "ymin": 324.93092733779554, + "xmax": 659.035594634396, + "ymax": 394.5030102603988 + }, + "corners_3d": [ + [ + 17.777509689331055, + 12.938742637634277, + 0.221990704536438 + ], + [ + 16.888124465942383, + 12.938742637634277, + 0.221990704536438 + ], + [ + 16.888124465942383, + 13.685729026794434, + 0.221990704536438 + ], + [ + 17.777509689331055, + 13.685729026794434, + 0.221990704536438 + ], + [ + 17.777509689331055, + 12.938742637634277, + 2.0569047927856445 + ], + [ + 16.888124465942383, + 12.938742637634277, + 2.0569047927856445 + ], + [ + 16.888124465942383, + 13.685729026794434, + 2.0569047927856445 + ], + [ + 17.777509689331055, + 13.685729026794434, + 2.0569047927856445 + ] + ], + "corners_2d": [ + [ + 621.5944809581065, + 386.86767232360893 + ], + [ + 649.2370821709939, + 394.5030102603988 + ], + [ + 658.2336331341371, + 378.59859593302394 + ], + [ + 631.003555087844, + 371.23162490175696 + ], + [ + 620.7769903825085, + 340.3922962616182 + ], + [ + 649.6510477598445, + 347.9511513613583 + ], + [ + 659.035594634396, + 332.2125781311958 + ], + [ + 630.6113361445963, + 324.93092733779554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 4, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.458803176879883, + "y": 16.3099422454834, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.2454822063446045, + "y": 0.33351993560791016, + "z": 0.5973363518714905 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 544.2198212486768, + "ymin": 252.1799499024884, + "xmax": 569.617297447514, + "ymax": 292.41797237464766 + }, + "corners_3d": [ + [ + 21.73399543762207, + 16.00048065185547, + 0.5398409962654114 + ], + [ + 21.081533432006836, + 16.13916778564453, + 0.5398409962654114 + ], + [ + 21.183610916137695, + 16.619403839111328, + 0.5398409962654114 + ], + [ + 21.83607292175293, + 16.480716705322266, + 0.5398409962654114 + ], + [ + 21.73399543762207, + 16.00048065185547, + 1.734513759613037 + ], + [ + 21.081533432006836, + 16.13916778564453, + 1.734513759613037 + ], + [ + 21.183610916137695, + 16.619403839111328, + 1.734513759613037 + ], + [ + 21.83607292175293, + 16.480716705322266, + 1.734513759613037 + ] + ], + "corners_2d": [ + [ + 546.6212561028217, + 290.31610172182275 + ], + [ + 566.2907041473912, + 292.41797237464766 + ], + [ + 569.617297447514, + 283.5145332578081 + ], + [ + 550.1598925712362, + 281.45964463829085 + ], + [ + 544.2198212486768, + 260.92323740706536 + ], + [ + 564.3899314888498, + 262.9989911260444 + ], + [ + 567.8232559309893, + 254.20813111959387 + ], + [ + 547.8760543329756, + 252.1799499024884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 165, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.076992988586426, + "y": 20.25494956970215, + "z": 0.8076039552688599 + }, + "extent": { + "x": 0.29837825894355774, + "y": 0.2677087187767029, + "z": 0.6203168630599976 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 766.2121384386155, + "ymin": 236.25291125869632, + "xmax": 788.2362416145813, + "ymax": 278.41033465861665 + }, + "corners_3d": [ + [ + 15.31204605102539, + 19.93022346496582, + 0.1872870922088623 + ], + [ + 14.779561996459961, + 19.986188888549805, + 0.1872870922088623 + ], + [ + 14.841939926147461, + 20.579675674438477, + 0.1872870922088623 + ], + [ + 15.37442398071289, + 20.523710250854492, + 0.1872870922088623 + ], + [ + 15.31204605102539, + 19.93022346496582, + 1.4279208183288574 + ], + [ + 14.779561996459961, + 19.986188888549805, + 1.4279208183288574 + ], + [ + 14.841939926147461, + 20.579675674438477, + 1.4279208183288574 + ], + [ + 15.37442398071289, + 20.523710250854492, + 1.4279208183288574 + ] + ], + "corners_2d": [ + [ + 766.2121384386155, + 275.85150164173376 + ], + [ + 781.6921723729856, + 278.41033465861665 + ], + [ + 784.5505483964104, + 268.4112649738027 + ], + [ + 769.2597561502633, + 265.9177512568832 + ], + [ + 769.462262176399, + 246.04714688818316 + ], + [ + 785.3532922852035, + 248.57109025902355 + ], + [ + 788.2362416145813, + 238.71079678533226 + ], + [ + 772.5445854310999, + 236.25291125869632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 686, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 7.832817077636719, + "y": 13.312235832214355, + "z": 1.1484664678573608 + }, + "extent": { + "x": 0.4302297830581665, + "y": 0.5160461068153381, + "z": 0.9500176906585693 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 940.5892181949578, + "ymin": 406.7714091317913, + "xmax": 1000.7208138332094, + "ymax": 487.9286273149936 + }, + "corners_3d": [ + [ + 8.348862648010254, + 12.88200569152832, + 0.1984487771987915 + ], + [ + 7.316771030426025, + 12.882006645202637, + 0.1984487771987915 + ], + [ + 7.316771030426025, + 13.74246597290039, + 0.1984487771987915 + ], + [ + 8.34886360168457, + 13.742465019226074, + 0.1984487771987915 + ], + [ + 8.348862648010254, + 12.88200569152832, + 2.0984840393066406 + ], + [ + 7.316771030426025, + 12.882006645202637, + 2.0984840393066406 + ], + [ + 7.316771030426025, + 13.74246597290039, + 2.0984840393066406 + ], + [ + 8.34886360168457, + 13.742465019226074, + 2.0984840393066406 + ] + ], + "corners_2d": [ + [ + 940.5892181949578, + 477.1563816634922 + ], + [ + 979.5016132419604, + 487.9286273149936 + ], + [ + 983.4425058157007, + 465.70905559466553 + ], + [ + 945.354983080905, + 455.41400066270944 + ], + [ + 955.9002546083716, + 428.4563508493309 + ], + [ + 996.9954503950462, + 439.21838240857824 + ], + [ + 1000.7208138332094, + 417.03313494906234 + ], + [ + 960.5449915362955, + 406.7714091317913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 4, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 13.717317581176758, + "y": 2.18487548828125, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.44934388995170593, + "y": 0.4234704077243805, + "z": 0.933022677898407 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 571.2888472044534, + "ymin": 694.875110426452, + "xmax": 631.2714293294171, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 14.185437202453613, + 1.7822580337524414, + 0.051727890968322754 + ], + [ + 13.343135833740234, + 1.6937284469604492, + 0.051727890968322754 + ], + [ + 13.249197959899902, + 2.5874929428100586, + 0.051727890968322754 + ], + [ + 14.091499328613281, + 2.676022529602051, + 0.051727890968322754 + ], + [ + 14.185437202453613, + 1.7822580337524414, + 1.9177732467651367 + ], + [ + 13.343135833740234, + 1.6937284469604492, + 1.9177732467651367 + ], + [ + 13.249197959899902, + 2.5874929428100586, + 1.9177732467651367 + ], + [ + 14.091499328613281, + 2.676022529602051, + 1.9177732467651367 + ] + ], + "corners_2d": [ + [ + 575.5281200910824, + 775.5112199353018 + ], + [ + 610.7784315451934, + 794.3746738136293 + ], + [ + 631.2714293294171, + 756.9237396592312 + ], + [ + 596.7371739723693, + 739.129613776615 + ], + [ + 571.2888472044534, + 732.2627211163935 + ], + [ + 608.82665687574, + 751.7030944144979 + ], + [ + 630.7064065956183, + 713.1437470197134 + ], + [ + 593.978878246711, + 694.875110426452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 757, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 28.578153610229492, + "y": 5.142021179199219, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3467468321323395, + "y": 0.49795791506767273, + "z": 0.8845316171646118 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 104.63903872352921, + "ymin": 410.71813712504246, + "xmax": 172.90656478305743, + "ymax": 486.5189159152552 + }, + "corners_3d": [ + [ + 29.1373233795166, + 4.906383037567139, + 0.10023361444473267 + ], + [ + 28.163169860839844, + 4.699320316314697, + 0.10023361444473267 + ], + [ + 28.018983840942383, + 5.377659320831299, + 0.10023361444473267 + ], + [ + 28.99313735961914, + 5.58472204208374, + 0.10023361444473267 + ], + [ + 29.1373233795166, + 4.906383037567139, + 1.8692967891693115 + ], + [ + 28.163169860839844, + 4.699320316314697, + 1.8692967891693115 + ], + [ + 28.018983840942383, + 5.377659320831299, + 1.8692967891693115 + ], + [ + 28.99313735961914, + 5.58472204208374, + 1.8692967891693115 + ] + ], + "corners_2d": [ + [ + 128.53070269748486, + 471.1354688194093 + ], + [ + 150.96605504342114, + 486.5189159152552 + ], + [ + 172.90656478305743, + 470.5120650638993 + ], + [ + 150.49301504690345, + 455.62064709817787 + ], + [ + 104.63903872352921, + 426.193587957257 + ], + [ + 127.74283773944433, + 441.5608500083581 + ], + [ + 151.10245787884253, + 425.57132018992576 + ], + [ + 128.0098421480182, + 410.71813712504246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 13245, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 211.41311252198625, + "ymin": 210.79960585320632, + "xmax": 407.2202005449413, + "ymax": 392.8025417565426 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 231.70404011159417, + 373.3146423281721 + ], + [ + 296.5514724243651, + 392.8025417565426 + ], + [ + 407.2202005449413, + 275.99421713656545 + ], + [ + 348.59921013128877, + 261.23624172480265 + ], + [ + 211.41311252198625, + 320.63970144377095 + ], + [ + 279.0824001176353, + 339.8817716103257 + ], + [ + 396.99959001980216, + 225.18307609804694 + ], + [ + 336.05896394076206, + 210.79960585320632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 2928, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 454.3105666219321, + "ymin": 12.03144997569268, + "xmax": 546.8004277900321, + "ymax": 91.38831893340875 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 546.8004277900321, + 48.84688109357836 + ], + [ + 508.1326604874091, + 42.077177615450466 + ], + [ + 458.5371471592545, + 83.53339030244348 + ], + [ + 499.5400598560684, + 91.38831893340875 + ], + [ + 544.7618018929536, + 18.564881624230168 + ], + [ + 505.2846569987863, + 12.03144997569268 + ], + [ + 454.3105666219321, + 52.0963012467181 + ], + [ + 496.22332887058576, + 59.70258079475889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.54959348130035, + "ymin": 684.8163134501127, + "xmax": 212.4686990196398, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 212.4686990196398, + 719.1770866861121 + ], + [ + 198.5174946690458, + 713.1023334514173 + ], + [ + 181.8700796220739, + 734.2048275717832 + ], + [ + 195.98054628246035, + 740.4935579948785 + ], + [ + 195.5884618853297, + 690.9835208277614 + ], + [ + 181.17678222937127, + 684.8163134501127 + ], + [ + 163.54959348130035, + 706.2504175244869 + ], + [ + 178.13012310030928, + 712.6436467783013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.0692756175059, + "ymin": 560.796694309943, + "xmax": 308.2582237441018, + "ymax": 612.5078568278755 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 308.2582237441018, + 595.3366766799702 + ], + [ + 295.2898632169047, + 590.4320449548972 + ], + [ + 281.8659207147362, + 607.4484160170002 + ], + [ + 294.9764232816535, + 612.5078568278755 + ], + [ + 296.5389888031516, + 565.7364196322349 + ], + [ + 283.1690142748047, + 560.796694309943 + ], + [ + 269.0692756175059, + 577.9415259272846 + ], + [ + 282.5898229096217, + 583.0427973688564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.9955928703182, + "ymin": 308.55715651822237, + "xmax": 562.0236605100919, + "ymax": 343.4513219960493 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 553.0054588252422, + 332.7997418379335 + ], + [ + 547.0636375744634, + 341.0138037889114 + ], + [ + 556.1539368817413, + 343.4513219960493 + ], + [ + 562.0236605100919, + 335.1897381686464 + ], + [ + 551.0889863752183, + 308.55715651822237 + ], + [ + 544.9955928703182, + 316.7091891627229 + ], + [ + 554.2826351590467, + 319.1289830793512 + ], + [ + 560.3008106689673, + 310.92873853349977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.09716169446494, + "ymin": 141.86340636635856, + "xmax": 232.78003276773057, + "ymax": 176.97148347007203 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 225.040050672478, + 168.7453893870694 + ], + [ + 216.19442718936722, + 175.09752896363207 + ], + [ + 223.9836746506154, + 176.97148347007203 + ], + [ + 232.78003276773057, + 170.58412952980314 + ], + [ + 216.2184201929246, + 141.86340636635856 + ], + [ + 207.09716169446494, + 148.0905704584136 + ], + [ + 215.028239858184, + 149.92813721490722 + ], + [ + 224.09858889080243, + 143.6657109794909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.37713803545523, + "ymin": 179.62947727025073, + "xmax": 395.6953498658125, + "ymax": 216.43857264638453 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 387.03570194171505, + 207.22996741787526 + ], + [ + 379.3064176194868, + 214.33964432255354 + ], + [ + 388.03078413217827, + 216.43857264638453 + ], + [ + 395.6953498658125, + 209.2871877063747 + ], + [ + 381.34087788318885, + 179.62947727025073 + ], + [ + 373.37713803545523, + 186.6165633249986 + ], + [ + 382.28267944233085, + 188.67990614354048 + ], + [ + 390.1790854188109, + 181.65089951522484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 280.3005966813995, + "ymin": 158.49496751143158, + "xmax": 304.56809064392155, + "ymax": 194.35716087118158 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 296.42920380304895, + 185.70500302294218 + ], + [ + 288.0534676547305, + 192.38566968187968 + ], + [ + 296.2481328614378, + 194.35716087118158 + ], + [ + 304.56809064392155, + 187.6385088895495 + ], + [ + 288.93559615765224, + 158.49496751143158 + ], + [ + 280.3005966813995, + 165.0513457229389 + ], + [ + 288.653699357478, + 166.98669253131325 + ], + [ + 297.2308793198644, + 160.39221496734433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 308996133291023887, + "instance_id": 4062, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_0", + "bbox_3d": { + "center_world": { + "x": -0.04459415376186371, + "y": 40.953365325927734, + "z": 3.652277708053589 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.9071688991958, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 32.5634658543276 + }, + "corners_3d": [ + [ + -1.0119582414627075, + 39.86409378051758, + 3.48895263671875 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.4889559745788574 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.4889559745788574 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.48895263671875 + ], + [ + -1.0119582414627075, + 39.86409378051758, + 3.8155994415283203 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.8156027793884277 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.8156027793884277 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.8155994415283203 + ] + ], + "corners_2d": [ + [ + 1284.7707250187545, + 32.5634658543276 + ], + [ + 1280.0414898964946, + 13.27730264490964 + ], + [ + 1230.9071688991958, + 6.7678427647699095 + ], + [ + 1233.7475872464258, + 25.55770804971297 + ], + [ + 1288.297648875704, + 24.901678292079907 + ], + [ + 1283.4147796694535, + 5.793472573816359 + ], + [ + 1233.9816976012096, + -0.6542101370607725 + ], + [ + 1236.9523525235913, + 17.959687061057593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.33706708032071, + "ymin": 48.14092799742701, + "xmax": 112.89667188395413, + "ymax": 63.33771331801137 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 89.17163226663092, + 58.84005659279592 + ], + [ + 110.73952472872668, + 63.33771331801137 + ], + [ + 112.89667188395413, + 62.176128188011944 + ], + [ + 91.35577144919955, + 57.69696899036387 + ], + [ + 85.33706708032071, + 49.27220426393933 + ], + [ + 107.02517293227402, + 53.72370095677326 + ], + [ + 109.2051577432369, + 52.57398943514943 + ], + [ + 87.54429596305044, + 48.14092799742701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3700170815823105936, + "instance_id": 36943, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_1", + "bbox_3d": { + "center_world": { + "x": -0.04460056126117706, + "y": 40.953365325927734, + "z": 3.6533782482147217 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.959251820753, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 32.4971568076312 + }, + "corners_3d": [ + [ + -1.0107700824737549, + 39.86528778076172, + 3.491137981414795 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.4911415576934814 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.4911415576934814 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.491137981414795 + ], + [ + -1.0107700824737549, + 39.86528778076172, + 3.815614938735962 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.8156185150146484 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.8156185150146484 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.815614938735962 + ] + ], + "corners_2d": [ + [ + 1284.7597497580757, + 32.4971568076312 + ], + [ + 1280.035873780057, + 13.233626079759574 + ], + [ + 1230.959251820753, + 6.732355514466576 + ], + [ + 1233.7985554968109, + 25.500757648297963 + ], + [ + 1288.2630846269053, + 24.88612344000734 + ], + [ + 1283.3867673096875, + 5.799189414130467 + ], + [ + 1234.0137115625926, + -0.6407835638582355 + ], + [ + 1236.982267257405, + 17.952993951220492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.140356220842, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 106.15057474654333 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1252.909914548146, + 106.15057474654333 + ], + [ + 1249.3280825192496, + 84.13738584130965 + ], + [ + 1200.140356220842, + 76.65954422861256 + ], + [ + 1201.8414865602172, + 98.10110967250819 + ], + [ + 1301.9541244067118, + -0.041681019180657586 + ], + [ + 1296.1747598859079, + -19.585387416832077 + ], + [ + 1242.6109417239816, + -26.19854901648796 + ], + [ + 1246.1537806809642, + -7.201329110418328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 611.496306059364, + "ymin": 0.0, + "xmax": 720.1605008610292, + "ymax": 181.9316008222506 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 705.6118668600399, + 181.9316008222506 + ], + [ + 709.2161468327807, + 176.4664405606752 + ], + [ + 619.5232051806811, + 158.08043073950864 + ], + [ + 615.31175646364, + 163.2508534951145 + ], + [ + 716.0836961126417, + -17.781324864070143 + ], + [ + 720.1605008610292, + -22.25347733220741 + ], + [ + 616.3871178619755, + -37.21511044477728 + ], + [ + 611.496306059364, + -33.020655655830865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.9236997997996, + "ymin": 345.1372216259609, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1184.2917407644077, + 588.7605969233502 + ], + [ + 1164.9236997997996, + 583.1720616391764 + ], + [ + 1166.2436162433446, + 720.0241567595509 + ], + [ + 1188.083571802183, + 727.120615578968 + ], + [ + 1337.711908459395, + 350.7248261236465 + ], + [ + 1311.9112775608246, + 345.1372216259609 + ], + [ + 1338.3364202725184, + 486.785914788657 + ], + [ + 1368.7060994934986, + 494.415355089865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 195.78223026993044, + "ymin": 0.0, + "xmax": 220.40117845204065, + "ymax": 5.220857510215467 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 198.53797946516244, + 1.6022593847947633 + ], + [ + 218.66670710975916, + 5.220857510215467 + ], + [ + 220.40117845204065, + 4.286875739559605 + ], + [ + 200.2970582451265, + 0.6816307173884866 + ], + [ + 195.78223026993044, + -7.334517786998447 + ], + [ + 216.01746547648332, + -3.7582107868857406 + ], + [ + 217.76776337007504, + -4.681307885735691 + ], + [ + 197.55737198783095, + -8.244335391719687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.93498905269797, + "ymin": 62.43388122750707, + "xmax": 575.5367426730319, + "ymax": 406.91561808009544 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 569.3211087309638, + 406.91561808009544 + ], + [ + 575.5367426730319, + 397.51033484248455 + ], + [ + 249.30198982521745, + 302.5408281002377 + ], + [ + 240.6937236309338, + 310.0500671967253 + ], + [ + 551.8745846708505, + 153.5744013503852 + ], + [ + 559.8300198785449, + 145.14961963687327 + ], + [ + 166.3365887421532, + 62.43388122750707 + ], + [ + 154.93498905269797, + 68.82231187401794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 435.9367426102837, + "xmax": 411.48944792055136, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -90.39084492381107, + 1447.0780828244801 + ], + [ + -67.88963094115866, + 1465.2247026398786 + ], + [ + 411.48944792055136, + 703.3378675086498 + ], + [ + 394.94697003222865, + 696.5153828316325 + ], + [ + -631.0393594008092, + 1457.317748277312 + ], + [ + -600.4455946498981, + 1489.2836816201839 + ], + [ + 330.0402618675142, + 443.17341172377286 + ], + [ + 308.27255999469946, + 435.9367426102837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 99.7925675606873, + "ymax": 214.96895609999407 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -4.07979191584343, + 214.96895609999407 + ], + [ + 99.7925675606873, + 163.81287031114024 + ], + [ + 35.27932439665665, + 136.4530868032635 + ], + [ + -68.50122655827465, + 183.2108982154154 + ], + [ + -269.0982093302148, + -281.5538079732395 + ], + [ + -101.47516289622956, + -302.78873074881017 + ], + [ + -176.38311680579432, + -312.33039509155924 + ], + [ + -340.84032838627127, + -293.42682836028405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.4399690197315, + "ymin": 0.0, + "xmax": 1013.7422984498642, + "ymax": 313.9196525704018 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 921.1408389676166, + 313.9196525704018 + ], + [ + 911.7354386840836, + 197.33183320480214 + ], + [ + 719.5818532672165, + 180.54426566342087 + ], + [ + 697.4399690197315, + 291.12923378356953 + ], + [ + 1013.7422984498642, + -54.76082890660939 + ], + [ + 984.938538744502, + -135.61207394365937 + ], + [ + 740.3683610518638, + -146.6568209909541 + ], + [ + 715.6604838740012, + -71.16088439978898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.7508318802893, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 226.305434727203 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1279.8098327915382, + 205.25364349697412 + ], + [ + 1512.3783727943023, + 226.305434727203 + ], + [ + 1418.8443285992753, + 120.33687262703052 + ], + [ + 1221.7508318802893, + 104.92385776364375 + ], + [ + 1464.1971675974503, + -148.64215506977496 + ], + [ + 1773.5592035869727, + -135.03940045106174 + ], + [ + 1609.5934088888553, + -201.21130520931058 + ], + [ + 1359.8396527861971, + -210.37654070040583 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00096/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00096/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df124be7e2f1d22f364bbd07793c1cb1de225a31 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00096/meta.json @@ -0,0 +1,2676 @@ +{ + "frame_id": 96, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 48.0, + "sim_timestamp": 7878.911660335492 + }, + "drone_pose": { + "x": 9.327998403934972, + "y": -5.215105080274171, + "z": 20.0, + "pitch": -44.97432884068702, + "yaw": 69.4355228369255, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2484903335571289, + -0.6623448133468628, + 0.7067899703979492, + -12.999518394470215 + ], + [ + 0.9362776279449463, + 0.35126107931137085, + 2.9802322387695312e-08, + 10.565459251403809 + ], + [ + -0.24826785922050476, + 0.6617515087127686, + 0.7074235081672668, + -15.283733367919922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.10382456841066, + "y": -4.641046859183338, + "z": 19.978276724902347 + }, + "t1_image_uv": [ + 1802.4100418334044, + -512.4039831941919 + ], + "t1_depth": 0.33987316749811863 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.33281707763672, + "y": 14.312236785888672, + "z": 1.1394576174020767 + }, + "image_uv": [ + 618.4057072184413, + 306.7494973841914 + ], + "depth": 28.25339373868092, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 564, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 14.312235832214355, + "z": 1.1394575834274292 + }, + "extent": { + "x": 0.37847045063972473, + "y": 0.3929302990436554, + "z": 0.943766176700592 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 600.2339852858544, + "ymin": 271.2382873134129, + "xmax": 635.5522576094035, + "ymax": 341.4684803695598 + }, + "corners_3d": [ + [ + 17.72574806213379, + 13.933765411376953, + 0.19569140672683716 + ], + [ + 16.93988609313965, + 13.933765411376953, + 0.19569140672683716 + ], + [ + 16.93988609313965, + 14.690706253051758, + 0.19569140672683716 + ], + [ + 17.72574806213379, + 14.690706253051758, + 0.19569140672683716 + ], + [ + 17.72574806213379, + 13.933765411376953, + 2.083223819732666 + ], + [ + 16.93988609313965, + 13.933765411376953, + 2.083223819732666 + ], + [ + 16.93988609313965, + 14.690706253051758, + 2.083223819732666 + ], + [ + 17.72574806213379, + 14.690706253051758, + 2.083223819732666 + ] + ], + "corners_2d": [ + [ + 602.0781351771948, + 335.08342975002137 + ], + [ + 626.5407276532283, + 341.4684803695598 + ], + [ + 635.5522576094035, + 325.24821261754806 + ], + [ + 611.4485699664, + 319.08075454496935 + ], + [ + 600.2339852858544, + 287.1448346028909 + ], + [ + 625.8815072855697, + 293.49892902447056 + ], + [ + 635.3383493690392, + 277.365560579771 + ], + [ + 610.0850260550341, + 271.2382873134129 + ] + ], + "center_offset_px": [ + -21.594292781558693, + -53.250502615808614 + ] + }, + "trace_timestep_index": 96, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 375784, + "2": 382868, + "3": 12255, + "5": 3804, + "6": 12285, + "7": 2767, + "9": 38403, + "10": 45979, + "12": 3393, + "14": 16437, + "20": 4082, + "24": 23543 + }, + "instance_pixel_counts": { + "381": 506, + "3146": 2802, + "3669": 42, + "4480": 186, + "9856": 77, + "11676": 7604, + "17502": 33974, + "19038": 11866, + "19354": 696, + "19866": 9285, + "20378": 14059, + "20573": 12035, + "20890": 15907, + "21085": 225238, + "21402": 73, + "21597": 18967, + "21914": 3213, + "23450": 47258, + "25498": 1429, + "29260": 8, + "34816": 3858, + "34899": 554, + "35072": 8689, + "36252": 176863, + "36764": 81102, + "37276": 10787, + "38300": 99270, + "38483": 1765, + "40860": 158, + "41121": 432, + "41633": 307, + "43008": 564, + "43264": 236, + "43520": 155, + "43776": 671, + "44032": 1064, + "44288": 703, + "44544": 14577, + "44922": 15441, + "45388": 220, + "45434": 3330, + "45644": 40, + "46848": 1860, + "49778": 12255, + "51021": 154, + "51309": 38403, + "51612": 519, + "52636": 4253, + "58697": 3804, + "59772": 838, + "60284": 4513, + "60796": 3700, + "61308": 4694, + "61820": 150, + "62844": 797, + "63868": 19510 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 564, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.33281707763672, + "y": 14.312235832214355, + "z": 1.1394575834274292 + }, + "extent": { + "x": 0.40053221583366394, + "y": 0.33761411905288696, + "z": 0.9327564239501953 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 601.7465086429099, + "ymin": 271.50359243945155, + "xmax": 634.1021624514781, + "ymax": 341.23019725721883 + }, + "corners_3d": [ + [ + 17.67043113708496, + 13.911703109741211, + 0.2067011594772339 + ], + [ + 16.995203018188477, + 13.911704063415527, + 0.2067011594772339 + ], + [ + 16.995203018188477, + 14.7127685546875, + 0.2067011594772339 + ], + [ + 17.67043113708496, + 14.712767601013184, + 0.2067011594772339 + ], + [ + 17.67043113708496, + 13.911703109741211, + 2.072214126586914 + ], + [ + 16.995203018188477, + 13.911704063415527, + 2.072214126586914 + ], + [ + 16.995203018188477, + 14.7127685546875, + 2.072214126586914 + ], + [ + 17.67043113708496, + 14.712767601013184, + 2.072214126586914 + ] + ], + "corners_2d": [ + [ + 603.5020255791392, + 335.73854705786135 + ], + [ + 624.535508065682, + 341.23019725721883 + ], + [ + 634.1021624514781, + 324.08090263968427 + ], + [ + 613.3952076725545, + 318.78716190388496 + ], + [ + 601.7465086429099, + 288.3551364400984 + ], + [ + 623.7871002676771, + 293.8207471773352 + ], + [ + 633.8221875504101, + 276.76299933885076 + ], + [ + 612.1398410946091, + 271.50359243945155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 236, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.458803176879883, + "y": 17.3099422454834, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.23890382051467896, + "y": 0.18140992522239685, + "z": 0.5963907837867737 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 525.5181028966228, + "ymin": 199.69417711738595, + "xmax": 542.5789056084288, + "ymax": 239.1446745051049 + }, + "corners_3d": [ + [ + 21.586578369140625, + 17.038541793823242, + 0.5407865643501282 + ], + [ + 21.231685638427734, + 17.113977432250977, + 0.5407865643501282 + ], + [ + 21.33102798461914, + 17.581342697143555, + 0.5407865643501282 + ], + [ + 21.68592071533203, + 17.50590705871582, + 0.5407865643501282 + ], + [ + 21.586578369140625, + 17.038541793823242, + 1.7335681915283203 + ], + [ + 21.231685638427734, + 17.113977432250977, + 1.7335681915283203 + ], + [ + 21.33102798461914, + 17.581342697143555, + 1.7335681915283203 + ], + [ + 21.68592071533203, + 17.50590705871582, + 1.7335681915283203 + ] + ], + "corners_2d": [ + [ + 528.5782057391807, + 238.1287416884902 + ], + [ + 539.3767498538133, + 239.1446745051049 + ], + [ + 542.5789056084288, + 230.3434298009025 + ], + [ + 531.8897605831529, + 229.34870512115975 + ], + [ + 525.5181028966228, + 208.39245028517732 + ], + [ + 536.609774204414, + 209.39924572564342 + ], + [ + 539.928875411143, + 200.67938690471763 + ], + [ + 528.952588724479, + 199.69417711738595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 155, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.076992988586426, + "y": 21.254947662353516, + "z": 0.8054773807525635 + }, + "extent": { + "x": 0.29702267050743103, + "y": 0.31612056493759155, + "z": 0.6242662668228149 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 743.3839229909761, + "ymin": 179.95856134170387, + "xmax": 767.9444188551145, + "ymax": 223.10588393595324 + }, + "corners_3d": [ + [ + 15.360334396362305, + 20.9265079498291, + 0.18121111392974854 + ], + [ + 14.73155689239502, + 20.992595672607422, + 0.18121111392974854 + ], + [ + 14.793651580810547, + 21.58338737487793, + 0.18121111392974854 + ], + [ + 15.422429084777832, + 21.51729965209961, + 0.18121111392974854 + ], + [ + 15.360334396362305, + 20.9265079498291, + 1.4297436475753784 + ], + [ + 14.73155689239502, + 20.992595672607422, + 1.4297436475753784 + ], + [ + 14.793651580810547, + 21.58338737487793, + 1.4297436475753784 + ], + [ + 15.422429084777832, + 21.51729965209961, + 1.4297436475753784 + ] + ], + "corners_2d": [ + [ + 743.3839229909761, + 220.2882166067936 + ], + [ + 761.6992313462777, + 223.10588393595324 + ], + [ + 764.5350239697184, + 213.0068000300564 + ], + [ + 746.4343098244937, + 210.25780688921486 + ], + [ + 746.2403411975941, + 189.88024792918722 + ], + [ + 765.0735700668145, + 192.6685810919395 + ], + [ + 767.9444188551145, + 182.67708974859934 + ], + [ + 749.3380295053498, + 179.95856134170387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 671, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 7.832817077636719, + "y": 14.312235832214355, + "z": 1.148481011390686 + }, + "extent": { + "x": 0.38060668110847473, + "y": 0.5303912162780762, + "z": 0.9298380613327026 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 917.1673282300424, + "ymin": 350.3910756203117, + "xmax": 976.6468354682872, + "ymax": 427.02112776633254 + }, + "corners_3d": [ + [ + 8.363207817077637, + 13.931629180908203, + 0.2186429500579834 + ], + [ + 7.302425861358643, + 13.931629180908203, + 0.2186429500579834 + ], + [ + 7.302425861358643, + 14.692842483520508, + 0.2186429500579834 + ], + [ + 8.363208770751953, + 14.692842483520508, + 0.2186429500579834 + ], + [ + 8.363207817077637, + 13.931629180908203, + 2.0783190727233887 + ], + [ + 7.302425861358643, + 13.931629180908203, + 2.0783190727233887 + ], + [ + 7.302425861358643, + 14.692842483520508, + 2.0783190727233887 + ], + [ + 8.363208770751953, + 14.692842483520508, + 2.0783190727233887 + ] + ], + "corners_2d": [ + [ + 917.1673282300424, + 416.7843080511726 + ], + [ + 956.4078334081248, + 427.02112776633254 + ], + [ + 960.0517576190775, + 407.61748899655856 + ], + [ + 921.5102811230081, + 397.76227649193925 + ], + [ + 931.6765020336823, + 369.4576601540691 + ], + [ + 973.1468994333213, + 379.73393402832846 + ], + [ + 976.6468354682872, + 360.2647070369052 + ], + [ + 935.956715741047, + 350.3910756203117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1064, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 13.717317581176758, + "y": 3.18487548828125, + "z": 0.9847505688667297 + }, + "extent": { + "x": 0.4194958806037903, + "y": 0.5636875033378601, + "z": 0.9314119219779968 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 548.170770669564, + "ymin": 635.3118024510836, + "xmax": 618.4754724288781, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 14.32176685333252, + 2.82659912109375, + 0.05333864688873291 + ], + [ + 13.200567245483398, + 2.7087562084198, + 0.05333864688873291 + ], + [ + 13.112868309020996, + 3.54315185546875, + 0.05333864688873291 + ], + [ + 14.234067916870117, + 3.6609947681427, + 0.05333864688873291 + ], + [ + 14.32176685333252, + 2.82659912109375, + 1.9161624908447266 + ], + [ + 13.200567245483398, + 2.7087562084198, + 1.9161624908447266 + ], + [ + 13.112868309020996, + 3.54315185546875, + 1.9161624908447266 + ], + [ + 14.234067916870117, + 3.6609947681427, + 1.9161624908447266 + ] + ], + "corners_2d": [ + [ + 554.0213598435762, + 710.7005998974548 + ], + [ + 600.1769336676601, + 733.7039099269019 + ], + [ + 618.4754724288781, + 699.7511978493474 + ], + [ + 573.167974675293, + 677.8953188409689 + ], + [ + 548.170770669564, + 669.1810354315244 + ], + [ + 597.4162040176855, + 692.999335219062 + ], + [ + 617.0238622089568, + 657.8636905437992 + ], + [ + 568.7416975859717, + 635.3118024510836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 703, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 28.578153610229492, + "y": 6.142021179199219, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.347137451171875, + "y": 0.5168148875236511, + "z": 0.888758659362793 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 79.59135855339264, + "ymin": 364.6987215347209, + "xmax": 152.00270650071178, + "ymax": 440.92369482922464 + }, + "corners_3d": [ + [ + 29.15584945678711, + 5.909921646118164, + 0.09600657224655151 + ], + [ + 28.144805908203125, + 5.695017337799072, + 0.09600657224655151 + ], + [ + 28.000457763671875, + 6.374120712280273, + 0.09600657224655151 + ], + [ + 29.01150131225586, + 6.589025020599365, + 0.09600657224655151 + ], + [ + 29.15584945678711, + 5.909921646118164, + 1.8735239505767822 + ], + [ + 28.144805908203125, + 5.695017337799072, + 1.8735239505767822 + ], + [ + 28.000457763671875, + 6.374120712280273, + 1.8735239505767822 + ], + [ + 29.01150131225586, + 6.589025020599365, + 1.8735239505767822 + ] + ], + "corners_2d": [ + [ + 106.29710314024658, + 425.39683494486474 + ], + [ + 130.4107814256218, + 440.92369482922464 + ], + [ + 152.00270650071178, + 424.6063741205378 + ], + [ + 127.94442388142852, + 409.55936289812314 + ], + [ + 79.59135855339264, + 380.58908205927924 + ], + [ + 104.50556728938614, + 396.1916753577913 + ], + [ + 127.60378792309882, + 379.7953987025665 + ], + [ + 102.7374563559274, + 364.6987215347209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 14577, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 161.21640137932127, + "ymin": 175.5215866062557, + "xmax": 367.245055236672, + "ymax": 366.8706737835601 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 185.9727017789922, + 347.34790381468304 + ], + [ + 253.2925712779534, + 366.8706737835601 + ], + [ + 367.245055236672, + 242.07032677287594 + ], + [ + 306.4582057810883, + 227.22730972411 + ], + [ + 161.21640137932127, + 294.2661316451114 + ], + [ + 231.74780099975413, + 313.7206874526608 + ], + [ + 354.1067319631508, + 190.10611465153087 + ], + [ + 290.68873417672836, + 175.5215866062557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 1860, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 414.4666755997679, + "ymin": 0.0, + "xmax": 511.81623598521446, + "ymax": 44.61271293844567 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 511.81623598521446, + -1.4031265312669348 + ], + [ + 471.6602756417118, + -8.291406590151553 + ], + [ + 420.10703548185796, + 36.6301507699867 + ], + [ + 462.70703179599013, + 44.61271293844567 + ], + [ + 508.7296916592435, + -33.24199271150809 + ], + [ + 467.6546369289109, + -39.91853970535976 + ], + [ + 414.4666755997679, + 3.6890236380886563 + ], + [ + 458.1007996664555, + 11.454634302003342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 942427851132881556, + "instance_id": 38090, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 18.78404426574707, + "y": -1.9442994594573975, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858580589294434, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.19686556167574, + "ymin": 691.9738103887698, + "xmax": 153.7699208820598, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.645458221435547, + -1.754341959953308, + 5.545533180236816 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 5.545533180236816 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 5.545533180236816 + ], + [ + 18.645458221435547, + -2.134256601333618, + 5.545533180236816 + ], + [ + 18.645458221435547, + -1.754341959953308, + 6.416468620300293 + ], + [ + 18.922630310058594, + -1.7543424367904663, + 6.416468620300293 + ], + [ + 18.922630310058594, + -2.1342568397521973, + 6.416468620300293 + ], + [ + 18.645458221435547, + -2.134256601333618, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 153.7699208820598, + 724.0875570898738 + ], + [ + 139.2902415235418, + 717.9680079087293 + ], + [ + 121.93442717368839, + 740.6050496429798 + ], + [ + 136.58210189725702, + 746.9372792119518 + ], + [ + 132.704098465735, + 698.2324810450582 + ], + [ + 117.7017400414303, + 691.9738103887698 + ], + [ + 99.19686556167574, + 715.1380087842836 + ], + [ + 114.37838199394446, + 721.6238498045361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 1661531622821449086, + "instance_id": 32461, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 18.784048080444336, + "y": 0.55569988489151, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13858577609062195, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 210.06243226047707, + "ymin": 557.7923813193777, + "xmax": 253.78134304796453, + "ymax": 609.5872286048658 + }, + "corners_3d": [ + [ + 18.645462036132812, + 0.7456573843955994, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 5.545533180236816 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 5.545533180236816 + ], + [ + 18.645462036132812, + 0.7456573843955994, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.7456569671630859, + 6.416468620300293 + ], + [ + 18.92263412475586, + 0.36574238538742065, + 6.416468620300293 + ], + [ + 18.645462036132812, + 0.36574283242225647, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 253.78134304796453, + 591.1306862503942 + ], + [ + 240.33427376143334, + 586.1768237517211 + ], + [ + 226.30209171305808, + 604.4788752507103 + ], + [ + 239.89811980905557, + 609.5872286048658 + ], + [ + 238.79503805245247, + 562.8152349600854 + ], + [ + 224.89322465548668, + 557.7923813193777 + ], + [ + 210.06243226047707, + 576.357399229988 + ], + [ + 224.12288393184173, + 581.5431070793427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.1994866637269, + "ymin": 278.40059764023624, + "xmax": 523.8637559661504, + "ymax": 314.15453456797525 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 514.5776634147081, + 302.9293992072518 + ], + [ + 508.40217505249643, + 311.70855905145953 + ], + [ + 517.7623012649933, + 314.15453456797525 + ], + [ + 523.8637559661504, + 305.32838908794207 + ], + [ + 511.55539678253547, + 278.40059764023624 + ], + [ + 505.1994866637269, + 287.14888539632545 + ], + [ + 514.7792260354425, + 289.58699066683556 + ], + [ + 521.0576314398705, + 280.79074397384926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.88897927899086, + "ymin": 107.31822726993454, + "xmax": 176.79764829864672, + "ymax": 144.20830836579066 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 168.66429105586997, + 135.2878533768345 + ], + [ + 159.3389913654961, + 142.27316017280333 + ], + [ + 167.5255688956833, + 144.20830836579066 + ], + [ + 176.79764829864672, + 137.18666223025608 + ], + [ + 157.54470079513936, + 107.31822726993454 + ], + [ + 147.88897927899086, + 114.19757138308688 + ], + [ + 156.24049434227953, + 116.1039108591309 + ], + [ + 165.84101633386632, + 109.1879268342623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 322.3978626215865, + "ymin": 146.36675015986984, + "xmax": 347.3573516230996, + "ymax": 184.81135493214168 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 338.3218015354998, + 174.89628151764265 + ], + [ + 330.1900838369623, + 182.65933650828197 + ], + [ + 339.29411999476923, + 184.81135493214168 + ], + [ + 347.3573516230996, + 177.00571656310785 + ], + [ + 330.8113256634555, + 146.36675015986984 + ], + [ + 322.3978626215865, + 154.03173022903323 + ], + [ + 331.709535993518, + 156.1572388568473 + ], + [ + 340.0514711770822, + 148.44915679936398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.866506964785, + "ymin": 124.54809977811954, + "xmax": 252.10347068356128, + "ymax": 162.13028837753907 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 243.57760907694205, + 152.77721346213102 + ], + [ + 234.75772763606346, + 160.10083063570343 + ], + [ + 243.34327682894764, + 162.13028837753907 + ], + [ + 252.10347068356128, + 154.7676565278391 + ], + [ + 233.99725502087017, + 124.54809977811954 + ], + [ + 224.866506964785, + 131.76881260838718 + ], + [ + 233.63510110482207, + 133.77035607440567 + ], + [ + 242.7037448257779, + 126.51023866274383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 25.28298839984575, + "ymin": 3.984053385552727, + "xmax": 55.05728836126855, + "ymax": 19.977907088367488 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 29.995699465550274, + 15.320129622940897 + ], + [ + 52.790385459159324, + 19.977907088367488 + ], + [ + 55.05728836126855, + 18.69774038188575 + ], + [ + 32.29236220486848, + 14.059132862530362 + ], + [ + 25.28298839984575, + 5.233913544605684 + ], + [ + 48.219122904300434, + 9.850899027406513 + ], + [ + 50.51316178711295, + 8.581889900879787 + ], + [ + 27.607103776534245, + 3.984053385552727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.1801830718255, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 52.59337389288419 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1234.9666028165639, + 52.59337389288419 + ], + [ + 1231.9065106594817, + 29.362533742408175 + ], + [ + 1182.1801830718255, + 21.937317263695945 + ], + [ + 1183.387315704956, + 44.61259342840316 + ], + [ + 1286.9342541634824, + -58.18405546233987 + ], + [ + 1281.6092883428114, + -79.08540832742972 + ], + [ + 1227.1249565184985, + -85.73872114394914 + ], + [ + 1230.2184592289705, + -65.37921803775816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 572.3273106869581, + "ymin": 0.0, + "xmax": 685.6865629711992, + "ymax": 138.81275837495141 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 675.1325350584679, + 138.81275837495141 + ], + [ + 678.8807588387381, + 132.97709423027 + ], + [ + 586.5999466178132, + 114.49791774373722 + ], + [ + 582.2302110946807, + 120.04159151755269 + ], + [ + 681.3399187404017, + -70.03709220108942 + ], + [ + 685.6865629711992, + -74.95358789857949 + ], + [ + 577.5286535575333, + -90.4320223458547 + ], + [ + 572.3273106869581, + -85.80287520734873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.1856677595954, + "ymin": 314.95493356174717, + "xmax": 1280.0, + "ymax": 696.6036635830383 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1154.1515474135097, + 555.5575953728254 + ], + [ + 1134.9114075579294, + 550.1800076875418 + ], + [ + 1133.1856677595954, + 689.8359274431714 + ], + [ + 1154.7669252019741, + 696.6036635830383 + ], + [ + 1312.0392365657945, + 320.5453135822452 + ], + [ + 1285.9669401395508, + 314.95493356174717 + ], + [ + 1308.507752725151, + 465.513578817801 + ], + [ + 1339.0657063971662, + 473.104846440924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.94724628663744, + "ymin": 23.67165735412874, + "xmax": 540.5781153175095, + "ymax": 377.44862779279873 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 534.1799247687172, + 377.44862779279873 + ], + [ + 540.5781153175095, + 367.5106986473676 + ], + [ + 203.6353923695761, + 272.33700485343616 + ], + [ + 194.75316371706356, + 280.4061821417459 + ], + [ + 505.22885120939657, + 119.3426838849262 + ], + [ + 513.7290558062899, + 110.05682676006779 + ], + [ + 100.14820931695863, + 23.67165735412874 + ], + [ + 87.94724628663744, + 30.82171961552939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 430.2696378380129, + "xmax": 372.7613603286511, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -129.0776966715573, + 1450.2937240678712 + ], + [ + -106.00181222394178, + 1467.4749358180043 + ], + [ + 372.7613603286511, + 687.7440569755775 + ], + [ + 355.86042029041397, + 681.0609666441601 + ], + [ + -760.3759031504778, + 1556.5390067976386 + ], + [ + -727.7704922175767, + 1589.6732725049008 + ], + [ + 267.2452843223847, + 437.7653226369631 + ], + [ + 244.48220872573677, + 430.2696378380129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 45.38758007202148, + "ymax": 182.9393610328372 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -62.98130351898635, + 182.9393610328372 + ], + [ + 45.38758007202148, + 126.87938406331858 + ], + [ + -22.741040621429534, + 98.22524753854736 + ], + [ + -131.29670689680336, + 149.66827472098225 + ], + [ + -395.33559994711027, + -350.79176538793513 + ], + [ + -207.92359125865937, + -376.02975272156027 + ], + [ + -288.18286856776865, + -386.81678490923946 + ], + [ + -472.0817859312808, + -364.33817088627643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.3094888374006, + "ymin": 0.0, + "xmax": 987.461774504101, + "ymax": 274.65361876126815 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 894.3153533750527, + 274.65361876126815 + ], + [ + 886.401135641593, + 152.321936681933 + ], + [ + 689.8224297621434, + 136.8654354642516 + ], + [ + 666.3094888374006, + 253.82487656139506 + ], + [ + 987.461774504101, + -108.53378215581085 + ], + [ + 960.2284748611576, + -197.79862022189286 + ], + [ + 704.3537539182621, + -208.46132033903154 + ], + [ + 675.6345793914099, + -124.37346580591628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1203.5172754179584, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 175.4204083459735 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1259.6450509541035, + 156.22790685712167 + ], + [ + 1492.589277614472, + 175.4204083459735 + ], + [ + 1402.1871896156879, + 65.52432070882406 + ], + [ + 1203.5172754179584, + 51.34173835362304 + ], + [ + 1456.9880970949098, + -214.68148675125485 + ], + [ + 1773.2903332435117, + -201.69702565668558 + ], + [ + 1607.9114885744257, + -273.30738182290304 + ], + [ + 1351.5200397006354, + -282.08602709424224 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00102/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..401475dc068f853b399082f97455f3cc7e4c0b5a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00102/meta.json @@ -0,0 +1,3306 @@ +{ + "frame_id": 102, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.0, + "sim_timestamp": 7952.154992050957 + }, + "drone_pose": { + "x": 9.36607872706265, + "y": -1.9269000543443082, + "z": 20.0, + "pitch": -41.90160052898437, + "yaw": 66.24671778878424, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2998005151748657, + -0.6812427043914795, + 0.6678533554077148, + -14.852334022521973 + ], + [ + 0.9152884483337402, + 0.4027990698814392, + -2.9802322387695312e-08, + 9.348816871643066 + ], + [ + -0.2690106928348541, + 0.6112784147262573, + 0.7442929148674011, + -13.544156074523926 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 9.587779009756652, + "y": -1.3584560251848166, + "z": 20.0 + }, + "t1_image_uv": [ + 695.116407951022, + -501.4071444027635 + ], + "t1_depth": 0.4537141795236752 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.1389937591552735 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.241239368545344, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 550, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.138993740081787 + }, + "extent": { + "x": 0.4071398973464966, + "y": 0.45136716961860657, + "z": 0.9458602070808411 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.3567164282105, + "ymin": 323.4465653715416, + "xmax": 659.8732751495888, + "ymax": 395.96917473094055 + }, + "corners_3d": [ + [ + 17.864089965820312, + 16.705181121826172, + 0.19313353300094604 + ], + [ + 17.22576141357422, + 17.343509674072266, + 0.19313353300094604 + ], + [ + 17.801544189453125, + 17.919292449951172, + 0.19313353300094604 + ], + [ + 18.43987274169922, + 17.280963897705078, + 0.19313353300094604 + ], + [ + 17.864089965820312, + 16.705181121826172, + 2.0848538875579834 + ], + [ + 17.22576141357422, + 17.343509674072266, + 2.0848538875579834 + ], + [ + 17.801544189453125, + 17.919292449951172, + 2.0848538875579834 + ], + [ + 18.43987274169922, + 17.280963897705078, + 2.0848538875579834 + ] + ], + "corners_2d": [ + [ + 630.7892228155539, + 395.96917473094055 + ], + [ + 658.998814338073, + 388.3592493845009 + ], + [ + 648.9564638173254, + 371.19224345541755 + ], + [ + 621.2114895252821, + 378.51014476316095 + ], + [ + 630.3614829462281, + 347.95544663374983 + ], + [ + 659.8732751495888, + 340.4211646993896 + ], + [ + 649.3603917012925, + 323.4465653715416 + ], + [ + 620.3567164282105, + 330.6787634298781 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 102, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 274949, + "2": 413993, + "3": 34982, + "5": 4260, + "6": 9983, + "7": 1814, + "9": 49518, + "10": 83757, + "12": 2211, + "14": 20683, + "20": 6583, + "21": 540, + "24": 18327 + }, + "instance_pixel_counts": { + "3146": 2094, + "3669": 40, + "4224": 55, + "4480": 125, + "7299": 319, + "9557": 20, + "9856": 91, + "11651": 540, + "17502": 69498, + "19038": 14064, + "19354": 260, + "19866": 11849, + "20378": 17195, + "20573": 17855, + "20890": 16938, + "21085": 280651, + "21402": 5195, + "21597": 63, + "21914": 6677, + "23450": 30197, + "29260": 239, + "34816": 126, + "34899": 1275, + "35072": 9689, + "35442": 2274, + "36252": 136203, + "36764": 92736, + "37276": 36506, + "38300": 9504, + "38483": 527, + "39073": 491, + "41121": 531, + "41633": 412, + "42145": 187, + "42657": 2, + "43008": 550, + "43264": 230, + "43520": 10, + "43776": 657, + "44032": 4, + "44288": 760, + "44544": 17213, + "44705": 356, + "44922": 11932, + "45388": 667, + "45434": 3796, + "45644": 699, + "46848": 3470, + "49778": 32708, + "51021": 435, + "51309": 49518, + "51612": 1704, + "52636": 895, + "58697": 4260, + "59772": 564, + "60284": 5702, + "60796": 4545, + "61308": 5139, + "61820": 1654, + "62844": 1957, + "63868": 7552 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 550, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 17.83281707763672, + "y": 17.312236785888672, + "z": 1.138993740081787 + }, + "extent": { + "x": 0.3822259306907654, + "y": 0.4301684498786926, + "z": 0.9411178231239319 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.3461657812361, + "ymin": 324.24947222273954, + "xmax": 658.8564122100506, + "ymax": 395.12972095705624 + }, + "corners_3d": [ + [ + 17.866718292236328, + 16.7377872467041, + 0.19787591695785522 + ], + [ + 17.25836753845215, + 17.34613800048828, + 0.19787591695785522 + ], + [ + 17.79891586303711, + 17.886686325073242, + 0.19787591695785522 + ], + [ + 18.40726661682129, + 17.278335571289062, + 0.19787591695785522 + ], + [ + 17.866718292236328, + 16.7377872467041, + 2.080111503601074 + ], + [ + 17.25836753845215, + 17.34613800048828, + 2.080111503601074 + ], + [ + 17.79891586303711, + 17.886686325073242, + 2.080111503601074 + ], + [ + 18.40726661682129, + 17.278335571289062, + 2.080111503601074 + ] + ], + "corners_2d": [ + [ + 631.1571455785731, + 395.12972095705624 + ], + [ + 658.0310967211519, + 387.886083489761 + ], + [ + 648.6123877926307, + 371.76375572638807 + ], + [ + 622.154223443827, + 378.74609770539814 + ], + [ + 630.7489432827036, + 347.36388189154474 + ], + [ + 658.8564122100506, + 340.1922825176756 + ], + [ + 648.9991245610272, + 324.24947222273954 + ], + [ + 621.3461657812361, + 331.15082121132326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 230, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 21.958803176879883, + "y": 20.3099422454834, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.2871081531047821, + "y": 0.26801878213882446, + "z": 0.6261342763900757 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.4303252002238, + "ymin": 251.72240272541757, + "xmax": 574.319735192187, + "ymax": 296.4184199500198 + }, + "corners_3d": [ + [ + 21.86398696899414, + 19.92879295349121, + 0.3586358428001404 + ], + [ + 21.572040557861328, + 20.37835121154785, + 0.3586358428001404 + ], + [ + 22.053619384765625, + 20.691091537475586, + 0.3586358428001404 + ], + [ + 22.345565795898438, + 20.241533279418945, + 0.3586358428001404 + ], + [ + 21.86398696899414, + 19.92879295349121, + 1.6109044551849365 + ], + [ + 21.572040557861328, + 20.37835121154785, + 1.6109044551849365 + ], + [ + 22.053619384765625, + 20.691091537475586, + 1.6109044551849365 + ], + [ + 22.345565795898438, + 20.241533279418945, + 1.6109044551849365 + ] + ], + "corners_2d": [ + [ + 560.31397424591, + 296.4184199500198 + ], + [ + 574.319735192187, + 290.9602257485574 + ], + [ + 565.6978147443241, + 282.19997570257976 + ], + [ + 551.7892226757432, + 287.5377412153936 + ], + [ + 558.1584068041525, + 265.7574958950295 + ], + [ + 572.5555157120094, + 260.3680867356846 + ], + [ + 563.7246554680319, + 251.72240272541757 + ], + [ + 549.4303252002238, + 256.9897501369611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 10, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 15.576992988586426, + "y": 24.254947662353516, + "z": 0.8033052682876587 + }, + "extent": { + "x": 0.32354244589805603, + "y": 0.26716306805610657, + "z": 0.6274024248123169 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.9596323430941, + "ymin": 237.70746139375336, + "xmax": 797.5212831592462, + "ymax": 282.14502876003735 + }, + "corners_3d": [ + [ + 15.493683815002441, + 23.843711853027344, + 0.1759028434753418 + ], + [ + 15.157422065734863, + 24.258960723876953, + 0.1759028434753418 + ], + [ + 15.66030216217041, + 24.666183471679688, + 0.1759028434753418 + ], + [ + 15.996563911437988, + 24.250934600830078, + 0.1759028434753418 + ], + [ + 15.493683815002441, + 23.843711853027344, + 1.4307076930999756 + ], + [ + 15.157422065734863, + 24.258960723876953, + 1.4307076930999756 + ], + [ + 15.66030216217041, + 24.666183471679688, + 1.4307076930999756 + ], + [ + 15.996563911437988, + 24.250934600830078, + 1.4307076930999756 + ] + ], + "corners_2d": [ + [ + 780.3800907127736, + 282.14502876003735 + ], + [ + 793.4984940235913, + 277.7974636598203 + ], + [ + 782.9661393798474, + 267.7610245948443 + ], + [ + 769.9596323430941, + 271.9970101068038 + ], + [ + 784.080149159765, + 251.89375396089943 + ], + [ + 797.5212831592462, + 247.60449979591894 + ], + [ + 786.6633956537427, + 237.70746139375336 + ], + [ + 773.3395171126031, + 241.88379661949273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 657, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 8.332817077636719, + "y": 17.312236785888672, + "z": 1.1480220556259155 + }, + "extent": { + "x": 0.5264202952384949, + "y": 0.4499395787715912, + "z": 0.954177737236023 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 935.4796591622271, + "ymin": 413.3372648140829, + "xmax": 1004.528547232908, + "ymax": 498.9239286126823 + }, + "corners_3d": [ + [ + 8.27873706817627, + 16.621845245361328, + 0.19384431838989258 + ], + [ + 7.642426490783691, + 17.25815773010254, + 0.19384431838989258 + ], + [ + 8.386897087097168, + 18.002628326416016, + 0.19384431838989258 + ], + [ + 9.023207664489746, + 17.366315841674805, + 0.19384431838989258 + ], + [ + 8.27873706817627, + 16.621845245361328, + 2.1021997928619385 + ], + [ + 7.642426490783691, + 17.25815773010254, + 2.1021997928619385 + ], + [ + 8.386897087097168, + 18.002628326416016, + 2.1021997928619385 + ], + [ + 9.023207664489746, + 17.366315841674805, + 2.1021997928619385 + ] + ], + "corners_2d": [ + [ + 958.2724342619147, + 498.9239286126823 + ], + [ + 986.5075011209462, + 489.5060745468529 + ], + [ + 963.1455445840058, + 462.2070621083401 + ], + [ + 935.4796591622271, + 471.11082122932027 + ], + [ + 974.9906236968579, + 450.0228799646193 + ], + [ + 1004.528547232908, + 440.5995596503426 + ], + [ + 979.4652118548961, + 413.3372648140829 + ], + [ + 950.5470433795751, + 422.22047179397026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 4, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 14.217317581176758, + "y": 6.18487548828125, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.4776562452316284, + "y": 0.4732809364795685, + "z": 0.9408460855484009 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 552.7082310794274, + "ymin": 694.8987148945084, + "xmax": 611.731454016813, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 14.284527778625488, + 5.51582145690918, + 0.04391425848007202 + ], + [ + 13.548910140991211, + 6.111511707305908, + 0.04391425848007202 + ], + [ + 14.150107383728027, + 6.85392951965332, + 0.04391425848007202 + ], + [ + 14.885725021362305, + 6.258239269256592, + 0.04391425848007202 + ], + [ + 14.284527778625488, + 5.51582145690918, + 1.9256064891815186 + ], + [ + 13.548910140991211, + 6.111511707305908, + 1.9256064891815186 + ], + [ + 14.150107383728027, + 6.85392951965332, + 1.9256064891815186 + ], + [ + 14.885725021362305, + 6.258239269256592, + 1.9256064891815186 + ] + ], + "corners_2d": [ + [ + 567.3510664974547, + 793.8267954832237 + ], + [ + 611.731454016813, + 781.8629406622098 + ], + [ + 601.0399918043954, + 739.4248157618671 + ], + [ + 558.0441535191999, + 750.6070106751208 + ], + [ + 562.4467897331242, + 750.8892347325361 + ], + [ + 609.8419477594422, + 738.5488169871462 + ], + [ + 598.5275276623262, + 694.8987148945084 + ], + [ + 552.7082310794274, + 706.3815643434546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 760, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 29.438173294067383, + "y": 7.9594292640686035, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3566626012325287, + "y": 0.4700823724269867, + "z": 0.8886237740516663 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 61.18207571170842, + "ymin": 427.22574984884716, + "xmax": 130.831334200215, + "ymax": 496.4570752238069 + }, + "corners_3d": [ + [ + 29.638164520263672, + 7.4042816162109375, + 0.09614145755767822 + ], + [ + 28.84967613220215, + 7.916332244873047, + 0.09614145755767822 + ], + [ + 29.238182067871094, + 8.51457691192627, + 0.09614145755767822 + ], + [ + 30.026670455932617, + 8.00252628326416, + 0.09614145755767822 + ], + [ + 29.638164520263672, + 7.4042816162109375, + 1.8733890056610107 + ], + [ + 28.84967613220215, + 7.916332244873047, + 1.8733890056610107 + ], + [ + 29.238182067871094, + 8.51457691192627, + 1.8733890056610107 + ], + [ + 30.026670455932617, + 8.00252628326416, + 1.8733890056610107 + ] + ], + "corners_2d": [ + [ + 87.88616759281615, + 496.4570752238069 + ], + [ + 124.7639610664927, + 492.1148642192578 + ], + [ + 130.831334200215, + 472.3669022510676 + ], + [ + 94.71567835995154, + 476.53784860462474 + ], + [ + 61.18207571170842, + 451.3103327631552 + ], + [ + 99.95719997039635, + 446.96497485680055 + ], + [ + 106.82693800989148, + 427.22574984884716 + ], + [ + 68.8933103330819, + 431.3917061341462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 17213, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 125.53417749982987, + "ymin": 272.6740377439181, + "xmax": 356.46922900091903, + "ymax": 481.7097950791801 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 152.28806039378566, + 456.10391099256896 + ], + [ + 219.5615106574478, + 481.7097950791801 + ], + [ + 356.46922900091903, + 343.57178401259273 + ], + [ + 295.35994046140206, + 324.58665874837897 + ], + [ + 125.53417749982987, + 402.686681155564 + ], + [ + 195.84641693230537, + 428.2278156770665 + ], + [ + 342.8317273912356, + 291.32174439758666 + ], + [ + 279.17309585804344, + 272.6740377439181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 3470, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 431.2204035326718, + "ymin": 42.62688248156684, + "xmax": 533.935585297189, + "ymax": 129.80929190699192 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 533.935585297189, + 82.14360855736624 + ], + [ + 493.75708203824297, + 73.83416573512335 + ], + [ + 436.2947951473857, + 120.09826532318425 + ], + [ + 478.8573002401229, + 129.80929190699192 + ], + [ + 531.4585904413407, + 50.66906005487613 + ], + [ + 490.3915224528455, + 42.62688248156684 + ], + [ + 431.2204035326718, + 87.47105753583429 + ], + [ + 474.778852066442, + 96.90516259433724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.29089421660217, + "ymin": 405.7278112155266, + "xmax": 505.5738853041178, + "ymax": 443.9509330936735 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 495.84742126444405, + 430.47678792455974 + ], + [ + 488.09465086632815, + 440.62705129610146 + ], + [ + 497.90007633338416, + 443.9509330936735 + ], + [ + 505.5738853041178, + 433.7293034025642 + ], + [ + 492.2776526253873, + 405.7278112155266 + ], + [ + 484.29089421660217, + 415.85591943905325 + ], + [ + 494.3289801618744, + 419.1737341248932 + ], + [ + 502.23307358979946, + 408.9726324369758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.75524411684012, + "ymin": 208.26426486888647, + "xmax": 150.90197953690438, + "ymax": 246.5031896345288 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 142.8724056049275, + 236.38356398144228 + ], + [ + 131.85424670185483, + 244.01832458172782 + ], + [ + 139.93045988807916, + 246.5031896345288 + ], + [ + 150.90197953690438, + 238.81770586534685 + ], + [ + 131.15983567665813, + 208.26426486888647 + ], + [ + 119.75524411684012, + 215.78289917425127 + ], + [ + 127.98311366370353, + 218.23075996038136 + ], + [ + 139.33967323148192, + 210.66098481494907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.24499012988304, + "ymin": 259.05550941884576, + "xmax": 321.9590544906939, + "ymax": 299.47991097369095 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 312.76718684572415, + 287.8870161472512 + ], + [ + 302.85353776594883, + 296.63122815946394 + ], + [ + 312.1122133874382, + 299.47991097369095 + ], + [ + 321.9590544906939, + 290.6735051949677 + ], + [ + 304.5056326918241, + 259.05550941884576 + ], + [ + 294.24499012988304, + 267.69542610680514 + ], + [ + 303.70942153512067, + 270.5111757924321 + ], + [ + 313.9004996040722, + 261.8082382970191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 196.05624886409834, + "ymin": 230.48379618495824, + "xmax": 225.79347402049206, + "ymax": 269.68776782442455 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 217.2646614343974, + 258.9355282016696 + ], + [ + 206.69972235376736, + 267.04672958784863 + ], + [ + 215.28352169984845, + 269.68776782442455 + ], + [ + 225.79347402049206, + 261.52101340055196 + ], + [ + 206.99297051125473, + 230.48379618495824 + ], + [ + 196.05624886409834, + 238.48326538702753 + ], + [ + 204.81415949626148, + 241.088818484785 + ], + [ + 215.6939596995171, + 233.03321589775317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 308996133291023887, + "instance_id": 4062, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_0", + "bbox_3d": { + "center_world": { + "x": -0.04459415376186371, + "y": 40.953365325927734, + "z": 3.652277708053589 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.1539006483777, + "ymin": 44.60646611453984, + "xmax": 1280.0, + "ymax": 83.88747999219362 + }, + "corners_3d": [ + [ + -1.0119582414627075, + 39.86409378051758, + 3.48895263671875 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.4889559745788574 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.4889559745788574 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.48895263671875 + ], + [ + -1.0119582414627075, + 39.86409378051758, + 3.8155994415283203 + ], + [ + -1.0119624137878418, + 42.042633056640625, + 3.8156027793884277 + ], + [ + 0.9227699637413025, + 42.04263687133789, + 3.8156027793884277 + ], + [ + 0.922774076461792, + 39.864097595214844, + 3.8155994415283203 + ] + ], + "corners_2d": [ + [ + 1334.7557101928305, + 83.88747999219362 + ], + [ + 1329.7734112683347, + 60.94961881468646 + ], + [ + 1275.1539006483777, + 52.466107384226234 + ], + [ + 1277.8651272899933, + 74.7034429822724 + ], + [ + 1338.9463070754591, + 75.76879754745494 + ], + [ + 1333.7699592984527, + 53.01804973577862 + ], + [ + 1278.7781499835942, + 44.60646611453984 + ], + [ + 1281.6518441987755, + 66.65838806455082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.31706008796607, + "ymin": 81.16037682392516, + "xmax": 63.959666404078234, + "ymax": 97.87631267264908 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 39.77044966783376, + 92.346170746432 + ], + [ + 61.47750442528968, + 97.87631267264908 + ], + [ + 63.959666404078234, + 96.5784651275502 + ], + [ + 42.27633293893484, + 91.07214009854096 + ], + [ + 35.31706008796607, + 82.42238833732165 + ], + [ + 57.144892194820045, + 87.9008250035373 + ], + [ + 59.65505587753148, + 86.61504396503568 + ], + [ + 37.85112200355661, + 81.16037682392516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3700170815823105936, + "instance_id": 36943, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_1", + "bbox_3d": { + "center_world": { + "x": -0.04460056126117706, + "y": 40.953365325927734, + "z": 3.6533782482147217 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.2128404380717, + "ymin": 44.62284516754693, + "xmax": 1280.0, + "ymax": 83.81467477692024 + }, + "corners_3d": [ + [ + -1.0107700824737549, + 39.86528778076172, + 3.491137981414795 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.4911415576934814 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.4911415576934814 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.491137981414795 + ], + [ + -1.0107700824737549, + 39.86528778076172, + 3.815614938735962 + ], + [ + -1.0107741355895996, + 42.041439056396484, + 3.8156185150146484 + ], + [ + 0.9215689301490784, + 42.04144287109375, + 3.8156185150146484 + ], + [ + 0.9215730428695679, + 39.865291595458984, + 3.815614938735962 + ] + ], + "corners_2d": [ + [ + 1334.7452413346641, + 83.81467477692024 + ], + [ + 1329.768561346391, + 60.90364105106204 + ], + [ + 1275.2128404380717, + 52.430718848045046 + ], + [ + 1277.9235298028902, + 74.64287039624332 + ], + [ + 1338.9078047965606, + 75.74974534648334 + ], + [ + 1333.7385825282922, + 53.02439725950211 + ], + [ + 1278.8134602200876, + 44.62284516754693 + ], + [ + 1281.6853913881914, + 66.65099625990155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4162572967130090718, + "instance_id": 57036, + "pixel_count": null, + "type_id": "BP_Lamppost_tall27_62_SM_2", + "bbox_3d": { + "center_world": { + "x": -0.04423828050494194, + "y": 40.953399658203125, + "z": 2.542809009552002 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.1981004223887, + "ymin": 17.389314058358195, + "xmax": 1280.0, + "ymax": 161.54469693151225 + }, + "corners_3d": [ + [ + -1.072666049003601, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 0.19998407363891602 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 0.19998407363891602 + ], + [ + -1.072666049003601, + 39.80304718017578, + 4.885633945465088 + ], + [ + -1.072666049003601, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 42.10375213623047, + 4.885633945465088 + ], + [ + 0.9841894507408142, + 39.80304718017578, + 4.885633945465088 + ] + ], + "corners_2d": [ + [ + 1296.9907135516573, + 161.54469693151225 + ], + [ + 1293.4966915623556, + 135.6259596059017 + ], + [ + 1239.1981004223887, + 125.97572383385821 + ], + [ + 1240.4626527153068, + 151.09965258046108 + ], + [ + 1355.0797975279281, + 49.402651463661186 + ], + [ + 1348.8266131412236, + 26.044948235970026 + ], + [ + 1289.0981609435298, + 17.389314058358195 + ], + [ + 1292.6445406513203, + 39.970284869291504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.5931640433354, + "ymin": 4.663737493098495, + "xmax": 704.3066739018021, + "ymax": 239.47698681788717 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 690.3103578324406, + 239.47698681788717 + ], + [ + 694.7517538318453, + 233.11608099042485 + ], + [ + 599.4368608660986, + 209.6667064363764 + ], + [ + 594.3395966290618, + 215.62630856507036 + ], + [ + 699.1796308336518, + 29.619885228272096 + ], + [ + 704.3066739018021, + 24.265084512638225 + ], + [ + 592.6220015301332, + 4.663737493098495 + ], + [ + 586.5931640433354, + 9.62475790340551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.7063489378282, + "ymin": 11.038449261847575, + "xmax": 606.2413030087368, + "ymax": 19.770305411783852 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 602.3240532709355, + 19.770305411783852 + ], + [ + 606.2413030087368, + 16.397440893617386 + ], + [ + 594.7981413847991, + 14.352190481831656 + ], + [ + 590.8222226813454, + 17.69837691148183 + ], + [ + 602.2349252283692, + 16.434487938403265 + ], + [ + 606.1619598481092, + 13.0753350625493 + ], + [ + 594.6923239358921, + 11.038449261847575 + ], + [ + 590.7063489378282, + 14.370970224930716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.6225045616836, + "ymin": 10.991707433393515, + "xmax": 606.3247496734523, + "ymax": 19.81753918486089 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 602.3656890699825, + 19.81753918486089 + ], + [ + 606.3247496734523, + 16.408130849799875 + ], + [ + 594.7588218983233, + 14.34095515711573 + ], + [ + 590.7398233673551, + 17.7231074598717 + ], + [ + 602.2756961286257, + 16.445737563743876 + ], + [ + 606.2447518076184, + 13.050337796606811 + ], + [ + 594.6517784394279, + 10.991707433393515 + ], + [ + 590.6225045616836, + 14.35989885106062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.4285006865525, + "ymin": 524.3884023881869, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1204.7473114699546, + 762.5623577235148 + ], + [ + 1182.1678251484236, + 754.3979550605554 + ], + [ + 1178.4285006865525, + 938.9155085908371 + ], + [ + 1204.3224814985856, + 949.66568649896 + ], + [ + 1398.730810527254, + 533.3481655716882 + ], + [ + 1366.7830456179581, + 524.3884023881869 + ], + [ + 1399.7840664237606, + 737.074153907586 + ], + [ + 1438.7744236351944, + 750.1582013971799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.51383027490704, + "ymin": 18.56881014518865, + "xmax": 187.04131772716943, + "ymax": 33.256073766476675 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 164.660946166874, + 28.849869061076674 + ], + [ + 185.0651327864485, + 33.256073766476675 + ], + [ + 187.04131772716943, + 32.22278633564275 + ], + [ + 166.6599850956975, + 27.833526084921346 + ], + [ + 161.51383027490704, + 19.57397253913291 + ], + [ + 182.0279128466231, + 23.932000543668835 + ], + [ + 184.02317428236, + 22.90996786165948 + ], + [ + 163.53215080086028, + 18.56881014518865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.8196185052038, + "ymin": 0.0, + "xmax": 1116.0129956804717, + "ymax": 26.347975973664973 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1082.263013891197, + 26.347975973664973 + ], + [ + 1086.195872615638, + 9.790610875809591 + ], + [ + 1045.0198737648468, + 3.5576653569191308 + ], + [ + 1039.8196185052038, + 19.70735199877157 + ], + [ + 1112.8407511213832, + -70.69100602797744 + ], + [ + 1116.0129956804717, + -85.10695296738328 + ], + [ + 1071.7336316181666, + -90.51761678224454 + ], + [ + 1067.0912968668972, + -76.48028128590954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.32299432868797, + "ymin": 121.65335762787456, + "xmax": 525.0915412023913, + "ymax": 507.1492276124178 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 517.0964858798964, + 507.1492276124178 + ], + [ + 525.0915412023913, + 495.69971346791624 + ], + [ + 182.49135273103877, + 371.3290529916285 + ], + [ + 172.0651708090104, + 380.0879224225454 + ], + [ + 482.31976776584384, + 246.05452805429542 + ], + [ + 493.04914490465853, + 235.20287434358355 + ], + [ + 74.58055727815781, + 121.65335762787456 + ], + [ + 60.32299432868797, + 129.39968747290916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 632.185051551586, + "xmax": 300.10533700081294, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -441.794110117881, + 1930.5980655619824 + ], + [ + -419.3006720492981, + 1961.3339344304782 + ], + [ + 300.10533700081294, + 881.4565462103834 + ], + [ + 282.3361877181419, + 871.7122744191121 + ], + [ + -1670.7036642923367, + 2499.412829367911 + ], + [ + -1655.615447976339, + 2581.599393782393 + ], + [ + 152.7614209046734, + 643.7168023845719 + ], + [ + 128.85073661525666, + 632.185051551586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 43.98308931050724, + "ymax": 263.97583456131866 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -74.35282182647916, + 263.97583456131866 + ], + [ + 43.98308931050724, + 206.7915194220534 + ], + [ + -18.433705432837087, + 173.93015827403525 + ], + [ + -135.36744648159106, + 225.61370721693982 + ], + [ + -398.36812684912934, + -261.5013064185134 + ], + [ + -198.89048183525324, + -286.5845501144762 + ], + [ + -268.4052039181573, + -298.84522617329026 + ], + [ + -460.6817723429356, + -276.93875992807034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 22.960301735425446, + "ymax": 9.634267206024333 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -57.49719931149957, + 9.634267206024333 + ], + [ + 22.960301735425446, + -16.604943227428805 + ], + [ + -19.883020588990576, + -31.9747851824053 + ], + [ + -99.71148258772075, + -7.472263594494677 + ], + [ + -242.44365910127135, + -363.72455008900965 + ], + [ + -130.54151353450254, + -372.51870307704326 + ], + [ + -176.99190918708848, + -376.61945110818226 + ], + [ + -286.94488178139954, + -368.4838224818641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.099022056141, + "ymin": 0.0, + "xmax": 1023.6561666681869, + "ymax": 401.16137031453326 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 918.040653527845, + 401.16137031453326 + ], + [ + 915.5399581478255, + 260.6789252113161 + ], + [ + 706.7510244739105, + 236.6646755731058 + ], + [ + 672.099022056141, + 367.6720899333982 + ], + [ + 1023.6561666681869, + 10.397050208520454 + ], + [ + 998.9812800498137, + -93.38755382585009 + ], + [ + 726.1431102195759, + -109.9799315613451 + ], + [ + 683.6764488766571, + -15.442502790730487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.8332489050306, + "ymin": 0.0, + "xmax": 1137.6772122280288, + "ymax": 21.12610342237076 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1058.3604414169274, + 21.12610342237076 + ], + [ + 1043.2801375478289, + -29.26171940519538 + ], + [ + 909.8332489050306, + -38.59101112014844 + ], + [ + 910.6536851393396, + 9.723342942545287 + ], + [ + 1137.6772122280288, + -245.95842308709734 + ], + [ + 1111.12469157094, + -274.73535116074925 + ], + [ + 954.1833953694403, + -279.95039704678334 + ], + [ + 960.6402325486391, + -252.56237460203465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 16612287013108621016, + "instance_id": 55454, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2226_0", + "bbox_3d": { + "center_world": { + "x": -4.912783145904541, + "y": 37.377906799316406, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.3655524185745, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 309.39239239474847 + }, + "corners_3d": [ + [ + -1.7556123733520508, + 32.42692565917969, + -0.35158872604370117 + ], + [ + -9.758605003356934, + 34.061588287353516, + -0.35158872604370117 + ], + [ + -8.069953918457031, + 42.328887939453125, + -0.35158872604370117 + ], + [ + -0.06696083396673203, + 40.6942253112793, + -0.35158872604370117 + ], + [ + -1.7556123733520508, + 32.42692565917969, + 12.143726348876953 + ], + [ + -9.758605003356934, + 34.061588287353516, + 12.143726348876953 + ], + [ + -8.069953918457031, + 42.328887939453125, + 12.143726348876953 + ], + [ + -0.06696083396673203, + 40.6942253112793, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1324.9659456566487, + 278.423369509829 + ], + [ + 1588.8967712194121, + 309.39239239474847 + ], + [ + 1482.1411770963882, + 180.16678484564287 + ], + [ + 1262.3655524185745, + 158.1487571794184 + ], + [ + 1550.7560662996966, + -101.13847100636957 + ], + [ + 1918.423733449295, + -79.72264963038975 + ], + [ + 1715.089938557748, + -165.5217269725182 + ], + [ + 1427.4841880131207, + -179.25116901075694 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00105/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00105/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8c18ec693a19a5f49a28c650a9a10bb92e8c1aee --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00105/meta.json @@ -0,0 +1,4456 @@ +{ + "frame_id": 105, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 52.5, + "sim_timestamp": 7994.589702534955 + }, + "drone_pose": { + "x": 10.238706654383256, + "y": -0.36281462257681424, + "z": 20.120112198817434, + "pitch": -37.13337110223444, + "yaw": 62.9330482476751, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3627657890319824, + -0.7099159359931946, + 0.6036723852157593, + -15.602640151977539 + ], + [ + 0.8904754519462585, + 0.4550313949584961, + 0.0, + 9.282408714294434 + ], + [ + -0.2746898829936981, + 0.537555456161499, + 0.7972325086593628, + -13.422971725463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 10.684265382369345, + "y": 0.33259972961458895, + "z": 20.003731603962294 + }, + "t1_image_uv": [ + 533.7245419703639, + -173.77615191013922 + ], + "t1_depth": 0.7255749228058269 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 19.33281707763672, + "y": 18.812236785888672, + "z": 1.1375728589296341 + }, + "image_uv": [ + 661.2217551187182, + 438.7662147347054 + ], + "depth": 28.370941603104107, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 555, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 19.33281707763672, + "y": 18.812236785888672, + "z": 1.1375728845596313 + }, + "extent": { + "x": 0.35839781165122986, + "y": 0.4174511730670929, + "z": 0.943009078502655 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 643.9457275196119, + "ymin": 404.03913916599254, + "xmax": 679.4213957492101, + "ymax": 473.0192939721775 + }, + "corners_3d": [ + [ + 19.374574661254883, + 18.263628005981445, + 0.19456380605697632 + ], + [ + 18.784208297729492, + 18.853994369506836, + 0.19456380605697632 + ], + [ + 19.291059494018555, + 19.3608455657959, + 0.19456380605697632 + ], + [ + 19.881425857543945, + 18.770479202270508, + 0.19456380605697632 + ], + [ + 19.374574661254883, + 18.263628005981445, + 2.0805819034576416 + ], + [ + 18.784208297729492, + 18.853994369506836, + 2.0805819034576416 + ], + [ + 19.291059494018555, + 19.3608455657959, + 2.0805819034576416 + ], + [ + 19.881425857543945, + 18.770479202270508, + 2.0805819034576416 + ] + ], + "corners_2d": [ + [ + 651.4379626289231, + 473.0192939721775 + ], + [ + 677.8613882734543, + 467.0360710471749 + ], + [ + 669.9314640363647, + 451.56884400703984 + ], + [ + 643.9457275196119, + 457.33141927548434 + ], + [ + 651.9127639712349, + 425.08268503978866 + ], + [ + 679.4213957492101, + 419.20847524497435 + ], + [ + 671.1409364202328, + 404.03913916599254 + ], + [ + 644.1063349344431, + 409.6880216539875 + ] + ], + "center_offset_px": [ + 21.221755118718193, + 78.76621473470539 + ] + }, + "trace_timestep_index": 105, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 253844, + "2": 358756, + "3": 90929, + "5": 4503, + "6": 10918, + "7": 1890, + "9": 67161, + "10": 83691, + "12": 2184, + "14": 23234, + "16": 4292, + "20": 4175, + "24": 16023 + }, + "instance_pixel_counts": { + "3146": 262, + "3485": 705, + "3669": 42, + "3925": 29, + "4224": 639, + "6289": 20, + "7299": 333, + "8788": 201, + "9557": 17, + "17502": 67199, + "18526": 100, + "19038": 16118, + "19354": 1836, + "19866": 12336, + "20378": 19281, + "20573": 26294, + "20890": 18197, + "21085": 219859, + "21402": 8364, + "21914": 8270, + "22909": 681, + "23421": 947, + "23450": 785, + "25181": 1708, + "25683": 16, + "25693": 14010, + "34899": 1312, + "35072": 10415, + "35442": 2355, + "36252": 93228, + "36764": 100211, + "36978": 1522, + "37276": 46370, + "39073": 522, + "40531": 205, + "42145": 207, + "42657": 172, + "43008": 555, + "43264": 220, + "43520": 12, + "43776": 697, + "44288": 700, + "44544": 18788, + "44705": 480, + "44922": 9115, + "45056": 4292, + "45388": 696, + "45434": 4090, + "45644": 727, + "46490": 2341, + "46848": 3472, + "47002": 3413, + "48640": 974, + "49266": 2733, + "49778": 84319, + "51309": 67161, + "51587": 688, + "51612": 2113, + "58441": 96, + "58697": 4407, + "59772": 1199, + "60284": 4110, + "60796": 5247, + "61308": 5200, + "61820": 2452, + "62844": 2226, + "63386": 14035 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 555, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 19.33281707763672, + "y": 18.812236785888672, + "z": 1.1375728845596313 + }, + "extent": { + "x": 0.35445737838745117, + "y": 0.35742124915122986, + "z": 0.9399530291557312 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 645.8673062943741, + "ymin": 404.6045834804763, + "xmax": 677.4083878008964, + "ymax": 472.4238658608356 + }, + "corners_3d": [ + [ + 19.33491325378418, + 18.308862686157227, + 0.19761985540390015 + ], + [ + 18.829442977905273, + 18.814332962036133, + 0.19761985540390015 + ], + [ + 19.330720901489258, + 19.315610885620117, + 0.19761985540390015 + ], + [ + 19.836191177368164, + 18.81014060974121, + 0.19761985540390015 + ], + [ + 19.33491325378418, + 18.308862686157227, + 2.0775258541107178 + ], + [ + 18.829442977905273, + 18.814332962036133, + 2.0775258541107178 + ], + [ + 19.330720901489258, + 19.315610885620117, + 2.0775258541107178 + ], + [ + 19.836191177368164, + 18.81014060974121, + 2.0775258541107178 + ] + ], + "corners_2d": [ + [ + 653.3091916175721, + 472.4238658608356 + ], + [ + 675.9321403376701, + 467.3022566786074 + ], + [ + 668.119584917164, + 451.9900005462084 + ], + [ + 645.8673062943741, + 456.9247639419789 + ], + [ + 653.8594864756811, + 424.65205638197483 + ], + [ + 677.4083878008964, + 419.6235046209992 + ], + [ + 669.2527991492158, + 404.6045834804763 + ], + [ + 646.1052403245343, + 409.4423397624083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 220, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 23.458803176879883, + "y": 21.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.2275097668170929, + "y": 0.23824584484100342, + "z": 0.5820533037185669 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 579.5345045128648, + "ymin": 331.48943347746155, + "xmax": 599.5896890942472, + "ymax": 370.725848493035 + }, + "corners_3d": [ + [ + 23.397754669189453, + 21.48621940612793, + 0.40271681547164917 + ], + [ + 23.13823890686035, + 21.885839462280273, + 0.40271681547164917 + ], + [ + 23.519851684570312, + 22.1336612701416, + 0.40271681547164917 + ], + [ + 23.779367446899414, + 21.734041213989258, + 0.40271681547164917 + ], + [ + 23.397754669189453, + 21.48621940612793, + 1.5668234825134277 + ], + [ + 23.13823890686035, + 21.885839462280273, + 1.5668234825134277 + ], + [ + 23.519851684570312, + 22.1336612701416, + 1.5668234825134277 + ], + [ + 23.779367446899414, + 21.734041213989258, + 1.5668234825134277 + ] + ], + "corners_2d": [ + [ + 587.0359035279106, + 370.725848493035 + ], + [ + 599.5896890942472, + 366.4072485028172 + ], + [ + 593.3108399261848, + 359.35537385040413 + ], + [ + 580.8418600439469, + 363.5910758387879 + ], + [ + 585.8537453189799, + 342.66769497575524 + ], + [ + 598.6931289997257, + 338.4211933234518 + ], + [ + 592.2851546230431, + 331.48943347746155 + ], + [ + 579.5345045128648, + 335.65263390715495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 12, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 17.076993942260742, + "y": 25.754947662353516, + "z": 0.8023468255996704 + }, + "extent": { + "x": 0.32832637429237366, + "y": 0.24110959470272064, + "z": 0.6265344023704529 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 797.2347746651982, + "ymin": 323.00678968586715, + "xmax": 823.6317254487348, + "ymax": 366.5171724647714 + }, + "corners_3d": [ + [ + 16.97357177734375, + 25.36094856262207, + 0.17581242322921753 + ], + [ + 16.670101165771484, + 25.735702514648438, + 0.17581242322921753 + ], + [ + 17.180416107177734, + 26.14894676208496, + 0.17581242322921753 + ], + [ + 17.48388671875, + 25.774192810058594, + 0.17581242322921753 + ], + [ + 16.97357177734375, + 25.36094856262207, + 1.4288811683654785 + ], + [ + 16.670101165771484, + 25.735702514648438, + 1.4288811683654785 + ], + [ + 17.180416107177734, + 26.14894676208496, + 1.4288811683654785 + ], + [ + 17.48388671875, + 25.774192810058594, + 1.4288811683654785 + ] + ], + "corners_2d": [ + [ + 807.3421864016193, + 366.5171724647714 + ], + [ + 819.4097154166425, + 363.0405412991692 + ], + [ + 809.1765386248187, + 352.5764633485446 + ], + [ + 797.2347746651982, + 355.95390266808243 + ], + [ + 811.299413273567, + 336.6906833165102 + ], + [ + 823.6317254487348, + 333.27694736853886 + ], + [ + 813.0993393733997, + 323.00678968586715 + ], + [ + 800.898187553543, + 326.3208811652129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 697, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 9.832817077636719, + "y": 18.812236785888672, + "z": 1.1466012001037598 + }, + "extent": { + "x": 0.5003698468208313, + "y": 0.3685162365436554, + "z": 0.9570229649543762 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 959.5036156698774, + "ymin": 507.46544159813914, + "xmax": 1022.8184265655434, + "ymax": 592.0310967756395 + }, + "corners_3d": [ + [ + 9.739582061767578, + 18.19784164428711, + 0.18957823514938354 + ], + [ + 9.218421936035156, + 18.71900177001953, + 0.18957823514938354 + ], + [ + 9.92605209350586, + 19.426631927490234, + 0.18957823514938354 + ], + [ + 10.447212219238281, + 18.905471801757812, + 0.18957823514938354 + ], + [ + 9.739582061767578, + 18.19784164428711, + 2.103624105453491 + ], + [ + 9.218421936035156, + 18.71900177001953, + 2.103624105453491 + ], + [ + 9.92605209350586, + 19.426631927490234, + 2.103624105453491 + ], + [ + 10.447212219238281, + 18.905471801757812, + 2.103624105453491 + ] + ], + "corners_2d": [ + [ + 981.0136661829902, + 592.0310967756395 + ], + [ + 1005.2711271158013, + 585.1485447919044 + ], + [ + 983.2018539619809, + 557.3177603902539 + ], + [ + 959.5036156698774, + 563.8024435729673 + ], + [ + 997.5198170799447, + 541.8959905080619 + ], + [ + 1022.8184265655434, + 535.0599200535586 + ], + [ + 999.18457213908, + 507.46544159813914 + ], + [ + 974.4920128328771, + 513.8881468449451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 700, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 31.878997802734375, + "y": 9.718473434448242, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3951379358768463, + "y": 0.3074621558189392, + "z": 0.8897552490234375 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 81.26655803973802, + "ymin": 466.5572683826911, + "xmax": 135.4832593799403, + "ymax": 534.2778377698684 + }, + "corners_3d": [ + [ + 31.921649932861328, + 9.219627380371094, + 0.09501487016677856 + ], + [ + 31.40593147277832, + 9.55453872680664, + 0.09501487016677856 + ], + [ + 31.836345672607422, + 10.21731948852539, + 0.09501487016677856 + ], + [ + 32.35206604003906, + 9.882408142089844, + 0.09501487016677856 + ], + [ + 31.921649932861328, + 9.219627380371094, + 1.8745253086090088 + ], + [ + 31.40593147277832, + 9.55453872680664, + 1.8745253086090088 + ], + [ + 31.836345672607422, + 10.21731948852539, + 1.8745253086090088 + ], + [ + 32.35206604003906, + 9.882408142089844, + 1.8745253086090088 + ] + ], + "corners_2d": [ + [ + 103.69848504333663, + 534.2778377698684 + ], + [ + 126.61496327355826, + 532.574332435883 + ], + [ + 135.4832593799403, + 512.0280600968368 + ], + [ + 113.10757223119458, + 513.6545387521143 + ], + [ + 81.26655803973802, + 488.53849430482046 + ], + [ + 105.18385050013364, + 486.85394530407603 + ], + [ + 114.92302887663516, + 466.5572683826911 + ], + [ + 91.59412440868675, + 468.162579089323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 18788, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 150.6742690515768, + "ymin": 379.29696385450643, + "xmax": 392.571599531238, + "ymax": 601.2549584808071 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 174.62223083830577, + 569.3946535664895 + ], + [ + 240.77086825845254, + 601.2549584808071 + ], + [ + 392.571599531238, + 454.4397024510931 + ], + [ + 331.913231373106, + 431.39442746423936 + ], + [ + 150.6742690515768, + 514.9293555152827 + ], + [ + 219.49054254202326, + 546.5358332265283 + ], + [ + 381.47246845350054, + 401.80462397836004 + ], + [ + 318.4977323259794, + 379.29696385450643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 4292, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 687.5557745175697, + "ymin": 0.0, + "xmax": 814.8338197424296, + "ymax": 67.35602935680379 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 807.7212014188619, + 17.180431665596757 + ], + [ + 751.7679486321736, + 8.658369991789868 + ], + [ + 687.5557745175697, + 56.493527455565186 + ], + [ + 749.1708343770648, + 67.35602935680379 + ], + [ + 814.8338197424296, + -51.12224997172717 + ], + [ + 756.3982174704438, + -58.41914938336021 + ], + [ + 689.7885943721305, + -17.2823953980116 + ], + [ + 754.4344185758649, + -7.880104898782122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 3472, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 484.23478866443065, + "ymin": 144.785731564113, + "xmax": 587.2320281241707, + "ymax": 231.98858752458816 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 587.2320281241707, + 184.5665018898297 + ], + [ + 547.4596125498504, + 175.03580041522295 + ], + [ + 487.6801014203824, + 220.76504552385398 + ], + [ + 529.7308455000878, + 231.98858752458816 + ], + [ + 586.1135484491086, + 153.97520317589027 + ], + [ + 545.5327135316979, + 144.785731564113 + ], + [ + 484.23478866443065, + 188.93915165369074 + ], + [ + 527.1879437740063, + 199.79969608669265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 974, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 658.4083659598017, + "ymin": 0.0, + "xmax": 713.2056081689914, + "ymax": 47.88032032624119 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 712.039059250203, + 28.715800334993673 + ], + [ + 685.7154739909558, + 24.42326763633207 + ], + [ + 658.4083659598017, + 43.164327400983325 + ], + [ + 685.6930800674426, + 47.88032032624119 + ], + [ + 713.2056081689914, + 2.8211815257789112 + ], + [ + 686.4475971719581, + -1.2546479395732035 + ], + [ + 658.7175268813555, + 16.55082214021877 + ], + [ + 686.4694515344502, + 21.035688753967293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 519.1265312331863, + "ymin": 539.6928997530373, + "xmax": 540.8349823666135, + "ymax": 580.5354437691524 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 530.7287240227378, + 564.9767341106501 + ], + [ + 521.9691337584852, + 576.242359968881 + ], + [ + 532.1582499436096, + 580.5354437691524 + ], + [ + 540.8349823666135, + 569.167645044673 + ], + [ + 528.129264962124, + 539.6928997530373 + ], + [ + 519.1265312331863, + 550.9168269371692 + ], + [ + 529.5489295236924, + 555.195719753672 + ], + [ + 538.465078955946, + 543.8675442601244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.20996571798008, + "ymin": 316.4431698605612, + "xmax": 189.20319646786322, + "ymax": 355.223951880058 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 181.43700901433948, + 344.38713685726395 + ], + [ + 169.56835322629166, + 352.24854043960715 + ], + [ + 177.3716239003209, + 355.223951880058 + ], + [ + 189.20319646786322, + 347.29772247908727 + ], + [ + 171.45273245344345, + 316.4431698605612 + ], + [ + 159.20996571798008, + 324.16203517372446 + ], + [ + 167.14197919852108, + 327.0844676387467 + ], + [ + 179.3469722409087, + 319.3005493636226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.2346172032385, + "ymin": 377.9926538358335, + "xmax": 357.6143634017328, + "ymax": 419.8129490892064 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 348.4182151741827, + 406.9681856644853 + ], + [ + 337.50258583752526, + 416.2827924712915 + ], + [ + 346.76071833489107, + 419.8129490892064 + ], + [ + 357.6143634017328, + 410.4146889310591 + ], + [ + 341.49780735895445, + 377.9926538358335 + ], + [ + 330.2346172032385, + 387.1739271016765 + ], + [ + 339.6826676642197, + 390.65492270970935 + ], + [ + 350.8816576313318, + 381.3892108400343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.26537666074717, + "ymin": 343.11012384436316, + "xmax": 262.2334392919541, + "ymax": 383.2169443526568 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 253.86192658776872, + 371.53049494664174 + ], + [ + 242.36650465659602, + 380.00689913160346 + ], + [ + 250.78512024829467, + 383.2169443526568 + ], + [ + 262.2334392919541, + 374.66794314211137 + ], + [ + 245.12647435821805, + 343.11012384436316 + ], + [ + 233.26537666074717, + 351.4468448354855 + ], + [ + 241.83751389341148, + 354.60512223621475 + ], + [ + 253.65023805095984, + 346.19536508238406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.42864854974209, + "ymin": 174.46154286784184, + "xmax": 122.833328912664, + "ymax": 191.3983300460575 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 100.00801250628842, + 185.23171692200435 + ], + [ + 120.29506408806469, + 191.3983300460575 + ], + [ + 122.833328912664, + 190.14976208426307 + ], + [ + 102.56317218820288, + 184.01054721171275 + ], + [ + 96.42864854974209, + 175.66950100136768 + ], + [ + 116.8114424187379, + 181.76993988040266 + ], + [ + 119.37452562872556, + 180.53469743656095 + ], + [ + 99.00867618459336, + 174.46154286784184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.1025012035402, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 57.03291714818141 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1239.3445862093229, + 28.93373303171944 + ], + [ + 1230.8354342780121, + 27.794161251427283 + ], + [ + 1229.1025012035402, + 55.72608900899962 + ], + [ + 1238.210303948397, + 57.03291714818141 + ], + [ + 1292.5909341979914, + -113.11214873992458 + ], + [ + 1283.1613314981691, + -113.90751358702852 + ], + [ + 1285.3192047197265, + -94.29447466143654 + ], + [ + 1295.489554814998, + -93.3707959132442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.7689210689691, + "ymin": 48.093257443904804, + "xmax": 1175.9125763234588, + "ymax": 75.59525838947167 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1170.8635443400622, + 75.59525838947167 + ], + [ + 1173.654694326442, + 60.972432924170676 + ], + [ + 1130.9543894060873, + 54.65052230220732 + ], + [ + 1126.7689210689691, + 68.83728895990504 + ], + [ + 1173.1867096245046, + 68.80244664343672 + ], + [ + 1175.9125763234588, + 54.34316692536714 + ], + [ + 1133.0007895673825, + 48.093257443904804 + ], + [ + 1128.866447587306, + 62.119541131647736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.66942272572794, + "ymin": 12.473224868944499, + "xmax": 476.0293488937032, + "ymax": 23.734191679408127 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 457.53023239621723, + 20.657522629067387 + ], + [ + 474.787874368699, + 23.734191679408127 + ], + [ + 476.0293488937032, + 23.112839679492424 + ], + [ + 458.7891779868357, + 20.045911531096635 + ], + [ + 456.66942272572794, + 13.075696002387929 + ], + [ + 474.002262034949, + 16.106523129819777 + ], + [ + 475.25088602929327, + 15.494410891241841 + ], + [ + 457.9356628153988, + 12.473224868944499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5895972337886691861, + "instance_id": 5378, + "pixel_count": null, + "type_id": "BP_Lamppost_tall20_41_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.16912078857422, + "y": 27.644338607788086, + "z": 2.854240894317627 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 24.17312384430852, + "ymax": 107.86979410348846 + }, + "corners_3d": [ + [ + 62.14069366455078, + 26.49398422241211, + 0.511415958404541 + ], + [ + 62.14069366455078, + 28.794692993164062, + 0.511415958404541 + ], + [ + 64.19754791259766, + 28.794692993164062, + 0.511415958404541 + ], + [ + 64.19754791259766, + 26.49398422241211, + 0.511415958404541 + ], + [ + 62.14069366455078, + 26.49398422241211, + 5.197065830230713 + ], + [ + 62.14069366455078, + 28.794692993164062, + 5.197065830230713 + ], + [ + 64.19754791259766, + 28.794692993164062, + 5.197065830230713 + ], + [ + 64.19754791259766, + 26.49398422241211, + 5.197065830230713 + ] + ], + "corners_2d": [ + [ + -16.261055220623575, + 107.86979410348846 + ], + [ + 24.17312384430852, + 92.77228774265512 + ], + [ + -0.7508115532566535, + 86.19012007054312 + ], + [ + -41.39376172017353, + 100.85147719554567 + ], + [ + -55.8384780920137, + 16.205971967023913 + ], + [ + -11.716042845135348, + 3.31322165493566 + ], + [ + -37.52712718504665, + -2.2922867414143866 + ], + [ + -81.84338053683382, + 10.206426110198493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.2909090911628, + "ymin": 0.0, + "xmax": 124.7673491942752, + "ymax": 67.42629222247257 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 90.79982634955093, + 67.42629222247257 + ], + [ + 124.7673491942752, + 54.75700513027277 + ], + [ + 100.55458175444915, + 49.21189820651466 + ], + [ + 66.32935303855743, + 61.545299075787455 + ], + [ + 60.65512000299145, + -18.220748934438575 + ], + [ + 97.35584530984579, + -28.932962651171863 + ], + [ + 72.25210943021659, + -33.61072860966084 + ], + [ + 35.2909090911628, + -23.197544951544955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.1345879121603, + "ymin": 117.83995998061567, + "xmax": 763.5937388404607, + "ymax": 354.74648222501526 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 741.6280211518924, + 354.74648222501526 + ], + [ + 746.3911141949911, + 348.0550625165604 + ], + [ + 648.5855100686516, + 319.6620828947184 + ], + [ + 643.1345879121603, + 325.8303066089497 + ], + [ + 758.2394181791203, + 146.66019825574023 + ], + [ + 763.5937388404607, + 141.12820655729672 + ], + [ + 649.9100874775057, + 117.83995998061567 + ], + [ + 643.6232158762152, + 122.87390629618977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.5891779452677, + "ymin": 124.18382519588806, + "xmax": 663.3549340610797, + "ymax": 133.25808078380393 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 659.2132805708667, + 133.25808078380393 + ], + [ + 663.3045590592972, + 129.82521884191928 + ], + [ + 651.7399664739105, + 127.41128843135863 + ], + [ + 647.5891779452677, + 130.81075344279256 + ], + [ + 659.2550995230544, + 130.00508710861834 + ], + [ + 663.3549340610797, + 126.58717910345331 + ], + [ + 651.7652199339435, + 124.18382519588806 + ], + [ + 647.6056152860718, + 127.56841015378993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.5045235800239, + "ymin": 124.1353383231554, + "xmax": 663.4400565984064, + "ymax": 133.30725958950543 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 659.2539907701157, + 133.30725958950543 + ], + [ + 663.3889555797958, + 129.83716372869108 + ], + [ + 651.700285680489, + 127.39736194741414 + ], + [ + 647.5045235800239, + 130.83333728540674 + ], + [ + 659.2963520742265, + 130.01915314637105 + ], + [ + 663.4400565984064, + 126.56433517943157 + ], + [ + 651.7257230539653, + 124.1353383231554 + ], + [ + 647.5209526809017, + 127.55611206185927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8664069796151142995, + "instance_id": 21418, + "pixel_count": null, + "type_id": "BP_Lamppost_tall21_44_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.38533020019531, + "y": 47.26283264160156, + "z": 2.854238510131836 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.13535207460785, + "ymin": 0.0, + "xmax": 284.38627704702503, + "ymax": 3.537355934538766 + }, + "corners_3d": [ + [ + 62.356903076171875, + 46.11248016357422, + 0.51141357421875 + ], + [ + 62.356903076171875, + 48.413185119628906, + 0.51141357421875 + ], + [ + 64.41375732421875, + 48.413185119628906, + 0.51141357421875 + ], + [ + 64.41375732421875, + 46.11248016357422, + 0.51141357421875 + ], + [ + 62.356903076171875, + 46.11248016357422, + 5.197063446044922 + ], + [ + 62.356903076171875, + 48.413185119628906, + 5.197063446044922 + ], + [ + 64.41375732421875, + 48.413185119628906, + 5.197063446044922 + ], + [ + 64.41375732421875, + 46.11248016357422, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 259.505412677964, + 3.537355934538766 + ], + [ + 284.38627704702503, + -5.7186637900374535 + ], + [ + 261.80550535649314, + -9.794984763847026 + ], + [ + 236.6405949753444, + -0.7493179633968907 + ], + [ + 241.8353117762773, + -71.89367082062586 + ], + [ + 268.30292352569774, + -79.59841013520793 + ], + [ + 244.9025503533059, + -82.98589073577926 + ], + [ + 218.13535207460785, + -75.4641329937084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10038724361239616461, + "instance_id": 52571, + "pixel_count": null, + "type_id": "BP_Lamppost_tall22_47_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.264408111572266, + "y": 40.760250091552734, + "z": 2.854238510131836 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.61725886201464, + "ymin": 0.0, + "xmax": 212.00410993968057, + "ymax": 32.759999912893136 + }, + "corners_3d": [ + [ + 62.23598098754883, + 39.60989761352539, + 0.51141357421875 + ], + [ + 62.23598098754883, + 41.91060256958008, + 0.51141357421875 + ], + [ + 64.29283905029297, + 41.91060256958008, + 0.51141357421875 + ], + [ + 64.29283905029297, + 39.60989761352539, + 0.51141357421875 + ], + [ + 62.23598098754883, + 39.60989761352539, + 5.197063446044922 + ], + [ + 62.23598098754883, + 41.91060256958008, + 5.197063446044922 + ], + [ + 64.29283905029297, + 41.91060256958008, + 5.197063446044922 + ], + [ + 64.29283905029297, + 39.60989761352539, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 183.1594415464441, + 32.759999912893136 + ], + [ + 212.00410993968057, + 22.007306287463166 + ], + [ + 188.58984074460562, + 17.285251623912075 + ], + [ + 159.46568311876683, + 27.774908574599863 + ], + [ + 160.1861557113765, + -47.4508866836037 + ], + [ + 191.08867139652818, + -56.46566695204058 + ], + [ + 166.8109382609258, + -60.416822534857545 + ], + [ + 135.61725886201464, + -51.63328929239469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.8122339415504, + "ymin": 48.10420074152802, + "xmax": 1175.8844883961956, + "ymax": 75.53750760985764 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1170.8530989709407, + 75.53750760985764 + ], + [ + 1173.6416394084258, + 60.93207061359175 + ], + [ + 1130.9919364349971, + 54.6182188388031 + ], + [ + 1126.8122339415504, + 68.78863362907526 + ], + [ + 1173.1607215316276, + 68.78975815340874 + ], + [ + 1175.8844883961956, + 54.34661162186035 + ], + [ + 1133.0249538135854, + 48.10420074152802 + ], + [ + 1128.8959940994055, + 62.115360827705274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11398558389355221310, + "instance_id": 15889, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_0", + "bbox_3d": { + "center_world": { + "x": 63.2320556640625, + "y": 34.13479995727539, + "z": 3.963707685470581 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.404180639186734, + "ymin": 0.0, + "xmax": 104.15978694785088, + "ymax": 7.808724804627843 + }, + "corners_3d": [ + [ + 62.26469039916992, + 33.045528411865234, + 3.800382614135742 + ], + [ + 62.264686584472656, + 35.22406768798828, + 3.8003859519958496 + ], + [ + 64.19941711425781, + 35.22407150268555, + 3.8003859519958496 + ], + [ + 64.19942474365234, + 33.0455322265625, + 3.800382614135742 + ], + [ + 62.26469039916992, + 33.045528411865234, + 4.1270294189453125 + ], + [ + 62.264686584472656, + 35.22406768798828, + 4.12703275680542 + ], + [ + 64.19941711425781, + 35.22407150268555, + 4.12703275680542 + ], + [ + 64.19942474365234, + 33.0455322265625, + 4.1270294189453125 + ] + ], + "corners_2d": [ + [ + 70.21050740457872, + 7.808724804627843 + ], + [ + 104.15978694785088, + -2.9259852096133727 + ], + [ + 80.79502417121569, + -7.597226026657097 + ], + [ + 46.6141041602192, + 2.8597635720752237 + ], + [ + 68.05995550572709, + 1.6943593572569284 + ], + [ + 102.19551667783253, + -8.903905725772063 + ], + [ + 78.77150620814518, + -13.515056073153346 + ], + [ + 44.404180639186734, + -3.191981609303639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.1048728871855, + "ymin": 0.0, + "xmax": 510.07028462204, + "ymax": 0.2088717088288945 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 492.74768815824285, + -2.467627009636203 + ], + [ + 508.9719257257347, + 0.2088717088288945 + ], + [ + 510.07028462204, + -0.3314090826740994 + ], + [ + 493.861753652933, + -3.000064589575345 + ], + [ + 492.1048728871855, + -9.58445014817056 + ], + [ + 508.3957166584071, + -6.948676041601402 + ], + [ + 509.49975024932894, + -7.480749735354095 + ], + [ + 493.2247377818941, + -10.10876620189805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.50945014782258, + "ymin": 114.74666390773407, + "xmax": 248.2478275338416, + "ymax": 129.44569025783122 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 226.944809573293, + 124.56569561741102 + ], + [ + 246.24111682798207, + 129.44569025783122 + ], + [ + 248.2478275338416, + 128.45859282353518 + ], + [ + 228.96982726060543, + 123.59789298650142 + ], + [ + 224.50945014782258, + 115.70260609335054 + ], + [ + 243.89633937344973, + 120.52313443998622 + ], + [ + 245.9196664846301, + 119.54801997012947 + ], + [ + 226.55120738075863, + 114.74666390773407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 322.9945543521593, + "ymin": 75.85676764611122, + "xmax": 345.3496453907576, + "ymax": 89.3648383287433 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 324.73078731834886, + 85.17311013280835 + ], + [ + 343.65644502470093, + 89.3648383287433 + ], + [ + 345.3496453907576, + 88.51739972849992 + ], + [ + 326.44328891637474, + 84.34115600353505 + ], + [ + 322.9945543521593, + 76.67757539231201 + ], + [ + 342.00922264751404, + 80.81339660182982 + ], + [ + 343.7148933514188, + 79.97722661184639 + ], + [ + 324.71968210759445, + 75.85676764611122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1105.1636761548502, + "ymin": 25.672307713107102, + "xmax": 1184.9013114216941, + "ymax": 141.5347440107593 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1149.79195911621, + 141.5347440107593 + ], + [ + 1153.3234372590337, + 124.52039149103524 + ], + [ + 1110.1128808995682, + 117.12080499357722 + ], + [ + 1105.1636761548502, + 133.61804868481863 + ], + [ + 1182.307585345749, + 46.73678600911052 + ], + [ + 1184.9013114216941, + 32.04311348369748 + ], + [ + 1138.5707919384192, + 25.672307713107102 + ], + [ + 1134.3418877871777, + 39.892097016440005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.4546316798968, + "ymin": 0.0, + "xmax": 948.1106086813932, + "ymax": 107.28229863109092 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 917.7781417381705, + 107.28229863109092 + ], + [ + 919.8412758883394, + 104.38391032094628 + ], + [ + 849.8814360729052, + 91.87699391808746 + ], + [ + 847.4546316798968, + 94.62314751918984 + ], + [ + 946.0291752968487, + -47.361030109489604 + ], + [ + 948.1106086813932, + -49.51153053815602 + ], + [ + 870.465670105023, + -58.760655834834665 + ], + [ + 867.9346610121612, + -56.734057893456225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15212237283266142188, + "instance_id": 60447, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_1", + "bbox_3d": { + "center_world": { + "x": 63.2320442199707, + "y": 34.13479995727539, + "z": 3.964808225631714 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.43800300509781, + "ymin": 0.0, + "xmax": 104.11415010739199, + "ymax": 7.758849731024952 + }, + "corners_3d": [ + [ + 62.265872955322266, + 33.046722412109375, + 3.802567958831787 + ], + [ + 62.265869140625, + 35.22287368774414, + 3.8025715351104736 + ], + [ + 64.19821166992188, + 35.222877502441406, + 3.8025715351104736 + ], + [ + 64.1982192993164, + 33.04672622680664, + 3.802567958831787 + ], + [ + 62.265872955322266, + 33.046722412109375, + 4.127045154571533 + ], + [ + 62.265869140625, + 35.22287368774414, + 4.127048492431641 + ], + [ + 64.19821166992188, + 35.222877502441406, + 4.127048492431641 + ], + [ + 64.1982192993164, + 33.04672622680664, + 4.127045154571533 + ] + ], + "corners_2d": [ + [ + 70.20071346906286, + 7.758849731024952 + ], + [ + 104.11415010739199, + -2.963015824307945 + ], + [ + 80.77769976296292, + -7.628238558682256 + ], + [ + 46.63316095205323, + 2.816570218920617 + ], + [ + 68.06446076644693, + 1.685056610895174 + ], + [ + 102.16274636532319, + -8.901408355187186 + ], + [ + 78.7675135903321, + -13.507008797609785 + ], + [ + 44.43800300509781, + -3.1950931641044917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.57140320767212, + "ymin": 228.87065115026223, + "xmax": 558.6530185727615, + "ymax": 645.2068433044028 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 549.5778916955887, + 645.2068433044028 + ], + [ + 558.6530185727615, + 632.4373635898046 + ], + [ + 213.75986432025957, + 477.4826201308343 + ], + [ + 202.39078003991483, + 486.58115342326164 + ], + [ + 525.1033108879797, + 379.2447847582658 + ], + [ + 536.9865859112188, + 367.3234303965751 + ], + [ + 121.63981730646242, + 228.87065115026223 + ], + [ + 106.57140320767212, + 236.6960356016505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 2726195396270344905, + "instance_id": 51658, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4965_0", + "bbox_3d": { + "center_world": { + "x": 63.174720764160156, + "y": 43.399871826171875, + "z": 8.201586723327637 + }, + "extent": { + "x": 2.1392483711242676, + "y": 2.147730827331543, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 100.174433495024, + "ymin": 0.0, + "xmax": 259.5868720096151, + "ymax": 26.956146882446376 + }, + "corners_3d": [ + [ + 62.5942268371582, + 40.369041442871094, + 0.5935915112495422 + ], + [ + 60.12723922729492, + 43.88542938232422, + 0.5935915112495422 + ], + [ + 63.62956237792969, + 46.34254837036133, + 0.5505558848381042 + ], + [ + 66.09654998779297, + 42.8261604309082, + 0.5505558848381042 + ], + [ + 62.719879150390625, + 40.45719528198242, + 15.852617263793945 + ], + [ + 60.25289535522461, + 43.97358322143555, + 15.852617263793945 + ], + [ + 63.75521469116211, + 46.430702209472656, + 15.809581756591797 + ], + [ + 66.22219848632812, + 42.91431427001953, + 15.809581756591797 + ] + ], + "corners_2d": [ + [ + 188.32355278434318, + 26.956146882446376 + ], + [ + 259.5868720096151, + 16.66614968710269 + ], + [ + 247.71441252387405, + -0.657922432299074 + ], + [ + 179.60213775322006, + 8.69111967139412 + ], + [ + 105.69114326461965, + -265.35148242204195 + ], + [ + 191.91872731602632, + -268.4677881282307 + ], + [ + 181.81492662285456, + -272.9497080564205 + ], + [ + 100.174433495024, + -270.1439054032744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 531.1036257182732, + "ymin": 0.0, + "xmax": 635.6261705161033, + "ymax": 3.3984448734354373 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 596.2356482569672, + 3.3984448734354373 + ], + [ + 635.6261705161033, + -11.779662381864227 + ], + [ + 588.1032697919279, + -21.865182556348657 + ], + [ + 547.9985358733769, + -7.586938720633043 + ], + [ + 586.7653218306727, + -271.14349370985144 + ], + [ + 632.8843023152102, + -275.6947993456795 + ], + [ + 578.1501065979171, + -278.0357973545738 + ], + [ + 531.1036257182732, + -273.764973948547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.525039174066, + "ymin": 0.0, + "xmax": 1241.5038458670779, + "ymax": 67.66116311475491 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1016.745102757984, + 54.70742043997859 + ], + [ + 1161.5168640522274, + 67.66116311475491 + ], + [ + 1142.3342776704346, + 23.095247291027647 + ], + [ + 1012.525039174066, + 12.630088641748785 + ], + [ + 1072.5504285079744, + -178.30852210552143 + ], + [ + 1241.5038458670779, + -171.62498021398517 + ], + [ + 1210.4076236014566, + -194.36640240965914 + ], + [ + 1061.4748480928286, + -199.6048999424986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.4757369451678, + "ymax": 354.34428740663225 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -28.373221060355036, + 354.34428740663225 + ], + [ + 93.4757369451678, + 298.91948446135467 + ], + [ + 36.91685263416889, + 263.18247690021843 + ], + [ + -82.03320348427917, + 312.47993891357066 + ], + [ + -292.2433872164671, + -145.21662016565023 + ], + [ + -100.76346288601883, + -168.16937274454256 + ], + [ + -161.20487949185724, + -180.9884296319675 + ], + [ + -343.491928828891, + -161.2659026186633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 97.95455113498099, + "ymax": 98.52773394890141 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + 19.259988747678563, + 98.52773394890141 + ], + [ + 97.95455113498099, + 74.71275654608013 + ], + [ + 59.41128595862142, + 58.945912597858865 + ], + [ + -18.148549348562028, + 80.99712795039306 + ], + [ + -120.64161983421832, + -242.73625030919186 + ], + [ + -17.0022895401205, + -250.4066641366179 + ], + [ + -57.96120199771178, + -254.56333145121596 + ], + [ + -159.17787778006038, + -247.52264276583992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.2118981759838, + "ymin": 10.380026302730244, + "xmax": 1107.5588630407415, + "ymax": 542.4804999886309 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 982.734135700719, + 542.4804999886309 + ], + [ + 978.4648780831994, + 385.26987295377785 + ], + [ + 758.6453414644753, + 351.5099438018845 + ], + [ + 719.2118981759838, + 493.59257501465447 + ], + [ + 1107.5588630407415, + 147.19973191764106 + ], + [ + 1074.385534912767, + 33.13448865155635 + ], + [ + 790.3568586346973, + 10.380026302730244 + ], + [ + 745.9860000306467, + 110.21952205993043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.5390024014426, + "ymin": 0.0, + "xmax": 1207.876008104798, + "ymax": 135.0889258029572 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1124.1861677045229, + 135.0889258029572 + ], + [ + 1106.999843329693, + 83.16103444818555 + ], + [ + 969.5390024014426, + 70.85189987557385 + ], + [ + 970.8255735394605, + 119.82380067520518 + ], + [ + 1207.876008104798, + -122.9229026000861 + ], + [ + 1178.098319392109, + -152.00463735181665 + ], + [ + 1018.1352881937935, + -158.74908494596968 + ], + [ + 1025.978915726938, + -131.57934805827017 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00106/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00106/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60730559d05052a3cef3d14928586811e22c5605 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00106/meta.json @@ -0,0 +1,2988 @@ +{ + "frame_id": 106, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.0, + "sim_timestamp": 8006.9045100132935 + }, + "drone_pose": { + "x": 10.684265382369345, + "y": 0.33259972961458895, + "z": 20.003731603962294, + "pitch": -41.84270605618172, + "yaw": 64.26503515458113, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3234764337539673, + -0.6710861921310425, + 0.6670879125595093, + -17.023557662963867 + ], + [ + 0.9008122682571411, + 0.43420881032943726, + 0.0, + 9.480098724365234 + ], + [ + -0.28965550661087036, + 0.6009209752082825, + 0.7449790239334106, + -11.607736587524414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 10.950290795968012, + "y": 0.8573263485831257, + "z": 20.0 + }, + "t1_image_uv": [ + 614.2986179824649, + -488.71559276237804 + ], + "t1_depth": 0.4406790525783192 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 19.83281707763672, + "y": 19.312236785888672, + "z": 1.1371724647283554 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.281967305388843, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 557, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 19.83281707763672, + "y": 19.312236785888672, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.4974798560142517, + "y": 0.43883177638053894, + "z": 0.9155396819114685 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.1075872807921, + "ymin": 322.7342236237578, + "xmax": 660.2434149220072, + "ymax": 396.8646850416632 + }, + "corners_3d": [ + [ + 19.791345596313477, + 18.650163650512695, + 0.22163277864456177 + ], + [ + 19.170743942260742, + 19.270767211914062, + 0.22163277864456177 + ], + [ + 19.87428855895996, + 19.97430992126465, + 0.22163277864456177 + ], + [ + 20.494890213012695, + 19.35370635986328, + 0.22163277864456177 + ], + [ + 19.791345596313477, + 18.650163650512695, + 2.0527122020721436 + ], + [ + 19.170743942260742, + 19.270767211914062, + 2.0527122020721436 + ], + [ + 19.87428855895996, + 19.97430992126465, + 2.0527122020721436 + ], + [ + 20.494890213012695, + 19.35370635986328, + 2.0527122020721436 + ] + ], + "corners_2d": [ + [ + 631.5556423569125, + 396.8646850416632 + ], + [ + 659.3803598006094, + 390.1144584661514 + ], + [ + 648.1809763306231, + 368.902903198734 + ], + [ + 620.9415892306977, + 375.3339506720239 + ], + [ + 631.1766132979361, + 350.3979958455245 + ], + [ + 660.2434149220072, + 343.7126214206913 + ], + [ + 648.5362327714786, + 322.7342236237578 + ], + [ + 620.1075872807921, + 329.0898792261489 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 106, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 270392, + "2": 395260, + "3": 46453, + "5": 4275, + "6": 10760, + "7": 2030, + "9": 56830, + "10": 88596, + "12": 2220, + "14": 23685, + "20": 4288, + "24": 16811 + }, + "instance_pixel_counts": { + "3146": 878, + "3485": 25, + "3669": 45, + "3925": 30, + "4224": 140, + "6289": 16, + "7299": 359, + "17502": 71803, + "19038": 16556, + "19354": 412, + "19866": 14905, + "20378": 20283, + "20573": 22962, + "20890": 19586, + "21085": 266521, + "21402": 6933, + "21914": 9174, + "23421": 134, + "23450": 9494, + "25693": 854, + "34899": 1422, + "35072": 11131, + "35442": 2653, + "36252": 113418, + "36764": 108900, + "37276": 47685, + "39073": 566, + "40531": 81, + "42145": 226, + "42657": 182, + "43008": 557, + "43264": 233, + "43520": 15, + "43776": 693, + "44032": 31, + "44288": 691, + "44544": 19852, + "44705": 519, + "44922": 10259, + "45388": 735, + "45434": 4377, + "45644": 748, + "46848": 3833, + "47002": 547, + "49778": 43800, + "51309": 56830, + "51612": 2150, + "58697": 4275, + "59772": 697, + "60284": 6701, + "60796": 5597, + "61308": 5737, + "61820": 2156, + "62844": 2450, + "63386": 389, + "63868": 117 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 557, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 19.83281707763672, + "y": 19.312236785888672, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.47420957684516907, + "y": 0.45739805698394775, + "z": 0.9181963801383972 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.7524004278777, + "ymin": 323.0094898785366, + "xmax": 660.5737430823932, + "ymax": 396.5572720910812 + }, + "corners_3d": [ + [ + 19.8209285736084, + 18.65349006652832, + 0.21897608041763306 + ], + [ + 19.174070358276367, + 19.300350189208984, + 0.21897608041763306 + ], + [ + 19.84470558166504, + 19.970983505249023, + 0.21897608041763306 + ], + [ + 20.49156379699707, + 19.32412338256836, + 0.21897608041763306 + ], + [ + 19.8209285736084, + 18.65349006652832, + 2.0553689002990723 + ], + [ + 19.174070358276367, + 19.300350189208984, + 2.0553689002990723 + ], + [ + 19.84470558166504, + 19.970983505249023, + 2.0553689002990723 + ], + [ + 20.49156379699707, + 19.32412338256836, + 2.0553689002990723 + ] + ], + "corners_2d": [ + [ + 630.7091479294025, + 396.5572720910812 + ], + [ + 659.6947559806557, + 389.5294380630009 + ], + [ + 649.0084435532655, + 369.3164755982574 + ], + [ + 620.6043172632918, + 376.0272120018004 + ], + [ + 630.2910675282711, + 349.95908182648543 + ], + [ + 660.5737430823932, + 342.9993214246107 + ], + [ + 649.4009570676855, + 323.0094898785366 + ], + [ + 619.7524004278777, + 329.6416516171077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 233, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 23.958803176879883, + "y": 22.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.24007079005241394, + "y": 0.2485314905643463, + "z": 0.6056233048439026 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 555.8118609916044, + "ymin": 251.8513324069264, + "xmax": 577.8078806639558, + "ymax": 293.4956679484546 + }, + "corners_3d": [ + [ + 23.892822265625, + 21.970752716064453, + 0.3791468143463135 + ], + [ + 23.622102737426758, + 22.387624740600586, + 0.3791468143463135 + ], + [ + 24.024784088134766, + 22.649127960205078, + 0.3791468143463135 + ], + [ + 24.295503616333008, + 22.232255935668945, + 0.3791468143463135 + ], + [ + 23.892822265625, + 21.970752716064453, + 1.5903934240341187 + ], + [ + 23.622102737426758, + 22.387624740600586, + 1.5903934240341187 + ], + [ + 24.024784088134766, + 22.649127960205078, + 1.5903934240341187 + ], + [ + 24.295503616333008, + 22.232255935668945, + 1.5903934240341187 + ] + ], + "corners_2d": [ + [ + 564.6407571124556, + 293.4956679484546 + ], + [ + 577.8078806639558, + 288.74379643791696 + ], + [ + 571.0076933648413, + 281.30026165825575 + ], + [ + 557.9250330376027, + 285.96256032282184 + ], + [ + 562.6814046849172, + 263.89197296587855 + ], + [ + 576.2008139366272, + 259.19926042295515 + ], + [ + 569.2421705593982, + 251.8513324069264 + ], + [ + 555.8118609916044, + 256.4533277337563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 15, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 17.576993942260742, + "y": 26.254947662353516, + "z": 0.8166517019271851 + }, + "extent": { + "x": 0.278505802154541, + "y": 0.22278806567192078, + "z": 0.5990886688232422 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 777.7362131072246, + "ymin": 242.31715692623848, + "xmax": 801.4703867926846, + "ymax": 283.2955321837535 + }, + "corners_3d": [ + [ + 17.50075912475586, + 25.906539916992188, + 0.21756303310394287 + ], + [ + 17.220348358154297, + 26.252817153930664, + 0.21756303310394287 + ], + [ + 17.653228759765625, + 26.603355407714844, + 0.21756303310394287 + ], + [ + 17.933639526367188, + 26.257078170776367, + 0.21756303310394287 + ], + [ + 17.50075912475586, + 25.906539916992188, + 1.4157403707504272 + ], + [ + 17.220348358154297, + 26.252817153930664, + 1.4157403707504272 + ], + [ + 17.653228759765625, + 26.603355407714844, + 1.4157403707504272 + ], + [ + 17.933639526367188, + 26.257078170776367, + 1.4157403707504272 + ] + ], + "corners_2d": [ + [ + 786.331439270343, + 283.2955321837535 + ], + [ + 797.5245239784839, + 279.90428888574263 + ], + [ + 788.8391414995492, + 271.06197602213865 + ], + [ + 777.7362131072246, + 274.3765576196471 + ], + [ + 790.0132716990989, + 254.39075853991852 + ], + [ + 801.4703867926846, + 251.04290499548404 + ], + [ + 792.5241049093767, + 242.31715692623848 + ], + [ + 781.161320684663, + 245.58746278325862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 693, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 10.332817077636719, + "y": 19.312236785888672, + "z": 1.1461275815963745 + }, + "extent": { + "x": 0.3810015916824341, + "y": 0.5142406821250916, + "z": 0.9284306168556213 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 933.8200679057167, + "ymin": 425.34843773592513, + "xmax": 1000.12130799904, + "ymax": 503.08010503508626 + }, + "corners_3d": [ + [ + 10.427031517028809, + 18.6792049407959, + 0.21769696474075317 + ], + [ + 9.699785232543945, + 19.406450271606445, + 0.21769696474075317 + ], + [ + 10.238602638244629, + 19.945268630981445, + 0.21769696474075317 + ], + [ + 10.965848922729492, + 19.2180233001709, + 0.21769696474075317 + ], + [ + 10.427031517028809, + 18.6792049407959, + 2.0745582580566406 + ], + [ + 9.699785232543945, + 19.406450271606445, + 2.0745582580566406 + ], + [ + 10.238602638244629, + 19.945268630981445, + 2.0745582580566406 + ], + [ + 10.965848922729492, + 19.2180233001709, + 2.0745582580566406 + ] + ], + "corners_2d": [ + [ + 949.5040487670612, + 503.08010503508626 + ], + [ + 982.7511650214441, + 493.2096177415598 + ], + [ + 966.5388225154434, + 472.91527361705374 + ], + [ + 933.8200679057167, + 482.3844402537004 + ], + [ + 965.3531981292542, + 455.5070512498576 + ], + [ + 1000.12130799904, + 445.6283757530489 + ], + [ + 982.7323075935733, + 425.34843773592513 + ], + [ + 948.5399646305599, + 434.805656901114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 31, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 16.217317581176758, + "y": 8.18487548828125, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.47472167015075684, + "y": 0.44825682044029236, + "z": 0.9447444081306458 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 535.0095839636076, + "ymin": 692.4985007834154, + "xmax": 590.8531836948472, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 16.26692771911621, + 7.533850193023682, + 0.04001593589782715 + ], + [ + 15.570204734802246, + 8.098044395446777, + 0.04001593589782715 + ], + [ + 16.167707443237305, + 8.83590030670166, + 0.04001593589782715 + ], + [ + 16.864431381225586, + 8.271706581115723, + 0.04001593589782715 + ], + [ + 16.26692771911621, + 7.533850193023682, + 1.9295047521591187 + ], + [ + 15.570204734802246, + 8.098044395446777, + 1.9295047521591187 + ], + [ + 16.167707443237305, + 8.83590030670166, + 1.9295047521591187 + ], + [ + 16.864431381225586, + 8.271706581115723, + 1.9295047521591187 + ] + ], + "corners_2d": [ + [ + 548.499028021346, + 789.4929423353519 + ], + [ + 590.8531836948472, + 779.6687949038783 + ], + [ + 582.4241439063434, + 737.3218162888176 + ], + [ + 541.4197951775078, + 746.5039628168206 + ], + [ + 542.3300490997993, + 746.1690114711557 + ], + [ + 587.5666541947678, + 736.0401491546218 + ], + [ + 578.7096210689901, + 692.4985007834154 + ], + [ + 535.0095839636076, + 701.9233500824312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 691, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 32.368247985839844, + "y": 10.594247817993164, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3021899461746216, + "y": 0.46951812505722046, + "z": 0.9002925157546997 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 61.27189217124635, + "ymin": 389.65837326952277, + "xmax": 127.76640538373442, + "ymax": 453.8451978080612 + }, + "corners_3d": [ + [ + 32.597434997558594, + 10.085091590881348, + 0.08447760343551636 + ], + [ + 31.809892654418945, + 10.596528053283691, + 0.08447760343551636 + ], + [ + 32.139060974121094, + 11.10340404510498, + 0.08447760343551636 + ], + [ + 32.926605224609375, + 10.591967582702637, + 0.08447760343551636 + ], + [ + 32.597434997558594, + 10.085091590881348, + 1.8850626945495605 + ], + [ + 31.809892654418945, + 10.596528053283691, + 1.8850626945495605 + ], + [ + 32.139060974121094, + 11.10340404510498, + 1.8850626945495605 + ], + [ + 32.926605224609375, + 10.591967582702637, + 1.8850626945495605 + ] + ], + "corners_2d": [ + [ + 87.09326263766286, + 453.8451978080612 + ], + [ + 122.01250155778723, + 450.72221024353485 + ], + [ + 127.76640538373442, + 435.26264920380413 + ], + [ + 93.43559373355902, + 438.28467575048506 + ], + [ + 61.27189217124635, + 408.1599516848614 + ], + [ + 97.90482015365296, + 405.04821789653425 + ], + [ + 104.33206774650591, + 389.65837326952277 + ], + [ + 68.34610619059185, + 392.6649403965523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 19852, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 125.13283886088243, + "ymin": 319.45484890980504, + "xmax": 373.2057212692956, + "ymax": 548.9001166355454 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 153.5634630694355, + 517.5191829990553 + ], + [ + 222.95426350129378, + 548.9001166355454 + ], + [ + 373.2057212692956, + 395.059577656172 + ], + [ + 309.88087174691117, + 372.1107931922545 + ], + [ + 125.13283886088243, + 464.0653773595973 + ], + [ + 197.78189948557895, + 495.5917316135183 + ], + [ + 359.5856620773955, + 342.1182368969942 + ], + [ + 293.4817793094994, + 319.45484890980504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 3833, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 459.5837854711841, + "ymin": 66.86234235411467, + "xmax": 566.58271765039, + "ymax": 159.6742333536593 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 566.58271765039, + 108.52556701318147 + ], + [ + 525.0431247310412, + 98.7989444545226 + ], + [ + 464.15304691929674, + 148.25808185875403 + ], + [ + 508.11338635337466, + 159.6742333536593 + ], + [ + 564.7948616237026, + 76.29409980083483 + ], + [ + 522.2895431450409, + 66.86234235411467 + ], + [ + 459.5837854711841, + 114.89853814393351 + ], + [ + 504.6244208753286, + 126.01332930811367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.6104340799877, + "ymin": 484.8242175901007, + "xmax": 528.235788036621, + "ymax": 525.5671750009606 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 517.8171471180316, + 509.604409716747 + ], + [ + 509.1669282990224, + 521.349024499075 + ], + [ + 519.6715754883099, + 525.5671750009606 + ], + [ + 528.235788036621, + 513.7258770843343 + ], + [ + 514.5350285573727, + 484.8242175901007 + ], + [ + 505.6104340799877, + 496.5918809899811 + ], + [ + 516.3867510544242, + 500.82010601140064 + ], + [ + 525.2209474431019, + 488.95293528207776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 122.2023451157246, + "ymin": 259.01262216725496, + "xmax": 155.48450538054942, + "ymax": 299.45682426941323 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 147.18992556857887, + 287.81814365488185 + ], + [ + 135.0556116723863, + 296.3958046143016 + ], + [ + 143.394230785984, + 299.45682426941323 + ], + [ + 155.48450538054942, + 290.81342572904896 + ], + [ + 134.78411239201188, + 259.01262216725496 + ], + [ + 122.2023451157246, + 267.4868596013597 + ], + [ + 130.70337041544872, + 270.5120972016751 + ], + [ + 143.23992939006234, + 261.97126104632844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.43188559590385, + "ymin": 322.3785487817252, + "xmax": 334.1905317564974, + "ymax": 365.46832355959447 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 324.48929129859033, + 351.8436931459452 + ], + [ + 313.4469392927461, + 361.8818146167587 + ], + [ + 323.2170553576439, + 365.46832355959447 + ], + [ + 334.1905317564974, + 355.3469406115971 + ], + [ + 315.88333830535123, + 322.3785487817252 + ], + [ + 304.43188559590385, + 332.3368309828161 + ], + [ + 314.4343056928077, + 335.8963678225091 + ], + [ + 325.81393313133395, + 325.8532051766315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.38281224576804, + "ymin": 286.5602749741099, + "xmax": 233.25136620266454, + "ymax": 328.16834263404127 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 224.35813527750827, + 315.684801659457 + ], + [ + 212.66023704807253, + 324.8838551820528 + ], + [ + 221.6076095193917, + 328.16834263404127 + ], + [ + 233.25136620266454, + 318.89626532952946 + ], + [ + 213.51498634736868, + 286.5602749741099 + ], + [ + 201.38281224576804, + 295.6648101475997 + ], + [ + 210.52115524918645, + 298.91684916826955 + ], + [ + 222.59732998218715, + 289.73813251443414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 50.74833392253174, + "ymin": 104.44486083444554, + "xmax": 79.66744881840282, + "ymax": 122.32866229306893 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 55.24526274050345, + 115.90438825203006 + ], + [ + 77.0440314352652, + 122.32866229306893 + ], + [ + 79.66744881840282, + 120.9506943072108 + ], + [ + 57.88944014255435, + 114.55470881889991 + ], + [ + 50.74833392253174, + 105.78253220874467 + ], + [ + 72.66920558363199, + 112.15026812933277 + ], + [ + 75.32273221859884, + 110.78434111110582 + ], + [ + 53.42273696216671, + 104.44486083444554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.9807959199779, + "ymin": 39.41465367931721, + "xmax": 750.8544390744472, + "ymax": 286.0854698824006 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 728.6227138526784, + 286.0854698824006 + ], + [ + 733.4006902293394, + 279.03575276435754 + ], + [ + 632.7597843310999, + 250.71221661091047 + ], + [ + 627.2793887666695, + 257.256245409346 + ], + [ + 745.3618601723008, + 69.62656353119309 + ], + [ + 750.8544390744472, + 63.564549891186516 + ], + [ + 631.4648243345605, + 39.41465367931721 + ], + [ + 624.9807959199779, + 44.96536872231064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2201107571186, + "ymin": 46.20409949385885, + "xmax": 645.7044557218971, + "ymax": 55.93188430561895 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 641.4779200459051, + 55.93188430561895 + ], + [ + 645.6902097559347, + 52.155365663763064 + ], + [ + 633.5230152455711, + 49.64941514622865 + ], + [ + 629.2470921212315, + 53.391592850751636 + ], + [ + 641.4816455434848, + 52.462899466591296 + ], + [ + 645.7044557218971, + 48.70056607118272 + ], + [ + 633.5068733438094, + 46.20409949385885 + ], + [ + 629.2201107571186, + 49.93213558323578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.1312347030406, + "ymin": 46.152081796901996, + "xmax": 645.7933200680351, + "ymax": 55.984566062488625 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 641.5214507478258, + 55.984566062488625 + ], + [ + 645.7786970068421, + 52.167111622612936 + ], + [ + 633.4809868353018, + 49.634309890309 + ], + [ + 629.158730945949, + 53.41667952518918 + ], + [ + 641.5253275004382, + 52.478156675439436 + ], + [ + 645.7933200680351, + 48.67519464019642 + ], + [ + 633.4645663066243, + 46.152081796901996 + ], + [ + 629.1312347030406, + 49.920004082476225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.5171989726405, + "ymin": 702.9834876235566, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1303.6598172237166, + 922.0632970233573 + ], + [ + 1277.5171989726405, + 910.9257577111256 + ], + [ + 1280.2243991143919, + 1144.0933574768435 + ], + [ + 1310.753206994757, + 1159.237148453235 + ], + [ + 1571.3902976588824, + 716.3098345513552 + ], + [ + 1531.8826796549224, + 702.9834876235566 + ], + [ + 1598.9148671903204, + 1000.7334475391671 + ], + [ + 1649.268891126926, + 1021.532637491442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.62271831691424, + "ymin": 38.261639873804654, + "xmax": 209.42536254103334, + "ymax": 53.886106174863016 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 186.72586041062385, + 48.792151987784166 + ], + [ + 207.34705248481487, + 53.886106174863016 + ], + [ + 209.42536254103334, + 52.79445955371773 + ], + [ + 188.8253771057108, + 47.720486183260505 + ], + [ + 183.62271831691424, + 39.32199587678059 + ], + [ + 204.35738218885456, + 44.362579083444984 + ], + [ + 206.45596196220947, + 43.282316019733116 + ], + [ + 185.74268542687798, + 38.261639873804654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 286.16535629693954, + "ymin": 0.0, + "xmax": 310.3210334407377, + "ymax": 9.450597248452198 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 288.4147490361061, + 5.07035190040267 + ], + [ + 308.5653939244497, + 9.450597248452198 + ], + [ + 310.3210334407377, + 8.51234557666453 + ], + [ + 290.1921296523108, + 4.148162083974796 + ], + [ + 286.16535629693954, + -4.059532701844489 + ], + [ + 306.426399931805, + 0.2692324709192917 + ], + [ + 308.1973165267453, + -0.658032569860552 + ], + [ + 287.95822379676474, + -4.970822942436087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.3369460537144, + "ymin": 0.0, + "xmax": 1184.4554411645875, + "ymax": 56.69276118909312 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1144.7750006388737, + 56.69276118909312 + ], + [ + 1148.5641911627013, + 38.57779902652118 + ], + [ + 1104.5327874805605, + 31.130201591666605 + ], + [ + 1099.3369460537144, + 48.739087271040205 + ], + [ + 1181.6855400613488, + -43.880242992889464 + ], + [ + 1184.4554411645875, + -59.76765583246345 + ], + [ + 1136.8313798081062, + -66.27756882769165 + ], + [ + 1132.4101487360804, + -50.86518144210561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.6733307395497, + "ymin": 0.0, + "xmax": 940.9695622593762, + "ymax": 22.50083815597452 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 907.2682591353596, + 22.50083815597452 + ], + [ + 909.384572482847, + 19.378301383444864 + ], + [ + 837.16119597092, + 6.640555172201232 + ], + [ + 834.6733307395497, + 9.611263844531265 + ], + [ + 938.8159025141754, + -143.8836339002172 + ], + [ + 940.9695622593762, + -146.26057034958092 + ], + [ + 859.6460385464279, + -155.9221515937993 + ], + [ + 857.0196767475936, + -153.67382975460737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.41044875325804, + "ymin": 167.13469260274937, + "xmax": 547.7146495563753, + "ymax": 587.5558603547835 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 538.8394857065485, + 587.5558603547835 + ], + [ + 547.7146495563753, + 574.4544394868251 + ], + [ + 189.7314326051574, + 421.9618277229253 + ], + [ + 178.38930603057923, + 431.590512990649 + ], + [ + 507.3046310816946, + 324.2877909763764 + ], + [ + 519.3995057268415, + 311.3125782954663 + ], + [ + 76.14150119596286, + 167.13469260274937 + ], + [ + 60.41044875325804, + 175.8814122184592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 55.42642892989181, + "ymax": 297.2204988756772 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -69.47841954635896, + 297.2204988756772 + ], + [ + 55.42642892989181, + 236.70075730338826 + ], + [ + -6.044668294073972, + 199.36852002450038 + ], + [ + -128.60931520132328, + 253.5517706400535 + ], + [ + -410.3043765378461, + -245.10777956244885 + ], + [ + -195.9533469654599, + -272.5864321170684 + ], + [ + -262.9791799811088, + -287.11193189230903 + ], + [ + -467.2954721063277, + -263.48938603244846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 48.102336726532826, + "ymax": 21.97495899897865 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -34.37188470015053, + 21.97495899897865 + ], + [ + 48.102336726532826, + -4.753336140571605 + ], + [ + 6.16862759577532, + -21.630825249189797 + ], + [ + -75.33983508992105, + 3.2016690982436558 + ], + [ + -217.73012543775235, + -358.266986555979 + ], + [ + -102.88316831595898, + -367.3223426958406 + ], + [ + -148.05470261022924, + -371.9526144213959 + ], + [ + -260.3530527801703, + -363.63207253260975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.6045955965413, + "ymin": 0.0, + "xmax": 1114.2322832183224, + "ymax": 474.98994966127424 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 973.3186324740682, + 474.98994966127424 + ], + [ + 969.2171205116606, + 314.0009969208259 + ], + [ + 745.8381303265267, + 282.1830474488054 + ], + [ + 707.6045955965413, + 429.68552519116844 + ], + [ + 1114.2322832183224, + 70.36575315463318 + ], + [ + 1077.8227188960152, + -54.84668913431358 + ], + [ + 778.9604260222522, + -77.68379436524918 + ], + [ + 734.3313173433564, + 33.39521029024087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 960.3821000896105, + "ymin": 0.0, + "xmax": 1214.8185051226951, + "ymax": 49.98132232876202 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1118.4998983590424, + 49.98132232876202 + ], + [ + 1101.4341588510276, + -5.1883388114863465 + ], + [ + 960.3821000896105, + -17.121569782337815 + ], + [ + 961.6737217653447, + 35.276098332800245 + ], + [ + 1214.8185051226951, + -228.22772750746117 + ], + [ + 1183.338982821532, + -260.3064613442365 + ], + [ + 1015.6408751900524, + -267.0786750923587 + ], + [ + 1024.3543042754386, + -236.9042078417425 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ed53f81db91463061e56e7966c9b4901b2b7a81 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00107/meta.json @@ -0,0 +1,2884 @@ +{ + "frame_id": 107, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 8018.840782936197 + }, + "drone_pose": { + "x": 10.950290795968012, + "y": 0.8573263485831257, + "z": 20.0, + "pitch": -41.728550306884024, + "yaw": 63.66496482130236, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3310760259628296, + -0.668851375579834, + 0.6656022667884827, + -17.510848999023438 + ], + [ + 0.8962153196334839, + 0.4436193108558655, + 0.0, + 9.433491706848145 + ], + [ + -0.295274019241333, + 0.5965229868888855, + 0.7463066577911377, + -11.181381225585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 11.429484795210684, + "y": 1.350158329068337, + "z": 20.046174342176176 + }, + "t1_image_uv": [ + 197.6457236135222, + -626.0004381934498 + ], + "t1_depth": 0.4575472596494039 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 20.33281707763672, + "y": 19.812236785888672, + "z": 1.1371675771474838 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.33949322279943, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 563, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 20.33281707763672, + "y": 19.812236785888672, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.35148802399635315, + "y": 0.4131671190261841, + "z": 0.9433730244636536 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.6366233461617, + "ymin": 325.31726338977285, + "xmax": 657.5521689689069, + "ymax": 394.00239814485064 + }, + "corners_3d": [ + [ + 20.37643051147461, + 19.271543502807617, + 0.19379454851150513 + ], + [ + 19.792123794555664, + 19.855850219726562, + 0.19379454851150513 + ], + [ + 20.289203643798828, + 20.352930068969727, + 0.19379454851150513 + ], + [ + 20.873510360717773, + 19.76862335205078, + 0.19379454851150513 + ], + [ + 20.37643051147461, + 19.271543502807617, + 2.080540657043457 + ], + [ + 19.792123794555664, + 19.855850219726562, + 2.080540657043457 + ], + [ + 20.289203643798828, + 20.352930068969727, + 2.080540657043457 + ], + [ + 20.873510360717773, + 19.76862335205078, + 2.080540657043457 + ] + ], + "corners_2d": [ + [ + 630.6432856736868, + 394.00239814485064 + ], + [ + 656.7872740044837, + 387.9057069883281 + ], + [ + 649.135071272661, + 372.9154703568129 + ], + [ + 623.385503303701, + 378.8064805736241 + ], + [ + 630.2138816774151, + 346.16405613145537 + ], + [ + 657.5521689689069, + 340.13213683742134 + ], + [ + 649.5439281925777, + 325.31726338977285 + ], + [ + 622.6366233461617, + 331.1366286611712 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 271760, + "2": 386896, + "3": 50219, + "5": 4300, + "6": 11202, + "7": 2086, + "9": 60470, + "10": 87034, + "12": 2287, + "14": 24346, + "20": 4100, + "24": 16900 + }, + "instance_pixel_counts": { + "3146": 583, + "3485": 48, + "3669": 44, + "3925": 32, + "4224": 168, + "6289": 23, + "7299": 372, + "17502": 69547, + "19038": 17241, + "19354": 475, + "19866": 15401, + "20378": 21100, + "20573": 24409, + "20890": 20216, + "21085": 258257, + "21402": 7450, + "21914": 9650, + "23421": 222, + "23450": 4537, + "25693": 1282, + "34899": 1465, + "35072": 11485, + "35442": 2684, + "36252": 107288, + "36764": 112986, + "36978": 22, + "37276": 50420, + "39073": 590, + "40531": 147, + "42145": 235, + "42657": 200, + "43008": 563, + "43264": 230, + "43520": 39, + "43776": 668, + "44032": 81, + "44288": 706, + "44544": 20439, + "44705": 533, + "44922": 10057, + "45388": 756, + "45434": 4525, + "45644": 755, + "46848": 3907, + "47002": 855, + "49778": 47513, + "51309": 60470, + "51612": 2270, + "58697": 4300, + "59772": 739, + "60284": 5724, + "60796": 5856, + "61308": 5882, + "61820": 2305, + "62844": 2536, + "63386": 1066 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 563, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 20.33281707763672, + "y": 19.812236785888672, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.3570959270000458, + "y": 0.38025084137916565, + "z": 0.9432703852653503 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.6562854559338, + "ymin": 325.43407695361054, + "xmax": 656.5355282952046, + "ymax": 393.87872343257084 + }, + "corners_3d": [ + [ + 20.34918975830078, + 19.29085350036621, + 0.19389718770980835 + ], + [ + 19.811433792114258, + 19.828609466552734, + 0.19389718770980835 + ], + [ + 20.316444396972656, + 20.333620071411133, + 0.19389718770980835 + ], + [ + 20.85420036315918, + 19.79586410522461, + 0.19389718770980835 + ], + [ + 20.34918975830078, + 19.29085350036621, + 2.0804378986358643 + ], + [ + 19.811433792114258, + 19.828609466552734, + 2.0804378986358643 + ], + [ + 20.316444396972656, + 20.333620071411133, + 2.0804378986358643 + ], + [ + 20.85420036315918, + 19.79586410522461, + 2.0804378986358643 + ] + ], + "corners_2d": [ + [ + 631.7506243796772, + 393.87872343257084 + ], + [ + 655.8147177884802, + 388.26620840202133 + ], + [ + 648.0561303716343, + 373.0285361283695 + ], + [ + 624.3608262744262, + 378.4487357498173 + ], + [ + 631.3721350994103, + 346.046845066753 + ], + [ + 656.5355282952046, + 340.493882239597 + ], + [ + 648.4167072515338, + 325.43407695361054 + ], + [ + 623.6562854559338, + 330.7882986011423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 230, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 24.458803176879883, + "y": 22.809940338134766, + "z": 0.9847896099090576 + }, + "extent": { + "x": 0.28780272603034973, + "y": 0.2663891613483429, + "z": 0.6024353504180908 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 556.3626778870988, + "ymin": 251.0412375038602, + "xmax": 580.4806893494823, + "ymax": 294.2104274541183 + }, + "corners_3d": [ + [ + 24.362518310546875, + 22.429779052734375, + 0.3823542594909668 + ], + [ + 24.072345733642578, + 22.876604080200195, + 0.3823542594909668 + ], + [ + 24.55508804321289, + 23.190101623535156, + 0.3823542594909668 + ], + [ + 24.845260620117188, + 22.743276596069336, + 0.3823542594909668 + ], + [ + 24.362518310546875, + 22.429779052734375, + 1.5872249603271484 + ], + [ + 24.072345733642578, + 22.876604080200195, + 1.5872249603271484 + ], + [ + 24.55508804321289, + 23.190101623535156, + 1.5872249603271484 + ], + [ + 24.845260620117188, + 22.743276596069336, + 1.5872249603271484 + ] + ], + "corners_2d": [ + [ + 566.3227904544167, + 294.2104274541183 + ], + [ + 580.4806893494823, + 289.2217197352014 + ], + [ + 572.4856337420654, + 280.29178554508485 + ], + [ + 558.4395164753162, + 285.1673449597069 + ], + [ + 564.4244171625523, + 264.78067284792917 + ], + [ + 578.9570368856248, + 259.85476288143803 + ], + [ + 570.7774612953972, + 251.0412375038602 + ], + [ + 556.3626778870988, + 255.85260430810268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 39, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 18.076993942260742, + "y": 26.754947662353516, + "z": 0.8355834484100342 + }, + "extent": { + "x": 0.2132427990436554, + "y": 0.3200353682041168, + "z": 0.5630409717559814 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 777.9603675346115, + "ymin": 244.45471325253004, + "xmax": 804.354553676281, + "ymax": 282.9981528067584 + }, + "corners_3d": [ + [ + 18.11267852783203, + 26.37203598022461, + 0.27254247665405273 + ], + [ + 17.709869384765625, + 26.869464874267578, + 0.27254247665405273 + ], + [ + 18.041309356689453, + 27.137859344482422, + 0.27254247665405273 + ], + [ + 18.44411849975586, + 26.640430450439453, + 0.27254247665405273 + ], + [ + 18.11267852783203, + 26.37203598022461, + 1.3986244201660156 + ], + [ + 17.709869384765625, + 26.869464874267578, + 1.3986244201660156 + ], + [ + 18.041309356689453, + 27.137859344482422, + 1.3986244201660156 + ], + [ + 18.44411849975586, + 26.640430450439453, + 1.3986244201660156 + ] + ], + "corners_2d": [ + [ + 784.431923066709, + 282.9981528067584 + ], + [ + 800.5950361641762, + 278.2577746260524 + ], + [ + 794.0210767867763, + 271.48121284295206 + ], + [ + 777.9603675346115, + 276.1387458499807 + ], + [ + 787.8342468233482, + 255.82793686693623 + ], + [ + 804.354553676281, + 251.1457534957793 + ], + [ + 797.5944164738645, + 244.45471325253004 + ], + [ + 781.1809659803098, + 249.05317272908826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 668, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 10.832817077636719, + "y": 19.812236785888672, + "z": 1.1456539630889893 + }, + "extent": { + "x": 0.27985167503356934, + "y": 0.4554522633552551, + "z": 0.8964231014251709 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 936.5585285902104, + "ymin": 431.5711136081584, + "xmax": 993.9871421294047, + "ymax": 500.9658332904719 + }, + "corners_3d": [ + [ + 10.956985473632812, + 19.292299270629883, + 0.24923086166381836 + ], + [ + 10.312878608703613, + 19.936405181884766, + 0.24923086166381836 + ], + [ + 10.708648681640625, + 20.33217430114746, + 0.24923086166381836 + ], + [ + 11.352755546569824, + 19.688068389892578, + 0.24923086166381836 + ], + [ + 10.956985473632812, + 19.292299270629883, + 2.04207706451416 + ], + [ + 10.312878608703613, + 19.936405181884766, + 2.04207706451416 + ], + [ + 10.708648681640625, + 20.33217430114746, + 2.04207706451416 + ], + [ + 11.352755546569824, + 19.688068389892578, + 2.04207706451416 + ] + ], + "corners_2d": [ + [ + 947.9139145214067, + 500.9658332904719 + ], + [ + 977.5480991254922, + 492.5232038715532 + ], + [ + 965.837931407827, + 477.5272679388204 + ], + [ + 936.5585285902104, + 485.7146776285648 + ], + [ + 963.0440749988998, + 455.00081340585956 + ], + [ + 993.9871421294047, + 446.55514349734807 + ], + [ + 981.4544544477753, + 431.5711136081584 + ], + [ + 950.8970590963341, + 439.7492801772506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 81, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 16.717317581176758, + "y": 8.68487548828125, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.4466784596443176, + "y": 0.44325530529022217, + "z": 0.9487419724464417 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 529.9534272449716, + "ymin": 691.4636413106988, + "xmax": 584.5486742076105, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 16.78068733215332, + 8.058791160583496, + 0.03601348400115967 + ], + [ + 16.091739654541016, + 8.616690635681152, + 0.03601348400115967 + ], + [ + 16.653947830200195, + 9.310959815979004, + 0.03601348400115967 + ], + [ + 17.3428955078125, + 8.753060340881348, + 0.03601348400115967 + ], + [ + 16.78068733215332, + 8.058791160583496, + 1.933497428894043 + ], + [ + 16.091739654541016, + 8.616690635681152, + 1.933497428894043 + ], + [ + 16.653947830200195, + 9.310959815979004, + 1.933497428894043 + ], + [ + 17.3428955078125, + 8.753060340881348, + 1.933497428894043 + ] + ], + "corners_2d": [ + [ + 542.7027695141277, + 785.5821581718012 + ], + [ + 584.5486742076105, + 776.3686146646476 + ], + [ + 577.2535204890336, + 736.6294100164857 + ], + [ + 536.6723804242368, + 745.274545158092 + ], + [ + 536.1567079807365, + 741.7957761626005 + ], + [ + 580.846571059388, + 732.3028638425326 + ], + [ + 573.2036318792902, + 691.4636413106988 + ], + [ + 529.9534272449716, + 700.3336120788017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 706, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 32.62903594970703, + "y": 11.409921646118164, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.2668701112270355, + "y": 0.400703102350235, + "z": 0.8776697516441345 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 83.53749908607074, + "ymin": 382.8877662628217, + "xmax": 141.7723618454906, + "ymax": 443.0743265712924 + }, + "corners_3d": [ + [ + 32.81974411010742, + 10.967866897583008, + 0.10710036754608154 + ], + [ + 32.14762878417969, + 11.40434455871582, + 0.10710036754608154 + ], + [ + 32.43832778930664, + 11.85197639465332, + 0.10710036754608154 + ], + [ + 33.110443115234375, + 11.415498733520508, + 0.10710036754608154 + ], + [ + 32.81974411010742, + 10.967866897583008, + 1.8624398708343506 + ], + [ + 32.14762878417969, + 11.40434455871582, + 1.8624398708343506 + ], + [ + 32.43832778930664, + 11.85197639465332, + 1.8624398708343506 + ], + [ + 33.110443115234375, + 11.415498733520508, + 1.8624398708343506 + ] + ], + "corners_2d": [ + [ + 107.40167219391537, + 443.0743265712924 + ], + [ + 136.73274864937724, + 440.687149919797 + ], + [ + 141.7723618454906, + 427.3098637332754 + ], + [ + 112.87380215368717, + 429.62927145693914 + ], + [ + 83.53749908607074, + 398.56630839939845 + ], + [ + 114.24268812358957, + 396.190627603949 + ], + [ + 119.83941879259896, + 382.8877662628217 + ], + [ + 89.607835556022, + 385.19305398019054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 20439, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 124.6829725489115, + "ymin": 331.8653547576067, + "xmax": 377.1698359315934, + "ymax": 566.1940966400547 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 153.47274556652764, + 533.1794193387129 + ], + [ + 223.12284767569713, + 566.1940966400547 + ], + [ + 377.1698359315934, + 408.73515946252485 + ], + [ + 313.47175426152455, + 384.6708276440465 + ], + [ + 124.6829725489115, + 479.73222693261147 + ], + [ + 197.6149588375602, + 512.9479171112339 + ], + [ + 363.59446428557754, + 355.6555126965624 + ], + [ + 297.07734520376704, + 331.8653547576067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 3907, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 467.3044467964336, + "ymin": 74.29686253136674, + "xmax": 575.3579560442115, + "ymax": 168.35775590682715 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 575.3579560442115, + 116.49007268673697 + ], + [ + 533.5521460423655, + 106.37195330297087 + ], + [ + 471.7092337610105, + 156.47062427613673 + ], + [ + 515.9278287031265, + 168.35775590682715 + ], + [ + 573.7722226985775, + 84.11137498293414 + ], + [ + 530.9850388584507, + 74.29686253136674 + ], + [ + 467.3044467964336, + 122.97017503546803 + ], + [ + 512.6196809192221, + 134.54782796237632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 509.81421154688053, + "ymin": 506.0576954668088, + "xmax": 532.819637075446, + "ymax": 547.4479342142652 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 522.2443474137613, + 530.8179212498806 + ], + [ + 513.3199725951645, + 542.9658505889191 + ], + [ + 523.9823989061869, + 547.4479342142652 + ], + [ + 532.819637075446, + 535.1956035769994 + ], + [ + 519.0246983253239, + 506.0576954668088 + ], + [ + 509.81421154688053, + 518.2408269364937 + ], + [ + 520.7574780523355, + 522.7378897127043 + ], + [ + 529.8763007188466, + 510.4471550683084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 122.86184978288838, + "ymin": 272.30201773751315, + "xmax": 156.61910432496467, + "ymax": 313.25095385750194 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 148.2939632102308, + 301.24395181062505 + ], + [ + 135.86065901640075, + 310.03022544625287 + ], + [ + 144.22822547253713, + 313.25095385750194 + ], + [ + 156.61910432496467, + 304.3947256552324 + ], + [ + 135.7574281651651, + 272.30201773751315 + ], + [ + 122.86184978288838, + 280.98772715189784 + ], + [ + 131.39277823698012, + 284.17281511833096 + ], + [ + 144.24488536003633, + 275.4161677967301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.30981998521827, + "ymin": 339.20589644884035, + "xmax": 336.579074325228, + "ymax": 382.9407169534816 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 326.7804530975025, + 368.7952568094435 + ], + [ + 315.41649969255747, + 379.1428290333257 + ], + [ + 325.2835419971025, + 382.9407169534816 + ], + [ + 336.579074325228, + 372.50369302835173 + ], + [ + 318.0993695588238, + 339.20589644884035 + ], + [ + 306.30981998521827, + 349.47988405120554 + ], + [ + 316.4143063894913, + 353.25247399085464 + ], + [ + 328.13250823249166, + 342.88717751026746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.42272169261656, + "ymin": 301.3342424821911, + "xmax": 234.7915435550704, + "ymax": 343.5072479226571 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 225.84102098085486, + 330.5930016990875 + ], + [ + 213.8311226226823, + 340.0417572606766 + ], + [ + 222.8345877575748, + 343.5072479226571 + ], + [ + 234.7915435550704, + 333.98046134272596 + ], + [ + 214.8827093061829, + 301.3342424821911 + ], + [ + 202.42272169261656, + 310.69260679556083 + ], + [ + 211.61968273682533, + 314.12636408040777 + ], + [ + 224.0249605253851, + 304.688645214266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 56.055962647924275, + "ymin": 110.97845010939838, + "xmax": 84.92097606553932, + "ymax": 129.13982046490142 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 60.53406321901355, + 122.48199935541203 + ], + [ + 82.26383842704774, + 129.13982046490142 + ], + [ + 84.92097606553932, + 127.74874971342035 + ], + [ + 63.21079815258872, + 121.1203599637777 + ], + [ + 56.055962647924275, + 112.32806860887771 + ], + [ + 77.90691874817105, + 118.92777391694139 + ], + [ + 80.59453458677342, + 117.54875503178027 + ], + [ + 58.76326937669319, + 110.97845010939838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 634.7851266072033, + "ymin": 49.68589486399651, + "xmax": 762.6009584138143, + "ymax": 299.2476676792902 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 738.1812827438462, + 299.2476676792902 + ], + [ + 743.0659283930553, + 292.03299462654434 + ], + [ + 641.1876283026002, + 262.31073550878835 + ], + [ + 635.5917634068957, + 268.9892593445842 + ], + [ + 756.9934500366563, + 81.36194144088154 + ], + [ + 762.6009584138143, + 75.13062600810258 + ], + [ + 641.4027050298623, + 49.68589486399651 + ], + [ + 634.7851266072033, + 55.37176136658343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 639.0513829585877, + "ymin": 56.57297289699625, + "xmax": 655.7900689464565, + "ymax": 66.55190257772796 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 651.4505168405523, + 66.55190257772796 + ], + [ + 655.7501352015091, + 62.682300906900764 + ], + [ + 643.4179669373087, + 60.046152813068716 + ], + [ + 639.0537871888133, + 63.87921012102305 + ], + [ + 651.4797506324684, + 63.05460589888776 + ], + [ + 655.7900689464565, + 59.19930270359106 + ], + [ + 643.4265920550878, + 56.57297289699625 + ], + [ + 639.0513829585877, + 60.391774786796816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.9612801091968, + "ymin": 56.51962815720833, + "xmax": 655.8804515762283, + "ymax": 66.60596169814352 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 651.4943493205076, + 66.60596169814352 + ], + [ + 655.8398584868551, + 62.69440898556746 + ], + [ + 643.3754078101592, + 60.03001765954258 + ], + [ + 638.9639409985601, + 63.90423442948145 + ], + [ + 651.5240127924626, + 63.07093364295167 + ], + [ + 655.8804515762283, + 59.1739890105589 + ], + [ + 643.3840166843808, + 56.51962815720833 + ], + [ + 638.9612801091968, + 60.37928130962689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.51029712004197, + "ymin": 44.232348588443244, + "xmax": 216.28688036892208, + "ymax": 60.07681312794517 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 193.58021753911987, + 54.80219947857279 + ], + [ + 214.18373971681353, + 60.07681312794517 + ], + [ + 216.28688036892208, + 58.97577214120139 + ], + [ + 195.70385049412022, + 53.721919825690236 + ], + [ + 190.51029712004197, + 45.301286896091085 + ], + [ + 211.22727814096567, + 50.52093885574692 + ], + [ + 213.35088430988918, + 49.43131400329304 + ], + [ + 192.65456520324494, + 44.232348588443244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.0246185908497, + "ymin": 0.8071782718259897, + "xmax": 318.1802028568758, + "ymax": 15.422971772728488 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 296.2339018207982, + 10.88723654671179 + ], + [ + 316.40387155450725, + 15.422971772728488 + ], + [ + 318.1802028568758, + 14.476632939826061 + ], + [ + 298.0314925002359, + 9.957587822786877 + ], + [ + 294.0246185908497, + 1.7258867793276522 + ], + [ + 314.305491797744, + 6.208555440462135 + ], + [ + 316.0972269397298, + 5.273245901778353 + ], + [ + 295.8378169270917, + 0.8071782718259897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.0895865490625, + "ymin": 0.0, + "xmax": 1202.6078410328641, + "ymax": 66.4351495460707 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1161.3280063047782, + 66.4351495460707 + ], + [ + 1165.1217291069802, + 47.93873253730641 + ], + [ + 1120.32721573858, + 40.13615159170354 + ], + [ + 1115.0895865490625, + 58.09715232867143 + ], + [ + 1199.901960316482, + -34.93090190399147 + ], + [ + 1202.6078410328641, + -51.17736179251057 + ], + [ + 1154.0894011279227, + -58.0071925327735 + ], + [ + 1149.6833880167708, + -42.26441474593264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.7114963497111, + "ymin": 0.0, + "xmax": 955.7194719710328, + "ymax": 30.45984700950504 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 920.1621765466552, + 30.45984700950504 + ], + [ + 922.3099891482383, + 27.287505933311877 + ], + [ + 849.2360513289365, + 14.010084320780209 + ], + [ + 846.7114963497111, + 17.02307653860464 + ], + [ + 953.5423462473508, + -137.05213406816415 + ], + [ + 955.7194719710328, + -139.47145335376035 + ], + [ + 873.2974469589619, + -149.55965672040526 + ], + [ + 870.6392080337517, + -147.27568102958787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.79722912652312, + "ymin": 179.17898364305262, + "xmax": 552.349022518165, + "ymax": 609.0819110383927 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 543.2025308306771, + 609.0819110383927 + ], + [ + 552.349022518165, + 595.5635158148266 + ], + [ + 191.49984274184408, + 435.02497966286876 + ], + [ + 179.9083006436873, + 444.8421299565839 + ], + [ + 512.3765551631363, + 345.6154403290417 + ], + [ + 524.8842033108757, + 332.0932962209561 + ], + [ + 76.9104371564772, + 179.17898364305262 + ], + [ + 60.79722912652312, + 188.1421684465403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 59.342000940199455, + "ymax": 305.6168202397088 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -67.09419871852958, + 305.6168202397088 + ], + [ + 59.342000940199455, + 244.59288032865055 + ], + [ + -1.5498460219970411, + 206.1428810105863 + ], + [ + -125.35381704326062, + 260.63308830070673 + ], + [ + -409.6916526304533, + -239.55376285890293 + ], + [ + -192.37608520447304, + -267.38521433858193 + ], + [ + -258.2637854421821, + -282.43757867246154 + ], + [ + -464.7571388252636, + -258.6106421154576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 56.41142836884933, + "ymax": 25.98365067845225 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -26.407834085628565, + 25.98365067845225 + ], + [ + 56.41142836884933, + -0.701728623391034 + ], + [ + 14.894016965849232, + -17.932145936133736 + ], + [ + -66.85929562139631, + 6.825319079173312 + ], + [ + -207.78428034049546, + -354.74589364726376 + ], + [ + -92.63957687475954, + -363.7839693638592 + ], + [ + -137.26038224567947, + -368.52762943506536 + ], + [ + -249.6953199202211, + -360.23773073405107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.0419936048969, + "ymin": 0.0, + "xmax": 1137.2664860815885, + "ymax": 495.7660617260092 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 986.9201242257543, + 495.7660617260092 + ], + [ + 982.7756407226914, + 329.32429802325913 + ], + [ + 755.6358926390722, + 295.0949787738954 + ], + [ + 716.0419936048969, + 446.7522314087911 + ], + [ + 1137.2664860815885, + 88.11922308593728 + ], + [ + 1098.0201495800366, + -42.88533851858597 + ], + [ + 792.3893873281593, + -67.65526625683015 + ], + [ + 746.7115753734909, + 47.603260997654445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.9280715264954, + "ymin": 0.0, + "xmax": 1235.233504957312, + "ymax": 59.317382732858846 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1134.450905389203, + 59.317382732858846 + ], + [ + 1116.977217493488, + 2.9586563557943464 + ], + [ + 973.9280715264954, + -9.764165171479135 + ], + [ + 975.2126613472963, + 43.604510678401255 + ], + [ + 1235.233504957312, + -221.36966919338113 + ], + [ + 1202.5647566974114, + -254.25429537006437 + ], + [ + 1032.0541051814805, + -261.4943869202931 + ], + [ + 1041.2249309964309, + -230.67388820877977 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00109/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00109/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d7d79f9f3a8e077bac64a7d53416c9afd4f2db73 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00109/meta.json @@ -0,0 +1,2882 @@ +{ + "frame_id": 109, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 54.5, + "sim_timestamp": 8045.327130347025 + }, + "drone_pose": { + "x": 11.740964414995322, + "y": 1.9368040592083684, + "z": 19.99600736729556, + "pitch": -42.88435349872598, + "yaw": 65.58259609768868, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3028962016105652, + -0.6671921610832214, + 0.68052077293396, + -18.45621109008789 + ], + [ + 0.9105581641197205, + 0.41338109970092773, + -2.9802322387695312e-08, + 9.890192985534668 + ], + [ + -0.2813144028186798, + 0.6196537017822266, + 0.7327287793159485, + -10.148600578308105 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 12.295593694853608, + "y": 2.4153924632283057, + "z": 20.0 + }, + "t1_image_uv": [ + 31.451598685295153, + -542.393427858685 + ], + "t1_depth": 0.484588438874165 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 21.33281707763672, + "y": 20.812236785888672, + "z": 1.1371675771474838 + }, + "image_uv": [ + 608.4482757136734, + 340.4784384554824 + ], + "depth": 28.33270852650653, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 535, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 21.33281707763672, + "y": 20.812236785888672, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.4507543742656708, + "y": 0.4483117461204529, + "z": 0.9212218523025513 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 588.0643247660986, + "ymin": 303.84205476434727, + "xmax": 628.218288957537, + "ymax": 376.5955337970339 + }, + "corners_3d": [ + [ + 21.33108901977539, + 20.17650032043457, + 0.21594572067260742 + ], + [ + 20.697080612182617, + 20.810508728027344, + 0.21594572067260742 + ], + [ + 21.334545135498047, + 21.447973251342773, + 0.21594572067260742 + ], + [ + 21.96855354309082, + 20.81396484375, + 0.21594572067260742 + ], + [ + 21.33108901977539, + 20.17650032043457, + 2.05838942527771 + ], + [ + 20.697080612182617, + 20.810508728027344, + 2.05838942527771 + ], + [ + 21.334545135498047, + 21.447973251342773, + 2.05838942527771 + ], + [ + 21.96855354309082, + 20.81396484375, + 2.05838942527771 + ] + ], + "corners_2d": [ + [ + 599.8834026360473, + 376.5955337970339 + ], + [ + 628.218288957537, + 369.30347676697414 + ], + [ + 618.111882827619, + 350.3438608703184 + ], + [ + 590.2979647766738, + 357.3310325226202 + ], + [ + 598.0396715178088, + 329.8524606113334 + ], + [ + 627.6813554253965, + 322.62049199316994 + ], + [ + 617.1362938231404, + 303.84205476434727 + ], + [ + 588.0643247660986, + 310.75826802853925 + ] + ], + "center_offset_px": [ + -31.55172428632659, + -19.521561544517624 + ] + }, + "trace_timestep_index": 109, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 266771, + "2": 390108, + "3": 41972, + "5": 4187, + "6": 12242, + "7": 2314, + "9": 60994, + "10": 91776, + "12": 2917, + "14": 27029, + "20": 3834, + "24": 17456 + }, + "instance_pixel_counts": { + "3146": 264, + "3485": 8, + "3669": 38, + "3925": 11, + "4224": 131, + "6289": 24, + "7299": 387, + "17502": 73916, + "19038": 17618, + "19866": 13752, + "20378": 23736, + "20573": 22551, + "20890": 20107, + "21085": 268086, + "21402": 7546, + "21914": 10294, + "23421": 53, + "23450": 781, + "25693": 434, + "34899": 1551, + "35072": 12738, + "35442": 2940, + "36252": 87738, + "36764": 126962, + "37276": 52019, + "39073": 609, + "40531": 112, + "42145": 247, + "42657": 141, + "43008": 535, + "43264": 231, + "43520": 158, + "43776": 609, + "44032": 698, + "44288": 686, + "44544": 22783, + "44705": 551, + "44922": 10097, + "45388": 823, + "45434": 5029, + "45644": 763, + "46848": 4246, + "47002": 284, + "49778": 39032, + "51309": 60994, + "51612": 2322, + "58697": 4187, + "59772": 1, + "60284": 4754, + "60796": 6175, + "61308": 6459, + "61820": 2322, + "62844": 2773, + "63386": 52 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 535, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 21.33281707763672, + "y": 20.812236785888672, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.38484007120132446, + "y": 0.4144226014614105, + "z": 0.9216229319572449 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 589.8873110348356, + "ymin": 305.43663759252496, + "xmax": 626.4035469479452, + "ymax": 374.8915876087028 + }, + "corners_3d": [ + [ + 21.353734970092773, + 20.247072219848633, + 0.21554464101791382 + ], + [ + 20.76765251159668, + 20.833154678344727, + 0.21554464101791382 + ], + [ + 21.311899185180664, + 21.37740135192871, + 0.21554464101791382 + ], + [ + 21.897981643676758, + 20.791318893432617, + 0.21554464101791382 + ], + [ + 21.353734970092773, + 20.247072219848633, + 2.058790445327759 + ], + [ + 20.76765251159668, + 20.833154678344727, + 2.058790445327759 + ], + [ + 21.311899185180664, + 21.37740135192871, + 2.058790445327759 + ], + [ + 21.897981643676758, + 20.791318893432617, + 2.058790445327759 + ] + ], + "corners_2d": [ + [ + 600.2466711658681, + 374.8915876087028 + ], + [ + 626.4035469479452, + 368.1719852351185 + ], + [ + 617.7919001888177, + 351.9756230272318 + ], + [ + 592.0461682389426, + 358.45461869039343 + ], + [ + 598.4224291479549, + 328.1417919295194 + ], + [ + 625.7844544256153, + 321.4785481277838 + ], + [ + 616.7997058038299, + 305.43663759252496 + ], + [ + 589.8873110348356, + 311.8506941586061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 231, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 25.458803176879883, + "y": 23.809940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.19044066965579987, + "y": 0.233856201171875, + "z": 0.5929425954818726 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 525.0576933865771, + "ymin": 234.6497729010311, + "xmax": 545.7095100555408, + "ymax": 274.0771587077953 + }, + "corners_3d": [ + [ + 25.42645263671875, + 23.510089874267578, + 0.3918226361274719 + ], + [ + 25.17171859741211, + 23.902347564697266, + 0.3918226361274719 + ], + [ + 25.491153717041016, + 24.109790802001953, + 0.3918226361274719 + ], + [ + 25.745887756347656, + 23.717533111572266, + 0.3918226361274719 + ], + [ + 25.42645263671875, + 23.510089874267578, + 1.5777077674865723 + ], + [ + 25.17171859741211, + 23.902347564697266, + 1.5777077674865723 + ], + [ + 25.491153717041016, + 24.109790802001953, + 1.5777077674865723 + ], + [ + 25.745887756347656, + 23.717533111572266, + 1.5777077674865723 + ] + ], + "corners_2d": [ + [ + 533.2960450022453, + 274.0771587077953 + ], + [ + 545.7095100555408, + 269.43992769437517 + ], + [ + 540.2997386047949, + 263.6078896009449 + ], + [ + 527.946082365603, + 268.1776502058599 + ], + [ + 530.5247450808066, + 244.99979940436003 + ], + [ + 543.2750699335357, + 240.41452365037867 + ], + [ + 537.7448475605484, + 234.6497729010311 + ], + [ + 525.0576933865771, + 239.16662596521965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 158, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 19.07699203491211, + "y": 27.754947662353516, + "z": 0.8062446117401123 + }, + "extent": { + "x": 0.336092472076416, + "y": 0.29942014813423157, + "z": 0.6157682538032532 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 743.8402677966476, + "ymin": 219.34328077630337, + "xmax": 772.4727308242022, + "ymax": 264.1914182918474 + }, + "corners_3d": [ + [ + 19.004230499267578, + 27.310745239257812, + 0.19047635793685913 + ], + [ + 18.62736701965332, + 27.77613067626953, + 0.19047635793685913 + ], + [ + 19.14975357055664, + 28.19915008544922, + 0.19047635793685913 + ], + [ + 19.5266170501709, + 27.7337646484375, + 0.19047635793685913 + ], + [ + 19.004230499267578, + 27.310745239257812, + 1.4220128059387207 + ], + [ + 18.62736701965332, + 27.77613067626953, + 1.4220128059387207 + ], + [ + 19.14975357055664, + 28.19915008544922, + 1.4220128059387207 + ], + [ + 19.5266170501709, + 27.7337646484375, + 1.4220128059387207 + ] + ], + "corners_2d": [ + [ + 754.0987176925653, + 264.1914182918474 + ], + [ + 769.0882516305107, + 259.4281142121672 + ], + [ + 758.6917898461145, + 248.94752240224304 + ], + [ + 743.8402677966476, + 253.58507127448553 + ], + [ + 757.1086851571804, + 234.3958998582736 + ], + [ + 772.4727308242022, + 229.69073069880835 + ], + [ + 761.7613941265818, + 219.34328077630337 + ], + [ + 746.5421532830075, + 223.92102924539222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 609, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 11.832817077636719, + "y": 20.812236785888672, + "z": 1.1447017192840576 + }, + "extent": { + "x": 0.3015911877155304, + "y": 0.4822882115840912, + "z": 0.8985632658004761 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 902.969115606897, + "ymin": 402.90481836011696, + "xmax": 960.9562301643181, + "ymax": 474.04687653419774 + }, + "corners_3d": [ + [ + 11.960589408874512, + 20.257949829101562, + 0.24613845348358154 + ], + [ + 11.278531074523926, + 20.94000816345215, + 0.24613845348358154 + ], + [ + 11.705044746398926, + 21.36652374267578, + 0.24613845348358154 + ], + [ + 12.387103080749512, + 20.684465408325195, + 0.24613845348358154 + ], + [ + 11.960589408874512, + 20.257949829101562, + 2.043264865875244 + ], + [ + 11.278531074523926, + 20.94000816345215, + 2.043264865875244 + ], + [ + 11.705044746398926, + 21.36652374267578, + 2.043264865875244 + ], + [ + 12.387103080749512, + 20.684465408325195, + 2.043264865875244 + ] + ], + "corners_2d": [ + [ + 915.1094159847373, + 474.04687653419774 + ], + [ + 945.8469136010234, + 464.42854422070496 + ], + [ + 933.3390359305162, + 448.81385371317157 + ], + [ + 902.969115606897, + 458.13156665343087 + ], + [ + 928.8380439274601, + 428.15649949142573 + ], + [ + 960.9562301643181, + 418.52360040781986 + ], + [ + 947.5922237240976, + 402.90481836011696 + ], + [ + 915.8740404390692, + 412.2220628599219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 698, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 17.717317581176758, + "y": 9.68487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.4307263195514679, + "y": 0.42625516653060913, + "z": 0.9530117511749268 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 503.3705120674791, + "ymin": 668.4453771027161, + "xmax": 558.4974570330915, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 17.777515411376953, + 9.081887245178223, + 0.18415582180023193 + ], + [ + 17.114990234375, + 9.618389129638672, + 0.18415582180023193 + ], + [ + 17.657119750976562, + 10.287863731384277, + 0.18415582180023193 + ], + [ + 18.319644927978516, + 9.751361846923828, + 0.18415582180023193 + ], + [ + 17.777515411376953, + 9.081887245178223, + 2.090179443359375 + ], + [ + 17.114990234375, + 9.618389129638672, + 2.090179443359375 + ], + [ + 17.657119750976562, + 10.287863731384277, + 2.090179443359375 + ], + [ + 18.319644927978516, + 9.751361846923828, + 2.090179443359375 + ] + ], + "corners_2d": [ + [ + 518.4105485335522, + 761.2071501655998 + ], + [ + 558.4974570330915, + 751.1591316581735 + ], + [ + 550.8975483120329, + 713.5690460204132 + ], + [ + 511.93650794653297, + 723.0346236669322 + ], + [ + 510.0130556153399, + 717.5279860948413 + ], + [ + 552.9152850594712, + 707.1545083708588 + ], + [ + 544.9855525881097, + 668.4453771027161 + ], + [ + 503.3705120674791, + 678.1781268654327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 686, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 32.73265075683594, + "y": 12.649850845336914, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.26417601108551025, + "y": 0.41058531403541565, + "z": 0.8749263286590576 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 75.80473639720947, + "ymin": 379.354850720015, + "xmax": 136.01652533845305, + "ymax": 440.4812037640158 + }, + "corners_3d": [ + [ + 32.9331169128418, + 12.204673767089844, + 0.10983890295028687 + ], + [ + 32.244422912597656, + 12.651915550231934, + 0.10983890295028687 + ], + [ + 32.53218460083008, + 13.095027923583984, + 0.10983890295028687 + ], + [ + 33.22087860107422, + 12.647786140441895, + 0.10983890295028687 + ], + [ + 32.9331169128418, + 12.204673767089844, + 1.8596916198730469 + ], + [ + 32.244422912597656, + 12.651915550231934, + 1.8596916198730469 + ], + [ + 32.53218460083008, + 13.095027923583984, + 1.8596916198730469 + ], + [ + 33.22087860107422, + 12.647786140441895, + 1.8596916198730469 + ] + ], + "corners_2d": [ + [ + 100.87132104061857, + 440.4812037640158 + ], + [ + 131.65727003423189, + 437.23544109202896 + ], + [ + 136.01652533845305, + 423.63801778447606 + ], + [ + 105.67847772455639, + 426.79316397686904 + ], + [ + 75.80473639720947, + 396.164028448286 + ], + [ + 108.1046405635534, + 392.92271298687274 + ], + [ + 113.00855348164703, + 379.354850720015 + ], + [ + 81.20124532071327, + 382.50156617081086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 22783, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 86.04716760457359, + "ymin": 350.8509035259782, + "xmax": 352.1458797583185, + "ymax": 603.01476363942 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 119.27573663814712, + 569.1952235494784 + ], + [ + 194.0876225301057, + 603.01476363942 + ], + [ + 352.1458797583185, + 428.33583521408224 + ], + [ + 284.5555190681456, + 404.0164498869616 + ], + [ + 86.04716760457359, + 516.5850040005685 + ], + [ + 164.70114513141175, + 550.9104600855183 + ], + [ + 336.2574848514587, + 375.05441584161963 + ], + [ + 265.4601479271253, + 350.8509035259782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 4246, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 437.90988473175764, + "ymin": 68.82115638023436, + "xmax": 549.5144892566777, + "ymax": 167.9423175403778 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 549.5144892566777, + 111.77805072834803 + ], + [ + 505.9641568151684, + 101.74385555803963 + ], + [ + 443.3629166040706, + 156.09592587070637 + ], + [ + 489.6366209503117, + 167.9423175403778 + ], + [ + 547.1710918965418, + 78.5801069389529 + ], + [ + 502.5484092212222, + 68.82115638023436 + ], + [ + 437.90988473175764, + 121.77678316553335 + ], + [ + 485.39296897977135, + 133.34963658538925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.27701313356613, + "ymin": 538.1546192758323, + "xmax": 519.6545875435999, + "ymax": 580.5956010021316 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 508.4190567266325, + 562.5085260852806 + ], + [ + 499.4478188611772, + 576.0214045508909 + ], + [ + 510.78563928696644, + 580.5956010021316 + ], + [ + 519.6545875435999, + 566.9715688083703 + ], + [ + 504.563498858767, + 538.1546192758323 + ], + [ + 495.27701313356613, + 551.7587737325084 + ], + [ + 506.93497004822007, + 556.3660994762552 + ], + [ + 516.113443132208, + 542.6467195605726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.29248530362509, + "ymin": 298.7148801244662, + "xmax": 113.79752630560154, + "ymax": 341.56596140212275 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 104.80078122379462, + 328.185879765853 + ], + [ + 91.64179728297324, + 338.19818046473523 + ], + [ + 100.69276577495464, + 341.56596140212275 + ], + [ + 113.79752630560154, + 331.4764267000824 + ], + [ + 89.99702470570048, + 298.7148801244662 + ], + [ + 76.29248530362509, + 308.65463907477897 + ], + [ + 85.53671011400729, + 311.9994593421154 + ], + [ + 99.18537117503968, + 301.9808796926851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.60303281972926, + "ymin": 368.71138114099386, + "xmax": 307.73348795476005, + "ymax": 414.2361817867595 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 297.2004759555638, + 398.5562704248853 + ], + [ + 285.3771034547906, + 410.28576603962983 + ], + [ + 295.9939074246022, + 414.2361817867595 + ], + [ + 307.73348795476005, + 402.4087067882158 + ], + [ + 286.9192087202633, + 368.71138114099386 + ], + [ + 274.60303281972926, + 380.4094535116225 + ], + [ + 285.497221175272, + 384.35127905062586 + ], + [ + 297.7256107045781, + 372.5525208746484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 162.42172196566827, + "ymin": 329.1327966118729, + "xmax": 198.16801548873332, + "ymax": 373.163492140462 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 188.51774312844628, + 358.8054708552087 + ], + [ + 175.8945056484675, + 369.5480633543491 + ], + [ + 185.61102939581212, + 373.163492140462 + ], + [ + 198.16801548873332, + 362.33504538682394 + ], + [ + 175.57212757864244, + 329.1327966118729 + ], + [ + 162.42172196566827, + 339.81885310649733 + ], + [ + 172.36584803061123, + 343.41691828811497 + ], + [ + 185.4474422761744, + 332.64298010751133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 3.856203853459874, + "ymin": 117.69099019474115, + "xmax": 35.18595245553479, + "ymax": 136.5233588122224 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 9.091789793912085, + 129.69198914621762 + ], + [ + 32.386665509268255, + 136.5233588122224 + ], + [ + 35.18595245553479, + 134.96793246143437 + ], + [ + 11.916199309290732, + 128.1681715518675 + ], + [ + 3.856203853459874, + 119.20305394645476 + ], + [ + 27.2918666228893, + 125.98244119629425 + ], + [ + 30.1265305143354, + 124.43874845541984 + ], + [ + 6.71616153757077, + 117.69099019474115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 612.198709187599, + "ymin": 47.88127633721797, + "xmax": 745.9747933396118, + "ymax": 302.84835873842883 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 723.4290724866731, + 302.84835873842883 + ], + [ + 728.1941266115191, + 295.07281672159013 + ], + [ + 622.2921124791792, + 265.6368217046641 + ], + [ + 616.737963070744, + 272.86606054550117 + ], + [ + 740.4395278853973, + 80.44369350198531 + ], + [ + 745.9747933396118, + 73.59076356793668 + ], + [ + 618.8737177816524, + 47.88127633721797 + ], + [ + 612.198709187599, + 54.161304229339066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.7291312819623, + "ymin": 55.055142531485046, + "xmax": 634.1419978063033, + "ymax": 65.5799775689103 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 629.8181786392358, + 65.5799775689103 + ], + [ + 634.1419978063033, + 61.31192716925716 + ], + [ + 621.1890453885453, + 58.645343072596916 + ], + [ + 616.7919926008421, + 62.87495220493446 + ], + [ + 629.7904742779463, + 61.96635073938228 + ], + [ + 634.1261726249729, + 57.71266680641935 + ], + [ + 621.1384574360594, + 55.055142531485046 + ], + [ + 616.7291312819623, + 59.270411423943244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.6351119892824, + "ymin": 54.99887415689085, + "xmax": 634.2354942026933, + "ymax": 65.63699011039455 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 629.8655774073559, + 65.63699011039455 + ], + [ + 634.2354942026933, + 61.32268682240516 + ], + [ + 621.1436399210295, + 58.627546013470976 + ], + [ + 616.6989058086159, + 62.902575469160524 + ], + [ + 629.8377033795002, + 61.9843851160083 + ], + [ + 634.2197541734802, + 57.68475927713547 + ], + [ + 621.0923871526936, + 54.99887415689085 + ], + [ + 616.6351119892824, + 59.25925324622773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 145.16463637056626, + "ymin": 43.3079358614537, + "xmax": 172.85911092421446, + "ymax": 59.688286853617115 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 148.77311552470138, + 54.33150739179109 + ], + [ + 170.66605999182667, + 59.688286853617115 + ], + [ + 172.85911092421446, + 58.46971609815898 + ], + [ + 150.9910498181768, + 53.13489362841568 + ], + [ + 145.16463637056626, + 44.49308190468349 + ], + [ + 167.18664976709562, + 49.79896072173756 + ], + [ + 169.40314883525474, + 48.59190632209703 + ], + [ + 147.40625318684602, + 43.3079358614537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 253.1232887164253, + "ymin": 0.0, + "xmax": 278.8886226522747, + "ymax": 10.381848321621021 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 255.75212809555097, + 5.806574044394836 + ], + [ + 277.05029324227434, + 10.381848321621021 + ], + [ + 278.8886226522747, + 9.341556902032892 + ], + [ + 257.615504095278, + 4.7837557175503775 + ], + [ + 253.1232887164253, + -3.6883769414556014 + ], + [ + 274.5458793533746, + 0.8370731192664493 + ], + [ + 276.401709171982, + -0.19193595320928125 + ], + [ + 255.00442612332756, + -4.6999847942125825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1097.0417550622628, + "ymin": 0.0, + "xmax": 1184.3888649763758, + "ymax": 49.885551330556154 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1143.7358188967546, + 49.885551330556154 + ], + [ + 1146.765493963795, + 30.539737046756613 + ], + [ + 1101.5638657083462, + 23.050234038106964 + ], + [ + 1097.0417550622628, + 41.87535301754235 + ], + [ + 1182.5204112249628, + -53.576052840058765 + ], + [ + 1184.3888649763758, + -70.66045229098614 + ], + [ + 1135.3414046451185, + -77.25105727686702 + ], + [ + 1131.709669209301, + -60.66051105612354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.2973375788948, + "ymin": 0.0, + "xmax": 933.8606454472122, + "ymax": 15.77086906211025 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 899.3575305847621, + 15.77086906211025 + ], + [ + 901.4144918746545, + 12.414352120234867 + ], + [ + 826.7548617998937, + -0.49045255168954327 + ], + [ + 824.2973375788948, + 2.7082417337712172 + ], + [ + 931.7718166584325, + -156.43517577013984 + ], + [ + 933.8606454472122, + -159.0212473780939 + ], + [ + 849.3181507585832, + -168.92714040461215 + ], + [ + 846.7141289031381, + -166.47720708292923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 5.25220554150485, + "ymin": 201.87135700773706, + "xmax": 541.0025915453041, + "ymax": 639.6347626327644 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 531.9004878668288, + 639.6347626327644 + ], + [ + 541.0025915453041, + 624.766342630378 + ], + [ + 157.1315515315015, + 461.574918935154 + ], + [ + 145.0966006962576, + 472.5229976987575 + ], + [ + 494.5131283633419, + 378.85097901449666 + ], + [ + 507.34572080713184, + 363.3637140982565 + ], + [ + 22.590033588339566, + 201.87135700773706 + ], + [ + 5.25220554150485, + 212.24128834358046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 11.839013620078845, + "ymax": 328.3404616364666 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -121.97183146185853, + 328.3404616364666 + ], + [ + 11.839013620078845, + 259.3322507156629 + ], + [ + -53.91702606348679, + 218.93894388976787 + ], + [ + -185.4362709634661, + 280.655305031348 + ], + [ + -534.5046537609933, + -246.02382721683944 + ], + [ + -289.0927830013336, + -279.717733724872 + ], + [ + -360.46590142472894, + -296.5520312958063 + ], + [ + -593.6045701265073, + -267.8010030133969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 3.0672725178566225, + "ymax": 25.063695166957245 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -84.38673715842913, + 25.063695166957245 + ], + [ + 3.0672725178566225, + -4.804873162439378 + ], + [ + -41.37052799881121, + -22.74009245004322 + ], + [ + -127.91097714550267, + 5.010675145917787 + ], + [ + -299.3203841870736, + -378.0144513376259 + ], + [ + -173.40468847618934, + -388.49713499232826 + ], + [ + -221.33728129118083, + -393.6009671846115 + ], + [ + -344.4541060007523, + -383.9850018708437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.4897746549143, + "ymin": 0.0, + "xmax": 1144.410681038851, + "ymax": 504.719554314005 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 984.4446708672601, + 504.719554314005 + ], + [ + 973.8284817638787, + 328.6493701598379 + ], + [ + 740.9341051567698, + 297.45116873100847 + ], + [ + 705.4897746549143, + 459.7771222613694 + ], + [ + 1144.410681038851, + 91.88549993770346 + ], + [ + 1093.1116703865716, + -51.89499205678351 + ], + [ + 775.2471291314419, + -75.20642758044403 + ], + [ + 734.0109155916948, + 53.07103149332539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.9579220012333, + "ymin": 0.0, + "xmax": 1217.5756708884908, + "ymax": 42.54491691798245 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1116.096317895716, + 42.54491691798245 + ], + [ + 1096.324504592772, + -15.928626485895279 + ], + [ + 951.9579220012333, + -27.30435456617488 + ], + [ + 955.2762058672126, + 28.478246349235405 + ], + [ + 1217.5756708884908, + -245.44127144319066 + ], + [ + 1181.827475246353, + -280.04565198156706 + ], + [ + 1008.8856901377608, + -286.60759704863824 + ], + [ + 1020.4899514420022, + -253.9023893562619 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00113/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00113/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6db96ef7c430d5f402130e8e114f102119845285 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00113/meta.json @@ -0,0 +1,3404 @@ +{ + "frame_id": 113, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.5, + "sim_timestamp": 8098.872668463271 + }, + "drone_pose": { + "x": 13.78183817112623, + "y": 3.8815259898570487, + "z": 20.0, + "pitch": -41.885505936672494, + "yaw": 63.228005311131845, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33534467220306396, + -0.6646766662597656, + 0.6676442623138428, + -20.55451202392578 + ], + [ + 0.8928060531616211, + 0.4504411816596985, + 0.0, + 10.556109428405762 + ], + [ + -0.3007345199584961, + 0.5960768461227417, + 0.7444804310798645, + -8.431245803833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 14.284624826238646, + "y": 4.162006287207172, + "z": 19.99557000162902 + }, + "t1_image_uv": [ + -224.95792492269118, + -484.96364470769083 + ], + "t1_depth": 0.35799320811352126 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 23.33281707763672, + "y": 22.812236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.481081028540807, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 527, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 23.33281707763672, + "y": 22.81223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3927050828933716, + "y": 0.43626096844673157, + "z": 0.9400308132171631 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.6008665815267, + "ymin": 324.63775101573856, + "xmax": 658.6332033578055, + "ymax": 394.75102172067255 + }, + "corners_3d": [ + [ + 23.363615036010742, + 22.22606658935547, + 0.04473930597305298 + ], + [ + 22.74664878845215, + 22.843032836914062, + 0.04473930597305298 + ], + [ + 23.302019119262695, + 23.39840316772461, + 0.04473930597305298 + ], + [ + 23.91898536682129, + 22.781436920166016, + 0.04473930597305298 + ], + [ + 23.363615036010742, + 22.22606658935547, + 1.9248008728027344 + ], + [ + 22.74664878845215, + 22.843032836914062, + 1.9248008728027344 + ], + [ + 23.302019119262695, + 23.39840316772461, + 1.9248008728027344 + ], + [ + 23.91898536682129, + 22.781436920166016, + 1.9248008728027344 + ] + ], + "corners_2d": [ + [ + 630.2583928851055, + 394.75102172067255 + ], + [ + 657.8248198957209, + 388.46093214087506 + ], + [ + 649.4909513376647, + 371.7101487779417 + ], + [ + 622.3894951956196, + 377.76472557674305 + ], + [ + 629.8133284329093, + 347.4316113187126 + ], + [ + 658.6332033578055, + 341.2036403075667 + ], + [ + 649.9129136091123, + 324.63775101573856 + ], + [ + 621.6008665815267, + 330.6222337059511 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 113, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 287580, + "2": 326771, + "3": 70956, + "5": 5023, + "6": 14664, + "7": 2630, + "9": 83969, + "10": 74621, + "12": 2044, + "14": 30514, + "16": 4, + "20": 3610, + "24": 19214 + }, + "instance_pixel_counts": { + "3485": 312, + "4224": 712, + "6289": 26, + "7299": 449, + "9557": 39, + "17502": 52960, + "19038": 21351, + "19354": 107, + "19866": 3338, + "20378": 29592, + "20573": 30670, + "20890": 25466, + "21085": 185311, + "21402": 10831, + "21914": 11775, + "23421": 624, + "25693": 2366, + "34899": 1793, + "35072": 14509, + "35442": 3017, + "36252": 62709, + "36764": 152469, + "36978": 832, + "37276": 65653, + "39073": 722, + "40531": 254, + "42145": 312, + "42657": 242, + "43008": 527, + "43264": 222, + "43520": 159, + "43776": 302, + "44032": 334, + "44288": 500, + "44544": 25894, + "44705": 620, + "44922": 9628, + "45056": 4, + "45388": 1079, + "45434": 6267, + "45644": 147, + "46848": 4620, + "47002": 2184, + "49266": 3, + "49778": 67104, + "51309": 83969, + "51612": 3007, + "58697": 5023, + "59772": 517, + "60284": 1815, + "60796": 7925, + "61308": 7764, + "61820": 3217, + "62844": 3269, + "63386": 6749 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 527, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 23.33281707763672, + "y": 22.81223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.43067747354507446, + "y": 0.3392102122306824, + "z": 0.930107831954956 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 624.3824273969554, + "ymin": 324.7729162392232, + "xmax": 655.8724486214604, + "ymax": 394.64464201758005 + }, + "corners_3d": [ + [ + 23.26814079284668, + 22.267841339111328, + 0.05466228723526001 + ], + [ + 22.788423538208008, + 22.74755859375, + 0.05466228723526001 + ], + [ + 23.397493362426758, + 23.35662841796875, + 0.05466228723526001 + ], + [ + 23.87721061706543, + 22.876911163330078, + 0.05466228723526001 + ], + [ + 23.26814079284668, + 22.267841339111328, + 1.9148778915405273 + ], + [ + 22.788423538208008, + 22.74755859375, + 1.9148778915405273 + ], + [ + 23.397493362426758, + 23.35662841796875, + 1.9148778915405273 + ], + [ + 23.87721061706543, + 22.876911163330078, + 1.9148778915405273 + ] + ], + "corners_2d": [ + [ + 633.7331126647147, + 394.64464201758005 + ], + [ + 655.1897837100512, + 389.7449168253079 + ], + [ + 646.1037980345305, + 371.3464751288662 + ], + [ + 625.0437985779118, + 376.0453302353326 + ], + [ + 633.449844442691, + 347.8239745790114 + ], + [ + 655.8724486214604, + 342.97171706852413 + ], + [ + 646.3722014178502, + 324.7729162392232 + ], + [ + 624.3824273969554, + 329.41757350738374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 222, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 27.458803176879883, + "y": 25.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.25098997354507446, + "y": 0.25117063522338867, + "z": 0.6108208894729614 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 558.4647697435948, + "ymin": 247.61462086540348, + "xmax": 580.6654433115046, + "ymax": 289.7087364740759 + }, + "corners_3d": [ + [ + 27.385103225708008, + 25.46259117126465, + 0.37394922971725464 + ], + [ + 27.111507415771484, + 25.88389015197754, + 0.37394922971725464 + ], + [ + 27.532503128051758, + 26.157289505004883, + 0.37394922971725464 + ], + [ + 27.80609893798828, + 25.735990524291992, + 0.37394922971725464 + ], + [ + 27.385103225708008, + 25.46259117126465, + 1.5955910682678223 + ], + [ + 27.111507415771484, + 25.88389015197754, + 1.5955910682678223 + ], + [ + 27.532503128051758, + 26.157289505004883, + 1.5955910682678223 + ], + [ + 27.80609893798828, + 25.735990524291992, + 1.5955910682678223 + ] + ], + "corners_2d": [ + [ + 567.2991235295167, + 289.7087364740759 + ], + [ + 580.6654433115046, + 285.0854684566847 + ], + [ + 573.7944370206524, + 277.28112641094816 + ], + [ + 560.5215943053319, + 281.8127756594522 + ], + [ + 565.398219399325, + 259.88102339377207 + ], + [ + 579.1233351117312, + 255.31654953983195 + ], + [ + 572.0912754126919, + 247.61462086540348 + ], + [ + 558.4647697435948, + 252.0863191244127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 159, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 21.076993942260742, + "y": 29.754947662353516, + "z": 0.7971239686012268 + }, + "extent": { + "x": 0.3243505358695984, + "y": 0.24360470473766327, + "z": 0.631518542766571 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 779.0957117646971, + "ymin": 239.6298948426571, + "xmax": 805.428192413265, + "ymax": 283.8306369644936 + }, + "corners_3d": [ + [ + 20.97823143005371, + 29.36151123046875, + 0.16560542583465576 + ], + [ + 20.671621322631836, + 29.740144729614258, + 0.16560542583465576 + ], + [ + 21.175756454467773, + 30.14838409423828, + 0.16560542583465576 + ], + [ + 21.48236656188965, + 29.769750595092773, + 0.16560542583465576 + ], + [ + 20.97823143005371, + 29.36151123046875, + 1.4286425113677979 + ], + [ + 20.671621322631836, + 29.740144729614258, + 1.4286425113677979 + ], + [ + 21.175756454467773, + 30.14838409423828, + 1.4286425113677979 + ], + [ + 21.48236656188965, + 29.769750595092773, + 1.4286425113677979 + ] + ], + "corners_2d": [ + [ + 788.8165590188953, + 283.8306369644936 + ], + [ + 801.167434564154, + 280.2628954591476 + ], + [ + 791.3262627190877, + 269.8943078855465 + ], + [ + 779.0957117646971, + 273.3677586415274 + ], + [ + 792.7692440410722, + 253.37466975426565 + ], + [ + 805.428192413265, + 249.85473199045146 + ], + [ + 795.2723669021235, + 239.6298948426571 + ], + [ + 782.7396553282998, + 243.05439047688805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 302, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 13.832817077636719, + "y": 22.81223487854004, + "z": 1.1427974700927734 + }, + "extent": { + "x": 0.4546545445919037, + "y": 0.46101316809654236, + "z": 0.9011601209640503 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 931.6872428734582, + "ymin": 424.61560149393557, + "xmax": 996.9081733156482, + "ymax": 503.6377129338827 + }, + "corners_3d": [ + [ + 13.837313652038574, + 22.16476058959961, + 0.24163734912872314 + ], + [ + 13.185341835021973, + 22.816730499267578, + 0.24163734912872314 + ], + [ + 13.828320503234863, + 23.45970916748047, + 0.24163734912872314 + ], + [ + 14.480292320251465, + 22.8077392578125, + 0.24163734912872314 + ], + [ + 13.837313652038574, + 22.16476058959961, + 2.0439577102661133 + ], + [ + 13.185341835021973, + 22.816730499267578, + 2.0439577102661133 + ], + [ + 13.828320503234863, + 23.45970916748047, + 2.0439577102661133 + ], + [ + 14.480292320251465, + 22.8077392578125, + 2.0439577102661133 + ] + ], + "corners_2d": [ + [ + 949.848102339998, + 503.6377129338827 + ], + [ + 980.1170925320121, + 495.20474651765323 + ], + [ + 961.3626724486245, + 470.7770782027758 + ], + [ + 931.6872428734582, + 478.7998523186873 + ], + [ + 965.2807962797872, + 457.4741045618519 + ], + [ + 996.9081733156482, + 449.0314764899644 + ], + [ + 976.820104144245, + 424.61560149393557 + ], + [ + 945.8387553172636, + 432.6279879751903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 334, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 19.717317581176758, + "y": 11.68487548828125, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.4839514195919037, + "y": 0.492767333984375, + "z": 0.9289082288742065 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 522.9531909003916, + "ymin": 680.1363533696733, + "xmax": 582.7245858973315, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.79570960998535, + 10.998665809631348, + 0.2082691192626953 + ], + [ + 19.029804229736328, + 11.61888313293457, + 0.2082691192626953 + ], + [ + 19.638925552368164, + 12.371085166931152, + 0.2082691192626953 + ], + [ + 20.404830932617188, + 11.75086784362793, + 0.2082691192626953 + ], + [ + 19.79570960998535, + 10.998665809631348, + 2.0660855770111084 + ], + [ + 19.029804229736328, + 11.61888313293457, + 2.0660855770111084 + ], + [ + 19.638925552368164, + 12.371085166931152, + 2.0660855770111084 + ], + [ + 20.404830932617188, + 11.75086784362793, + 2.0660855770111084 + ] + ], + "corners_2d": [ + [ + 535.9562395857782, + 777.6247717726965 + ], + [ + 582.7245858973315, + 767.7479251230037 + ], + [ + 575.2095585628474, + 724.8368300396705 + ], + [ + 529.97847538873, + 734.0544054759733 + ], + [ + 529.0627400623123, + 734.3692034048609 + ], + [ + 578.9610008028073, + 724.1994554878047 + ], + [ + 571.1052818757704, + 680.1363533696733 + ], + [ + 522.9531909003916, + 689.5848981351558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 500, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 34.57815170288086, + "y": 14.642022132873535, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.33915647864341736, + "y": 0.4364202916622162, + "z": 0.8773049712181091 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 117.73908798489322, + "ymin": 380.9347993862447, + "xmax": 178.1552074690959, + "ymax": 444.88380782451793 + }, + "corners_3d": [ + [ + 34.75944519042969, + 14.119890213012695, + 0.10746514797210693 + ], + [ + 34.02742004394531, + 14.5952730178833, + 0.10746514797210693 + ], + [ + 34.39685821533203, + 15.164154052734375, + 0.10746514797210693 + ], + [ + 35.128883361816406, + 14.68877124786377, + 0.10746514797210693 + ], + [ + 34.75944519042969, + 14.119890213012695, + 1.8620750904083252 + ], + [ + 34.02742004394531, + 14.5952730178833, + 1.8620750904083252 + ], + [ + 34.39685821533203, + 15.164154052734375, + 1.8620750904083252 + ], + [ + 35.128883361816406, + 14.68877124786377, + 1.8620750904083252 + ] + ], + "corners_2d": [ + [ + 140.2973918227056, + 444.88380782451793 + ], + [ + 172.22669258158328, + 442.4317750965924 + ], + [ + 178.1552074690959, + 425.33129901823213 + ], + [ + 146.8213072033152, + 427.69512839827763 + ], + [ + 117.73908798489322, + 400.3904904189056 + ], + [ + 151.16699890399326, + 397.9486081435715 + ], + [ + 157.75598854409975, + 380.9347993862447 + ], + [ + 124.98004796212228, + 383.2849956915432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 25894, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 112.61624247687939, + "ymin": 426.00496898053024, + "xmax": 396.8517123125142, + "ymax": 708.1363858183294 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 146.0126017014345, + 665.1168104805249 + ], + [ + 224.21496206464371, + 708.1363858183294 + ], + [ + 396.8517123125142, + 509.7219064853356 + ], + [ + 325.9342361547329, + 479.48683477454273 + ], + [ + 112.61624247687939, + 613.3737584499893 + ], + [ + 194.9955829415719, + 657.3733889032228 + ], + [ + 382.7314026397818, + 456.250751795869 + ], + [ + 308.27187457387464, + 426.00496898053024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 4, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 710.8015313461893, + "ymin": 0.0, + "xmax": 851.8710297002626, + "ymax": 13.594500808393946 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 841.3123194637398, + -48.05353030227252 + ], + [ + 778.7673000958862, + -58.3360434976492 + ], + [ + 710.8015313461893, + 0.3628446816762221 + ], + [ + 780.066611678491, + 13.594500808393946 + ], + [ + 851.8710297002626, + -125.60183838594759 + ], + [ + 785.8718453043117, + -134.55988096244226 + ], + [ + 714.9352215053199, + -83.13351431046277 + ], + [ + 788.473097012351, + -71.44393239586759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 4620, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 491.73300369445906, + "ymin": 114.78642892467599, + "xmax": 606.3240810628731, + "ymax": 220.26317616666378 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 606.3240810628731, + 160.06370189069662 + ], + [ + 561.0328383164316, + 148.1823490470794 + ], + [ + 495.8324657458089, + 206.14222433914932 + ], + [ + 543.9464779701899, + 220.26317616666378 + ], + [ + 605.4305535218892, + 126.35552395825673 + ], + [ + 558.9762357715209, + 114.78642892467599 + ], + [ + 491.73300369445906, + 171.32762430433615 + ], + [ + 541.1590263264748, + 185.1428934025439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 556.2618587002024, + "ymin": 665.6683448913496, + "xmax": 581.1186550184556, + "ymax": 711.5824785077109 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 568.7082157031232, + 689.2719523932674 + ], + [ + 558.8813574153822, + 705.4741321547199 + ], + [ + 571.4118399973472, + 711.5824785077109 + ], + [ + 581.1186550184556, + 695.2169230290742 + ], + [ + 566.437951058575, + 665.6683448913496 + ], + [ + 556.2618587002024, + 682.0620347888873 + ], + [ + 569.1853994602961, + 688.2462735462973 + ], + [ + 579.2339313034986, + 671.6819341249834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 110.27674396120153, + "ymin": 381.98945647989865, + "xmax": 149.35709445073354, + "ymax": 427.5536134765964 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 139.95666486829919, + 411.8457604784545 + ], + [ + 125.54972192849164, + 423.2745241722796 + ], + [ + 135.00169426279558, + 427.5536134765964 + ], + [ + 149.35709445073354, + 416.019433187393 + ], + [ + 125.3003595843893, + 381.98945647989865 + ], + [ + 110.27674396120153, + 393.3725871757507 + ], + [ + 119.93783966736942, + 397.6367416808544 + ], + [ + 134.90862312627013, + 386.1454958760351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.90900623021196, + "ymin": 472.48621546854304, + "xmax": 355.4441181691439, + "ymax": 521.4886040388108 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 344.07912775859563, + 502.474146520675 + ], + [ + 331.0350940377538, + 516.3022911213 + ], + [ + 342.4910030094304, + 521.4886040388108 + ], + [ + 355.4441181691439, + 507.52006246488486 + ], + [ + 334.51665122029357, + 472.48621546854304 + ], + [ + 320.90900623021196, + 486.3407476109524 + ], + [ + 332.68902231715526, + 491.5401412060892 + ], + [ + 346.2011499920848, + 477.5403301766811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.8810395471279, + "ymin": 420.9463589193575, + "xmax": 238.19737655021322, + "ymax": 468.0183371875049 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 227.97279503050004, + 450.9240946094363 + ], + [ + 214.0908387703924, + 463.3590738575807 + ], + [ + 224.38256485349496, + 468.0183371875049 + ], + [ + 238.19737655021322, + 455.4636817540608 + ], + [ + 215.3633915942707, + 420.9463589193575 + ], + [ + 200.8810395471279, + 433.3632372846715 + ], + [ + 211.4277419970383, + 438.0182768370201 + ], + [ + 225.84043067079472, + 425.47818718606976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 46.403353202757785, + "ymin": 161.15641823283124, + "xmax": 77.63100018494379, + "ymax": 181.34904837515424 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 51.36762714995848, + 173.34967632299026 + ], + [ + 74.70606495661002, + 181.34904837515424 + ], + [ + 77.63100018494379, + 179.7077609199701 + ], + [ + 54.31383699370042, + 171.74660507438819 + ], + [ + 46.403353202757785, + 162.74755817468562 + ], + [ + 69.88157491209483, + 170.6883463654898 + ], + [ + 72.84311712463625, + 169.0589493955142 + ], + [ + 49.38625236644691, + 161.15641823283124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.4768654209956, + "ymin": 0.0, + "xmax": 1269.453293930944, + "ymax": 31.40377271940315 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1265.2561938418648, + 31.40377271940315 + ], + [ + 1266.1410266556964, + 12.804677908866324 + ], + [ + 1217.094902753791, + 4.886285909016578 + ], + [ + 1214.4768654209956, + 22.906384468532565 + ], + [ + 1268.6841852919138, + 23.733271018395214 + ], + [ + 1269.453293930944, + 5.305206573349608 + ], + [ + 1220.1004173486272, + -2.538228049876807 + ], + [ + 1217.5759096858683, + 15.313146427298705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 82.91575803109959, + "ymax": 16.232607303006148 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 44.911044160105575, + 16.232607303006148 + ], + [ + 82.91575803109959, + 0.45450040457217256 + ], + [ + 55.78334843785706, + -6.351423258587488 + ], + [ + 17.468640235829753, + 8.994675007953845 + ], + [ + 3.9645117974253026, + -81.07824664505745 + ], + [ + 45.8315595369553, + -94.74013091392561 + ], + [ + 17.455541426540208, + -100.61556237159806 + ], + [ + -24.725995442957014, + -87.35251293890371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.4860249673018, + "ymin": 110.3379155780757, + "xmax": 831.7547596214645, + "ymax": 378.2181219884835 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 793.0543699005095, + 378.2181219884835 + ], + [ + 797.994267818392, + 369.48916730325226 + ], + [ + 684.3088815663972, + 333.0270480630187 + ], + [ + 678.4860249673018, + 341.0366307258263 + ], + [ + 826.1582178528533, + 150.62587324008373 + ], + [ + 831.7547596214645, + 142.77432995984105 + ], + [ + 693.2997791658909, + 110.3379155780757 + ], + [ + 686.3857827350106, + 117.41375276182137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.7645276558308, + "ymin": 117.98033190632614, + "xmax": 709.5212216898374, + "ymax": 129.83541954501896 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 704.8522785852258, + 129.83541954501896 + ], + [ + 709.3241782055607, + 125.01971755090392 + ], + [ + 695.3195544623449, + 121.68050084463215 + ], + [ + 690.7645276558308, + 126.44476349138523 + ], + [ + 705.0380336071529, + 126.11000439703187 + ], + [ + 709.5212216898374, + 121.30913818346241 + ], + [ + 695.4759507336994, + 117.98033190632614 + ], + [ + 690.909147577029, + 122.72977209730223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.6638652597925, + "ymin": 117.91704902587463, + "xmax": 709.6225430691533, + "ymax": 129.89974325041737 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 704.9035565864416, + 129.89974325041737 + ], + [ + 709.4230963970007, + 125.03181595947609 + ], + [ + 695.2683297068644, + 121.65686159606335 + ], + [ + 690.6638652597925, + 126.47223556762367 + ], + [ + 705.0914732895607, + 126.13413825213667 + ], + [ + 709.6225430691533, + 121.28136780435042 + ], + [ + 695.4262523851455, + 117.91704902587463 + ], + [ + 690.809754156734, + 122.71727991381923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.530009587002, + "ymin": 0.0, + "xmax": 1269.4222586856224, + "ymax": 31.336868330548896 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1265.247811567615, + 31.336868330548896 + ], + [ + 1266.132009130865, + 12.759659256237228 + ], + [ + 1217.143518178816, + 4.851242610144027 + ], + [ + 1214.530009587002, + 22.85082016986877 + ], + [ + 1268.6528847639834, + 23.717182197190937 + ], + [ + 1269.4222586856224, + 5.309695494994287 + ], + [ + 1220.1294053383072, + -2.5243457345300726 + ], + [ + 1217.6087233599287, + 15.307795654325275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.2581687282031, + "ymin": 83.17412952506186, + "xmax": 220.9245915217606, + "ymax": 100.57655656868945 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 196.55655627222944, + 94.35048406055938 + ], + [ + 218.65056780332156, + 100.57655656868945 + ], + [ + 220.9245915217606, + 99.30051921726027 + ], + [ + 198.8534779642681, + 93.10069897392708 + ], + [ + 193.2581687282031, + 84.4121704148186 + ], + [ + 215.48349215174352, + 90.5803128658315 + ], + [ + 217.78134119195033, + 89.31607011834723 + ], + [ + 195.57911551454583, + 83.17412952506186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 304.6244146137977, + "ymin": 33.86744951208004, + "xmax": 330.4542414229427, + "ymax": 49.82042927265081 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 306.92943364019135, + 44.513711044252204 + ], + [ + 328.55551108755435, + 49.82042927265081 + ], + [ + 330.4542414229427, + 48.733438831257786 + ], + [ + 308.8521769798198, + 43.447547012360246 + ], + [ + 304.6244146137977, + 34.92209913639624 + ], + [ + 326.37903885424447, + 40.17193011775947 + ], + [ + 328.2953373800993, + 39.09653447874706 + ], + [ + 306.56497488987986, + 33.86744951208004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1183.439746441281, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 105.09357973579884 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1234.1806201674058, + 105.09357973579884 + ], + [ + 1236.155950506817, + 83.86753634548393 + ], + [ + 1187.1339473852893, + 74.77256804595629 + ], + [ + 1183.439746441281, + 95.33189975769812 + ], + [ + 1281.839113284866, + -1.2141988686732361 + ], + [ + 1282.1687958677044, + -20.0676331351371 + ], + [ + 1228.6565321002722, + -28.113692312558896 + ], + [ + 1226.2709127216744, + -9.897875100613305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.9609239740342, + "ymin": 0.0, + "xmax": 1016.1519556770129, + "ymax": 62.9226895913784 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 971.4865553489963, + 62.9226895913784 + ], + [ + 973.5257998633433, + 59.31928154279785 + ], + [ + 894.4386722277465, + 43.98461689462283 + ], + [ + 891.9609239740342, + 47.3928624425987 + ], + [ + 1014.1596556428633, + -113.12668816035779 + ], + [ + 1016.1519556770129, + -115.92173996548252 + ], + [ + 925.9567838750647, + -127.76515490591441 + ], + [ + 923.3916798113673, + -125.14000836302336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.45589843479752, + "ymin": 278.79757413379167, + "xmax": 599.0135815314201, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 589.0758628446386, + 766.6258008053619 + ], + [ + 599.0135815314201, + 749.0315578629816 + ], + [ + 190.20010122405364, + 541.2551123560638 + ], + [ + 177.1469601058002, + 553.4576653731779 + ], + [ + 569.5488061682181, + 512.0675267933619 + ], + [ + 583.5973871978507, + 492.7180014723979 + ], + [ + 57.44055863277879, + 278.79757413379167 + ], + [ + 38.45589843479752, + 290.66268355564864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.4722626870807, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.381775022686611 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1075.146962095881, + -3.1685621546482707 + ], + [ + 1236.7319290911585, + 12.381775022686611 + ], + [ + 1210.6883869703954, + -42.02364595755631 + ], + [ + 1066.4722626870807, + -54.49230018135029 + ], + [ + 1156.942867680527, + -272.6562711488957 + ], + [ + 1353.089065480438, + -264.134513329357 + ], + [ + 1308.1582804693553, + -293.51813210225464 + ], + [ + 1137.004563708156, + -300.0854459640385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 48.572135569149054, + "ymax": 383.0127951307709 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -91.90078892534996, + 383.0127951307709 + ], + [ + 48.572135569149054, + 310.1329994020248 + ], + [ + -16.10479138701328, + 263.8809609202792 + ], + [ + -153.01607892273591, + 328.2010701185645 + ], + [ + -502.99308011365906, + -203.38345426857313 + ], + [ + -244.0247089749248, + -239.81775894571297 + ], + [ + -312.43534538820893, + -259.66533219248777 + ], + [ + -555.1456804854038, + -229.23572487329477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 52.85235968765471, + "ymax": 55.3194086661191 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -35.645264177618856, + 55.3194086661191 + ], + [ + 52.85235968765471, + 25.44008851178819 + ], + [ + 9.660279634447761, + 5.866179016932961 + ], + [ + -77.51868461881872, + 33.44172480842076 + ], + [ + -235.0856442052875, + -347.54894397064095 + ], + [ + -109.04943070685545, + -358.01515127781386 + ], + [ + -155.34116535030762, + -363.6684352864819 + ], + [ + -277.92741577805384, + -354.1475319419552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.9565307238131, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 621.3447857604349 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1084.822841183438, + 621.3447857604349 + ], + [ + 1064.257263788294, + 414.0534818208981 + ], + [ + 810.7313537977151, + 371.1786120047431 + ], + [ + 775.9565307238131, + 557.5198969220585 + ], + [ + 1316.3045012599796, + 200.2772464476719 + ], + [ + 1228.4726294646498, + 20.628975350414407 + ], + [ + 872.596840494485, + -12.66610764460654 + ], + [ + 840.7653143707729, + 141.3896737383284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.4130545986052, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 95.72894137211694 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1202.7199780118003, + 95.72894137211694 + ], + [ + 1178.0771842550803, + 31.589941398403198 + ], + [ + 1024.4130545986052, + 16.777360600241423 + ], + [ + 1030.3570125152573, + 77.19532226171498 + ], + [ + 1327.895168209085, + -201.18247579838976 + ], + [ + 1282.4089252755139, + -239.65155216716732 + ], + [ + 1096.4876401074534, + -248.28176045448959 + ], + [ + 1113.915957996531, + -212.48621598065063 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00114/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00114/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b21e24434c1f4c909a9ea01b792745237cccfce2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00114/meta.json @@ -0,0 +1,3406 @@ +{ + "frame_id": 114, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.0, + "sim_timestamp": 8112.5810433398 + }, + "drone_pose": { + "x": 14.284624826238646, + "y": 4.162006287207172, + "z": 19.99557000162902, + "pitch": -41.61833649674642, + "yaw": 63.49942601916697, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3335777521133423, + -0.6690366864204407, + 0.6641654968261719, + -20.82993507385254 + ], + [ + 0.8949299454689026, + 0.4462067484855652, + 0.0, + 10.92662239074707 + ], + [ + -0.29635512828826904, + 0.59438157081604, + 0.7475855350494385, + -8.241257667541504 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 14.706747520888477, + "y": 4.823561858935519, + "z": 20.0 + }, + "t1_image_uv": [ + 503.42794068105934, + -502.6775731767434 + ], + "t1_depth": 0.5804734283578961 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 23.83281707763672, + "y": 23.312236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 28.623588443993807, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 534, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 23.83281707763672, + "y": 23.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.401130348443985, + "y": 0.44267943501472473, + "z": 0.9391538500785828 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.3621674740808, + "ymin": 324.55996730218226, + "xmax": 658.8781167303383, + "ymax": 394.8644718835078 + }, + "corners_3d": [ + [ + 23.86219596862793, + 22.7155704498291, + 0.0456162691116333 + ], + [ + 23.23615264892578, + 23.34161376953125, + 0.0456162691116333 + ], + [ + 23.803438186645508, + 23.908899307250977, + 0.0456162691116333 + ], + [ + 24.429481506347656, + 23.282855987548828, + 0.0456162691116333 + ], + [ + 23.86219596862793, + 22.7155704498291, + 1.9239239692687988 + ], + [ + 23.23615264892578, + 23.34161376953125, + 1.9239239692687988 + ], + [ + 23.803438186645508, + 23.908899307250977, + 1.9239239692687988 + ], + [ + 24.429481506347656, + 23.282855987548828, + 1.9239239692687988 + ] + ], + "corners_2d": [ + [ + 630.2686274707598, + 394.8644718835078 + ], + [ + 658.0679262637728, + 388.4506650122337 + ], + [ + 649.4756008291346, + 371.53679501880924 + ], + [ + 622.1522939423558, + 377.70592340774044 + ], + [ + 629.8289403260605, + 347.6166165549112 + ], + [ + 658.8781167303383, + 341.2718717466514 + ], + [ + 649.891986991699, + 324.55996730218226 + ], + [ + 621.3621674740808, + 330.65210073519273 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 114, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 289413, + "2": 315855, + "3": 76720, + "5": 5115, + "6": 14950, + "7": 2537, + "9": 86756, + "10": 73754, + "12": 1861, + "14": 31659, + "16": 247, + "20": 3555, + "24": 19178 + }, + "instance_pixel_counts": { + "3485": 395, + "4224": 822, + "6289": 27, + "7299": 449, + "9557": 39, + "17502": 51199, + "19038": 22229, + "19354": 84, + "19866": 1418, + "20378": 30643, + "20573": 31845, + "20890": 26339, + "21085": 170529, + "21402": 11613, + "21914": 12240, + "22909": 40, + "23421": 735, + "25693": 3203, + "34899": 1822, + "35072": 14537, + "35442": 3047, + "36252": 53884, + "36764": 159233, + "36978": 1173, + "37276": 67274, + "39073": 738, + "40531": 279, + "42145": 299, + "42657": 249, + "43008": 534, + "43264": 227, + "43520": 172, + "43776": 110, + "44032": 379, + "44288": 439, + "44544": 26958, + "44705": 620, + "44922": 9165, + "45056": 247, + "45388": 1117, + "45434": 6529, + "45644": 44, + "46848": 4701, + "47002": 2555, + "49266": 93, + "49778": 72407, + "51309": 86756, + "51612": 3089, + "58441": 4, + "58697": 5111, + "59772": 499, + "60284": 1186, + "60796": 8311, + "61308": 8030, + "61820": 3375, + "62844": 3210, + "63386": 9022 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 534, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 23.83281707763672, + "y": 23.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3520251512527466, + "y": 0.40794187784194946, + "z": 0.9437727332115173 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.9973564579203, + "ymin": 325.68088369009695, + "xmax": 657.1892016209968, + "ymax": 393.65312688325054 + }, + "corners_3d": [ + [ + 23.872356414794922, + 22.774856567382812, + 0.04099738597869873 + ], + [ + 23.295438766479492, + 23.351774215698242, + 0.04099738597869873 + ], + [ + 23.793277740478516, + 23.849613189697266, + 0.04099738597869873 + ], + [ + 24.370195388793945, + 23.272695541381836, + 0.04099738597869873 + ], + [ + 23.872356414794922, + 22.774856567382812, + 1.9285428524017334 + ], + [ + 23.295438766479492, + 23.351774215698242, + 1.9285428524017334 + ], + [ + 23.793277740478516, + 23.849613189697266, + 1.9285428524017334 + ], + [ + 24.370195388793945, + 23.272695541381836, + 1.9285428524017334 + ] + ], + "corners_2d": [ + [ + 630.8607712908605, + 393.65312688325054 + ], + [ + 656.4486212358585, + 387.75668987836616 + ], + [ + 648.9252819240505, + 372.90504990679716 + ], + [ + 623.7222853319338, + 378.6036370714334 + ], + [ + 630.4464078828329, + 346.1866418744683 + ], + [ + 657.1892016209968, + 340.3546449671247 + ], + [ + 649.3200556971874, + 325.68088369009695 + ], + [ + 622.9973564579203, + 331.30858507908124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 227, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 27.958803176879883, + "y": 26.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.2828955054283142, + "y": 0.26313352584838867, + "z": 0.6181963682174683 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 557.4118776359559, + "ymin": 248.05118678053918, + "xmax": 581.0773649258946, + "ymax": 291.5329663610992 + }, + "corners_3d": [ + [ + 27.86486053466797, + 25.935182571411133, + 0.3665737509727478 + ], + [ + 27.57823371887207, + 26.37654685974121, + 0.3665737509727478 + ], + [ + 28.052745819091797, + 26.6846981048584, + 0.3665737509727478 + ], + [ + 28.339372634887695, + 26.24333381652832, + 0.3665737509727478 + ], + [ + 27.86486053466797, + 25.935182571411133, + 1.602966547012329 + ], + [ + 27.57823371887207, + 26.37654685974121, + 1.602966547012329 + ], + [ + 28.052745819091797, + 26.6846981048584, + 1.602966547012329 + ], + [ + 28.339372634887695, + 26.24333381652832, + 1.602966547012329 + ] + ], + "corners_2d": [ + [ + 567.1644438114032, + 291.5329663610992 + ], + [ + 581.0773649258946, + 286.6888440871825 + ], + [ + 573.3033701672929, + 277.999855184605 + ], + [ + 559.4987093976216, + 282.73626674611216 + ], + [ + 565.2543547748143, + 261.3996486200237 + ], + [ + 579.5419289773581, + 256.62023306748057 + ], + [ + 571.5852263279239, + 248.05118678053918 + ], + [ + 557.4118776359559, + 252.72159995209734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 172, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 21.576993942260742, + "y": 30.254947662353516, + "z": 0.8184855580329895 + }, + "extent": { + "x": 0.3380102217197418, + "y": 0.3406640291213989, + "z": 0.5918561816215515 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 775.1642186148631, + "ymin": 239.90455905150293, + "xmax": 806.4382781873227, + "ymax": 283.8317592991755 + }, + "corners_3d": [ + [ + 21.528697967529297, + 29.777484893798828, + 0.226629376411438 + ], + [ + 21.099924087524414, + 30.306976318359375, + 0.226629376411438 + ], + [ + 21.625289916992188, + 30.732410430908203, + 0.226629376411438 + ], + [ + 22.05406379699707, + 30.202919006347656, + 0.226629376411438 + ], + [ + 21.528697967529297, + 29.777484893798828, + 1.410341739654541 + ], + [ + 21.099924087524414, + 30.306976318359375, + 1.410341739654541 + ], + [ + 21.625289916992188, + 30.732410430908203, + 1.410341739654541 + ], + [ + 22.05406379699707, + 30.202919006347656, + 1.410341739654541 + ] + ], + "corners_2d": [ + [ + 785.30006796705, + 283.8317592991755 + ], + [ + 802.4604789854982, + 278.84452077529835 + ], + [ + 792.1522163946029, + 268.2044537053225 + ], + [ + 775.1642186148631, + 273.0546856483098 + ], + [ + 788.8812571081555, + 255.3216245334529 + ], + [ + 806.4382781873227, + 250.39982028528618 + ], + [ + 795.8250170402127, + 239.90455905150293 + ], + [ + 778.4482441143875, + 244.68790315153137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 110, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 14.332817077636719, + "y": 23.31223487854004, + "z": 1.1423189640045166 + }, + "extent": { + "x": 0.4331780970096588, + "y": 0.44439697265625, + "z": 0.9029363989830017 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 931.5809620368757, + "ymin": 423.1823016171564, + "xmax": 994.3295516783427, + "ymax": 500.5614531933801 + }, + "corners_3d": [ + [ + 14.340749740600586, + 22.691696166992188, + 0.2393825650215149 + ], + [ + 13.71227741241455, + 23.320167541503906, + 0.2393825650215149 + ], + [ + 14.324884414672852, + 23.93277359008789, + 0.2393825650215149 + ], + [ + 14.953356742858887, + 23.304302215576172, + 0.2393825650215149 + ], + [ + 14.340749740600586, + 22.691696166992188, + 2.045255422592163 + ], + [ + 13.71227741241455, + 23.320167541503906, + 2.045255422592163 + ], + [ + 14.324884414672852, + 23.93277359008789, + 2.045255422592163 + ], + [ + 14.953356742858887, + 23.304302215576172, + 2.045255422592163 + ] + ], + "corners_2d": [ + [ + 948.9277365021156, + 500.5614531933801 + ], + [ + 977.8240818288109, + 492.42711177960996 + ], + [ + 959.9427834125178, + 469.4706638708494 + ], + [ + 931.5809620368757, + 477.22888727343434 + ], + [ + 964.1521324146391, + 454.23614305909257 + ], + [ + 994.3295516783427, + 446.10221975726876 + ], + [ + 975.1930423662959, + 423.1823016171564 + ], + [ + 945.5967695356405, + 430.92234648853173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 379, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 20.217317581176758, + "y": 12.18487548828125, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.4845489263534546, + "y": 0.4905078113079071, + "z": 0.9301225543022156 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 526.2822126482641, + "ymin": 676.541043610039, + "xmax": 585.5901804956382, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 20.293577194213867, + 11.499624252319336, + 0.2070499062538147 + ], + [ + 19.531185150146484, + 12.116996765136719, + 0.2070499062538147 + ], + [ + 20.14105796813965, + 12.870126724243164, + 0.2070499062538147 + ], + [ + 20.90345001220703, + 12.252754211425781, + 0.2070499062538147 + ], + [ + 20.293577194213867, + 11.499624252319336, + 2.0672950744628906 + ], + [ + 19.531185150146484, + 12.116996765136719, + 2.0672950744628906 + ], + [ + 20.14105796813965, + 12.870126724243164, + 2.0672950744628906 + ], + [ + 20.90345001220703, + 12.252754211425781, + 2.0672950744628906 + ] + ], + "corners_2d": [ + [ + 539.3163142373329, + 774.1025922272939 + ], + [ + 585.5901804956382, + 764.1543697147413 + ], + [ + 577.8058567442988, + 721.658779096922 + ], + [ + 533.0487901341766, + 730.9432619516153 + ], + [ + 532.7068763986563, + 730.3514817458752 + ], + [ + 582.0482877742406, + 720.1215567856065 + ], + [ + 573.9026898660821, + 676.541043610039 + ], + [ + 526.2822126482641, + 686.0462138834068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 439, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 35.07815170288086, + "y": 15.142022132873535, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.34245726466178894, + "y": 0.4221966564655304, + "z": 0.8714450001716614 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 120.543475972245, + "ymin": 382.15743621333854, + "xmax": 179.35632682071326, + "ymax": 445.8727332714401 + }, + "corners_3d": [ + [ + 35.24571990966797, + 14.624868392944336, + 0.11332511901855469 + ], + [ + 34.53755187988281, + 15.084758758544922, + 0.11332511901855469 + ], + [ + 34.91058349609375, + 15.659175872802734, + 0.11332511901855469 + ], + [ + 35.618751525878906, + 15.199285507202148, + 0.11332511901855469 + ], + [ + 35.24571990966797, + 14.624868392944336, + 1.8562151193618774 + ], + [ + 34.53755187988281, + 15.084758758544922, + 1.8562151193618774 + ], + [ + 34.91058349609375, + 15.659175872802734, + 1.8562151193618774 + ], + [ + 35.618751525878906, + 15.199285507202148, + 1.8562151193618774 + ] + ], + "corners_2d": [ + [ + 142.6525111248298, + 445.8727332714401 + ], + [ + 173.49169406102635, + 443.41285316216556 + ], + [ + 179.35632682071326, + 426.26481647954483 + ], + [ + 149.09854123722982, + 428.6353028778121 + ], + [ + 120.543475972245, + 401.6542373215761 + ], + [ + 152.81033161922215, + 399.2063110988038 + ], + [ + 159.32523554374512, + 382.15743621333854 + ], + [ + 127.69423565509373, + 384.5125669370251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 26958, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 114.31802011677826, + "ymin": 444.92355073708495, + "xmax": 402.43443449499136, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 148.09233990170367, + 691.1685914665751 + ], + [ + 228.30219824617046, + 735.5012941423064 + ], + [ + 402.43443449499136, + 529.3724091120207 + ], + [ + 330.0157328175837, + 498.48283633751225 + ], + [ + 114.31802011677826, + 639.7142821488534 + ], + [ + 198.90112573040608, + 685.1488504878987 + ], + [ + 388.482984003365, + 475.8603199316104 + ], + [ + 312.3927270735443, + 444.92355073708495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 247, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 712.6970325175205, + "ymin": 0.0, + "xmax": 853.4537684389608, + "ymax": 21.943060622181406 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 842.8335482429803, + -40.369662856151024 + ], + [ + 779.9122770649246, + -50.62713243378067 + ], + [ + 712.6970325175205, + 8.707368002581575 + ], + [ + 782.5091430082704, + 21.943060622181406 + ], + [ + 853.4537684389608, + -117.9109908640595 + ], + [ + 787.0634371981441, + -126.84518714078843 + ], + [ + 716.9403153711111, + -74.87003345608156 + ], + [ + 791.0599857197433, + -63.17792088237201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 4701, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 495.1303819294542, + "ymin": 125.30449307142848, + "xmax": 610.0467572063593, + "ymax": 232.1934904079144 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 610.0467572063593, + 170.75918986140425 + ], + [ + 564.1960177249035, + 158.79361228893472 + ], + [ + 499.1537622919447, + 217.93385145427578 + ], + [ + 547.9441686971954, + 232.1934904079144 + ], + [ + 609.2494179461971, + 136.95731310690778 + ], + [ + 562.2154896126665, + 125.30449307142848 + ], + [ + 495.1303819294542, + 183.00810785693938 + ], + [ + 545.2602319958054, + 196.96241843311583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 569.7138746379238, + "ymin": 693.99440503042, + "xmax": 594.5045192343796, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 581.7286875667853, + 717.4054111008993 + ], + [ + 571.9487325196197, + 734.3502270288808 + ], + [ + 584.8540208151828, + 740.6664187758847 + ], + [ + 594.5045192343796, + 723.5479501924874 + ], + [ + 579.8422894690757, + 693.99440503042 + ], + [ + 569.7138746379238, + 711.1571673339628 + ], + [ + 583.0333542604088, + 717.558581611732 + ], + [ + 593.0239907532481, + 700.2141522945215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.13992196270829, + "ymin": 404.0930950589677, + "xmax": 151.86484401513263, + "ymax": 450.3753570994891 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 142.2240790300582, + 434.04247962689885 + ], + [ + 127.58867915090934, + 445.962863027975 + ], + [ + 137.2852235755975, + 450.3753570994891 + ], + [ + 151.86484401513263, + 438.3433781923904 + ], + [ + 127.41278547961986, + 404.0930950589677 + ], + [ + 112.13992196270829, + 415.9761002633091 + ], + [ + 122.05541649147767, + 420.37706570532055 + ], + [ + 137.2710027871774, + 408.37945868290876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.65096377876813, + "ymin": 497.5658412396717, + "xmax": 363.5464981008378, + "ymax": 547.3937224005091 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 351.8567285264839, + 527.5635342710007 + ], + [ + 338.695544229211, + 542.0294337584783 + ], + [ + 350.4836693312013, + 547.3937224005091 + ], + [ + 363.5464981008378, + 532.7785294133755 + ], + [ + 342.3895837102896, + 497.5658412396717 + ], + [ + 328.65096377876813, + 512.0745624731258 + ], + [ + 340.78036500121954, + 517.4581677461985 + ], + [ + 354.4154761853465, + 502.79471555600935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.1875643631788, + "ymin": 444.29556087172637, + "xmax": 243.04041654815694, + "ymax": 492.1319740222159 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 232.54117369868231, + 474.33465897501105 + ], + [ + 218.47371089339208, + 487.3211578089378 + ], + [ + 229.04557302969891, + 492.1319740222159 + ], + [ + 243.04041654815694, + 479.0185395580313 + ], + [ + 219.87386290727147, + 444.29556087172637 + ], + [ + 205.1875643631788, + 457.2753435213244 + ], + [ + 216.02705559795902, + 462.08642391599113 + ], + [ + 230.6378821275057, + 448.9757695953966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.6827259746326, + "ymin": 174.42501749461542, + "xmax": 76.37403098621644, + "ymax": 194.82899682178677 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 49.69661448510578, + 186.70930776029022 + ], + [ + 73.41556257231787, + 194.82899682178677 + ], + [ + 76.37403098621644, + 193.14314982709502 + ], + [ + 52.67769704481327, + 185.06298739498573 + ], + [ + 44.6827259746326, + 176.0592684686896 + ], + [ + 68.5451438099144, + 184.12041494060233 + ], + [ + 71.54102239607221, + 182.446588229222 + ], + [ + 47.7013164590702, + 174.42501749461542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.6389082386277, + "ymin": 5.629463220369928, + "xmax": 1275.4672286578152, + "ymax": 39.79692319107534 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1271.8269779321681, + 39.79692319107534 + ], + [ + 1272.1251357963783, + 20.975645144623627 + ], + [ + 1222.713258169133, + 13.0599848276878 + ], + [ + 1220.6389082386277, + 31.295576212431456 + ], + [ + 1275.290520006215, + 32.1181410362949 + ], + [ + 1275.4672286578152, + 13.470105115784406 + ], + [ + 1225.746400711202, + 5.629463220369928 + ], + [ + 1223.7707752152342, + 23.694151669631708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 80.43658563307372, + "ymax": 26.12013512510424 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 42.12746452364047, + 26.12013512510424 + ], + [ + 80.43658563307372, + 10.061825744581029 + ], + [ + 53.011049172685716, + 3.2196889811872893 + ], + [ + 14.376123722604461, + 18.837262454467236 + ], + [ + 0.8693698340686069, + -71.48897651982116 + ], + [ + 43.096631379119, + -85.39720619658004 + ], + [ + 14.408900092884892, + -91.30524570887098 + ], + [ + -28.150029043147242, + -77.80408345105371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8288032574472, + "ymin": 123.41811017122535, + "xmax": 843.2023734559615, + "ymax": 392.9105902952306 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 802.3601070998808, + 392.9105902952306 + ], + [ + 807.1926917018186, + 383.95341916256245 + ], + [ + 691.5863982382306, + 346.9945529215223 + ], + [ + 685.8288032574472, + 355.2090023185956 + ], + [ + 837.7640702527326, + 164.45820902125573 + ], + [ + 843.2023734559615, + 156.37954143491464 + ], + [ + 702.1329285222602, + 123.41811017122535 + ], + [ + 695.3088223785159, + 130.69272977248437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.6723599005995, + "ymin": 131.13597843003043, + "xmax": 718.655651249306, + "ymax": 143.19836147342087 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 714.0236302100637, + 143.19836147342087 + ], + [ + 718.4310296753895, + 138.24736871610492 + ], + [ + 704.167176306305, + 134.8553290436956 + ], + [ + 699.6723599005995, + 139.75303916663182 + ], + [ + 714.2372971390466, + 139.45351716165078 + ], + [ + 718.655651249306, + 134.5175771146495 + ], + [ + 704.3499565875909, + 131.13597843003043 + ], + [ + 699.8436666955693, + 136.01864634366538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.5704757679509, + "ymin": 131.0716017902528, + "xmax": 718.7581904867549, + "ymax": 143.26382382314628 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 714.0765413032059, + 143.26382382314628 + ], + [ + 718.5308644451065, + 138.25913737159087 + ], + [ + 704.1141060280638, + 134.83080089260568 + ], + [ + 699.5704757679509, + 139.78105083565163 + ], + [ + 714.2926785894265, + 139.47857945080855 + ], + [ + 718.7581904867549, + 134.48927144964642 + ], + [ + 704.2986883283644, + 131.0716017902528 + ], + [ + 699.7433335366042, + 136.00648412650997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.692212607804, + "ymin": 5.643452593484199, + "xmax": 1275.436278910298, + "ymax": 39.72983067969932 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1271.8182440923965, + 39.72983067969932 + ], + [ + 1272.1163993610767, + 20.930701153095526 + ], + [ + 1222.762569718147, + 13.025009935545768 + ], + [ + 1220.692212607804, + 31.239833366941696 + ], + [ + 1275.258628004071, + 32.10192013260138 + ], + [ + 1275.436278910298, + 13.474707812490067 + ], + [ + 1225.775906180381, + 5.643452593484199 + ], + [ + 1223.8035308510348, + 23.688677639325192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 192.96804263762755, + "ymin": 94.5123833303814, + "xmax": 220.97870556663725, + "ymax": 112.04674119963295 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 196.2845448871832, + 105.75526160584334 + ], + [ + 218.68894103462276, + 112.04674119963295 + ], + [ + 220.97870556663725, + 110.74194692273144 + ], + [ + 198.59836943100004, + 104.47743840171142 + ], + [ + 192.96804263762755, + 95.7782815488776 + ], + [ + 215.50655233230657, + 102.01163647960277 + ], + [ + 217.82049110426, + 100.71881622216978 + ], + [ + 195.30625652107568, + 94.5123833303814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.158815901569, + "ymin": 44.20827123795493, + "xmax": 331.27233975047073, + "ymax": 60.25531466592719 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 307.4682316639353, + 54.907174809053004 + ], + [ + 329.36670030844334, + 60.25531466592719 + ], + [ + 331.27233975047073, + 59.14680983547936 + ], + [ + 309.39894450583813, + 53.81998114479575 + ], + [ + 305.158815901569, + 45.28376826292089 + ], + [ + 327.1881580512279, + 50.57480151399068 + ], + [ + 329.11153166825125, + 49.47807417542367 + ], + [ + 307.1075259359112, + 44.20827123795493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.2920225746834, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 113.57330576542091 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1240.441379737568, + 113.57330576542091 + ], + [ + 1241.8518671380934, + 92.09199058672272 + ], + [ + 1192.46420449472, + 82.99945460310346 + ], + [ + 1189.2920225746834, + 103.80628902069856 + ], + [ + 1288.5959113749177, + 7.149502701470624 + ], + [ + 1288.2779271437043, + -11.928388279586045 + ], + [ + 1234.3679101422981, + -19.971093311695313 + ], + [ + 1232.5790658626072, + -1.5381573461796734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.6059032562737, + "ymin": 0.0, + "xmax": 1020.9235589627016, + "ymax": 71.45976547618301 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 975.7895829331842, + 71.45976547618301 + ], + [ + 977.7583484620717, + 67.81066960604369 + ], + [ + 898.0250759724486, + 52.46518832643795 + ], + [ + 895.6059032562737, + 55.91665849285232 + ], + [ + 1019.0184347561127, + -104.79757373456187 + ], + [ + 1020.9235589627016, + -107.62765851903174 + ], + [ + 929.9861518094685, + -119.47761938913186 + ], + [ + 927.492703670523, + -116.8195596774259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.83827906625379, + "ymin": 299.5696180868114, + "xmax": 611.416317804068, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 601.5411936714936, + 794.601647501416 + ], + [ + 611.416317804068, + 776.2562447085202 + ], + [ + 192.3677341418366, + 562.7220263539964 + ], + [ + 179.14806290095737, + 575.3826725650046 + ], + [ + 586.4888516577658, + 541.7740854596224 + ], + [ + 600.4495578585467, + 521.3748289217499 + ], + [ + 58.18216370116011, + 299.5696180868114 + ], + [ + 38.83827906625379, + 311.96776766336376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.1577422740993, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 19.79013460008855 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1078.0314473931282, + 4.412835668385128 + ], + [ + 1240.2224013781317, + 19.79013460008855 + ], + [ + 1212.7528546116423, + -34.96634775264852 + ], + [ + 1068.1577422740993, + -47.2736672315919 + ], + [ + 1160.1964309949308, + -264.9797598004576 + ], + [ + 1356.969458963308, + -256.56196255390887 + ], + [ + 1310.2330633961424, + -286.09787914492927 + ], + [ + 1138.7469960768944, + -292.57178563041566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 47.08306236084866, + "ymax": 400.9821132626845 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -95.58873756147261, + 400.9821132626845 + ], + [ + 47.08306236084866, + 325.6948660363523 + ], + [ + -18.784211394478916, + 278.49089965239705 + ], + [ + -157.86417842117862, + 344.8335123519435 + ], + [ + -515.4658031292595, + -190.51368105743893 + ], + [ + -249.96434211562155, + -228.492275692568 + ], + [ + -319.67905450196474, + -248.9120923566977 + ], + [ + -568.2572905048701, + -217.29321941358035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 50.19837947511826, + "ymax": 65.95285981639461 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -39.1657400542332, + 65.95285981639461 + ], + [ + 50.19837947511826, + 35.45497357692085 + ], + [ + 6.479975196434339, + 15.689067232217326 + ], + [ + -81.57334232837809, + 43.820918846703194 + ], + [ + -240.6412996139909, + -338.75119351122487 + ], + [ + -113.04617364073897, + -349.4452326113353 + ], + [ + -159.9190368379907, + -355.1636806454966 + ], + [ + -284.0284078807706, + -345.4427485502298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.994710187486, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 641.4793382888952 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1102.5377728000708, + 641.4793382888952 + ], + [ + 1076.8221129740307, + 428.4349331062018 + ], + [ + 819.794964619936, + 385.38849907096267 + ], + [ + 787.994710187486, + 576.9205201768552 + ], + [ + 1346.887809800564, + 219.33086832532945 + ], + [ + 1247.3296793627392, + 33.35894152172142 + ], + [ + 885.498167790358, + -0.21341918452947084 + ], + [ + 859.575843899569, + 159.19254627337236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.6496381760228, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 104.03796110391119 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1208.3249584288915, + 104.03796110391119 + ], + [ + 1181.9954175082976, + 39.28380904707785 + ], + [ + 1027.6496381760228, + 24.632900895263674 + ], + [ + 1034.9658549017558, + 85.66618836082137 + ], + [ + 1334.685421144169, + -193.12605575839814 + ], + [ + 1286.8988980223812, + -231.93723490353182 + ], + [ + 1100.227037292065, + -240.46617477190443 + ], + [ + 1119.5006617151478, + -204.32634255285905 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06b0ea2a9ce0f480087b5a0f3e335d055717706b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00117/meta.json @@ -0,0 +1,3298 @@ +{ + "frame_id": 117, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 8152.708097496536 + }, + "drone_pose": { + "x": 15.447463011195952, + "y": 5.715703051125567, + "z": 20.0, + "pitch": -41.78549508384081, + "yaw": 63.827314509213615, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3288874626159668, + -0.669192910194397, + 0.6663437485694885, + -22.232257843017578 + ], + [ + 0.8974688053131104, + 0.44107794761657715, + 0.0, + 11.342545509338379 + ], + [ + -0.29390954971313477, + 0.5980226993560791, + 0.7456446886062622, + -6.954616546630859 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 15.612587572486365, + "y": 6.170960655701804, + "z": 20.013851182424034 + }, + "t1_image_uv": [ + 784.4119436890642, + -548.8923924315484 + ], + "t1_depth": 0.34973288214279247 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 24.812236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.536668321198814, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 531, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 24.81223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3768591284751892, + "y": 0.3493383824825287, + "z": 0.9110960960388184 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.4286285096911, + "ymin": 325.82275590249435, + "xmax": 656.4091848254513, + "ymax": 393.60719626455136 + }, + "corners_3d": [ + [ + 25.18215560913086, + 24.435375213623047, + 0.0736740231513977 + ], + [ + 24.483478546142578, + 24.435375213623047, + 0.0736740231513977 + ], + [ + 24.483478546142578, + 25.18909454345703, + 0.0736740231513977 + ], + [ + 25.18215560913086, + 25.18909454345703, + 0.0736740231513977 + ], + [ + 25.18215560913086, + 24.435375213623047, + 1.8958661556243896 + ], + [ + 24.483478546142578, + 24.435375213623047, + 1.8958661556243896 + ], + [ + 24.483478546142578, + 25.18909454345703, + 1.8958661556243896 + ], + [ + 25.18215560913086, + 25.18909454345703, + 1.8958661556243896 + ] + ], + "corners_2d": [ + [ + 624.1223034901062, + 386.5447569447494 + ], + [ + 644.9138127352037, + 393.60719626455136 + ], + [ + 655.7287405579613, + 378.25043065989905 + ], + [ + 635.2083781436497, + 371.42827413178804 + ], + [ + 623.4286285096911, + 340.77199270534845 + ], + [ + 645.1302802865318, + 347.76394889685616 + ], + [ + 656.4091848254513, + 332.56667027596086 + ], + [ + 635.0027701418484, + 325.82275590249435 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 301967, + "2": 287701, + "3": 84634, + "5": 5690, + "6": 14574, + "7": 2534, + "9": 97056, + "10": 75572, + "12": 1633, + "14": 27802, + "16": 995, + "20": 3216, + "24": 18226 + }, + "instance_pixel_counts": { + "3485": 568, + "4224": 478, + "6289": 26, + "7299": 402, + "9557": 49, + "17502": 50102, + "18526": 4, + "19038": 25113, + "20378": 31746, + "20573": 34361, + "20890": 28106, + "21085": 131843, + "21402": 13221, + "21914": 13424, + "22909": 226, + "23421": 936, + "25693": 4483, + "34899": 2022, + "35072": 14250, + "35442": 3265, + "36252": 28830, + "36764": 185944, + "36978": 1762, + "37276": 74988, + "39073": 806, + "40531": 332, + "43008": 531, + "43264": 228, + "43520": 195, + "44032": 39, + "44288": 640, + "44544": 22593, + "44705": 687, + "44922": 6640, + "45056": 995, + "45388": 1272, + "45434": 7618, + "46490": 346, + "46848": 5163, + "47002": 3169, + "48640": 46, + "49266": 403, + "49778": 79204, + "51309": 97056, + "51612": 3400, + "58441": 7, + "58697": 5683, + "59772": 8, + "60796": 9447, + "61308": 8830, + "61820": 3703, + "62844": 3852, + "63386": 12205 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 531, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 24.81223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3808923363685608, + "y": 0.3426586985588074, + "z": 0.9080299139022827 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.5725782152372, + "ymin": 325.8881820319716, + "xmax": 656.2609544748733, + "ymax": 393.5488414019813 + }, + "corners_3d": [ + [ + 25.17547607421875, + 24.43134307861328, + 0.07674020528793335 + ], + [ + 24.490158081054688, + 24.43134307861328, + 0.07674020528793335 + ], + [ + 24.490158081054688, + 25.193126678466797, + 0.07674020528793335 + ], + [ + 25.17547607421875, + 25.193126678466797, + 0.07674020528793335 + ], + [ + 25.17547607421875, + 24.43134307861328, + 1.8928000926971436 + ], + [ + 24.490158081054688, + 24.43134307861328, + 1.8928000926971436 + ], + [ + 24.490158081054688, + 25.193126678466797, + 1.8928000926971436 + ], + [ + 25.17547607421875, + 25.193126678466797, + 1.8928000926971436 + ] + ], + "corners_2d": [ + [ + 624.2580772979051, + 386.62023575461563 + ], + [ + 644.6549090862509, + 393.5488414019813 + ], + [ + 655.5889915873776, + 378.03029658838994 + ], + [ + 635.461005050755, + 371.3399150392494 + ], + [ + 623.5725782152372, + 341.00011608512534 + ], + [ + 644.8592696609026, + 347.85986423845145 + ], + [ + 656.2609544748733, + 332.5020397046098 + ], + [ + 635.2669101515789, + 325.8881820319716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 228, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 27.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.21140259504318237, + "y": 0.27510377764701843, + "z": 0.6141701936721802 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 557.4442771470532, + "ymin": 249.5992733472322, + "xmax": 578.918656281113, + "ymax": 289.2557046269194 + }, + "corners_3d": [ + [ + 29.183942794799805, + 27.54595947265625, + 0.3705999255180359 + ], + [ + 28.6457576751709, + 27.660354614257812, + 0.3705999255180359 + ], + [ + 28.73366355895996, + 28.07392120361328, + 0.3705999255180359 + ], + [ + 29.271848678588867, + 27.95952606201172, + 0.3705999255180359 + ], + [ + 29.183942794799805, + 27.54595947265625, + 1.598940372467041 + ], + [ + 28.6457576751709, + 27.660354614257812, + 1.598940372467041 + ], + [ + 28.73366355895996, + 28.07392120361328, + 1.598940372467041 + ], + [ + 29.271848678588867, + 27.95952606201172, + 1.598940372467041 + ] + ], + "corners_2d": [ + [ + 559.54236147111, + 286.8005993074329 + ], + [ + 575.2416975246575, + 289.2557046269194 + ], + [ + 578.918656281113, + 281.83217737366977 + ], + [ + 563.3555596894355, + 279.42309006156614 + ], + [ + 557.4442771470532, + 256.87872913575984 + ], + [ + 573.5475812789081, + 259.3019956048966 + ], + [ + 577.3361916251728, + 251.97594940317023 + ], + [ + 561.376187577587, + 249.5992733472322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 195, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 31.754947662353516, + "z": 0.664906919002533 + }, + "extent": { + "x": 0.26261594891548157, + "y": 0.3510814905166626, + "z": 0.5940316319465637 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 775.9389613787745, + "ymin": 243.78498322187914, + "xmax": 803.4119437801949, + "ymax": 284.94380972171604 + }, + "corners_3d": [ + [ + 22.898700714111328, + 31.457073211669922, + 0.07087528705596924 + ], + [ + 22.20038414001465, + 31.530467987060547, + 0.07087528705596924 + ], + [ + 22.255287170410156, + 32.05282211303711, + 0.07087528705596924 + ], + [ + 22.953603744506836, + 31.979427337646484, + 0.07087528705596924 + ], + [ + 22.898700714111328, + 31.457073211669922, + 1.2589385509490967 + ], + [ + 22.20038414001465, + 31.530467987060547, + 1.2589385509490967 + ], + [ + 22.255287170410156, + 32.05282211303711, + 1.2589385509490967 + ], + [ + 22.953603744506836, + 31.979427337646484, + 1.2589385509490967 + ] + ], + "corners_2d": [ + [ + 775.9389613787745, + 280.6549477249479 + ], + [ + 795.9925845520194, + 284.94380972171604 + ], + [ + 799.5086938248312, + 276.2607823673485 + ], + [ + 779.6572420129601, + 272.0662787180827 + ], + [ + 779.2847952532102, + 252.26181274406775 + ], + [ + 799.8536673523314, + 256.4965497600514 + ], + [ + 803.4119437801949, + 247.92429209242266 + ], + [ + 783.055751083293, + 243.78498322187914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 39, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 13.68487548828125, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.44809818267822266, + "y": 0.3886529803276062, + "z": 0.9449455142021179 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 527.5311053837505, + "ymin": 678.6517501457965, + "xmax": 588.8353443035328, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.650678634643555, + 13.279857635498047, + 0.19222694635391235 + ], + [ + 20.87763023376465, + 13.198606491088867, + 0.19222694635391235 + ], + [ + 20.783952713012695, + 14.089893341064453, + 0.19222694635391235 + ], + [ + 21.5570011138916, + 14.171144485473633, + 0.19222694635391235 + ], + [ + 21.650678634643555, + 13.279857635498047, + 2.082118034362793 + ], + [ + 20.87763023376465, + 13.198606491088867, + 2.082118034362793 + ], + [ + 20.783952713012695, + 14.089893341064453, + 2.082118034362793 + ], + [ + 21.5570011138916, + 14.171144485473633, + 2.082118034362793 + ] + ], + "corners_2d": [ + [ + 534.5078666361119, + 758.3053775870283 + ], + [ + 564.4732406458113, + 777.6973849242079 + ], + [ + 588.8353443035328, + 742.6002350850536 + ], + [ + 559.3219309101089, + 724.2529859598569 + ], + [ + 527.5311053837505, + 713.6016115217255 + ], + [ + 559.3959595345276, + 733.5607641832701 + ], + [ + 585.4966157195548, + 697.4669942989766 + ], + [ + 554.1401823009263, + 678.6517501457965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 640, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 16.64202117919922, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3394201695919037, + "y": 0.4894506633281708, + "z": 0.8859729766845703 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.4530579800753, + "ymin": 379.518803076056, + "xmax": 179.81844038526998, + "ymax": 453.41596640438587 + }, + "corners_3d": [ + [ + 36.62747573852539, + 16.411781311035156, + 0.09879714250564575 + ], + [ + 35.66996765136719, + 16.208255767822266, + 0.09879714250564575 + ], + [ + 35.52882766723633, + 16.87226104736328, + 0.09879714250564575 + ], + [ + 36.48633575439453, + 17.075786590576172, + 0.09879714250564575 + ], + [ + 36.62747573852539, + 16.411781311035156, + 1.8707430362701416 + ], + [ + 35.66996765136719, + 16.208255767822266, + 1.8707430362701416 + ], + [ + 35.52882766723633, + 16.87226104736328, + 1.8707430362701416 + ], + [ + 36.48633575439453, + 17.075786590576172, + 1.8707430362701416 + ] + ], + "corners_2d": [ + [ + 139.0264924366873, + 437.7447896470379 + ], + [ + 158.06545428085587, + 453.41596640438587 + ], + [ + 179.81844038526998, + 439.5653840871709 + ], + [ + 160.6989656853084, + 424.34355938956196 + ], + [ + 116.4530579800753, + 392.8431793013464 + ], + [ + 135.96950873051776, + 408.4463157333525 + ], + [ + 159.04088703278512, + 394.65465996933847 + ], + [ + 139.42513533851968, + 379.518803076056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 22593, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 88.86736293495608, + "ymin": 501.65591371579274, + "xmax": 398.9142688633523, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 126.92872892300034, + 774.2427174632096 + ], + [ + 212.78277531982656, + 824.6487341496493 + ], + [ + 398.9142688633523, + 589.251536294529 + ], + [ + 321.9879743816019, + 554.9593202690115 + ], + [ + 88.86736293495608, + 725.2812315227538 + ], + [ + 179.73747685695963, + 777.4961057401479 + ], + [ + 383.79354200924485, + 536.2539065074 + ], + [ + 302.7097670251152, + 501.65591371579274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 995, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 716.1374321699923, + "ymin": 0.0, + "xmax": 859.7999969102722, + "ymax": 33.710868603872484 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 848.5430101083605, + -32.322220856954004 + ], + [ + 783.7688853333902, + -42.99536427689799 + ], + [ + 716.1374321699923, + 19.840570525666806 + ], + [ + 788.2865203488691, + 33.710868603872484 + ], + [ + 859.7999969102722, + -111.48656327041886 + ], + [ + 791.3421389542763, + -120.81153739440742 + ], + [ + 720.735538403764, + -65.57863737652741 + ], + [ + 797.4966825469123, + -53.277356510029904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 5163, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 494.0751759685736, + "ymin": 146.54537130338971, + "xmax": 613.1040014748345, + "ymax": 260.210666565425 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 613.1040014748345, + 193.46547275474262 + ], + [ + 565.2916178049445, + 180.70311398169366 + ], + [ + 498.31213312374473, + 244.89252213294446 + ], + [ + 549.3590724208092, + 260.210666565425 + ], + [ + 612.3569489922521, + 159.0019729211517 + ], + [ + 563.2558964191767, + 146.54537130338971 + ], + [ + 494.0751759685736, + 209.32665777905595 + ], + [ + 546.5909919149667, + 224.35675302828264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 46, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 681.1733078164568, + "ymin": 0.0, + "xmax": 743.01470013107, + "ymax": 8.538176271924556 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 740.9410832566406, + -16.702829571178142 + ], + [ + 710.3574848238516, + -22.117504597636128 + ], + [ + 681.1733078164568, + 2.544081654690899 + ], + [ + 713.0116632334762, + 8.538176271924556 + ], + [ + 743.01470013107, + -46.50950113270096 + ], + [ + 711.7862336872248, + -51.69192246011954 + ], + [ + 682.0536788363236, + -28.068744500940852 + ], + [ + 714.5919078492651, + -22.319516673354713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.82438129656134, + "ymin": 474.8066505374872, + "xmax": 127.85350959392747, + "ymax": 523.8220914654455 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 117.5020755457839, + 504.80772783101145 + ], + [ + 101.45714110747952, + 518.7340401210993 + ], + [ + 111.8727608746716, + 523.8220914654455 + ], + [ + 127.85350959392747, + 509.7569980233326 + ], + [ + 100.63656181442161, + 474.8066505374872 + ], + [ + 83.82438129656134, + 488.7586147210376 + ], + [ + 94.49163551460902, + 493.85916015793646 + ], + [ + 111.23788144573552, + 479.76360403222384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.34155588965945, + "ymin": 583.6179674587167, + "xmax": 356.68612973066274, + "ymax": 636.4796090245744 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 343.9715389765341, + 613.0889401759224 + ], + [ + 329.65749103683794, + 630.2111010502574 + ], + [ + 342.489585097633, + 636.4796090245744 + ], + [ + 356.68612973066274, + 619.1680964047579 + ], + [ + 333.34724099227304, + 583.6179674587167 + ], + [ + 318.34155588965945, + 600.8936926166386 + ], + [ + 331.57905397867125, + 607.2232038923441 + ], + [ + 346.46050578680433, + 589.749457568818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.2005945709099, + "ymin": 521.4220404802372, + "xmax": 226.05246042914735, + "ymax": 572.1249981813748 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 214.71650540639348, + 551.28862740508 + ], + [ + 199.3306657540718, + 566.5458041962239 + ], + [ + 210.75168731309014, + 572.1249981813748 + ], + [ + 226.05246042914735, + 556.7086225521628 + ], + [ + 200.33106955034123, + 521.4220404802372 + ], + [ + 184.2005945709099, + 536.7538341620565 + ], + [ + 195.93383483971286, + 542.3640825291019 + ], + [ + 211.97567675364144, + 526.8668150612918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1255713625636911727, + "instance_id": 28602, + "pixel_count": null, + "type_id": "BP_StreetLight_wall7_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 20.49591827392578, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 21.28072791925183, + "ymin": 204.50100201308084, + "xmax": 54.71847451014912, + "ymax": 226.03638714227938 + }, + "corners_3d": [ + [ + 44.67703628540039, + 20.437076568603516, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.43707275390625, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 20.554759979248047, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.554763793945312, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 20.437076568603516, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.43707275390625, + 3.247763156890869 + ], + [ + 43.5294303894043, + 20.554759979248047, + 3.247763156890869 + ], + [ + 44.67703628540039, + 20.554763793945312, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 26.766277439900023, + 217.19406195509825 + ], + [ + 51.57579634917943, + 226.03638714227938 + ], + [ + 54.71847451014912, + 224.17334742381183 + ], + [ + 29.933736803713828, + 215.37619822854165 + ], + [ + 21.28072791925183, + 206.3071625380096 + ], + [ + 46.2464996462237, + 215.09373350017373 + ], + [ + 49.431405529000244, + 213.2422793142344 + ], + [ + 24.49051781275341, + 204.50100201308084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.0323362161287, + "ymin": 18.855189818221163, + "xmax": 1280.0, + "ymax": 55.01627240102579 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1297.3863783802728, + 55.01627240102579 + ], + [ + 1296.4866202302273, + 34.815778890071215 + ], + [ + 1245.0653494235498, + 26.454365905038003 + ], + [ + 1244.0323362161287, + 46.01407164396079 + ], + [ + 1301.129293722101, + 47.16343176471082 + ], + [ + 1300.0871067188782, + 27.14061931782578 + ], + [ + 1248.3314500196648, + 18.855189818221163 + ], + [ + 1247.4151662850568, + 38.239385107582336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5911986359451111656, + "instance_id": 59600, + "pixel_count": null, + "type_id": "BP_Lamppost_tall19_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.2324104309082, + "y": 34.13483428955078, + "z": 2.854238748550415 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 63.41756555662084, + "ymax": 40.39732402640334 + }, + "corners_3d": [ + [ + 62.203983306884766, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 35.285186767578125, + 0.5114138126373291 + ], + [ + 64.2608413696289, + 32.98448181152344, + 0.5114138126373291 + ], + [ + 62.203983306884766, + 32.98448181152344, + 5.197063446044922 + ], + [ + 62.203983306884766, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 35.285186767578125, + 5.197063446044922 + ], + [ + 64.2608413696289, + 32.98448181152344, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + 23.47244891750745, + 40.39732402640334 + ], + [ + 63.41756555662084, + 23.18550306212188 + ], + [ + 35.112359339648265, + 15.966217032137479 + ], + [ + -5.182891769376738, + 32.69677099024972 + ], + [ + -20.790025493126336, + -59.67170572133381 + ], + [ + 23.43822508409005, + -74.6554565436686 + ], + [ + -6.208850489597694, + -80.91979439573765 + ], + [ + -50.79316177076066, + -66.38391728884284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.7769136175369, + "ymin": 157.4500831729134, + "xmax": 866.0624627622004, + "ymax": 435.6971497976839 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 819.0213926785486, + 435.6971497976839 + ], + [ + 823.842232906757, + 425.77781803279044 + ], + [ + 701.6399904892172, + 385.51526667309497 + ], + [ + 695.7769136175369, + 394.58444664609885 + ], + [ + 860.6787419948978, + 203.33936882406732 + ], + [ + 866.0624627622004, + 194.17774107327696 + ], + [ + 715.0446693047668, + 157.4500831729134 + ], + [ + 708.058507493407, + 165.65935689155967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.5729812185873, + "ymin": 165.59102724537829, + "xmax": 732.6848594388391, + "ymax": 178.77766042621266 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 727.9061012080952, + 178.77766042621266 + ], + [ + 732.4033221487913, + 173.19229775186085 + ], + [ + 717.170792909748, + 169.4230269531107 + ], + [ + 712.5729812185873, + 174.94556611651086 + ], + [ + 728.1761722046916, + 174.9205182207303 + ], + [ + 732.6848594388391, + 169.35007203055795 + ], + [ + 717.4045946473254, + 165.59102724537829 + ], + [ + 712.7946782605967, + 171.09862762707826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.4650400026294, + "ymin": 165.520699814445, + "xmax": 732.7934942678736, + "ymax": 178.84927875412268 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 727.9635689794413, + 178.84927875412268 + ], + [ + 732.508605295446, + 173.20333842615344 + ], + [ + 717.1128418852799, + 169.39376074461308 + ], + [ + 712.4650400026294, + 174.97551725284364 + ], + [ + 728.2367471495751, + 174.9505313623901 + ], + [ + 732.7934942678736, + 169.31983012625255 + ], + [ + 717.3489659734337, + 165.520699814445 + ], + [ + 712.6887940489605, + 171.08719420531477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.0880285999801, + "ymin": 18.870126753649686, + "xmax": 1280.0, + "ymax": 54.94692036184108 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1297.377454177722, + 54.94692036184108 + ], + [ + 1296.4789687636762, + 34.7701521754571 + ], + [ + 1245.1179787825392, + 26.419236983121607 + ], + [ + 1244.0880285999801, + 45.95672533052465 + ], + [ + 1301.0953409183712, + 47.14609297372715 + ], + [ + 1300.0555340089745, + 27.145648093349905 + ], + [ + 1248.3627624900837, + 18.870126753649686 + ], + [ + 1247.4486630285717, + 38.23344360168039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 178.03782583640708, + "ymin": 116.71689910063193, + "xmax": 207.3949744836296, + "ymax": 135.08859799244402 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 181.62452930136442, + 128.31803657241545 + ], + [ + 204.9915436982331, + 135.08859799244402 + ], + [ + 207.3949744836296, + 133.66379825653985 + ], + [ + 184.0543454139301, + 126.92352000064872 + ], + [ + 178.03782583640708, + 118.09936961250679 + ], + [ + 201.55058985430202, + 124.81213068603677 + ], + [ + 203.98079522900701, + 123.3994001127341 + ], + [ + 180.4946616579379, + 116.71689910063193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.3201361109998, + "ymin": 62.28091172202892, + "xmax": 322.5852374429648, + "ymax": 79.02946044147836 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 297.8001053453191, + 73.31081778858555 + ], + [ + 320.60035990256046, + 79.02946044147836 + ], + [ + 322.5852374429648, + 77.82677943028932 + ], + [ + 299.8124087000983, + 72.13183661460897 + ], + [ + 295.3201361109998, + 63.44791514642861 + ], + [ + 318.26228384909973, + 69.10895518328141 + ], + [ + 320.2665702198793, + 67.91832029277242 + ], + [ + 297.3521482516275, + 62.28091172202892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.3363260896435, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 130.33813364085722 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1263.5178366871692, + 130.33813364085722 + ], + [ + 1263.855501424849, + 107.37215591219817 + ], + [ + 1212.5820269221676, + 97.80395671221845 + ], + [ + 1210.3363260896435, + 120.03624397896894 + ], + [ + 1315.4947929777418, + 21.64307788479323 + ], + [ + 1313.8072838518049, + 1.1298423335787788 + ], + [ + 1257.6465879804323, + -7.379747884822393 + ], + [ + 1257.0365687923397, + 12.425977887764532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.8209746704647, + "ymin": 0.0, + "xmax": 1037.467580768866, + "ymax": 86.03545206795843 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 988.9584704614749, + 86.03545206795843 + ], + [ + 990.8519743824068, + 82.13939110573438 + ], + [ + 908.201057914846, + 66.00038505073178 + ], + [ + 905.8209746704647, + 69.68196699727878 + ], + [ + 1035.6756111790778, + -94.45786305840369 + ], + [ + 1037.467580768866, + -97.50730631706011 + ], + [ + 942.7162508403019, + -110.08153370754587 + ], + [ + 940.2821669433777, + -107.22130009862963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.3042403124086377, + "ymin": 364.7315831933508, + "xmax": 624.8477354306627, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 614.5521715365524, + 890.4268914081656 + ], + [ + 624.8477354306627, + 869.1715716561547 + ], + [ + 175.43083870320993, + 627.9256249318686 + ], + [ + 161.23659875508355, + 642.3016124162987 + ], + [ + 603.465106173603, + 653.4955282923613 + ], + [ + 618.3903646947595, + 628.3552282404195 + ], + [ + 23.789606086109416, + 364.7315831933508 + ], + [ + 2.3042403124086377, + 379.40342764636483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.6955206878856, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 30.05981741594104 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1090.9087306216043, + 14.188301154066494 + ], + [ + 1257.7647445358753, + 30.05981741594104 + ], + [ + 1226.9831249888246, + -27.626987087311022 + ], + [ + 1078.6955206878856, + -40.26111396622014 + ], + [ + 1178.5431810512075, + -261.8015169509414 + ], + [ + 1382.2991211614035, + -253.00877319493327 + ], + [ + 1330.1117143935558, + -284.467734357228 + ], + [ + 1153.348045533614, + -291.1774793529386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10959666193018319268, + "instance_id": 42225, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4976_11", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 15.11302375793457, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 23.795076090579983, + "ymax": 449.5335776546416 + }, + "corners_3d": [ + [ + 42.45259475708008, + 12.605827331542969, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 16.832975387573242, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 17.592954635620117, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 13.365806579589844, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 12.633092880249023, + 15.777085304260254 + ], + [ + 41.840614318847656, + 16.860240936279297, + 15.777085304260254 + ], + [ + 46.05085372924805, + 17.620220184326172, + 15.734049797058105 + ], + [ + 46.81388473510742, + 13.393073081970215, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + -128.6478553705806, + 449.5335776546416 + ], + [ + 23.795076090579983, + 365.4661735131158 + ], + [ + -44.69167573425739, + 313.6826609906343 + ], + [ + -193.03404471703618, + 387.3591347411327 + ], + [ + -610.0000082883334, + -165.86322934783948 + ], + [ + -310.845910765648, + -211.02635624074355 + ], + [ + -381.65819671807674, + -234.7855596084638 + ], + [ + -659.3643515879874, + -197.71415968427652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10995512028101811758, + "instance_id": 11806, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4970_5", + "bbox_3d": { + "center_world": { + "x": 63.23024368286133, + "y": 30.54021453857422, + "z": 8.201587677001953 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 31.648450404021787, + "ymax": 83.29508988689622 + }, + "corners_3d": [ + [ + 61.431114196777344, + 28.033018112182617, + 0.5935924649238586 + ], + [ + 60.66808319091797, + 32.26016616821289, + 0.5935924649238586 + ], + [ + 64.8783187866211, + 33.020145416259766, + 0.5505568385124207 + ], + [ + 65.64134979248047, + 28.792997360229492, + 0.5505568385124207 + ], + [ + 61.5821647644043, + 28.060283660888672, + 15.852618217468262 + ], + [ + 60.81913375854492, + 32.28742980957031, + 15.852618217468262 + ], + [ + 65.02937316894531, + 33.04741287231445, + 15.809582710266113 + ], + [ + 65.79240417480469, + 28.820262908935547, + 15.809582710266113 + ] + ], + "corners_2d": [ + [ + -61.75954100078161, + 83.29508988689622 + ], + [ + 31.648450404021787, + 50.415640419912734 + ], + [ + -13.338544418275433, + 29.391305074307922 + ], + [ + -105.33138668630613, + 59.65694775635524 + ], + [ + -280.86409589934453, + -335.5506567205573 + ], + [ + -144.93204342617287, + -347.35059868082794 + ], + [ + -192.99430293958778, + -353.60758145893703 + ], + [ + -324.9807031647832, + -342.922440097635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.3834360026648, + "ymin": 30.791579655177657, + "xmax": 1280.0, + "ymax": 710.6968086991483 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1144.0718142847663, + 710.6968086991483 + ], + [ + 1107.5323475165892, + 472.5522276753255 + ], + [ + 836.5737788637567, + 426.17409710051936 + ], + [ + 808.3834360026648, + 639.5977510161895 + ], + [ + 1438.165486302493, + 288.5505064599122 + ], + [ + 1303.97599852055, + 68.47499013832805 + ], + [ + 913.673063105324, + 30.791579655177657 + ], + [ + 897.776934844697, + 217.7235072696157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.0641372039129, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 119.67220199285475 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1229.205200382482, + 119.67220199285475 + ], + [ + 1199.0576548180256, + 50.86153129988821 + ], + [ + 1040.0641372039129, + 35.717371193387976 + ], + [ + 1049.959118254514, + 100.5581538327279 + ], + [ + 1365.8699357380397, + -185.24068457853957 + ], + [ + 1311.378750013628, + -227.07683178667025 + ], + [ + 1117.7924759492869, + -236.00286566404566 + ], + [ + 1141.4483427990704, + -197.07718246013837 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00118/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00118/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c2614ca9b14e1726a0430e0ad91491053cdfcb13 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00118/meta.json @@ -0,0 +1,2565 @@ +{ + "frame_id": 118, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 59.0, + "sim_timestamp": 8164.529708852526 + }, + "drone_pose": { + "x": 15.612587572486365, + "y": 6.170960655701804, + "z": 20.013851182424034, + "pitch": -43.23326695927656, + "yaw": 66.45803430092141, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2910064458847046, + -0.6679304242134094, + 0.6849702596664429, + -22.374027252197266 + ], + [ + 0.9167677760124207, + 0.39942073822021484, + 0.0, + 11.848307609558105 + ], + [ + -0.2735913097858429, + 0.6279585957527161, + 0.7285710573196411, + -6.4349365234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 16.0681888687379, + "y": 6.549149653708151, + "z": 19.825558890847997 + }, + "t1_image_uv": [ + 142.18139140719688, + -60.010547494745424 + ], + "t1_depth": 0.5141614221817704 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 25.312236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 612.8061893491409, + 337.1484280845901 + ], + "depth": 28.50254054290227, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 528, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 25.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.4046691656112671, + "y": 0.39338621497154236, + "z": 0.9305421113967896 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 593.9332188557141, + "ymin": 301.6123212662702, + "xmax": 630.6571053329911, + "ymax": 372.06021531490234 + }, + "corners_3d": [ + [ + 25.22620391845703, + 24.90756607055664, + 0.054228007793426514 + ], + [ + 24.439430236816406, + 24.90756607055664, + 0.054228007793426514 + ], + [ + 24.439430236816406, + 25.716903686523438, + 0.054228007793426514 + ], + [ + 25.22620391845703, + 25.716903686523438, + 0.054228007793426514 + ], + [ + 25.22620391845703, + 24.90756607055664, + 1.9153122901916504 + ], + [ + 24.439430236816406, + 24.90756607055664, + 1.9153122901916504 + ], + [ + 24.439430236816406, + 25.716903686523438, + 1.9153122901916504 + ], + [ + 25.22620391845703, + 25.716903686523438, + 1.9153122901916504 + ] + ], + "corners_2d": [ + [ + 595.959340374798, + 364.8353802858882 + ], + [ + 619.6891239452807, + 372.06021531490234 + ], + [ + 630.6571053329911, + 355.18333283674895 + ], + [ + 607.2767474575351, + 348.2216562920084 + ], + [ + 593.9332188557141, + 318.08107003380474 + ], + [ + 618.7469226059576, + 325.2515187294311 + ], + [ + 630.2320590550656, + 308.50987312713335 + ], + [ + 605.8000991353256, + 301.6123212662702 + ] + ], + "center_offset_px": [ + -27.193810650859064, + -22.85157191540992 + ] + }, + "trace_timestep_index": 118, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 301807, + "2": 302162, + "3": 63139, + "5": 5490, + "6": 14897, + "7": 2726, + "9": 94977, + "10": 86779, + "12": 2431, + "14": 27231, + "20": 3858, + "24": 16103 + }, + "instance_pixel_counts": { + "3485": 245, + "4224": 468, + "6289": 33, + "7299": 474, + "9557": 49, + "17502": 61973, + "19038": 24475, + "20378": 32795, + "20573": 32160, + "20890": 25659, + "21085": 154576, + "21402": 13020, + "21914": 13660, + "23421": 586, + "25693": 2081, + "34899": 2054, + "35072": 14816, + "35442": 3539, + "36252": 21673, + "36764": 196349, + "36978": 1048, + "37276": 78030, + "39073": 787, + "40531": 252, + "42145": 339, + "42657": 277, + "43008": 528, + "43264": 229, + "43520": 181, + "44032": 825, + "44288": 668, + "44544": 21814, + "44705": 672, + "44922": 4300, + "45388": 1259, + "45434": 8042, + "45644": 1, + "46848": 5417, + "47002": 2065, + "49266": 5, + "49778": 58547, + "51309": 94977, + "51612": 3516, + "58697": 5490, + "60796": 9672, + "61308": 8158, + "61820": 3764, + "62844": 3966, + "63386": 5755 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 528, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 25.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.40055540204048157, + "y": 0.5192883014678955, + "z": 0.9302464127540588 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 590.0626232024584, + "ymin": 300.6085646278973, + "xmax": 634.3779875988515, + "ymax": 373.1323228699018 + }, + "corners_3d": [ + [ + 25.35210609436035, + 24.911680221557617, + 0.05452370643615723 + ], + [ + 24.313528060913086, + 24.911680221557617, + 0.05452370643615723 + ], + [ + 24.313528060913086, + 25.71278953552246, + 0.05452370643615723 + ], + [ + 25.35210609436035, + 25.71278953552246, + 0.05452370643615723 + ], + [ + 25.35210609436035, + 24.911680221557617, + 1.915016531944275 + ], + [ + 24.313528060913086, + 24.911680221557617, + 1.915016531944275 + ], + [ + 24.313528060913086, + 25.71278953552246, + 1.915016531944275 + ], + [ + 25.35210609436035, + 25.71278953552246, + 1.915016531944275 + ] + ], + "corners_2d": [ + [ + 592.2553199735407, + 363.5969144683284 + ], + [ + 623.5779490614956, + 373.1323228699018 + ], + [ + 634.3779875988515, + 356.3848090230194 + ], + [ + 603.5119514849874, + 347.19325915629645 + ], + [ + 590.0626232024584, + 316.8672680464335 + ], + [ + 622.8154538228482, + 326.3308471755466 + ], + [ + 634.1219426265402, + 309.715563970198 + ], + [ + 601.8679227577671, + 300.6085646278973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 229, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 28.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.21891236305236816, + "y": 0.28947755694389343, + "z": 0.5973383784294128 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 525.4721284392838, + "ymin": 228.57935614147067, + "xmax": 548.6968735187924, + "ymax": 267.720048107151 + }, + "corners_3d": [ + [ + 29.196439743041992, + 28.035625457763672, + 0.3874317407608032 + ], + [ + 28.630136489868164, + 28.15599822998047, + 0.3874317407608032 + ], + [ + 28.721166610717773, + 28.58425521850586, + 0.3874317407608032 + ], + [ + 29.2874698638916, + 28.463882446289062, + 0.3874317407608032 + ], + [ + 29.196439743041992, + 28.035625457763672, + 1.582108497619629 + ], + [ + 28.630136489868164, + 28.15599822998047, + 1.582108497619629 + ], + [ + 28.721166610717773, + 28.58425521850586, + 1.582108497619629 + ], + [ + 29.2874698638916, + 28.463882446289062, + 1.582108497619629 + ] + ], + "corners_2d": [ + [ + 528.4008327007477, + 265.5830718331526 + ], + [ + 545.1678579179251, + 267.720048107151 + ], + [ + 548.6968735187924, + 259.86250278706586 + ], + [ + 532.0828036651129, + 257.7667183743119 + ], + [ + 525.4721284392838, + 236.30829306135502 + ], + [ + 542.6724176965356, + 238.42205285809467 + ], + [ + 546.3182026779892, + 230.65131681489257 + ], + [ + 529.2788295231812, + 228.57935614147067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 181, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 32.254947662353516, + "z": 0.6622122526168823 + }, + "extent": { + "x": 0.28441768884658813, + "y": 0.2179601788520813, + "z": 0.5990359783172607 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 748.9214822265109, + "ymin": 216.81691663108197, + "xmax": 768.0433722184018, + "ymax": 257.226661261107 + }, + "corners_3d": [ + [ + 22.76403045654297, + 31.949304580688477, + 0.06317627429962158 + ], + [ + 22.33049774169922, + 31.994871139526367, + 0.06317627429962158 + ], + [ + 22.389957427978516, + 32.56058883666992, + 0.06317627429962158 + ], + [ + 22.823490142822266, + 32.5150260925293, + 0.06317627429962158 + ], + [ + 22.76403045654297, + 31.949304580688477, + 1.261248230934143 + ], + [ + 22.33049774169922, + 31.994871139526367, + 1.261248230934143 + ], + [ + 22.389957427978516, + 32.56058883666992, + 1.261248230934143 + ], + [ + 22.823490142822266, + 32.5150260925293, + 1.261248230934143 + ] + ], + "corners_2d": [ + [ + 748.9214822265109, + 254.90422111709793 + ], + [ + 761.3784412089121, + 257.226661261107 + ], + [ + 764.8844919803241, + 247.72572460065015 + ], + [ + 752.5650655036653, + 245.45799712655173 + ], + [ + 751.7022524880306, + 226.1522034220065 + ], + [ + 764.4864939606882, + 228.44823345337127 + ], + [ + 768.0433722184018, + 219.05749681449856 + ], + [ + 755.4039566405204, + 216.81691663108197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 825, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 14.18487548828125, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.44932255148887634, + "y": 0.545501172542572, + "z": 0.9395131468772888 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 508.19996686665024, + "ymin": 654.0956995209308, + "xmax": 582.287524974856, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.806795120239258, + 13.795034408569336, + 0.19765931367874146 + ], + [ + 20.721769332885742, + 13.680994033813477, + 0.19765931367874146 + ], + [ + 20.627836227416992, + 14.574716567993164, + 0.19765931367874146 + ], + [ + 21.712862014770508, + 14.688756942749023, + 0.19765931367874146 + ], + [ + 21.806795120239258, + 13.795034408569336, + 2.076685667037964 + ], + [ + 20.721769332885742, + 13.680994033813477, + 2.076685667037964 + ], + [ + 20.627836227416992, + 14.574716567993164, + 2.076685667037964 + ], + [ + 21.712862014770508, + 14.688756942749023, + 2.076685667037964 + ] + ], + "corners_2d": [ + [ + 516.4877058642096, + 733.1121341023434 + ], + [ + 559.4630024703166, + 758.0147900792508 + ], + [ + 582.287524974856, + 722.1332544632442 + ], + [ + 540.0505934162306, + 698.5732865238631 + ], + [ + 508.19996686665024, + 689.631313834576 + ], + [ + 553.9462068436937, + 715.3328570326155 + ], + [ + 578.4505324917315, + 678.3216011442375 + ], + [ + 533.5373537682242, + 654.0956995209308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 668, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 17.14202117919922, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.35423704981803894, + "y": 0.513323962688446, + "z": 0.905091404914856 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 79.66604161171415, + "ymin": 371.54616431772087, + "xmax": 149.616498709108, + "ymax": 448.23875761091676 + }, + "corners_3d": [ + [ + 36.653907775878906, + 16.902252197265625, + 0.07967871427536011 + ], + [ + 35.649696350097656, + 16.688798904418945, + 0.07967871427536011 + ], + [ + 35.50239562988281, + 17.381790161132812, + 0.07967871427536011 + ], + [ + 36.50660705566406, + 17.595243453979492, + 0.07967871427536011 + ], + [ + 36.653907775878906, + 16.902252197265625, + 1.8898615837097168 + ], + [ + 35.649696350097656, + 16.688798904418945, + 1.8898615837097168 + ], + [ + 35.50239562988281, + 17.381790161132812, + 1.8898615837097168 + ], + [ + 36.50660705566406, + 17.595243453979492, + 1.8898615837097168 + ] + ], + "corners_2d": [ + [ + 105.45057204944021, + 432.25082390572436 + ], + [ + 126.93389577346863, + 448.23875761091676 + ], + [ + 149.616498709108, + 432.78651416609887 + ], + [ + 128.10250141183514, + 417.28948433903344 + ], + [ + 79.66604161171415, + 386.48176927098075 + ], + [ + 101.75981697904115, + 402.4666646901526 + ], + [ + 125.94873002418933, + 387.0169481968248 + ], + [ + 103.80756971280528, + 371.54616431772087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 21814, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 49.403934264556256, + "ymin": 506.06962296961274, + "xmax": 367.2913892328866, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 92.38669283681418, + 793.1206406314795 + ], + [ + 183.55095123265937, + 840.8339203058658 + ], + [ + 367.2913892328866, + 590.7955255526174 + ], + [ + 286.91161551766453, + 558.5704272132928 + ], + [ + 49.403934264556256, + 746.9689241426793 + ], + [ + 146.33960609931944, + 796.7889080712348 + ], + [ + 349.3420323328509, + 538.7781347265319 + ], + [ + 264.37472763166477, + 506.06962296961274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 5417, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 452.10172261472985, + "ymin": 129.98388257084648, + "xmax": 573.3662140133551, + "ymax": 247.14510454604695 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 573.3662140133551, + 176.6564944486735 + ], + [ + 524.2544212904522, + 164.70090122987855 + ], + [ + 457.8173502613937, + 232.7546462643547 + ], + [ + 510.50937348070346, + 247.14510454604695 + ], + [ + 571.4313615827665, + 141.6827228016893 + ], + [ + 520.9509685964427, + 129.98388257084648 + ], + [ + 452.10172261472985, + 196.7273027539884 + ], + [ + 506.3690403961434, + 210.88779505579322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6750152309130723691, + "instance_id": 27393, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": 29.65570068359375, + "y": 11.81595516204834, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 31.866217192716817, + "ymin": 490.8135658982797, + "xmax": 79.90429521708597, + "ymax": 540.6247456874896 + }, + "corners_3d": [ + [ + 29.794286727905273, + 12.005911827087402, + 5.545533180236816 + ], + [ + 29.794286727905273, + 11.625997543334961, + 5.545533180236816 + ], + [ + 29.517114639282227, + 11.625998497009277, + 5.545533180236816 + ], + [ + 29.517114639282227, + 12.005912780761719, + 5.545533180236816 + ], + [ + 29.794286727905273, + 12.005911827087402, + 6.416468620300293 + ], + [ + 29.794286727905273, + 11.625997543334961, + 6.416468620300293 + ], + [ + 29.517114639282227, + 11.625998497009277, + 6.416468620300293 + ], + [ + 29.517114639282227, + 12.005912780761719, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 68.82171801106324, + 520.4276008700115 + ], + [ + 52.38502014638573, + 535.6834363997506 + ], + [ + 63.5520574554173, + 540.6247456874896 + ], + [ + 79.90429521708597, + 525.2297595737534 + ], + [ + 49.168772633141884, + 490.8135658982797 + ], + [ + 31.866217192716817, + 506.16225522229365 + ], + [ + 43.32771125873421, + 511.1368917601159 + ], + [ + 60.54260405551656, + 495.6433175884299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6839247075710205824, + "instance_id": 33023, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": 24.15570068359375, + "y": 11.815962791442871, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.62370911705625, + "ymin": 595.9077684924524, + "xmax": 322.5652951189924, + "ymax": 648.9798654132595 + }, + "corners_3d": [ + [ + 24.294286727905273, + 12.005919456481934, + 5.545533180236816 + ], + [ + 24.294286727905273, + 11.626005172729492, + 5.545533180236816 + ], + [ + 24.017114639282227, + 11.626006126403809, + 5.545533180236816 + ], + [ + 24.017114639282227, + 12.00592041015625, + 5.545533180236816 + ], + [ + 24.294286727905273, + 12.005919456481934, + 6.416468620300293 + ], + [ + 24.294286727905273, + 11.626005172729492, + 6.416468620300293 + ], + [ + 24.017114639282227, + 11.626006126403809, + 6.416468620300293 + ], + [ + 24.017114639282227, + 12.00592041015625, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 309.1985092568147, + 624.5852764516171 + ], + [ + 294.9190795589498, + 643.0032302746138 + ], + [ + 308.4258773803923, + 648.9798654132595 + ], + [ + 322.5652951189924, + 630.3772024162699 + ], + [ + 296.6588071842674, + 595.9077684924524 + ], + [ + 281.62370911705625, + 614.5653534066529 + ], + [ + 295.58400470203657, + 620.6245496830296 + ], + [ + 310.4702989600894, + 601.7726451720097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 16046346693957676602, + "instance_id": 14958, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": 27.15570068359375, + "y": 11.815958023071289, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.13858641684055328, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.33307453498213, + "ymin": 536.0729937164449, + "xmax": 184.58220615782977, + "ymax": 587.3287251350233 + }, + "corners_3d": [ + [ + 27.294286727905273, + 12.005914688110352, + 5.545533180236816 + ], + [ + 27.294286727905273, + 11.62600040435791, + 5.545533180236816 + ], + [ + 27.017114639282227, + 11.626001358032227, + 5.545533180236816 + ], + [ + 27.017114639282227, + 12.005915641784668, + 5.545533180236816 + ], + [ + 27.294286727905273, + 12.005914688110352, + 6.416468620300293 + ], + [ + 27.294286727905273, + 11.62600040435791, + 6.416468620300293 + ], + [ + 27.017114639282227, + 11.626001358032227, + 6.416468620300293 + ], + [ + 27.017114639282227, + 12.005915641784668, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 172.5403851864907, + 565.3699767990528 + ], + [ + 156.9507940230484, + 581.9531708839605 + ], + [ + 169.09919278901316, + 587.3287251350233 + ], + [ + 184.58220615782977, + 570.5877842139435 + ], + [ + 155.75170346352587, + 536.0729937164449 + ], + [ + 139.33307453498213, + 552.8065014678734 + ], + [ + 151.83943779200513, + 558.2346447841871 + ], + [ + 168.14619261804478, + 541.3361563479273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.5413694164906, + "ymin": 0.0, + "xmax": 1254.311576252287, + "ymax": 21.035782790941994 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1250.7539501370243, + 21.035782790941994 + ], + [ + 1249.4228672727936, + 0.5796905874993854 + ], + [ + 1199.0975912415136, + -6.942368318626791 + ], + [ + 1198.5413694164906, + 12.94066515083449 + ], + [ + 1254.311576252287, + 13.113400299159991 + ], + [ + 1252.8431699808818, + -7.168333010317326 + ], + [ + 1202.1917519724511, + -14.624120552332897 + ], + [ + 1201.747858466694, + 5.086257255384794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.1305117123281, + "ymin": 141.3334893935005, + "xmax": 828.9982407109541, + "ymax": 418.53720311600665 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 787.9854522591785, + 418.53720311600665 + ], + [ + 792.5272675662719, + 408.2927533958038 + ], + [ + 668.7744177475572, + 371.2530958785349 + ], + [ + 663.1305117123281, + 380.71098525462247 + ], + [ + 823.8440461591188, + 185.2952577460079 + ], + [ + 828.9982407109541, + 175.6819001689458 + ], + [ + 675.3256624163203, + 141.3334893935005 + ], + [ + 668.4638481371528, + 150.04376741225516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.3397473430055, + "ymin": 149.59519701898955, + "xmax": 693.5903714920324, + "ymax": 162.94058532692387 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 689.0190163106322, + 162.94058532692387 + ], + [ + 693.4201192515045, + 157.02708285232316 + ], + [ + 677.8493450381144, + 153.4878174555194 + ], + [ + 673.3397473430055, + 159.34138632452652 + ], + [ + 689.1765668613461, + 159.02531180107653 + ], + [ + 693.5903714920324, + 153.12588562253467 + ], + [ + 677.9693603366774, + 149.59519701898955 + ], + [ + 673.4463551980889, + 155.4346423498754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.230998300563, + "ymin": 149.52397617610075, + "xmax": 693.6996942450761, + "ymax": 163.01301824565166 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 689.0794327934866, + 163.01301824565166 + ], + [ + 693.5272665919566, + 157.0354248665689 + ], + [ + 677.7896724490735, + 153.4583228714761 + ], + [ + 673.230998300563, + 159.37468505607075 + ], + [ + 689.2388878878007, + 159.0555283596887 + ], + [ + 693.6996942450761, + 153.09231556774228 + ], + [ + 677.9107800785872, + 149.52397617610075 + ], + [ + 673.3384045820014, + 155.42590898934435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.594979232636, + "ymin": 0.0, + "xmax": 1254.2781547403176, + "ymax": 20.966408506325934 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1250.744321127241, + 20.966408506325934 + ], + [ + 1249.414984456528, + 0.5342556416734396 + ], + [ + 1199.1487129810598, + -6.978371750322424 + ], + [ + 1198.594979232636, + 12.882069308082748 + ], + [ + 1254.2781547403176, + 13.096483425265546 + ], + [ + 1252.8125622660339, + -7.162642026205958 + ], + [ + 1202.2226889225662, + -14.60951218247584 + ], + [ + 1201.780438221754, + 5.079590001989629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.1429950255199, + "ymin": 108.60760693581935, + "xmax": 151.6942514990052, + "ymax": 127.16070284889614 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 124.43268121045969, + 120.60756918814536 + ], + [ + 149.22323364209046, + 127.16070284889614 + ], + [ + 151.6942514990052, + 125.60662548325814 + ], + [ + 126.93654106246095, + 119.08372180718692 + ], + [ + 120.1429950255199, + 110.11980429176026 + ], + [ + 145.09912253084326, + 116.62349739426244 + ], + [ + 147.600506658688, + 115.08104812628343 + ], + [ + 122.67757848634164, + 108.60760693581935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 241.04642133487528, + "ymin": 48.90736552797085, + "xmax": 270.08291658014133, + "ymax": 65.81607297377087 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 244.0868466771218, + 60.3181696690923 + ], + [ + 268.0566030185423, + 65.81607297377087 + ], + [ + 270.08291658014133, + 64.51299452095594 + ], + [ + 246.14576558765611, + 59.03851230671262 + ], + [ + 241.04642133487528, + 50.17513426561902 + ], + [ + 265.174003443493, + 55.62242972053991 + ], + [ + 267.2222093305479, + 54.3312770290766 + ], + [ + 243.1276210621906, + 48.90736552797085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.6068514571857, + "ymin": 0.0, + "xmax": 1268.0324930444167, + "ymax": 96.88759233687597 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1218.663660379158, + 96.88759233687597 + ], + [ + 1218.4973086674368, + 73.69370493382377 + ], + [ + 1168.304734451859, + 65.10853224009901 + ], + [ + 1166.6068514571857, + 87.64885249815592 + ], + [ + 1268.0324930444167, + -12.675939092054534 + ], + [ + 1265.915002039857, + -33.471085761173185 + ], + [ + 1210.956305841753, + -41.13587021168729 + ], + [ + 1210.8308071739266, + -20.97460080083971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.7389864569502, + "ymin": 0.0, + "xmax": 992.3180263891338, + "ymax": 57.84452149313546 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 947.8962965123676, + 57.84452149313546 + ], + [ + 949.6758786031834, + 53.83052450236096 + ], + [ + 867.0166208174904, + 39.04457676787655 + ], + [ + 864.7389864569502, + 42.861367511086314 + ], + [ + 990.6183499150887, + -125.76440518348977 + ], + [ + 992.3180263891338, + -128.93455910661356 + ], + [ + 897.3979029042689, + -140.56161195628545 + ], + [ + 895.0394491331415, + -137.5678291642388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 380.20657524553576, + "xmax": 605.8258964607957, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 596.1062939951445, + 887.8946604263618 + ], + [ + 605.8258964607957, + 865.8943187131239 + ], + [ + 137.4880342763047, + 639.855438144386 + ], + [ + 123.2225569497698, + 655.3220603828269 + ], + [ + 576.0304820940773, + 662.3122788635642 + ], + [ + 590.5434706915262, + 635.4945342904227 + ], + [ + -38.533969564854715, + 380.20657524553576 + ], + [ + -61.00839963005251, + 396.5798605668367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.9759682449147, + "ymin": 8.826094252312885, + "xmax": 1280.0, + "ymax": 682.6418485498172 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1115.184786311017, + 682.6418485498172 + ], + [ + 1074.063282646011, + 445.67837146366537 + ], + [ + 805.2242208224993, + 407.97455829851555 + ], + [ + 782.9759682449147, + 625.2138459641832 + ], + [ + 1400.191534792764, + 263.7155502376988 + ], + [ + 1262.225918903388, + 40.17805796903474 + ], + [ + 872.993994160892, + 8.826094252312885 + ], + [ + 862.4756860257496, + 204.91016044911578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.2196506833193, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 86.72170457541023 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1184.9128142914851, + 86.72170457541023 + ], + [ + 1153.9534969503106, + 17.720927833466817 + ], + [ + 997.2196506833193, + 5.3983931045562485 + ], + [ + 1008.5890750771161, + 71.21907101052585 + ], + [ + 1314.8640216046144, + -221.96435123633432 + ], + [ + 1260.3007246386405, + -264.39092733017094 + ], + [ + 1069.1823208968854, + -271.7411633355042 + ], + [ + 1093.8241707266857, + -231.68860285491462 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00126/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00126/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0992498f0d4381af1827d5754ccee48b32389c6a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00126/meta.json @@ -0,0 +1,3092 @@ +{ + "frame_id": 126, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.0, + "sim_timestamp": 8273.537885808852 + }, + "drone_pose": { + "x": 17.74182056569054, + "y": 9.672249561428275, + "z": 19.874163354921922, + "pitch": -42.13331632076648, + "yaw": 70.1479370599012, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2518371343612671, + -0.6975153684616089, + 0.6708579659461975, + -24.547332763671875 + ], + [ + 0.9405726194381714, + 0.33959269523620605, + -2.9802322387695312e-08, + 13.402843475341797 + ], + [ + -0.22781850397586823, + 0.6309906244277954, + 0.7415858507156372, + -4.5933837890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 17.90263755966073, + "y": 10.006643891007325, + "z": 20.029068832578986 + }, + "t1_image_uv": [ + 426.8746026455832, + -1689.2351469270434 + ], + "t1_depth": 0.16982530065542575 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 29.312236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.15706849697561, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 572, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 29.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3646179139614105, + "y": 0.44429320096969604, + "z": 0.9208938479423523 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.018082439669, + "ymin": 325.10933142243425, + "xmax": 658.7865285497536, + "ymax": 394.2728023758081 + }, + "corners_3d": [ + [ + 25.277111053466797, + 28.947616577148438, + 0.06387627124786377 + ], + [ + 24.38852310180664, + 28.947616577148438, + 0.06387627124786377 + ], + [ + 24.38852310180664, + 29.67685317993164, + 0.06387627124786377 + ], + [ + 25.277111053466797, + 29.67685317993164, + 0.06387627124786377 + ], + [ + 25.277111053466797, + 28.947616577148438, + 1.9056639671325684 + ], + [ + 24.38852310180664, + 28.947616577148438, + 1.9056639671325684 + ], + [ + 24.38852310180664, + 29.67685317993164, + 1.9056639671325684 + ], + [ + 25.277111053466797, + 29.67685317993164, + 1.9056639671325684 + ] + ], + "corners_2d": [ + [ + 621.8372112093588, + 387.21755363302145 + ], + [ + 649.9373158705718, + 394.2728023758081 + ], + [ + 657.9838178807665, + 378.3941112875152 + ], + [ + 630.3124064526612, + 371.5839463052613 + ], + [ + 621.018082439669, + 340.58514881969256 + ], + [ + 650.3891725003433, + 347.57717076650624 + ], + [ + 658.7865285497536, + 331.847767628744 + ], + [ + 629.8834666780507, + 325.10933142243425 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 126, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 333719, + "2": 263043, + "3": 75133, + "5": 666, + "6": 4034, + "9": 129407, + "10": 82917, + "12": 2233, + "14": 7888, + "16": 3149, + "20": 4854, + "24": 14557 + }, + "instance_pixel_counts": { + "3485": 911, + "3925": 24, + "4224": 1048, + "6289": 39, + "7299": 512, + "9557": 68, + "17502": 75370, + "18526": 24, + "19038": 7157, + "20061": 1, + "20378": 27105, + "20573": 34662, + "20890": 23850, + "21085": 97325, + "21402": 18014, + "21914": 16874, + "22909": 736, + "23421": 1272, + "25181": 1581, + "25683": 25, + "25693": 8569, + "34899": 2517, + "35442": 4423, + "36764": 218000, + "36978": 2533, + "37276": 98171, + "39073": 865, + "40531": 405, + "42145": 388, + "42657": 309, + "43008": 572, + "43264": 234, + "43520": 201, + "43776": 374, + "44032": 21, + "44288": 831, + "44705": 759, + "45056": 3149, + "45388": 487, + "45434": 9157, + "45644": 1442, + "46490": 2321, + "46848": 6820, + "47002": 4184, + "48640": 1068, + "49266": 2703, + "49778": 65474, + "51309": 129407, + "51612": 4489, + "58441": 53, + "58697": 613, + "60796": 8502, + "61308": 8006, + "61820": 4913, + "62844": 5128, + "63386": 17548 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 572, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 29.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.38099730014801025, + "y": 0.34322142601013184, + "z": 0.909455418586731 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.1374364711396, + "ymin": 325.82997469798806, + "xmax": 655.6573416314926, + "ymax": 393.549769542445 + }, + "corners_3d": [ + [ + 25.17603874206543, + 28.931238174438477, + 0.07531470060348511 + ], + [ + 24.489595413208008, + 28.931238174438477, + 0.07531470060348511 + ], + [ + 24.489595413208008, + 29.6932315826416, + 0.07531470060348511 + ], + [ + 25.17603874206543, + 29.6932315826416, + 0.07531470060348511 + ], + [ + 25.17603874206543, + 28.931238174438477, + 1.8942255973815918 + ], + [ + 24.489595413208008, + 28.931238174438477, + 1.8942255973815918 + ], + [ + 24.489595413208008, + 29.6932315826416, + 1.8942255973815918 + ], + [ + 25.17603874206543, + 29.6932315826416, + 1.8942255973815918 + ] + ], + "corners_2d": [ + [ + 624.8145065300188, + 388.09539584883214 + ], + [ + 646.5353839752373, + 393.549769542445 + ], + [ + 654.9973111407993, + 376.987834363664 + ], + [ + 633.622658978447, + 371.73133943899524 + ], + [ + 624.1374364711396, + 342.0322069349019 + ], + [ + 646.8286270727277, + 347.4385037945997 + ], + [ + 655.6573416314926, + 331.03161474036597 + ], + [ + 633.3437317963561, + 325.82997469798806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 234, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 27.763484954833984, + "y": 32.63098907470703, + "z": 0.9847554564476013 + }, + "extent": { + "x": 0.24730350077152252, + "y": 0.3358362019062042, + "z": 0.5999743342399597 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 577.5040304779692, + "ymin": 254.73239608886615, + "xmax": 601.8236427924871, + "ymax": 295.12644709718006 + }, + "corners_3d": [ + [ + 28.040565490722656, + 32.31926345825195, + 0.3847811222076416 + ], + [ + 27.383569717407227, + 32.45891571044922, + 0.3847811222076416 + ], + [ + 27.486404418945312, + 32.94271469116211, + 0.3847811222076416 + ], + [ + 28.143400192260742, + 32.803062438964844, + 0.3847811222076416 + ], + [ + 28.040565490722656, + 32.31926345825195, + 1.584729790687561 + ], + [ + 27.383569717407227, + 32.45891571044922, + 1.584729790687561 + ], + [ + 27.486404418945312, + 32.94271469116211, + 1.584729790687561 + ], + [ + 28.143400192260742, + 32.803062438964844, + 1.584729790687561 + ] + ], + "corners_2d": [ + [ + 579.1029239724318, + 293.38863979034187 + ], + [ + 599.3157497282778, + 295.12644709718006 + ], + [ + 601.8236427924871, + 285.9331651284389 + ], + [ + 581.8362074959381, + 284.23485140852495 + ], + [ + 577.5040304779692, + 263.7768850659029 + ], + [ + 598.2451814891609, + 265.49455476096097 + ], + [ + 600.8308592338896, + 256.4100218004087 + ], + [ + 580.3269644669126, + 254.73239608886615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 201, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 36.254947662353516, + "z": 0.660540759563446 + }, + "extent": { + "x": 0.2846081256866455, + "y": 0.2104821503162384, + "z": 0.6021401882171631 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 762.8103074562257, + "ymin": 233.16769067567225, + "xmax": 780.7434935505328, + "ymax": 273.37386244816315 + }, + "corners_3d": [ + [ + 22.756572723388672, + 35.94989776611328, + 0.05840057134628296 + ], + [ + 22.337915420532227, + 35.993900299072266, + 0.05840057134628296 + ], + [ + 22.397415161132812, + 36.55999755859375, + 0.05840057134628296 + ], + [ + 22.816072463989258, + 36.515995025634766, + 0.05840057134628296 + ], + [ + 22.756572723388672, + 35.94989776611328, + 1.262681007385254 + ], + [ + 22.337915420532227, + 35.993900299072266, + 1.262681007385254 + ], + [ + 22.397415161132812, + 36.55999755859375, + 1.262681007385254 + ], + [ + 22.816072463989258, + 36.515995025634766, + 1.262681007385254 + ] + ], + "corners_2d": [ + [ + 762.8103074562257, + 271.59698184065945 + ], + [ + 775.0486818619144, + 273.37386244816315 + ], + [ + 777.3207161323132, + 263.72854453533637 + ], + [ + 765.2278884369974, + 261.99518793509264 + ], + [ + 765.9033850798593, + 242.6429936722917 + ], + [ + 778.4579364939895, + 244.3971104847874 + ], + [ + 780.7434935505328, + 234.87777814278977 + ], + [ + 768.3420659356425, + 233.16769067567225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 374, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 29.31223487854004, + "z": 1.1413668394088745 + }, + "extent": { + "x": 0.4047064185142517, + "y": 0.4004882574081421, + "z": 0.9452370405197144 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 949.6042416134691, + "ymin": 397.8039479269049, + "xmax": 999.8851917531001, + "ymax": 474.6984178213441 + }, + "corners_3d": [ + [ + 15.733304977416992, + 28.907527923583984, + 0.19612979888916016 + ], + [ + 14.932329177856445, + 28.907527923583984, + 0.19612979888916016 + ], + [ + 14.932329177856445, + 29.716941833496094, + 0.19612979888916016 + ], + [ + 15.733304977416992, + 29.716941833496094, + 0.19612979888916016 + ], + [ + 15.733304977416992, + 28.907527923583984, + 2.086603879928589 + ], + [ + 14.932329177856445, + 28.907527923583984, + 2.086603879928589 + ], + [ + 14.932329177856445, + 29.716941833496094, + 2.086603879928589 + ], + [ + 15.733304977416992, + 29.716941833496094, + 2.086603879928589 + ] + ], + "corners_2d": [ + [ + 949.6042416134691, + 467.10372688015167 + ], + [ + 979.9275398353329, + 474.6984178213441 + ], + [ + 982.6455799844368, + 453.73308440975336 + ], + [ + 952.9434806496085, + 446.4576530461401 + ], + [ + 965.408951565093, + 418.39831215272613 + ], + [ + 997.4222411014528, + 425.985181232702 + ], + [ + 999.8851917531001, + 405.05608343677306 + ], + [ + 968.5636842282677, + 397.8039479269049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 21, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 18.18487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.39974245429039, + "y": 0.5884723663330078, + "z": 0.933943510055542 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 584.3924971894664, + "ymin": 691.0624038842543, + "xmax": 656.6055079046589, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.844348907470703, + 17.848834991455078, + 0.2032240629196167 + ], + [ + 20.673851013183594, + 17.725811004638672, + 0.2032240629196167 + ], + [ + 20.590282440185547, + 18.520915985107422, + 0.2032240629196167 + ], + [ + 21.760780334472656, + 18.643939971923828, + 0.2032240629196167 + ], + [ + 21.844348907470703, + 17.848834991455078, + 2.0711112022399902 + ], + [ + 20.673851013183594, + 17.725811004638672, + 2.0711112022399902 + ], + [ + 20.590282440185547, + 18.520915985107422, + 2.0711112022399902 + ], + [ + 21.760780334472656, + 18.643939971923828, + 2.0711112022399902 + ] + ], + "corners_2d": [ + [ + 587.8882827507495, + 769.0711732783808 + ], + [ + 638.8777646634454, + 793.9380020869207 + ], + [ + 655.5695467479788, + 759.3421151730865 + ], + [ + 605.598948108063, + 735.7668879771768 + ], + [ + 584.3924971894664, + 725.3239266338587 + ], + [ + 638.8009165635872, + 750.9837251890417 + ], + [ + 656.6055079046589, + 715.3028504294675 + ], + [ + 603.3553235387157, + 691.0624038842543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 831, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 21.14202117919922, + "z": 0.9847407937049866 + }, + "extent": { + "x": 0.3367358446121216, + "y": 0.4628356695175171, + "z": 0.8953580260276794 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.97616166751584, + "ymin": 420.2316764351248, + "xmax": 166.6728005272888, + "ymax": 496.03826627207957 + }, + "corners_3d": [ + [ + 36.60088348388672, + 20.908872604370117, + 0.08938276767730713 + ], + [ + 35.69544219970703, + 20.716415405273438, + 0.08938276767730713 + ], + [ + 35.555419921875, + 21.37516975402832, + 0.08938276767730713 + ], + [ + 36.46086120605469, + 21.567626953125, + 0.08938276767730713 + ], + [ + 36.60088348388672, + 20.908872604370117, + 1.880098819732666 + ], + [ + 35.69544219970703, + 20.716415405273438, + 1.880098819732666 + ], + [ + 35.555419921875, + 21.37516975402832, + 1.880098819732666 + ], + [ + 36.46086120605469, + 21.567626953125, + 1.880098819732666 + ] + ], + "corners_2d": [ + [ + 123.15575545653758, + 481.96674135335337 + ], + [ + 145.41625452142193, + 496.03826627207957 + ], + [ + 166.6728005272888, + 479.5993014921627 + ], + [ + 144.47861603195486, + 465.98146518154596 + ], + [ + 97.97616166751584, + 436.2086393851159 + ], + [ + 120.96188128444317, + 450.2936544986531 + ], + [ + 143.6710675355697, + 433.84084588223595 + ], + [ + 120.74612412876502, + 420.2316764351248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 3149, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 625.8397814956178, + "ymin": 0.0, + "xmax": 766.8534828655197, + "ymax": 59.322027409215934 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 759.9597792108714, + -18.15661867910478 + ], + [ + 691.1649687045153, + -27.270277817721876 + ], + [ + 626.7117814442071, + 47.136124365795695 + ], + [ + 704.9642917947987, + 59.322027409215934 + ], + [ + 766.8534828655197, + -100.87250982956766 + ], + [ + 694.0475205445691, + -108.87542840973981 + ], + [ + 625.8397814956178, + -43.033525047127796 + ], + [ + 709.3271661250938, + -32.139823641659234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 6820, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 399.77255520722997, + "ymin": 210.2651455298152, + "xmax": 532.5879552875406, + "ymax": 345.2977957593681 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 532.5879552875406, + 258.32907167127075 + ], + [ + 477.92092454190265, + 246.26159984007344 + ], + [ + 407.70930408530296, + 330.36434997020683 + ], + [ + 467.3267670301699, + 345.2977957593681 + ], + [ + 529.2429614879507, + 222.11492202432214 + ], + [ + 472.95537662237837, + 210.2651455298152 + ], + [ + 399.77255520722997, + 293.0930203539855 + ], + [ + 461.3182966291064, + 307.85946233942985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 1068, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 586.1973622410566, + "ymin": 0.0, + "xmax": 649.2558373757266, + "ymax": 34.3535103258547 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 649.055803118954, + 4.281233267918424 + ], + [ + 615.990842806292, + -0.44106060214289755 + ], + [ + 587.4163307388117, + 29.063872482621775 + ], + [ + 622.1394904498383, + 34.3535103258547 + ], + [ + 649.2558373757266, + -27.0174455719835 + ], + [ + 615.4654943209467, + -31.548492870276505 + ], + [ + 586.1973622410566, + -3.208211559725953 + ], + [ + 621.7212870419376, + 1.8802539192921586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.3172263020203, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 14.256741911647168 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1250.970758064253, + -24.901979614884624 + ], + [ + 1241.3172263020203, + -26.014322691576353 + ], + [ + 1252.1366641313282, + 12.957182789513467 + ], + [ + 1262.598940263742, + 14.256741911647168 + ], + [ + 1322.1246087035788, + -193.31686668907344 + ], + [ + 1311.1670127411135, + -194.12599218259697 + ], + [ + 1329.7153792685672, + -165.5170014846267 + ], + [ + 1341.7252449239325, + -164.55365357007224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.6665334209906, + "ymin": 28.436599585691795, + "xmax": 1239.5640742435598, + "ymax": 65.87252382971843 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1236.006681320963, + 65.87252382971843 + ], + [ + 1230.923986902236, + 43.17669860408108 + ], + [ + 1178.6665334209906, + 36.27446946466347 + ], + [ + 1181.5609671111622, + 58.394489481720655 + ], + [ + 1239.5640742435598, + 57.78289183903314 + ], + [ + 1234.3108616943382, + 35.27850391151105 + ], + [ + 1181.7150452846158, + 28.436599585691795 + ], + [ + 1184.7510524688505, + 50.36676196678326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.8240153107558, + "ymin": 13.949023781594633, + "xmax": 357.8693893324636, + "ymax": 28.341696689185255 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 332.91790014897333, + 24.532570847661816 + ], + [ + 356.34790518210184, + 28.341696689185255 + ], + [ + 357.8693893324636, + 27.254260118957234 + ], + [ + 334.47573855726927, + 23.46049747337389 + ], + [ + 330.8240153107558, + 15.00910569200505 + ], + [ + 354.39986332519607, + 18.77586053607871 + ], + [ + 355.93574875315295, + 17.70048267482406 + ], + [ + 332.39669505710606, + 13.949023781594633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4333264078643001978, + "instance_id": 31482, + "pixel_count": null, + "type_id": "BP_StreetLight_wall27_35_SM_0", + "bbox_3d": { + "center_world": { + "x": 49.75010299682617, + "y": 39.48548126220703, + "z": 5.192909240722656 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.86258759096779, + "ymin": 0.0, + "xmax": 169.52791396964528, + "ymax": 3.6704830164244413 + }, + "corners_3d": [ + [ + 49.867794036865234, + 40.633087158203125, + 4.7817535400390625 + ], + [ + 49.8677864074707, + 38.33787536621094, + 4.7817535400390625 + ], + [ + 49.63241195678711, + 38.33787536621094, + 4.7817535400390625 + ], + [ + 49.63241958618164, + 40.633087158203125, + 4.7817535400390625 + ], + [ + 49.867794036865234, + 40.633087158203125, + 5.60406494140625 + ], + [ + 49.8677864074707, + 38.33787536621094, + 5.60406494140625 + ], + [ + 49.63241195678711, + 38.33787536621094, + 5.60406494140625 + ], + [ + 49.63241958618164, + 40.633087158203125, + 5.60406494140625 + ] + ], + "corners_2d": [ + [ + 164.88991457276472, + -17.685895800971764 + ], + [ + 125.40089150834001, + 2.876034652996509 + ], + [ + 130.17216303466552, + 3.6704830164244413 + ], + [ + 169.52791396964528, + -16.95410377537098 + ], + [ + 158.21389397932347, + -37.90460222840278 + ], + [ + 117.86258759096779, + -17.901006460290034 + ], + [ + 122.69197879261742, + -17.127657502534873 + ], + [ + 162.90706780633212, + -37.19308536896398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.341861106427, + "ymin": 252.40412618428263, + "xmax": 835.4034195446051, + "ymax": 542.5166571199945 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 790.1312105238418, + 542.5166571199945 + ], + [ + 794.0825624104724, + 529.427172714222 + ], + [ + 652.8552374042725, + 490.23100593013044 + ], + [ + 647.341861106427, + 502.344713931182 + ], + [ + 831.0385457673324, + 303.0922171071829 + ], + [ + 835.4034195446051, + 290.2741571737817 + ], + [ + 656.1392156354341, + 252.40412618428263 + ], + [ + 649.246051512103, + 264.02665526374943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.9403925789268, + "ymin": 261.57358779634484, + "xmax": 677.7487259042643, + "ymax": 277.46043609523673 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 673.2634858166118, + 277.46043609523673 + ], + [ + 677.6142501682352, + 269.5841550159911 + ], + [ + 659.45205977042, + 265.68396447624895 + ], + [ + 654.9403925789268, + 273.4810812103631 + ], + [ + 673.3836152536348, + 273.3298341314321 + ], + [ + 677.7487259042643, + 265.4669391104359 + ], + [ + 659.5212535044502, + 261.57358779634484 + ], + [ + 654.9940748828146, + 269.35717118311453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.8177553222299, + "ymin": 261.48892487243313, + "xmax": 677.8717042963815, + "ymax": 277.5467967223938 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 673.3386903006591, + 277.5467967223938 + ], + [ + 677.7353462776337, + 269.5851832103441 + ], + [ + 659.3787921518789, + 265.64338109667585 + ], + [ + 654.8177553222299, + 273.5241167542983 + ], + [ + 673.460398132863, + 273.37167767539836 + ], + [ + 677.8717042963815, + 265.42373901107965 + ], + [ + 659.4484620521349, + 261.48892487243313 + ], + [ + 654.8715718748167, + 269.35583358527714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10038724361239616461, + "instance_id": 52571, + "pixel_count": null, + "type_id": "BP_Lamppost_tall22_47_SM_2", + "bbox_3d": { + "center_world": { + "x": 63.264408111572266, + "y": 40.760250091552734, + "z": 2.854238510131836 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 4.504633201500155, + "ymax": 47.62027861053883 + }, + "corners_3d": [ + [ + 62.23598098754883, + 39.60989761352539, + 0.51141357421875 + ], + [ + 62.23598098754883, + 41.91060256958008, + 0.51141357421875 + ], + [ + 64.29283905029297, + 41.91060256958008, + 0.51141357421875 + ], + [ + 64.29283905029297, + 39.60989761352539, + 0.51141357421875 + ], + [ + 62.23598098754883, + 39.60989761352539, + 5.197063446044922 + ], + [ + 62.23598098754883, + 41.91060256958008, + 5.197063446044922 + ], + [ + 64.29283905029297, + 41.91060256958008, + 5.197063446044922 + ], + [ + 64.29283905029297, + 39.60989761352539, + 5.197063446044922 + ] + ], + "corners_2d": [ + [ + -34.75890636765905, + 47.62027861053883 + ], + [ + 4.504633201500155, + 28.504548689786134 + ], + [ + -27.86967648081327, + 22.61183376738569 + ], + [ + -67.82661150152478, + 41.30299178098511 + ], + [ + -85.33996348996254, + -55.34644886833871 + ], + [ + -41.377282173291064, + -72.04705926802785 + ], + [ + -75.52203345636076, + -77.17797870867179 + ], + [ + -120.23904242495053, + -60.87511133775274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.7203943598563, + "ymin": 28.451963842785347, + "xmax": 1239.5271348016895, + "ymax": 65.80111856403028 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1235.993558672075, + 65.80111856403028 + ], + [ + 1230.916692247221, + 43.13180533721197 + ], + [ + 1178.7203943598563, + 36.23820269710552 + ], + [ + 1181.613910030401, + 58.33306336028386 + ], + [ + 1239.5271348016895, + 57.76504648789813 + ], + [ + 1234.281075077724, + 35.28570946426504 + ], + [ + 1181.7490480192484, + 28.451963842785347 + ], + [ + 1184.7830698145347, + 50.3584143901096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.85059483742748, + "ymin": 206.6352053512045, + "xmax": 54.99285399143753, + "ymax": 226.6451796484489 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 23.515458835575146, + 219.63203472721946 + ], + [ + 52.11358401443192, + 226.6451796484489 + ], + [ + 54.99285399143753, + 224.63952556163082 + ], + [ + 26.444619598985128, + 217.66441704479394 + ], + [ + 17.85059483742748, + 208.59074158313783 + ], + [ + 46.65898945250683, + 215.56161490372062 + ], + [ + 49.579920988423055, + 213.5679238596905 + ], + [ + 20.822047781880883, + 206.6352053512045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 156.62273353661863, + "ymin": 130.84306901519284, + "xmax": 190.0849295206586, + "ymax": 148.80285643323725 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 160.62467029182432, + 143.10134108486182 + ], + [ + 187.80497559650303, + 148.80285643323725 + ], + [ + 190.0849295206586, + 147.17332563926058 + ], + [ + 162.9517005376967, + 141.4999252034217 + ], + [ + 156.62273353661863, + 132.43137682356925 + ], + [ + 183.99663362423848, + 138.08675272318405 + ], + [ + 186.30526258348903, + 136.47032455254111 + ], + [ + 158.97906043614717, + 130.84306901519284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1148.1996977105678, + "ymin": 1.3488965274065094, + "xmax": 1253.4769853725243, + "ymax": 143.24173735693483 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1204.133651902196, + 143.24173735693483 + ], + [ + 1200.3176600469506, + 117.53754189501754 + ], + [ + 1148.1996977105678, + 109.6681363605849 + ], + [ + 1149.8536778239322, + 134.71718986474792 + ], + [ + 1253.4769853725243, + 31.460942423806785 + ], + [ + 1247.2322904947941, + 8.382672709444023 + ], + [ + 1190.1714613157264, + 1.3488965274065094 + ], + [ + 1193.8156341399767, + 23.789629962263746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.9548351063131, + "ymin": 0.0, + "xmax": 962.7695998826466, + "ymax": 108.59479717674503 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 921.1200772339523, + 108.59479717674503 + ], + [ + 922.489177693838, + 104.05943546264896 + ], + [ + 834.9263070906359, + 90.19357687535717 + ], + [ + 832.9548351063131, + 94.5251926870659 + ], + [ + 961.5447774804143, + -80.1578297125514 + ], + [ + 962.7695998826466, + -83.75468867649045 + ], + [ + 862.0044209605501, + -94.70432808679982 + ], + [ + 859.980198418488, + -91.29129816790174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 641.8674400283265, + "xmax": 621.6657367566874, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 611.7359010024068, + 1193.642358161463 + ], + [ + 621.6657367566874, + 1160.4175572698753 + ], + [ + 39.13945442892316, + 880.2367259583506 + ], + [ + 21.286100713002497, + 903.1653026902925 + ], + [ + 594.7856280723115, + 1057.1665448248589 + ], + [ + 611.0098591592769, + 1008.8438293588107 + ], + [ + -225.617054219956, + 641.8674400283265 + ], + [ + -257.86934477638135, + 669.4295975198612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 2726195396270344905, + "instance_id": 51658, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4965_0", + "bbox_3d": { + "center_world": { + "x": 63.174720764160156, + "y": 43.399871826171875, + "z": 8.201586723327637 + }, + "extent": { + "x": 2.1392483711242676, + "y": 2.147730827331543, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.76763926269905, + "ymax": 38.41076986612512 + }, + "corners_3d": [ + [ + 62.5942268371582, + 40.369041442871094, + 0.5935915112495422 + ], + [ + 60.12723922729492, + 43.88542938232422, + 0.5935915112495422 + ], + [ + 63.62956237792969, + 46.34254837036133, + 0.5505558848381042 + ], + [ + 66.09654998779297, + 42.8261604309082, + 0.5505558848381042 + ], + [ + 62.719879150390625, + 40.45719528198242, + 15.852617263793945 + ], + [ + 60.25289535522461, + 43.97358322143555, + 15.852617263793945 + ], + [ + 63.75521469116211, + 46.430702209472656, + 15.809581756591797 + ], + [ + 66.22219848632812, + 42.91431427001953, + 15.809581756591797 + ] + ], + "corners_2d": [ + [ + -28.07679662803389, + 38.41076986612512 + ], + [ + 68.76763926269905, + 17.313821521064256 + ], + [ + 51.56070451531616, + -9.119950083925687 + ], + [ + -40.67015662402059, + 9.826702120230664 + ], + [ + -221.36540063707173, + -361.7853901591734 + ], + [ + -88.7224609452594, + -368.9806042935322 + ], + [ + -99.95159469022633, + -376.74799886206836 + ], + [ + -224.00149036886842, + -370.42133068701276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 991.9402226309, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 31.499040177622703 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 1012.3730014832687, + 21.926228919137998 + ], + [ + 1179.1047741878556, + 31.499040177622703 + ], + [ + 1139.4659094796755, + -29.638363242180958 + ], + [ + 991.9402226309, + -37.18116708133448 + ], + [ + 1088.534590899526, + -264.27019395755576 + ], + [ + 1291.774198008693, + -258.94199290102586 + ], + [ + 1229.8916721764513, + -292.3074251571743 + ], + [ + 1054.4750916044627, + -296.3172751397425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3913339695795, + "ymin": 108.56163771980587, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1187.052933670149, + 856.5000429777303 + ], + [ + 1104.6851692626108, + 556.5246104278783 + ], + [ + 806.857812554392, + 525.4065017711243 + ], + [ + 805.3913339695795, + 805.7998257778852 + ], + [ + 1581.9919166967447, + 448.8123878149747 + ], + [ + 1330.5894526443699, + 136.16137066234313 + ], + [ + 884.5017094090638, + 108.56163771980587 + ], + [ + 917.356201344821, + 389.18469863960536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.6727683059378, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 131.9029869410378 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1166.7459124647942, + 131.9029869410378 + ], + [ + 1125.3708532534665, + 57.161926340394416 + ], + [ + 964.6727683059378, + 48.26264573075633 + ], + [ + 984.4545455238504, + 120.5200038774964 + ], + [ + 1295.7186093518249, + -183.7817561486131 + ], + [ + 1227.4251023611787, + -229.64370939223681 + ], + [ + 1031.6429211409543, + -234.93517861085195 + ], + [ + 1066.9353227745833, + -190.93496228186757 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00128/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00128/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dba741823ab9535c39b318079e7bd0d9bcf18055 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00128/meta.json @@ -0,0 +1,2146 @@ +{ + "frame_id": 128, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 64.0, + "sim_timestamp": 8300.508929803502 + }, + "drone_pose": { + "x": 18.187666804537283, + "y": 10.547085770116011, + "z": 19.915014494333544, + "pitch": -47.23393373086688, + "yaw": 70.57912990493953, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.22577285766601562, + -0.6403723359107971, + 0.7341321110725403, + -25.480594635009766 + ], + [ + 0.943101704120636, + 0.33250463008880615, + 0.0, + 13.645861625671387 + ], + [ + -0.244102343916893, + 0.6923611760139465, + 0.6790066957473755, + -1.7803831100463867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 18.295888817107333, + "y": 11.015585608557807, + "z": 19.822351517207256 + }, + "t1_image_uv": [ + 771.3854533084827, + -344.13394786592414 + ], + "t1_depth": 0.3924747573505041 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 30.312236785888672, + "z": 0.9847701239582602 + }, + "image_uv": [ + 650.4351758171515, + 276.0623702954018 + ], + "depth": 28.054649589658766, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 564, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 30.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.37212279438972473, + "y": 0.5712915062904358, + "z": 0.9156635999679565 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.4138693097348, + "ymin": 239.8933742572508, + "xmax": 673.7836734846761, + "ymax": 311.45362497575496 + }, + "corners_3d": [ + [ + 25.40410804748535, + 29.94011116027832, + 0.06910651922225952 + ], + [ + 24.261526107788086, + 29.940113067626953, + 0.06910651922225952 + ], + [ + 24.261526107788086, + 30.684358596801758, + 0.06910651922225952 + ], + [ + 25.40410804748535, + 30.684356689453125, + 0.06910651922225952 + ], + [ + 25.40410804748535, + 29.94011116027832, + 1.9004337787628174 + ], + [ + 24.261526107788086, + 29.940113067626953, + 1.9004337787628174 + ], + [ + 24.261526107788086, + 30.684358596801758, + 1.9004337787628174 + ], + [ + 25.40410804748535, + 30.684356689453125, + 1.9004337787628174 + ] + ], + "corners_2d": [ + [ + 628.0051585443878, + 302.5351029430317 + ], + [ + 664.3729088162315, + 311.45362497575496 + ], + [ + 672.2085692183039, + 295.10130984380555 + ], + [ + 636.367088036788, + 286.4738705921783 + ], + [ + 627.4138693097348, + 255.93236157886741 + ], + [ + 665.5858511359688, + 264.8497216843598 + ], + [ + 673.7836734846761, + 248.5056455570589 + ], + [ + 636.1910783211079, + 239.8933742572508 + ] + ], + "center_offset_px": [ + 10.435175817151503, + -83.93762970459818 + ] + }, + "trace_timestep_index": 128, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 358897, + "2": 274711, + "3": 39465, + "5": 1578, + "6": 3142, + "9": 118549, + "10": 91119, + "12": 3322, + "14": 9397, + "20": 6110, + "24": 15310 + }, + "instance_pixel_counts": { + "3485": 31, + "4224": 236, + "6289": 44, + "7299": 565, + "9557": 77, + "17502": 72913, + "19038": 17875, + "20061": 5, + "20378": 32408, + "20573": 33575, + "20890": 24410, + "21085": 117712, + "21402": 16806, + "21914": 18816, + "23421": 180, + "25693": 957, + "34899": 2678, + "35442": 4923, + "36764": 254460, + "36978": 394, + "37276": 104013, + "39073": 963, + "40531": 184, + "42145": 435, + "42657": 146, + "43008": 564, + "43264": 247, + "43520": 203, + "43776": 586, + "44032": 1050, + "44288": 672, + "44544": 1961, + "44705": 848, + "45388": 1454, + "45434": 10469, + "45644": 1622, + "46848": 7436, + "47002": 726, + "49778": 34148, + "51309": 118549, + "51612": 4810, + "58697": 1578, + "60796": 10375, + "61308": 8320, + "61820": 4725, + "62844": 5696, + "63386": 424 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 564, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 30.31223487854004, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3637744188308716, + "y": 0.5358898639678955, + "z": 0.9243011474609375 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 628.6830267656231, + "ymin": 240.10436172374528, + "xmax": 672.5252806798221, + "ymax": 311.1978437862603 + }, + "corners_3d": [ + [ + 25.36870765686035, + 29.94845962524414, + 0.060468971729278564 + ], + [ + 24.296926498413086, + 29.948461532592773, + 0.060468971729278564 + ], + [ + 24.296926498413086, + 30.676010131835938, + 0.060468971729278564 + ], + [ + 25.36870765686035, + 30.676008224487305, + 0.060468971729278564 + ], + [ + 25.36870765686035, + 29.94845962524414, + 1.9090712070465088 + ], + [ + 24.296926498413086, + 29.948461532592773, + 1.9090712070465088 + ], + [ + 24.296926498413086, + 30.676010131835938, + 1.9090712070465088 + ], + [ + 25.36870765686035, + 30.676008224487305, + 1.9090712070465088 + ] + ], + "corners_2d": [ + [ + 629.2196376408205, + 302.8352084518984 + ], + [ + 663.3205383893268, + 311.1978437862603 + ], + [ + 670.9950191250759, + 295.2215000374717 + ], + [ + 637.3764833347184, + 287.12572105419787 + ], + [ + 628.6830267656231, + 255.79229299624703 + ], + [ + 664.4917527632128, + 264.1536604690661 + ], + [ + 672.5252806798221, + 248.18590907323534 + ], + [ + 637.24808741816, + 240.10436172374528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 247, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.265087127685547, + "y": 33.75897216796875, + "z": 0.9847944974899292 + }, + "extent": { + "x": 0.2412659078836441, + "y": 0.23132570087909698, + "z": 0.5910016298294067 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 575.5018447978267, + "ymin": 164.29132917025711, + "xmax": 593.6768273722171, + "ymax": 204.18279055271347 + }, + "corners_3d": [ + [ + 28.44119644165039, + 33.474884033203125, + 0.39379286766052246 + ], + [ + 27.98865509033203, + 33.571075439453125, + 0.39379286766052246 + ], + [ + 28.088977813720703, + 34.043060302734375, + 0.39379286766052246 + ], + [ + 28.541519165039062, + 33.946868896484375, + 0.39379286766052246 + ], + [ + 28.44119644165039, + 33.474884033203125, + 1.575796127319336 + ], + [ + 27.98865509033203, + 33.571075439453125, + 1.575796127319336 + ], + [ + 28.088977813720703, + 34.043060302734375, + 1.575796127319336 + ], + [ + 28.541519165039062, + 33.946868896484375, + 1.575796127319336 + ] + ], + "corners_2d": [ + [ + 577.2883376623283, + 203.04036191392368 + ], + [ + 591.2835691737439, + 204.18279055271347 + ], + [ + 593.6768273722171, + 195.11690817634272 + ], + [ + 579.8221779815802, + 193.99782629668076 + ], + [ + 575.5018447978267, + 173.27461148382758 + ], + [ + 589.8939132099998, + 174.40992789317303 + ], + [ + 592.3694037479377, + 165.40279323514014 + ], + [ + 578.1259596581525, + 164.29132917025711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 203, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 37.254947662353516, + "z": 0.6540580987930298 + }, + "extent": { + "x": 0.28896480798721313, + "y": 0.21593137085437775, + "z": 0.6141794919967651 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 771.7399083487605, + "ymin": 145.71026933813195, + "xmax": 790.8232195522146, + "ymax": 187.74318994330008 + }, + "corners_3d": [ + [ + 22.761537551879883, + 36.94499588012695, + 0.03987854719161987 + ], + [ + 22.332040786743164, + 36.990135192871094, + 0.03987854719161987 + ], + [ + 22.3924503326416, + 37.56489944458008, + 0.03987854719161987 + ], + [ + 22.82194709777832, + 37.51976013183594, + 0.03987854719161987 + ], + [ + 22.761537551879883, + 36.94499588012695, + 1.268237590789795 + ], + [ + 22.332040786743164, + 36.990135192871094, + 1.268237590789795 + ], + [ + 22.3924503326416, + 37.56489944458008, + 1.268237590789795 + ], + [ + 22.82194709777832, + 37.51976013183594, + 1.268237590789795 + ] + ], + "corners_2d": [ + [ + 771.7399083487605, + 185.9318139351486 + ], + [ + 784.4395768478804, + 187.74318994330008 + ], + [ + 786.6818751612203, + 177.6818472485344 + ], + [ + 774.1248653064152, + 175.9122887986022 + ], + [ + 775.4962747179543, + 155.6509746548899 + ], + [ + 788.5669377173645, + 157.44880307047595 + ], + [ + 790.8232195522146, + 147.46542940255844 + ], + [ + 777.9036288305722, + 145.71026933813195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 586, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 30.31223487854004, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4204748570919037, + "y": 0.6210046410560608, + "z": 0.9415895342826843 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 951.0129018394717, + "ymin": 310.24225437074256, + "xmax": 1020.0750923676014, + "ymax": 390.98839772693907 + }, + "corners_3d": [ + [ + 15.953821182250977, + 29.891759872436523, + 0.1997724175453186 + ], + [ + 14.711812019348145, + 29.891759872436523, + 0.1997724175453186 + ], + [ + 14.711812973022461, + 30.732709884643555, + 0.1997724175453186 + ], + [ + 15.953822135925293, + 30.732709884643555, + 0.1997724175453186 + ], + [ + 15.953821182250977, + 29.891759872436523, + 2.082951545715332 + ], + [ + 14.711812019348145, + 29.891759872436523, + 2.082951545715332 + ], + [ + 14.711812973022461, + 30.732709884643555, + 2.082951545715332 + ], + [ + 15.953822135925293, + 30.732709884643555, + 2.082951545715332 + ] + ], + "corners_2d": [ + [ + 951.0129018394717, + 379.61611285728685 + ], + [ + 997.4797529106868, + 390.98839772693907 + ], + [ + 1000.332402787805, + 369.36013004632986 + ], + [ + 954.766200960709, + 358.4410441665541 + ], + [ + 968.2294768012132, + 331.5501987194424 + ], + [ + 1017.4932786465762, + 343.01335343276486 + ], + [ + 1020.0750923676014, + 321.22396320312936 + ], + [ + 971.8227580128735, + 310.24225437074256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1050, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 19.18487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.46372196078300476, + "y": 0.4516961872577667, + "z": 0.9337673783302307 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 610.3330468752746, + "ymin": 600.6604272330295, + "xmax": 670.664926034784, + "ymax": 696.9241742397606 + }, + "corners_3d": [ + [ + 21.715009689331055, + 18.77090835571289, + 0.20340019464492798 + ], + [ + 20.816566467285156, + 18.67647933959961, + 0.20340019464492798 + ], + [ + 20.719621658325195, + 19.59884262084961, + 0.20340019464492798 + ], + [ + 21.618064880371094, + 19.69327163696289, + 0.20340019464492798 + ], + [ + 21.715009689331055, + 18.77090835571289, + 2.070935010910034 + ], + [ + 20.816566467285156, + 18.67647933959961, + 2.070935010910034 + ], + [ + 20.719621658325195, + 19.59884262084961, + 2.070935010910034 + ], + [ + 21.618064880371094, + 19.69327163696289, + 2.070935010910034 + ] + ], + "corners_2d": [ + [ + 612.3138917264577, + 679.2935597637929 + ], + [ + 650.5964008321583, + 696.9241742397606 + ], + [ + 668.6474586193287, + 659.3995572002311 + ], + [ + 631.1715306871976, + 642.7123662790287 + ], + [ + 610.3330468752746, + 638.6107272678016 + ], + [ + 651.3650992016438, + 656.9535128982859 + ], + [ + 670.664926034784, + 617.9540255140139 + ], + [ + 630.5580919614736, + 600.6604272330295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 672, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 22.14202117919922, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.34125974774360657, + "y": 0.3629394471645355, + "z": 0.8717139363288879 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 114.10237533292172, + "ymin": 341.3797174574176, + "xmax": 178.62638635809117, + "ymax": 412.4716814416005 + }, + "corners_3d": [ + [ + 36.504112243652344, + 21.883678436279297, + 0.11306107044219971 + ], + [ + 35.79409408569336, + 21.732759475708008, + 0.11306107044219971 + ], + [ + 35.652191162109375, + 22.40036392211914, + 0.11306107044219971 + ], + [ + 36.36220932006836, + 22.55128288269043, + 0.11306107044219971 + ], + [ + 36.504112243652344, + 21.883678436279297, + 1.8564889430999756 + ], + [ + 35.79409408569336, + 21.732759475708008, + 1.8564889430999756 + ], + [ + 35.652191162109375, + 22.40036392211914, + 1.8564889430999756 + ], + [ + 36.36220932006836, + 22.55128288269043, + 1.8564889430999756 + ] + ], + "corners_2d": [ + [ + 140.0584665732764, + 401.667461375298 + ], + [ + 158.216071007175, + 412.4716814416005 + ], + [ + 178.62638635809117, + 395.9308408533313 + ], + [ + 160.54233753827833, + 385.4503460069263 + ], + [ + 114.10237533292172, + 357.73180772941686 + ], + [ + 132.93923469659734, + 368.6401150464963 + ], + [ + 154.80652651192082, + 351.9445268087546 + ], + [ + 136.04275998340268, + 341.3797174574176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 174, + "instance_id": 44544, + "pixel_count": 1961, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 28.082000732421875, + "y": 12.414190292358398, + "z": 1.045303225517273 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 662.947798314322, + "xmax": 321.83367030689857, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 29.24872398376465, + 9.266867637634277, + -0.003792362054809928 + ], + [ + 26.85924530029297, + 9.288209915161133, + -0.003792362054809928 + ], + [ + 26.9152774810791, + 15.56151294708252, + -0.003792362054809928 + ], + [ + 29.30475616455078, + 15.540170669555664, + -0.003792362054809928 + ], + [ + 29.24872398376465, + 9.266867637634277, + 2.0943989753723145 + ], + [ + 26.85924530029297, + 9.288209915161133, + 2.0943989753723145 + ], + [ + 26.9152774810791, + 15.56151294708252, + 2.0943989753723145 + ], + [ + 29.30475616455078, + 15.540170669555664, + 2.0943989753723145 + ] + ], + "corners_2d": [ + [ + 0.5668704117914558, + 1049.7264765415039 + ], + [ + 116.82718677472621, + 1107.3141285031609 + ], + [ + 321.83367030689857, + 744.0455170013599 + ], + [ + 223.31635584356735, + 707.2682522379196 + ], + [ + -66.16349111226384, + 1029.0438764386734 + ], + [ + 60.212772863772216, + 1092.099286438029 + ], + [ + 295.00050938431673, + 701.55079425432 + ], + [ + 189.15794279164157, + 662.947798314322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 7436, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 390.1015787906424, + "ymin": 139.6598460188938, + "xmax": 526.7157103121756, + "ymax": 282.5121711748254 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 526.7157103121756, + 189.64543649859218 + ], + [ + 469.8795264670091, + 176.97496145904458 + ], + [ + 399.4018169406848, + 267.0082979358283 + ], + [ + 461.1654181360348, + 282.5121711748254 + ], + [ + 522.7079354557645, + 152.20597309201625 + ], + [ + 463.9519586211048, + 139.6598460188938 + ], + [ + 390.1015787906424, + 229.09172452790256 + ], + [ + 454.13475221522236, + 244.55855388440358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.7503165246715, + "ymin": 195.007355766857, + "xmax": 844.682454547625, + "ymax": 486.5119309876945 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 792.6814234619895, + 486.5119309876945 + ], + [ + 796.687822868155, + 473.0201866276659 + ], + [ + 653.2402062491159, + 433.3970454376595 + ], + [ + 647.7503165246715, + 445.97076613346644 + ], + [ + 840.1675854861949, + 249.70465214565832 + ], + [ + 844.682454547625, + 235.66444960084505 + ], + [ + 657.1152978504899, + 195.007355766857 + ], + [ + 650.0519342887634, + 207.81697056768334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.9729112166607, + "ymin": 204.64032197113428, + "xmax": 679.7790366301946, + "ymax": 221.70748140842434 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 675.1619919451335, + 221.70748140842434 + ], + [ + 679.6169726574659, + 213.05680246415346 + ], + [ + 660.5906103286153, + 208.87076026949202 + ], + [ + 655.9729112166607, + 217.4399546225174 + ], + [ + 675.3072339203069, + 217.46857782885155 + ], + [ + 679.7790366301946, + 208.82343749705421 + ], + [ + 660.6744444606518, + 204.64032197113428 + ], + [ + 656.0385755045703, + 213.20369750761802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8449886556489, + "ymin": 204.54926385951046, + "xmax": 679.9074748172906, + "ymax": 221.80015471617656 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 675.2411756054901, + 221.80015471617656 + ], + [ + 679.7431475284503, + 213.05583325732408 + ], + [ + 660.5131953061273, + 208.82513510643997 + ], + [ + 655.8449886556489, + 217.48620894931872 + ], + [ + 675.3883244585392, + 217.51563511431834 + ], + [ + 679.9074748172906, + 208.77697052355722 + ], + [ + 660.597607493053, + 204.54926385951046 + ], + [ + 655.9108305664803, + 213.2043914839839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13497489558150286932, + "instance_id": 21646, + "pixel_count": null, + "type_id": "BP_StreetLight_wall8_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 27.049589157104492, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 139.65548405853676, + "xmax": 28.270173354709755, + "ymax": 160.7735565518202 + }, + "corners_3d": [ + [ + 44.67703628540039, + 26.990747451782227, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 26.99074363708496, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 27.108430862426758, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 27.108434677124023, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 26.990747451782227, + 3.247763156890869 + ], + [ + 43.5294303894043, + 26.99074363708496, + 3.247763156890869 + ], + [ + 43.5294303894043, + 27.108430862426758, + 3.247763156890869 + ], + [ + 44.67703628540039, + 27.108434677124023, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + -4.922100351147492, + 153.2925797063492 + ], + [ + 25.363943603698544, + 160.7735565518202 + ], + [ + 28.270173354709755, + 158.58374263632197 + ], + [ + -1.963354818088419, + 151.14160602887887 + ], + [ + -11.693854235203162, + 141.79893057535807 + ], + [ + 18.8514981774307, + 149.25463545703388 + ], + [ + 21.805623162932648, + 147.07207321312686 + ], + [ + -8.686416012296604, + 139.65548405853676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.07138486715382, + "ymin": 56.379326594465226, + "xmax": 166.02962138191185, + "ymax": 75.56996443110216 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 134.91182492245042, + 69.43020352795679 + ], + [ + 163.70596637204744, + 75.56996443110216 + ], + [ + 166.02962138191185, + 73.77373688514382 + ], + [ + 137.28467308788697, + 67.66309456832903 + ], + [ + 130.07138486715382, + 58.136371054619474 + ], + [ + 159.1036103748997, + 64.24178219421276 + ], + [ + 161.46074141130697, + 62.45550440911563 + ], + [ + 132.47847295997337, + 56.379326594465226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.4797410997376, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 62.833665438328296 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1222.5132422930321, + 62.833665438328296 + ], + [ + 1219.3464413205922, + 34.92189417866291 + ], + [ + 1165.4797410997376, + 26.55504540381503 + ], + [ + 1166.5245171905935, + 53.80293793960095 + ], + [ + 1281.1237732320978, + -56.405169688091064 + ], + [ + 1275.2300765370555, + -82.08308897575301 + ], + [ + 1215.5158355362769, + -89.74257404200034 + ], + [ + 1218.7916957725106, + -64.73442459967754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.57427704499, + "ymin": 0.0, + "xmax": 979.1428897792384, + "ymax": 26.24170064466773 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 929.3594547013192, + 26.24170064466773 + ], + [ + 930.8313379997901, + 21.28506455241819 + ], + [ + 839.6473227216541, + 6.460926156990297 + ], + [ + 837.57427704499, + 11.208906597253133 + ], + [ + 977.8243105927224, + -178.37640183074438 + ], + [ + 979.1428897792384, + -182.47687638059426 + ], + [ + 871.9947723403141, + -194.6830075584022 + ], + [ + 869.8441963671371, + -190.78287723820858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 623.9281798959834, + "xmax": 628.7474025436902, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 619.4622175878911, + 1128.210333944103 + ], + [ + 628.7474025436902, + 1096.7566525357643 + ], + [ + 47.265884088031726, + 831.3369278127266 + ], + [ + 30.648892344729006, + 854.0257145672213 + ], + [ + 605.8968407797158, + 1049.1449180581697 + ], + [ + 621.5274504602775, + 999.7701219140733 + ], + [ + -247.84919634180983, + 623.9281798959834 + ], + [ + -279.6226847970653, + 653.4641565595643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.4432867673681, + "ymin": 44.425397613962616, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1184.1488508957018, + 798.1009577196289 + ], + [ + 1109.5921933481745, + 498.0982986009702 + ], + [ + 809.4000783324148, + 468.0328462255153 + ], + [ + 807.4432867673681, + 751.0467254503997 + ], + [ + 1635.4476829648672, + 425.04090405193494 + ], + [ + 1375.1361893554465, + 74.09398459320016 + ], + [ + 901.4129632033969, + 44.425397613962616 + ], + [ + 938.4250391553275, + 362.3743798362708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 975.3179393966195, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.32301162316395 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1183.7921209023082, + 50.32301162316395 + ], + [ + 1142.824246734941, + -31.09001905709374 + ], + [ + 975.3179393966195, + -40.29141647349394 + ], + [ + 994.8854025390638, + 38.680506376338485 + ], + [ + 1340.4769138110837, + -294.7432795624501 + ], + [ + 1267.4928083513453, + -348.20205116369857 + ], + [ + 1056.9848866432615, + -354.0349098099807 + ], + [ + 1095.0437456208965, + -302.5982393832278 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00132/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00132/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..984a9a476ae75bbc4f57c8db5d4ba34148956393 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00132/meta.json @@ -0,0 +1,1834 @@ +{ + "frame_id": 132, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 66.0, + "sim_timestamp": 8349.339334582444 + }, + "drone_pose": { + "x": 18.716116957362015, + "y": 12.369831337866552, + "z": 20.138237209177497, + "pitch": -47.46402039956969, + "yaw": 74.39704201922704, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.181837797164917, + -0.6511396169662476, + 0.7368528842926025, + -26.296703338623047 + ], + [ + 0.9631487131118774, + 0.2689695954322815, + -2.9802322387695312e-08, + 14.699297904968262 + ], + [ + -0.19819098711013794, + 0.7096989154815674, + 0.6760530471801758, + -1.1262941360473633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 19.00649926132667, + "y": 12.755189894017416, + "z": 20.0 + }, + "t1_image_uv": [ + 223.34187335547244, + -202.3496447650009 + ], + "t1_depth": 0.4055851604823585 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 32.31223678588867, + "z": 0.9847701239582602 + }, + "image_uv": [ + 622.0531212096472, + 277.76368653872396 + ], + "depth": 28.21082535065112, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 323, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 32.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.4035937488079071, + "y": 0.36997923254966736, + "z": 0.9312033653259277 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 605.1434364643653, + "ymin": 242.61664308191197, + "xmax": 637.9378912948025, + "ymax": 312.03447151507953 + }, + "corners_3d": [ + [ + 25.202796936035156, + 31.90864372253418, + 0.05356675386428833 + ], + [ + 24.46283721923828, + 31.90864372253418, + 0.05356675386428833 + ], + [ + 24.46283721923828, + 32.7158317565918, + 0.05356675386428833 + ], + [ + 25.202796936035156, + 32.7158317565918, + 0.05356675386428833 + ], + [ + 25.202796936035156, + 31.90864372253418, + 1.915973424911499 + ], + [ + 24.46283721923828, + 31.90864372253418, + 1.915973424911499 + ], + [ + 24.46283721923828, + 32.7158317565918, + 1.915973424911499 + ], + [ + 25.202796936035156, + 32.7158317565918, + 1.915973424911499 + ] + ], + "corners_2d": [ + [ + 606.8100535471289, + 307.3541064847614 + ], + [ + 630.6039360283122, + 312.03447151507953 + ], + [ + 637.9378912948025, + 293.99766924634395 + ], + [ + 614.5381324424131, + 289.48450752408297 + ], + [ + 605.1434364643653, + 260.48219602624823 + ], + [ + 630.1297827774487, + 265.1668347822745 + ], + [ + 637.8358042197302, + 247.12573954350924 + ], + [ + 613.2837022063159, + 242.61664308191197 + ] + ], + "center_offset_px": [ + -17.946878790352798, + -82.23631346127604 + ] + }, + "trace_timestep_index": 132, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 351845, + "2": 265505, + "3": 32178, + "5": 660, + "6": 3387, + "9": 130728, + "10": 103287, + "12": 3275, + "14": 8459, + "20": 7056, + "24": 15220 + }, + "instance_pixel_counts": { + "3485": 134, + "4224": 252, + "6289": 50, + "7299": 552, + "9557": 74, + "17502": 100688, + "19038": 2289, + "20061": 54, + "20378": 28298, + "20573": 32484, + "20890": 18132, + "21085": 112170, + "21402": 21972, + "21914": 20627, + "23421": 433, + "25693": 1611, + "34899": 2849, + "35442": 5774, + "36764": 225485, + "36978": 2275, + "37276": 123372, + "39073": 957, + "40531": 236, + "42145": 443, + "42657": 198, + "43008": 323, + "43264": 242, + "43520": 177, + "43776": 666, + "44032": 1078, + "44288": 789, + "44705": 864, + "45388": 2134, + "45434": 9389, + "45644": 1834, + "46848": 8459, + "47002": 1479, + "49266": 55, + "49778": 24074, + "51309": 130728, + "51612": 5697, + "58697": 660, + "60796": 9139, + "61308": 6763, + "61820": 6012, + "62844": 6331, + "63386": 2988 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 323, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 32.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.40272581577301025, + "y": 0.49686399102211, + "z": 0.9316180944442749 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 600.8921615278258, + "ymin": 241.85572090848825, + "xmax": 642.0617876477029, + "ymax": 312.8316223282902 + }, + "corners_3d": [ + [ + 25.329681396484375, + 31.90951156616211, + 0.05315202474594116 + ], + [ + 24.335952758789062, + 31.90951156616211, + 0.05315202474594116 + ], + [ + 24.335952758789062, + 32.714962005615234, + 0.05315202474594116 + ], + [ + 25.329681396484375, + 32.714962005615234, + 0.05315202474594116 + ], + [ + 25.329681396484375, + 31.90951156616211, + 1.9163882732391357 + ], + [ + 24.335952758789062, + 31.90951156616211, + 1.9163882732391357 + ], + [ + 24.335952758789062, + 32.714962005615234, + 1.9163882732391357 + ], + [ + 25.329681396484375, + 32.714962005615234, + 1.9163882732391357 + ] + ], + "corners_2d": [ + [ + 602.7613209209935, + 306.54635235350077 + ], + [ + 634.7145304982979, + 312.8316223282902 + ], + [ + 641.9644098356961, + 294.8048184287282 + ], + [ + 610.5393451200555, + 288.7436100327876 + ], + [ + 600.8921615278258, + 259.65301891291733 + ], + [ + 634.4474671939652, + 265.9440206940485 + ], + [ + 642.0617876477029, + 247.91148112996285 + ], + [ + 609.0884164436911, + 241.85572090848825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 242, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 35.309940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.21113893389701843, + "y": 0.2760486304759979, + "z": 0.6144307851791382 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 513.9031665711909, + "ymin": 173.57017412890767, + "xmax": 536.1783771389756, + "ymax": 213.02759702037008 + }, + "corners_3d": [ + [ + 29.184921264648438, + 35.0460205078125, + 0.3703344464302063 + ], + [ + 28.644887924194336, + 35.16080856323242, + 0.3703344464302063 + ], + [ + 28.732685089111328, + 35.57386016845703, + 0.3703344464302063 + ], + [ + 29.27271842956543, + 35.45907211303711, + 0.3703344464302063 + ], + [ + 29.184921264648438, + 35.0460205078125, + 1.599195957183838 + ], + [ + 28.644887924194336, + 35.16080856323242, + 1.599195957183838 + ], + [ + 28.732685089111328, + 35.57386016845703, + 1.599195957183838 + ], + [ + 29.27271842956543, + 35.45907211303711, + 1.599195957183838 + ] + ], + "corners_2d": [ + [ + 517.5586606262166, + 212.35223645123904 + ], + [ + 534.4144197984699, + 213.02759702037008 + ], + [ + 536.1783771389756, + 204.89189864493116 + ], + [ + 519.4736700527728, + 204.22869700801746 + ], + [ + 513.9031665711909, + 181.64823272284735 + ], + [ + 531.2597158247358, + 182.32000849580427 + ], + [ + 533.1052684582696, + 174.22949932674888 + ], + [ + 515.9088371716615, + 173.57017412890767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 177, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 39.254947662353516, + "z": 0.6797736883163452 + }, + "extent": { + "x": 0.2752343416213989, + "y": 0.3466564416885376, + "z": 0.5664218664169312 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 731.4093020872161, + "ymin": 142.90037039729975, + "xmax": 756.0218340326201, + "ymax": 182.1651381131668 + }, + "corners_3d": [ + [ + 22.892982482910156, + 38.944984436035156, + 0.11335188150405884 + ], + [ + 22.203466415405273, + 39.0174560546875, + 0.11335188150405884 + ], + [ + 22.261005401611328, + 39.564910888671875, + 0.11335188150405884 + ], + [ + 22.95052146911621, + 39.49243927001953, + 0.11335188150405884 + ], + [ + 22.892982482910156, + 38.944984436035156, + 1.2461955547332764 + ], + [ + 22.203466415405273, + 39.0174560546875, + 1.2461955547332764 + ], + [ + 22.261005401611328, + 39.564910888671875, + 1.2461955547332764 + ], + [ + 22.95052146911621, + 39.49243927001953, + 1.2461955547332764 + ] + ], + "corners_2d": [ + [ + 731.4093020872161, + 180.0959468999804 + ], + [ + 751.6715289447187, + 182.1651381131668 + ], + [ + 753.0966012843633, + 172.5395707229019 + ], + [ + 733.0550531219881, + 170.51593744496188 + ], + [ + 733.7949388058014, + 152.41358978755662 + ], + [ + 754.5931197133506, + 154.4690760289091 + ], + [ + 756.0218340326201, + 144.9094379905263 + ], + [ + 735.4560959221931, + 142.90037039729975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 666, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 32.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.41825926303863525, + "y": 0.32048705220222473, + "z": 0.9394463300704956 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 933.2745244538503, + "ymin": 299.6403964780066, + "xmax": 975.3422044183737, + "ymax": 372.7787180749559 + }, + "corners_3d": [ + [ + 15.653304100036621, + 31.893978118896484, + 0.20191562175750732 + ], + [ + 15.012330055236816, + 31.893978118896484, + 0.20191562175750732 + ], + [ + 15.012330055236816, + 32.73049545288086, + 0.20191562175750732 + ], + [ + 15.653304100036621, + 32.73049545288086, + 0.20191562175750732 + ], + [ + 15.653304100036621, + 31.893978118896484, + 2.080808162689209 + ], + [ + 15.012330055236816, + 31.893978118896484, + 2.080808162689209 + ], + [ + 15.012330055236816, + 32.73049545288086, + 2.080808162689209 + ], + [ + 15.653304100036621, + 32.73049545288086, + 2.080808162689209 + ] + ], + "corners_2d": [ + [ + 933.2745244538503, + 368.1805433901939 + ], + [ + 956.725731932884, + 372.7787180749559 + ], + [ + 958.3199287154229, + 351.6273331077659 + ], + [ + 935.3282843803022, + 347.2106001244963 + ], + [ + 949.2211958282168, + 320.7329243943573 + ], + [ + 974.0267492805666, + 325.36407780236954 + ], + [ + 975.3422044183737, + 304.07915982797795 + ], + [ + 951.0502945760697, + 299.6403964780066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 1078, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 21.18487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.40345704555511475, + "y": 0.5723022818565369, + "z": 0.941748321056366 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 604.4185452000153, + "ymin": 602.4708948729592, + "xmax": 671.4534650572567, + "ymax": 695.512670990139 + }, + "corners_3d": [ + [ + 21.828655242919922, + 20.84345054626465, + 0.19541925191879272 + ], + [ + 20.69032096862793, + 20.723806381225586, + 0.19541925191879272 + ], + [ + 20.605976104736328, + 21.52630043029785, + 0.19541925191879272 + ], + [ + 21.74431037902832, + 21.645944595336914, + 0.19541925191879272 + ], + [ + 21.828655242919922, + 20.84345054626465, + 2.07891583442688 + ], + [ + 20.69032096862793, + 20.723806381225586, + 2.07891583442688 + ], + [ + 20.605976104736328, + 21.52630043029785, + 2.07891583442688 + ], + [ + 21.74431037902832, + 21.645944595336914, + 2.07891583442688 + ] + ], + "corners_2d": [ + [ + 606.7951504357777, + 676.5658515021994 + ], + [ + 656.1852368083128, + 695.512670990139 + ], + [ + 669.3748209023835, + 662.1389527781168 + ], + [ + 620.9850774332842, + 644.0902930143569 + ], + [ + 604.4185452000153, + 636.182221752506 + ], + [ + 657.3609539098015, + 655.9031761620497 + ], + [ + 671.4534650572567, + 621.1921629160246 + ], + [ + 619.6587941909128, + 602.4708948729592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 789, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 24.14202117919922, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.3300244212150574, + "y": 0.5586791634559631, + "z": 0.8766566514968872 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 78.09690790508057, + "ymin": 365.99991967594775, + "xmax": 156.03817762740738, + "ymax": 441.95018442162115 + }, + "corners_3d": [ + [ + 36.6932373046875, + 23.93536376953125, + 0.10811835527420044 + ], + [ + 35.60029602050781, + 23.703052520751953, + 0.10811835527420044 + ], + [ + 35.46306610107422, + 24.348678588867188, + 0.10811835527420044 + ], + [ + 36.556007385253906, + 24.580989837646484, + 0.10811835527420044 + ], + [ + 36.6932373046875, + 23.93536376953125, + 1.86143159866333 + ], + [ + 35.60029602050781, + 23.703052520751953, + 1.86143159866333 + ], + [ + 35.46306610107422, + 24.348678588867188, + 1.86143159866333 + ], + [ + 36.556007385253906, + 24.580989837646484, + 1.86143159866333 + ] + ], + "corners_2d": [ + [ + 106.49955476911441, + 426.49939643156165 + ], + [ + 136.80012467028627, + 441.95018442162115 + ], + [ + 156.03817762740738, + 424.52470449979216 + ], + [ + 125.9398323988487, + 409.5443129602781 + ], + [ + 78.09690790508057, + 383.148092102193 + ], + [ + 109.61858668148352, + 398.7990818515811 + ], + [ + 130.32103110867007, + 381.1494806848959 + ], + [ + 99.01096742933225, + 365.99991967594775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 8459, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 324.9638181241585, + "ymin": 184.49720351795037, + "xmax": 468.64295244994526, + "ymax": 338.27394324271745 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 468.64295244994526, + 233.15059437259038 + ], + [ + 408.2710081906934, + 221.83491272892343 + ], + [ + 337.35541668271185, + 324.24274850397353 + ], + [ + 403.64493478914216, + 338.27394324271745 + ], + [ + 462.2827379029353, + 195.7503963433012 + ], + [ + 399.77971133362547, + 184.49720351795037 + ], + [ + 324.9638181241585, + 286.71537669626554 + ], + [ + 393.82757500173113, + 300.78669401264307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.5913482054107, + "ymin": 262.3261599361952, + "xmax": 804.303148298474, + "ymax": 545.4474524334012 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 760.6757394441819, + 545.4474524334012 + ], + [ + 764.0583251821506, + 530.3442576287557 + ], + [ + 612.9036159016375, + 495.03821425117735 + ], + [ + 607.7991240310162, + 509.2724603405477 + ], + [ + 800.4694461476702, + 316.1539603354026 + ], + [ + 804.303148298474, + 299.87470694694997 + ], + [ + 604.4481543654009, + 262.3261599361952 + ], + [ + 597.5913482054107, + 277.37993297603373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.2449904714057, + "ymin": 272.1879966811499, + "xmax": 629.247585617549, + "ymax": 290.3863560907961 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 624.9786604185371, + 290.3863560907961 + ], + [ + 629.247585617549, + 280.2555855951928 + ], + [ + 608.8654402619903, + 276.3729049671054 + ], + [ + 604.4010852554788, + 286.42202773261386 + ], + [ + 624.9125249610435, + 286.2019609225846 + ], + [ + 629.2007384064191, + 276.0706421713038 + ], + [ + 608.7303373043947, + 272.1879966811499 + ], + [ + 604.2449904714057, + 282.2373078252191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.1092884876871, + "ymin": 272.0908883318218, + "xmax": 629.3811406518985, + "ymax": 290.48516317233515 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 625.0674194784451, + 290.48516317233515 + ], + [ + 629.3811406518985, + 280.2448414096611 + ], + [ + 608.781035703024, + 276.32078764534526 + ], + [ + 604.2676619721144, + 286.4776955446241 + ], + [ + 625.0009611801692, + 286.25578818904046 + ], + [ + 629.3343784361513, + 276.01490427381304 + ], + [ + 608.6441174860507, + 272.0908883318218 + ], + [ + 604.1092884876871, + 282.2479867596339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 36.13938423101729, + "ymin": 110.53111487914947, + "xmax": 76.34746493855869, + "ymax": 129.7568919270053 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 42.26929019841407, + 124.0506322627082 + ], + [ + 73.86464903831302, + 129.7568919270053 + ], + [ + 76.34746493855869, + 127.65214950968226 + ], + [ + 44.81570790026751, + 121.97518293803253 + ], + [ + 36.13938423101729, + 112.598163011689 + ], + [ + 68.01745904808149, + 118.28188405619392 + ], + [ + 70.54108680923287, + 116.18535941118179 + ], + [ + 38.72770827633178, + 110.53111487914947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.0750836398413, + "ymin": 0.0, + "xmax": 1219.8881717085978, + "ymax": 69.89256016123869 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1166.410741718796, + 69.89256016123869 + ], + [ + 1161.41451092297, + 40.79713051070917 + ], + [ + 1108.0750836398413, + 33.87903496110101 + ], + [ + 1110.9086893128792, + 62.412595882804624 + ], + [ + 1219.8881717085978, + -49.05724900930852 + ], + [ + 1212.1481018511786, + -75.96184740121953 + ], + [ + 1153.1437192747474, + -82.32822335400209 + ], + [ + 1158.2270035590673, + -55.994050230927144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.0966803428314, + "ymin": 0.0, + "xmax": 914.6667282847334, + "ymax": 41.594957726687085 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 873.5209229736502, + 41.594957726687085 + ], + [ + 874.7081792627723, + 36.293879297470255 + ], + [ + 781.9317162404576, + 23.690822316339222 + ], + [ + 780.0966803428314, + 28.807951200575758 + ], + [ + 913.6190686457336, + -164.31978628120885 + ], + [ + 914.6667282847334, + -168.76851500423675 + ], + [ + 805.603565174004, + -179.30067044701832 + ], + [ + 803.6591940332614, + -175.03190345736925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.7185023035024, + "ymin": 105.95130167116514, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1178.4939941620194, + 860.2141724337619 + ], + [ + 1083.3762258172155, + 537.5106096786554 + ], + [ + 776.7185023035024, + 522.4031628465025 + ], + [ + 790.7552083192031, + 836.1675803702311 + ], + [ + 1655.1254618885432, + 523.3612620278486 + ], + [ + 1345.5159342384309, + 121.70837842808257 + ], + [ + 855.9750565392878, + 105.95130167116514 + ], + [ + 920.3335275784312, + 488.38535731009733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.4051537807816, + "ymin": 0.0, + "xmax": 1269.3427011843614, + "ymax": 57.36290360775075 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1127.2468493960346, + 57.36290360775075 + ], + [ + 1081.7175125110214, + -26.324415022743892 + ], + [ + 915.4051537807816, + -30.743326869497423 + ], + [ + 939.6624242031498, + 51.75710251930201 + ], + [ + 1269.3427011843614, + -287.7593682284571 + ], + [ + 1192.4074568673739, + -343.8498785943676 + ], + [ + 983.8420210657528, + -346.7126970210089 + ], + [ + 1026.2040450566994, + -291.6313832825158 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00136/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00136/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dff2b6d4d2aafb452c749f6fa3ec98f72f66deb3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00136/meta.json @@ -0,0 +1,2885 @@ +{ + "frame_id": 136, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 68.0, + "sim_timestamp": 8403.665543138515 + }, + "drone_pose": { + "x": 19.494726473239215, + "y": 14.150254847248744, + "z": 20.0, + "pitch": -42.07834261148452, + "yaw": 73.62037730575926, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2093086838722229, + -0.712105393409729, + 0.6701462268829346, + -27.559812545776367 + ], + [ + 0.9594143629074097, + 0.28200018405914307, + 2.9802322387695312e-08, + 14.713144302368164 + ], + [ + -0.18898142874240875, + 0.6429479122161865, + 0.742229163646698, + -2.0625696182250977 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 19.6437544794765, + "y": 14.61388481185023, + "z": 20.0 + }, + "t1_image_uv": [ + 607.4926703931123, + -506.7676526771845 + ], + "t1_depth": 0.3613462479806607 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 34.31223678588867, + "z": 0.9847701239582602 + }, + "image_uv": [ + 659.1962086389171, + 364.8227592513395 + ], + "depth": 28.217746690108925, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 577, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 34.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.36470580101013184, + "y": 0.5626550316810608, + "z": 0.9190645217895508 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 637.2583631519011, + "ymin": 329.76455420061205, + "xmax": 681.7618884331014, + "ymax": 399.293468340235 + }, + "corners_3d": [ + [ + 25.395471572875977, + 33.947532653808594, + 0.06570559740066528 + ], + [ + 24.27016258239746, + 33.947532653808594, + 0.06570559740066528 + ], + [ + 24.27016258239746, + 34.67694091796875, + 0.06570559740066528 + ], + [ + 25.395471572875977, + 34.67694091796875, + 0.06570559740066528 + ], + [ + 25.395471572875977, + 33.947532653808594, + 1.903834581375122 + ], + [ + 24.27016258239746, + 33.947532653808594, + 1.903834581375122 + ], + [ + 24.27016258239746, + 34.67694091796875, + 1.903834581375122 + ], + [ + 25.395471572875977, + 34.67694091796875, + 1.903834581375122 + ] + ], + "corners_2d": [ + [ + 637.3760692339416, + 391.8553973397355 + ], + [ + 673.7770939190082, + 399.293468340235 + ], + [ + 679.9865004592411, + 383.0514470773017 + ], + [ + 644.1826697565867, + 375.8765993075854 + ], + [ + 637.2583631519011, + 345.5879114342847 + ], + [ + 675.3053989399039, + 352.9622387082455 + ], + [ + 681.7618884331014, + 336.8664842675341 + ], + [ + 644.3668156227932, + 329.76455420061205 + ] + ], + "center_offset_px": [ + 19.196208638917142, + 4.822759251339505 + ] + }, + "trace_timestep_index": 136, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 322357, + "2": 257442, + "3": 77605, + "5": 1004, + "6": 5397, + "9": 107676, + "10": 104882, + "12": 2396, + "14": 11478, + "16": 8698, + "20": 8285, + "24": 14380 + }, + "instance_pixel_counts": { + "3485": 1508, + "3925": 14, + "4224": 1164, + "6289": 50, + "7299": 568, + "8788": 190, + "9557": 73, + "17502": 103287, + "18526": 937, + "19038": 258, + "20061": 139, + "20378": 17260, + "20573": 35889, + "20890": 17994, + "21085": 71571, + "21402": 25262, + "21914": 23670, + "22909": 1629, + "23421": 2054, + "25181": 4715, + "25683": 34, + "25693": 18364, + "34899": 3363, + "35442": 6093, + "36764": 158264, + "36978": 3206, + "37276": 135747, + "39073": 995, + "40531": 596, + "42145": 474, + "42657": 375, + "43008": 577, + "43264": 239, + "43520": 176, + "43776": 677, + "44288": 727, + "44705": 894, + "45056": 8698, + "45388": 2623, + "45434": 6571, + "45644": 2242, + "46490": 5809, + "46848": 9421, + "47002": 6807, + "48640": 2057, + "49266": 6284, + "49539": 27, + "49778": 62022, + "51309": 107676, + "51612": 6301, + "58441": 357, + "58697": 647, + "60796": 5578, + "61308": 6809, + "61820": 6736, + "62844": 7156, + "63386": 28346 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 577, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 34.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3613683879375458, + "y": 0.517578125, + "z": 0.9235406517982483 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 638.8027091708277, + "ymin": 330.00051433883664, + "xmax": 680.2270220083473, + "ymax": 399.0255398729882 + }, + "corners_3d": [ + [ + 25.35039520263672, + 33.95086669921875, + 0.06122946739196777 + ], + [ + 24.31523895263672, + 33.95086669921875, + 0.06122946739196777 + ], + [ + 24.31523895263672, + 34.673606872558594, + 0.06122946739196777 + ], + [ + 25.35039520263672, + 34.673606872558594, + 0.06122946739196777 + ], + [ + 25.35039520263672, + 33.95086669921875, + 1.9083107709884644 + ], + [ + 24.31523895263672, + 33.95086669921875, + 1.9083107709884644 + ], + [ + 24.31523895263672, + 34.673606872558594, + 1.9083107709884644 + ], + [ + 25.35039520263672, + 34.673606872558594, + 1.9083107709884644 + ] + ], + "corners_2d": [ + [ + 638.8543698528255, + 392.184415733161 + ], + [ + 672.333004824298, + 399.0255398729882 + ], + [ + 678.5091520064152, + 382.9423426863288 + ], + [ + 645.5747266414342, + 376.3411174668964 + ], + [ + 638.8027091708277, + 345.6893882642236 + ], + [ + 673.802619047947, + 352.47154342663055 + ], + [ + 680.2270220083473, + 336.53436840520936 + ], + [ + 645.8214850303058, + 330.00051433883664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 239, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 37.309940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.2012585550546646, + "y": 0.3251367509365082, + "z": 0.6135711669921875 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.6003059313082, + "ymin": 261.6863108483908, + "xmax": 573.2130688066288, + "ymax": 300.2266908566789 + }, + "corners_3d": [ + [ + 29.2349910736084, + 37.04547882080078, + 0.371194064617157 + ], + [ + 28.598926544189453, + 37.18067932128906, + 0.371194064617157 + ], + [ + 28.682615280151367, + 37.57440185546875, + 0.371194064617157 + ], + [ + 29.318679809570312, + 37.43920135498047, + 0.371194064617157 + ], + [ + 29.2349910736084, + 37.04547882080078, + 1.5983364582061768 + ], + [ + 28.598926544189453, + 37.18067932128906, + 1.5983364582061768 + ], + [ + 28.682615280151367, + 37.57440185546875, + 1.5983364582061768 + ], + [ + 29.318679809570312, + 37.43920135498047, + 1.5983364582061768 + ] + ], + "corners_2d": [ + [ + 551.9606011908099, + 299.28235935070853 + ], + [ + 571.6427098848818, + 300.2266908566789 + ], + [ + 573.2130688066288, + 292.6570544084633 + ], + [ + 553.7135446065065, + 291.73034537161465 + ], + [ + 549.6003059313082, + 269.14902317957973 + ], + [ + 569.8078781360415, + 270.08245179316884 + ], + [ + 571.4376507138779, + 262.60185991288176 + ], + [ + 551.4224940975841, + 261.6863108483908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 176, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 41.25494384765625, + "z": 0.6542049646377563 + }, + "extent": { + "x": 0.2778930366039276, + "y": 0.36636224389076233, + "z": 0.6139066815376282 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 763.7583116890602, + "ymin": 232.97951816199605, + "xmax": 789.8435480508506, + "ymax": 273.862724339768 + }, + "corners_3d": [ + [ + 22.912302017211914, + 40.940277099609375, + 0.040298283100128174 + ], + [ + 22.183591842651367, + 41.016868591308594, + 0.040298283100128174 + ], + [ + 22.24168586730957, + 41.569610595703125, + 0.040298283100128174 + ], + [ + 22.970396041870117, + 41.493019104003906, + 0.040298283100128174 + ], + [ + 22.912302017211914, + 40.940277099609375, + 1.2681115865707397 + ], + [ + 22.183591842651367, + 41.016868591308594, + 1.2681115865707397 + ], + [ + 22.24168586730957, + 41.569610595703125, + 1.2681115865707397 + ], + [ + 22.970396041870117, + 41.493019104003906, + 1.2681115865707397 + ] + ], + "corners_2d": [ + [ + 763.7583116890602, + 271.5566403629776 + ], + [ + 785.0470476791758, + 273.862724339768 + ], + [ + 786.1605473694157, + 264.4006266302147 + ], + [ + 765.1258514979274, + 262.1500277954786 + ], + [ + 766.9064876942616, + 242.2594795927563 + ], + [ + 788.7479797790802, + 244.5353852980483 + ], + [ + 789.8435480508506, + 235.19929564906911 + ], + [ + 768.2693802548598, + 232.97951816199605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 677, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 34.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4206506311893463, + "y": 0.5929333567619324, + "z": 0.9557743668556213 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 964.6228322402611, + "ymin": 387.010800413695, + "xmax": 1028.0162061682988, + "ymax": 466.15512696254194 + }, + "corners_3d": [ + [ + 15.925750732421875, + 33.89158630371094, + 0.1855875849723816 + ], + [ + 14.739883422851562, + 33.89158630371094, + 0.1855875849723816 + ], + [ + 14.739883422851562, + 34.732887268066406, + 0.1855875849723816 + ], + [ + 15.925750732421875, + 34.732887268066406, + 0.1855875849723816 + ], + [ + 15.925750732421875, + 33.89158630371094, + 2.0971362590789795 + ], + [ + 14.739883422851562, + 33.89158630371094, + 2.0971362590789795 + ], + [ + 14.739883422851562, + 34.732887268066406, + 2.0971362590789795 + ], + [ + 15.925750732421875, + 34.732887268066406, + 2.0971362590789795 + ] + ], + "corners_2d": [ + [ + 964.6228322402611, + 457.07289037304633 + ], + [ + 1009.1463449541125, + 466.15512696254194 + ], + [ + 1009.3914612135532, + 444.51941468206047 + ], + [ + 965.8467790279624, + 435.83482274536846 + ], + [ + 981.054014996578, + 408.1681083982336 + ], + [ + 1028.0162061682988, + 417.23022227806575 + ], + [ + 1027.8329850620016, + 395.65666864838875 + ], + [ + 981.9585201029528, + 387.010800413695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 727, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 26.14202117919922, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.3554650843143463, + "y": 0.5190649032592773, + "z": 0.9019801020622253 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.00937169018096, + "ymin": 446.9643054800448, + "xmax": 190.2429206358234, + "ymax": 526.0390830506939 + }, + "corners_3d": [ + [ + 36.6597785949707, + 25.902244567871094, + 0.0827949047088623 + ], + [ + 35.64433670043945, + 25.686403274536133, + 0.0827949047088623 + ], + [ + 35.496524810791016, + 26.381797790527344, + 0.0827949047088623 + ], + [ + 36.511966705322266, + 26.597639083862305, + 0.0827949047088623 + ], + [ + 36.6597785949707, + 25.902244567871094, + 1.886755108833313 + ], + [ + 35.64433670043945, + 25.686403274536133, + 1.886755108833313 + ], + [ + 35.496524810791016, + 26.381797790527344, + 1.886755108833313 + ], + [ + 36.511966705322266, + 26.597639083862305, + 1.886755108833313 + ] + ], + "corners_2d": [ + [ + 141.03856726780594, + 511.09342837270333 + ], + [ + 168.86587677419845, + 526.0390830506939 + ], + [ + 190.2429206358234, + 507.1667889710222 + ], + [ + 162.61309592088963, + 492.7585326915778 + ], + [ + 116.00937169018096, + 465.336758441009 + ], + [ + 144.86787797195228, + 480.3376092026082 + ], + [ + 167.77332512574128, + 461.3992823238125 + ], + [ + 139.1187241616401, + 446.9643054800448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 8698, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 569.9079217707301, + "ymin": 0.0, + "xmax": 717.9390297137923, + "ymax": 110.06269224148522 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 713.4307746841087, + 18.49399135899006 + ], + [ + 639.7157263023538, + 9.826672282491074 + ], + [ + 574.5770831212124, + 98.14428128661581 + ], + [ + 659.8593363519232, + 110.06269224148522 + ], + [ + 717.9390297137923, + -67.75113822313853 + ], + [ + 639.6985787854862, + -75.43230315397153 + ], + [ + 569.9079217707301, + 3.5721838624410225 + ], + [ + 661.306635832148, + 14.360056871323764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 9421, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 327.53728154703396, + "ymin": 309.0433983512486, + "xmax": 480.00282233842256, + "ymax": 473.4452727892291 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 480.00282233842256, + 358.96863138106914 + ], + [ + 417.7328625552727, + 346.2358042643616 + ], + [ + 339.32347649406796, + 457.1542262873135 + ], + [ + 408.50220379017605, + 473.4452727892291 + ], + [ + 474.39234780555086, + 321.6480751313646 + ], + [ + 410.05741376800756, + 309.0433983512486 + ], + [ + 327.53728154703396, + 419.2838951996488 + ], + [ + 399.26825715332205, + 435.5591878483632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2057, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 528.3372275743469, + "ymin": 10.305499883154823, + "xmax": 596.4406210200898, + "ymax": 83.26673633673835 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 596.4406210200898, + 47.39116969435685 + ], + [ + 560.5993103944245, + 42.825582936734406 + ], + [ + 531.0721382197058, + 78.09362227444046 + ], + [ + 568.9726816195325, + 83.26673633673835 + ], + [ + 595.4057286321923, + 14.702987274479256 + ], + [ + 558.7288009095305, + 10.305499883154823 + ], + [ + 528.3372275743469, + 44.319785534294056 + ], + [ + 567.173187231633, + 49.31766277457166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.9727869064159, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 42.39490585296869 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1220.8776165784634, + -1.2734429462134926 + ], + [ + 1210.9727869064159, + -2.27857807753594 + ], + [ + 1227.420445134595, + 41.208811256904426 + ], + [ + 1238.2165285905617, + 42.39490585296869 + ], + [ + 1291.4531935696923, + -174.35176056391663 + ], + [ + 1280.1902818019792, + -175.09287233811176 + ], + [ + 1305.587163149681, + -142.6977293934085 + ], + [ + 1318.0151424963183, + -141.80458184814108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.871335977506, + "ymin": 71.60402732799622, + "xmax": 1234.1043190233975, + "ymax": 113.03014715648425 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1230.3298765920472, + 113.03014715648425 + ], + [ + 1221.2752526070713, + 86.32614323257826 + ], + [ + 1165.871335977506, + 79.72995207831497 + ], + [ + 1172.3552086528712, + 105.83020471068446 + ], + [ + 1234.1043190233975, + 104.65281429260105 + ], + [ + 1224.83069538766, + 78.14861567727377 + ], + [ + 1169.0519039264304, + 71.60402732799622 + ], + [ + 1175.719183482931, + 97.50530616975675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.0961216447385, + "ymin": 78.30070033878434, + "xmax": 275.24220194653964, + "ymax": 93.69376734793502 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 247.07414006561908, + 89.75616240104966 + ], + [ + 273.52664085848414, + 93.69376734793502 + ], + [ + 275.24220194653964, + 92.31408606301324 + ], + [ + 248.83885911153698, + 88.39449615339066 + ], + [ + 244.0961216447385, + 79.64941823608649 + ], + [ + 270.7306340374862, + 83.54984233720478 + ], + [ + 272.46572697907976, + 82.18314427969847 + ], + [ + 245.88103411683608, + 78.30070033878434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4333264078643001978, + "instance_id": 31482, + "pixel_count": null, + "type_id": "BP_StreetLight_wall27_35_SM_0", + "bbox_3d": { + "center_world": { + "x": 49.75010299682617, + "y": 39.48548126220703, + "z": 5.192909240722656 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 27.310257544132412, + "xmax": 57.829603061502894, + "ymax": 76.77538729770788 + }, + "corners_3d": [ + [ + 49.867794036865234, + 40.633087158203125, + 4.7817535400390625 + ], + [ + 49.8677864074707, + 38.33787536621094, + 4.7817535400390625 + ], + [ + 49.63241195678711, + 38.33787536621094, + 4.7817535400390625 + ], + [ + 49.63241958618164, + 40.633087158203125, + 4.7817535400390625 + ], + [ + 49.867794036865234, + 40.633087158203125, + 5.60406494140625 + ], + [ + 49.8677864074707, + 38.33787536621094, + 5.60406494140625 + ], + [ + 49.63241195678711, + 38.33787536621094, + 5.60406494140625 + ], + [ + 49.63241958618164, + 40.633087158203125, + 5.60406494140625 + ] + ], + "corners_2d": [ + [ + 52.517985220342894, + 49.032084480883725 + ], + [ + 5.69865004390897, + 75.92432571127159 + ], + [ + 11.199261799989927, + 76.77538729770788 + ], + [ + 57.829603061502894, + 49.806350697220864 + ], + [ + 43.23191570676465, + 27.310257544132412 + ], + [ + -4.8206287853213325, + 53.58004530262207 + ], + [ + 0.755721478791429, + 54.41206450198604 + ], + [ + 48.61446988231353, + 28.06604062371997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.5372443279597, + "ymin": 419.57497668080606, + "xmax": 844.8177216763099, + "ymax": 717.5911718929121 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 791.4415345512288, + 717.5911718929121 + ], + [ + 794.8035173893782, + 699.5947475927782 + ], + [ + 629.2766856420839, + 655.7577703768611 + ], + [ + 623.6603290873478, + 672.4609900979701 + ], + [ + 841.3399435371315, + 485.0804018888664 + ], + [ + 844.8177216763099, + 465.7914175469891 + ], + [ + 625.9768125430845, + 419.57497668080606 + ], + [ + 618.5372443279597, + 437.05779971008417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.605492752394, + "ymin": 430.1223768891235, + "xmax": 652.7036741006355, + "ymax": 450.9053951678707 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 648.0637784628258, + 450.9053951678707 + ], + [ + 652.649226027162, + 439.1039977038928 + ], + [ + 630.5046805099538, + 434.3576181040403 + ], + [ + 625.6676401674265, + 446.04014259159516 + ], + [ + 648.0989236235217, + 446.6674830817639 + ], + [ + 652.7036741006355, + 434.86773553995636 + ], + [ + 630.4640142724795, + 430.1223768891235 + ], + [ + 625.605492752394, + 441.8027571489638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.4585862955169, + "ymin": 430.0118437422072, + "xmax": 652.849223261444, + "ymax": 451.01862081091986 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 648.1602215957936, + 451.01862081091986 + ], + [ + 652.7935627479413, + 439.0894597021279 + ], + [ + 630.412414383438, + 434.2925981490585 + ], + [ + 625.5220439706951, + 446.1003146862638 + ], + [ + 648.1961737206257, + 446.73513794582345 + ], + [ + 652.849223261444, + 434.80765963587965 + ], + [ + 630.3709144620568, + 430.0118437422072 + ], + [ + 625.4585862955169, + 441.81736703917863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.9299232861877, + "ymin": 71.62124055674093, + "xmax": 1234.0629042838036, + "ymax": 112.9546873651002 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1230.3137562896634, + 112.9546873651002 + ], + [ + 1221.2692350621028, + 86.28166609753572 + ], + [ + 1165.9299232861877, + 79.69365263751297 + ], + [ + 1172.4094514040746, + 105.76433562962589 + ], + [ + 1234.0629042838036, + 104.63278873358499 + ], + [ + 1224.8010836109563, + 78.15805099316708 + ], + [ + 1169.0898124825553, + 71.62124055674093 + ], + [ + 1175.7513637675006, + 97.49446466841522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.65896926038886, + "ymin": 27.829702921709497, + "xmax": 319.52365080978797, + "ymax": 41.606411126859484 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 294.01592629856367, + 38.37171603754638 + ], + [ + 318.0731690447675, + 41.606411126859484 + ], + [ + 319.52365080978797, + 40.47350769131424 + ], + [ + 295.5072777327105, + 37.252124858412174 + ], + [ + 291.65896926038886, + 28.937397705340913 + ], + [ + 315.8669956263101, + 32.13789617079732 + ], + [ + 317.3319858802079, + 31.016940147890296 + ], + [ + 293.1653328194263, + 27.829702921709497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13900884612515685950, + "instance_id": 16102, + "pixel_count": null, + "type_id": "BP_StreetLight_wall9_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 32.06958770751953, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 40.10975054529308, + "ymin": 231.6362633840255, + "xmax": 80.24934679731723, + "ymax": 251.32825001511372 + }, + "corners_3d": [ + [ + 43.49455261230469, + 32.010746002197266, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 32.010746002197266, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.0107421875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 32.1284294128418, + 3.517144203186035 + ], + [ + 43.49455261230469, + 32.12843322753906, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 45.79698930920074, + 245.0626420607812 + ], + [ + 77.5164553503921, + 251.32825001511372 + ], + [ + 80.24934679731723, + 249.130415610208 + ], + [ + 48.59856021381165, + 242.9009356123488 + ], + [ + 40.10975054529308, + 233.78586683417387 + ], + [ + 72.08751080159891, + 240.01706328857898 + ], + [ + 74.86259299373069, + 237.83118646867558 + ], + [ + 42.954566363269805, + 231.6362633840255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.0981421085694, + "ymin": 43.4084772151802, + "xmax": 1249.0097023018989, + "ymax": 192.8776028407267 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1196.7649521355895, + 192.8776028407267 + ], + [ + 1189.199250898099, + 162.90351993553264 + ], + [ + 1134.0981421085694, + 155.44841226374808 + ], + [ + 1139.1382700019299, + 184.74423993586268 + ], + [ + 1249.0097023018989, + 77.42303191057607 + ], + [ + 1238.3287119278602, + 50.156334045755386 + ], + [ + 1177.7629048924553, + 43.4084772151802 + ], + [ + 1185.380621176162, + 70.00265923472534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0279347502669, + "ymin": 0.0, + "xmax": 936.0428004086474, + "ymax": 161.6162434345954 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 895.3052992697501, + 161.6162434345954 + ], + [ + 896.3139453665971, + 156.21704612966357 + ], + [ + 801.7701259237587, + 142.7566069611657 + ], + [ + 800.0279347502669, + 147.9379356062094 + ], + [ + 935.2505054789458, + -35.7813389669422 + ], + [ + 936.0428004086474, + -40.17568018029789 + ], + [ + 826.2584718874286, + -51.08281544451512 + ], + [ + 824.4753163670218, + -46.89244126991758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.12334107363614, + "ymin": 0.0, + "xmax": 484.4600781877931, + "ymax": 19.60777657695644 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 436.61208874038715, + 19.60777657695644 + ], + [ + 484.4600781877931, + -9.973870936038224 + ], + [ + 418.40377959192296, + -22.72614961417787 + ], + [ + 368.14612604882427, + 5.248056551654145 + ], + [ + 378.219590991901, + -361.87355060199286 + ], + [ + 442.1796126572717, + -372.059786980867 + ], + [ + 361.58098753419677, + -375.389376963313 + ], + [ + 294.12334107363614, + -365.82319616066275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.031843427312, + "ymin": 0.0, + "xmax": 1268.145313427703, + "ymax": 63.03338399396131 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 981.3710350542926, + 56.79896031467547 + ], + [ + 1154.2860004615097, + 63.03338399396131 + ], + [ + 1106.1013966223545, + -4.77976824958364 + ], + [ + 954.031843427312, + -9.624834814910741 + ], + [ + 1055.9406337288212, + -241.692987428513 + ], + [ + 1268.145313427703, + -238.11140707370714 + ], + [ + 1194.6780859121823, + -276.16084476031835 + ], + [ + 1013.0254314488336, + -278.804734805659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 807.9561832676299, + "ymin": 266.532913729993, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1285.1020618057537, + 1120.2389009804099 + ], + [ + 1146.1157210594738, + 710.7429899479569 + ], + [ + 807.9561832676299, + 688.5085275147798 + ], + [ + 832.593992378722, + 1080.774992999185 + ], + [ + 1921.404127982904, + 821.3506752459953 + ], + [ + 1445.3872788465228, + 289.42374874850566 + ], + [ + 904.4151174179478, + 266.532913729993 + ], + [ + 1013.621985563618, + 758.8568302897772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.4221262524261, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 179.06322219941043 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1154.8071689305689, + 179.06322219941043 + ], + [ + 1102.4161707464677, + 93.90262471034674 + ], + [ + 934.4221262524261, + 88.44016313987805 + ], + [ + 962.6993305197983, + 171.95124452775934 + ], + [ + 1291.09111618433, + -150.31087482059172 + ], + [ + 1206.218207416001, + -204.50838828705628 + ], + [ + 999.7788284786544, + -207.86728795709428 + ], + [ + 1047.0096044981365, + -154.9730310472347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.79538191121645, + "ymin": 0.0, + "xmax": 370.95595062868017, + "ymax": 3.9068642986236455 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 317.90162982534576, + 3.9068642986236455 + ], + [ + 370.95595062868017, + -24.02120183238037 + ], + [ + 309.70140376160396, + -36.05954893585641 + ], + [ + 254.72277143115673, + -9.60710355307964 + ], + [ + 230.7070568531347, + -367.99413145670087 + ], + [ + 302.55548683281916, + -377.42432987019185 + ], + [ + 229.22719595874116, + -380.46706799732385 + ], + [ + 154.79538191121645, + -371.58828224792796 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca52f40dbbf528d70d46fd3bf89268ec3ae8ede --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00142/meta.json @@ -0,0 +1,2887 @@ +{ + "frame_id": 142, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 8473.429730044212 + }, + "drone_pose": { + "x": 20.3043888036848, + "y": 16.954933471053216, + "z": 20.0, + "pitch": -43.29486859723354, + "yaw": 81.68455947959549, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10526132583618164, + -0.7201823592185974, + 0.6857532262802124, + -28.062976837158203 + ], + [ + 0.9894868731498718, + 0.14462274312973022, + 2.9802322387695312e-08, + 17.63885498046875 + ], + [ + -0.09917554259300232, + 0.6785438060760498, + 0.727834165096283, + -1.0383214950561523 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 20.523392547622016, + "y": 17.594706447298215, + "z": 19.967942224638904 + }, + "t1_image_uv": [ + 404.3120566284387, + -460.89668840957245 + ], + "t1_depth": 0.5057895789275243 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 37.31223678588867, + "z": 0.9847701239582602 + }, + "image_uv": [ + 587.6452204296095, + 345.60561185825907 + ], + "depth": 28.17739364585193, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 566, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 37.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.379096657037735, + "y": 0.5694738626480103, + "z": 0.9117850065231323 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 564.3280043543505, + "ymin": 311.80784864073576, + "xmax": 609.6150544658382, + "ymax": 378.70937383047766 + }, + "corners_3d": [ + [ + 25.40229034423828, + 36.93313980102539, + 0.07298511266708374 + ], + [ + 24.263343811035156, + 36.93313980102539, + 0.07298511266708374 + ], + [ + 24.263343811035156, + 37.69133377075195, + 0.07298511266708374 + ], + [ + 25.40229034423828, + 37.69133377075195, + 0.07298511266708374 + ], + [ + 25.40229034423828, + 36.93313980102539, + 1.8965551853179932 + ], + [ + 24.263343811035156, + 36.93313980102539, + 1.8965551853179932 + ], + [ + 24.263343811035156, + 37.69133377075195, + 1.8965551853179932 + ], + [ + 25.40229034423828, + 37.69133377075195, + 1.8965551853179932 + ] + ], + "corners_2d": [ + [ + 567.6379261075612, + 374.8380163471095 + ], + [ + 605.3348033047291, + 378.70937383047766 + ], + [ + 609.6150544658382, + 361.335862326135 + ], + [ + 572.6070515715132, + 357.60854742082466 + ], + [ + 564.3280043543505, + 328.91064384217134 + ], + [ + 603.7421947440762, + 332.757573798185 + ], + [ + 608.2465450563204, + 315.50527583790023 + ], + [ + 569.5847862844099, + 311.80784864073576 + ] + ], + "center_offset_px": [ + -52.35477957039052, + -14.394388141740933 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 310962, + "2": 258690, + "3": 45745, + "5": 895, + "6": 4913, + "9": 83554, + "10": 164004, + "12": 3190, + "14": 15181, + "16": 10855, + "20": 9556, + "21": 5, + "24": 14050 + }, + "instance_pixel_counts": { + "3485": 1807, + "3925": 9, + "4181": 73, + "4224": 1132, + "7253": 2, + "7299": 542, + "9557": 79, + "11651": 5, + "17502": 163193, + "18526": 472, + "19038": 1, + "20378": 10813, + "20573": 21643, + "20890": 1281, + "21085": 89024, + "21402": 33098, + "21914": 28631, + "22909": 2148, + "23421": 2202, + "25181": 7133, + "25683": 41, + "25693": 19508, + "26205": 4250, + "34899": 3114, + "36764": 102491, + "36978": 4339, + "37276": 175924, + "39073": 986, + "40531": 626, + "42145": 483, + "42657": 352, + "43008": 566, + "43264": 242, + "43520": 169, + "43776": 603, + "44032": 622, + "44288": 988, + "44705": 933, + "45056": 10855, + "45388": 3083, + "45434": 4024, + "45644": 2780, + "46490": 8026, + "46848": 12727, + "47002": 7017, + "48640": 2454, + "49266": 8512, + "49539": 234, + "49778": 32894, + "51309": 83554, + "51612": 8219, + "58441": 362, + "58697": 533, + "60796": 3813, + "61308": 2139, + "61820": 9214, + "62844": 8750, + "63386": 32547 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 566, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 37.31223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.36839109659194946, + "y": 0.5660131573677063, + "z": 0.9187892079353333 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 564.5095981393055, + "ymin": 311.8720678167906, + "xmax": 609.4478903381653, + "ymax": 378.61628148362024 + }, + "corners_3d": [ + [ + 25.39883041381836, + 36.943843841552734, + 0.06598091125488281 + ], + [ + 24.266803741455078, + 36.94384765625, + 0.06598091125488281 + ], + [ + 24.266803741455078, + 37.68062973022461, + 0.06598091125488281 + ], + [ + 25.39883041381836, + 37.680625915527344, + 0.06598091125488281 + ], + [ + 25.39883041381836, + 36.943843841552734, + 1.9035593271255493 + ], + [ + 24.266803741455078, + 36.94384765625, + 1.9035593271255493 + ], + [ + 24.266803741455078, + 37.68062973022461, + 1.9035593271255493 + ], + [ + 25.39883041381836, + 37.680625915527344, + 1.9035593271255493 + ] + ], + "corners_2d": [ + [ + 567.8355289290512, + 374.77055585122326 + ], + [ + 605.287282832575, + 378.61628148362024 + ], + [ + 609.4478903381653, + 361.7336329937928 + ], + [ + 572.6612663358123, + 358.0270063189449 + ], + [ + 564.5095981393055, + 328.4915702449898 + ], + [ + 603.6804333494271, + 332.31274538151 + ], + [ + 608.0606745982436, + 315.5488301956372 + ], + [ + 569.6168284073188, + 311.8720678167906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 242, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 40.309940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.23926393687725067, + "y": 0.2200622707605362, + "z": 0.5934218168258667 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 468.54652559753606, + "ymin": 250.91611137508727, + "xmax": 487.512065951571, + "ymax": 289.98527193466464 + }, + "corners_3d": [ + [ + 29.124311447143555, + 40.0301513671875, + 0.3913434147834778 + ], + [ + 28.693803787231445, + 40.12165832519531, + 0.3913434147834778 + ], + [ + 28.79329490661621, + 40.58972930908203, + 0.3913434147834778 + ], + [ + 29.22380256652832, + 40.49822235107422, + 0.3913434147834778 + ], + [ + 29.124311447143555, + 40.0301513671875, + 1.5781869888305664 + ], + [ + 28.693803787231445, + 40.12165832519531, + 1.5781869888305664 + ], + [ + 28.79329490661621, + 40.58972930908203, + 1.5781869888305664 + ], + [ + 29.22380256652832, + 40.49822235107422, + 1.5781869888305664 + ] + ], + "corners_2d": [ + [ + 473.04885765333347, + 289.98527193466464 + ], + [ + 486.75502991919666, + 289.43137812701264 + ], + [ + 487.512065951571, + 280.18927424989454 + ], + [ + 473.95839107835263, + 280.7309549068032 + ], + [ + 468.54652559753606, + 260.61918948003307 + ], + [ + 482.6251424383894, + 260.0703857485346 + ], + [ + 483.4493375873586, + 250.91611137508727 + ], + [ + 469.53156964226173, + 251.45249352286964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 169, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 44.25494384765625, + "z": 0.6601813435554504 + }, + "extent": { + "x": 0.2640380561351776, + "y": 0.35735347867012024, + "z": 0.6028077006340027 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 678.2846218097126, + "ymin": 205.5041959758744, + "xmax": 700.3457572675957, + "ymax": 243.6756275286806 + }, + "corners_3d": [ + [ + 22.9047908782959, + 43.95499801635742, + 0.057373642921447754 + ], + [ + 22.193998336791992, + 44.02970504760742, + 0.057373642921447754 + ], + [ + 22.249197006225586, + 44.55488967895508, + 0.057373642921447754 + ], + [ + 22.959989547729492, + 44.48018264770508, + 0.057373642921447754 + ], + [ + 22.9047908782959, + 43.95499801635742, + 1.2629890441894531 + ], + [ + 22.193998336791992, + 44.02970504760742, + 1.2629890441894531 + ], + [ + 22.249197006225586, + 44.55488967895508, + 1.2629890441894531 + ], + [ + 22.959989547729492, + 44.48018264770508, + 1.2629890441894531 + ] + ], + "corners_2d": [ + [ + 678.2846218097126, + 243.17960112242002 + ], + [ + 698.8508200080164, + 243.6756275286806 + ], + [ + 698.7880463630574, + 234.7090511794708 + ], + [ + 678.4557115086383, + 234.22424312162337 + ], + [ + 679.2565058762176, + 214.34822466779187 + ], + [ + 700.3457572675957, + 214.83823389539663 + ], + [ + 700.2639736109242, + 205.9828464312664 + ], + [ + 679.4205612729364, + 205.5041959758744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 603, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 37.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.39845824241638184, + "y": 0.3615038990974426, + "z": 0.8941906690597534 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 899.2389339682113, + "ymin": 340.2369054132264, + "xmax": 939.9015492289352, + "ymax": 407.81871549064266 + }, + "corners_3d": [ + [ + 15.694320678710938, + 36.913780212402344, + 0.2471712827682495 + ], + [ + 14.9713134765625, + 36.913780212402344, + 0.2471712827682495 + ], + [ + 14.9713134765625, + 37.710693359375, + 0.2471712827682495 + ], + [ + 15.694320678710938, + 37.710693359375, + 0.2471712827682495 + ], + [ + 15.694320678710938, + 36.913780212402344, + 2.035552501678467 + ], + [ + 14.9713134765625, + 36.913780212402344, + 2.035552501678467 + ], + [ + 14.9713134765625, + 37.710693359375, + 2.035552501678467 + ], + [ + 15.694320678710938, + 37.710693359375, + 2.035552501678467 + ] + ], + "corners_2d": [ + [ + 900.6292128871544, + 405.17692476926527 + ], + [ + 926.457843200265, + 407.81871549064266 + ], + [ + 924.5330741980534, + 388.2514617844147 + ], + [ + 899.2389339682113, + 385.7169732822631 + ], + [ + 912.8252407006291, + 359.6115165160786 + ], + [ + 939.9015492289352, + 362.24458662955135 + ], + [ + 937.5994769803509, + 342.7581763570201 + ], + [ + 911.1099431238821, + 340.2369054132264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 622, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 26.18487548828125, + "z": 1.1371675729751587 + }, + "extent": { + "x": 0.4492224454879761, + "y": 0.5433850884437561, + "z": 0.9401128888130188 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 629.4863520300611, + "ymin": 671.0088488887986, + "xmax": 693.3089871564654, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.80467987060547, + 25.794912338256836, + 0.1970546841621399 + ], + [ + 20.72386360168457, + 25.68131446838379, + 0.1970546841621399 + ], + [ + 20.62995147705078, + 26.574838638305664, + 0.1970546841621399 + ], + [ + 21.71076774597168, + 26.68843650817871, + 0.1970546841621399 + ], + [ + 21.80467987060547, + 25.794912338256836, + 2.0772805213928223 + ], + [ + 20.72386360168457, + 25.68131446838379, + 2.0772805213928223 + ], + [ + 20.62995147705078, + 26.574838638305664, + 2.0772805213928223 + ], + [ + 21.71076774597168, + 26.68843650817871, + 2.0772805213928223 + ] + ], + "corners_2d": [ + [ + 630.1606368001886, + 754.7179685159571 + ], + [ + 680.8410258631759, + 767.4812291237306 + ], + [ + 689.9629599637551, + 727.0140510845054 + ], + [ + 640.7450063460948, + 715.0224003539245 + ], + [ + 629.4863520300611, + 711.9425147365542 + ], + [ + 683.6692322048904, + 725.1403015689301 + ], + [ + 693.3089871564654, + 683.3564735850334 + ], + [ + 640.7943977970789, + 671.0088488887986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 988, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 29.14202117919922, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.3464001417160034, + "y": 0.4801257252693176, + "z": 0.8958128094673157 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 31.616237944451314, + "ymin": 484.73129884684835, + "xmax": 113.53400831289753, + "ymax": 562.049610313459 + }, + "corners_3d": [ + [ + 36.61980438232422, + 28.90301513671875, + 0.08896219730377197 + ], + [ + 35.680538177490234, + 28.703367233276367, + 0.08896219730377197 + ], + [ + 35.5364990234375, + 29.381027221679688, + 0.08896219730377197 + ], + [ + 36.475765228271484, + 29.58067512512207, + 0.08896219730377197 + ], + [ + 36.61980438232422, + 28.90301513671875, + 1.8805878162384033 + ], + [ + 35.680538177490234, + 28.703367233276367, + 1.8805878162384033 + ], + [ + 35.5364990234375, + 29.381027221679688, + 1.8805878162384033 + ], + [ + 36.475765228271484, + 29.58067512512207, + 1.8805878162384033 + ] + ], + "corners_2d": [ + [ + 62.79160949426068, + 550.8508209240622 + ], + [ + 93.31530256142435, + 562.049610313459 + ], + [ + 113.53400831289753, + 540.4330742839696 + ], + [ + 83.40001662127179, + 529.6654224883023 + ], + [ + 31.616237944451314, + 506.12684412065727 + ], + [ + 63.47017271306299, + 517.4547889881005 + ], + [ + 85.38416482211096, + 495.6001762549914 + ], + [ + 53.949925145394786, + 484.73129884684835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 10855, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 430.87488265986815, + "ymin": 0.0, + "xmax": 585.6453258775197, + "ymax": 124.97768031547119 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 585.6453258775197, + 19.19831260050023 + ], + [ + 506.81370041320145, + 14.230400214769077 + ], + [ + 446.18392554067344, + 117.98186352345573 + ], + [ + 539.1682370556017, + 124.97768031547119 + ], + [ + 582.0347025509993, + -71.1233949202803 + ], + [ + 498.04962302017907, + -75.56981388527288 + ], + [ + 430.87488265986815, + 18.384325014570777 + ], + [ + 531.1129662298224, + 24.803244417831195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 12727, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 198.546138053765, + "ymin": 383.19632448754703, + "xmax": 369.0215482754716, + "ymax": 574.7090000830276 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 369.0215482754716, + 428.945567743025 + ], + [ + 297.2738697107909, + 420.9436243129644 + ], + [ + 217.76387529983037, + 564.1442863642746 + ], + [ + 299.4973456609709, + 574.7090000830276 + ], + [ + 358.2520125756442, + 391.19099159391317 + ], + [ + 283.76923591680406, + 383.19632448754703 + ], + [ + 198.546138053765, + 527.0608778705487 + ], + [ + 283.845168427193, + 537.7416006410378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2454, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 389.90187694548956, + "ymin": 22.165966247920096, + "xmax": 464.46479240224767, + "ymax": 101.54601847649894 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 464.46479240224767, + 59.11136853451535 + ], + [ + 425.2132651865503, + 56.42623433001836 + ], + [ + 396.65918442570495, + 98.47102952531577 + ], + [ + 438.53368949819344, + 101.54601847649894 + ], + [ + 459.8965287801211, + 24.763909320346443 + ], + [ + 419.6489997246026, + 22.165966247920096 + ], + [ + 389.90187694548956, + 62.914642214062155 + ], + [ + 432.9116887706481, + 65.90064633789677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.0570790601084, + "ymin": 0.0, + "xmax": 1172.3998293928744, + "ymax": 13.084419357469642 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1086.4904755597584, + -31.535947234964397 + ], + [ + 1077.0570790601084, + -32.046883722606026 + ], + [ + 1098.2828186319366, + 12.480780428930416 + ], + [ + 1108.559793099635, + 13.084419357469642 + ], + [ + 1141.851836993821, + -206.4203308046756 + ], + [ + 1131.188109104435, + -206.7987794373413 + ], + [ + 1160.6458479517064, + -173.4626287703977 + ], + [ + 1172.3998293928744, + -173.00572369831252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.9831330880497, + "ymin": 54.4728139292651, + "xmax": 1120.5471799379754, + "ymax": 94.31950102145748 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1117.389673670608, + 94.31950102145748 + ], + [ + 1104.8677459131177, + 66.2130899014694 + ], + [ + 1050.9831330880497, + 62.745096697476754 + ], + [ + 1060.9655288792733, + 90.52594245965798 + ], + [ + 1120.5471799379754, + 85.82308187501326 + ], + [ + 1107.8062972042953, + 57.915187043162746 + ], + [ + 1053.5662201372274, + 54.4728139292651 + ], + [ + 1063.7331966959432, + 82.05536937727811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 67.3231822764593, + "ymin": 128.07837492863248, + "xmax": 105.71814677477562, + "ymax": 143.23003752226214 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 72.28809249456253, + 140.67548336402038 + ], + [ + 103.81624541619021, + 143.23003752226214 + ], + [ + 105.71814677477562, + 141.4357316279463 + ], + [ + 74.26490113566012, + 138.89446533055207 + ], + [ + 67.3231822764593, + 129.84653393317626 + ], + [ + 99.10942751768789, + 132.38278444762594 + ], + [ + 101.04036832656493, + 130.60131765303854 + ], + [ + 69.33025195571281, + 128.07837492863248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.6271740569116, + "ymin": 0.0, + "xmax": 231.08511277558023, + "ymax": 5.839722648095915 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 204.6230923567411, + 4.228291020903498 + ], + [ + 229.84536016470133, + 5.839722648095915 + ], + [ + 231.08511277558023, + 4.708127063934796 + ], + [ + 205.91093257736844, + 3.1033057862431406 + ], + [ + 201.6271740569116, + -5.231177814895773 + ], + [ + 227.014655903211, + -3.6365960330529106 + ], + [ + 228.26880757661547, + -4.756365888826679 + ], + [ + 202.93004223858645, + -6.344361503468406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 535.0079977800503, + "ymin": 541.4701236965119, + "xmax": 793.5604033104, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 750.5797513184382, + 812.890867648013 + ], + [ + 751.9062669239001, + 790.9863298630229 + ], + [ + 567.6215496370988, + 764.0484642273882 + ], + [ + 563.3615374808736, + 785.0712909115387 + ], + [ + 792.6722215194978, + 597.4341858772918 + ], + [ + 793.5604033104, + 572.147329932089 + ], + [ + 541.4207342109077, + 541.4701236965119 + ], + [ + 535.0079977800503, + 565.3717984406278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 543.5871049578408, + "ymin": 552.5406124384135, + "xmax": 574.1228946604863, + "ymax": 575.8621430695373 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 570.3786808300069, + 575.8621430695373 + ], + [ + 574.1228946604863, + 559.8758146583084 + ], + [ + 548.1843888502339, + 556.6781689171023 + ], + [ + 544.0768027681993, + 572.5713902040557 + ], + [ + 570.0222044188927, + 571.7503617163923 + ], + [ + 573.7904267246654, + 555.7423205422015 + ], + [ + 547.7223631400252, + 552.5406124384135 + ], + [ + 543.5871049578408, + 568.4549481345217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 543.4204117134774, + "ymin": 552.4164520191069, + "xmax": 574.2850639851529, + "ymax": 575.9890829242092 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 570.5026481450095, + 575.9890829242092 + ], + [ + 574.2850639851529, + 559.8301831308642 + ], + [ + 548.0698843195619, + 556.5986216369957 + ], + [ + 543.916247198654, + 572.6624012184941 + ], + [ + 570.1429369942443, + 571.8332464280543 + ], + [ + 573.9498604366963, + 555.6521605950871 + ], + [ + 547.6023396455273, + 552.4164520191069 + ], + [ + 543.4204117134774, + 568.5017997538757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1051.0388209291923, + "ymin": 54.488990858925206, + "xmax": 1120.504921471597, + "ymax": 94.24457321297649 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1117.3686184364203, + 94.24457321297649 + ], + [ + 1104.860560806385, + 66.17049946924976 + ], + [ + 1051.0388209291923, + 62.70679163872228 + ], + [ + 1061.0130398549559, + 90.4560605119155 + ], + [ + 1120.504921471597, + 85.80434456712334 + ], + [ + 1107.7796082089503, + 57.9272769881602 + ], + [ + 1053.6051685488142, + 54.488990858925206 + ], + [ + 1063.7625745836258, + 82.0414778213514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.45893659838612, + "ymin": 63.55267810265235, + "xmax": 153.27966229746175, + "ymax": 77.16932196324927 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 123.47597045134046, + 75.11388110931523 + ], + [ + 151.69813316800207, + 77.16932196324927 + ], + [ + 153.27966229746175, + 75.72576672213523 + ], + [ + 125.11760048824704, + 73.67984486575449 + ], + [ + 119.45893659838612, + 64.97419134225822 + ], + [ + 147.88788855597625, + 67.01177189499384 + ], + [ + 149.4906461223158, + 65.5807491192329 + ], + [ + 121.12267313057225, + 63.55267810265235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.8484430758554, + "ymin": 25.80613643628027, + "xmax": 1133.4241229896165, + "ymax": 175.02990735104393 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1089.7423710786709, + 175.02990735104393 + ], + [ + 1078.5241080328237, + 143.61720655406324 + ], + [ + 1024.8484430758554, + 139.7140309578199 + ], + [ + 1033.5643945423112, + 170.76333871242824 + ], + [ + 1133.4241229896165, + 58.1016438507051 + ], + [ + 1119.084816515204, + 29.36042410365053 + ], + [ + 1060.224020933434, + 25.80613643628027 + ], + [ + 1071.5412580921472, + 54.18362750895682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.66926251081, + "ymin": 0.0, + "xmax": 815.2308532354008, + "ymax": 164.48158912349422 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 789.846630148058, + 164.48158912349422 + ], + [ + 790.211326850585, + 158.45942548113948 + ], + [ + 691.8634469317334, + 150.92393665831722 + ], + [ + 690.66926251081, + 156.81713922981632 + ], + [ + 815.0552025388272, + -39.820690965116796 + ], + [ + 815.2308532354008, + -44.8214966164648 + ], + [ + 700.3941020982343, + -51.05890190293826 + ], + [ + 699.0858532162196, + -46.18277568808236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.42804260171988, + "ymin": 0.0, + "xmax": 336.38377040113676, + "ymax": 39.228483283707135 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 286.1441144941479, + 39.228483283707135 + ], + [ + 336.38377040113676, + 2.405080416631904 + ], + [ + 261.7226724984667, + -8.032966932338127 + ], + [ + 207.7076220547495, + 27.269605403533035 + ], + [ + 172.13668813706772, + -378.6888416942312 + ], + [ + 245.95148714043194, + -392.13230574220324 + ], + [ + 153.02516796516204, + -394.7575846578371 + ], + [ + 73.42804260171988, + -381.9350845834356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.5100598678144, + "ymin": 0.0, + "xmax": 1120.9095977458371, + "ymax": 43.48105719914463 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 862.6879585847197, + 43.48105719914463 + ], + [ + 1031.3054771291022, + 39.19993114508077 + ], + [ + 976.5165055156162, + -29.469135969195065 + ], + [ + 827.5100598678144, + -26.138911006194576 + ], + [ + 914.1411740868443, + -265.07678793865216 + ], + [ + 1120.9095977458371, + -267.5771410867819 + ], + [ + 1042.7254787226452, + -306.5650269557907 + ], + [ + 864.6881498822054, + -304.72149704433184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.694716610197, + "ymin": 335.1126299912923, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1304.6914903229513, + 1195.7483652810497 + ], + [ + 1110.378831767689, + 748.4116106187312 + ], + [ + 763.694716610197, + 772.5110998449316 + ], + [ + 839.9350020733012, + 1239.6927503278773 + ], + [ + 2063.1863007364045, + 986.7383171763273 + ], + [ + 1418.7175590889228, + 335.1126299912923 + ], + [ + 847.3110707575829, + 362.59164493218105 + ], + [ + 1080.7869318673918, + 1071.9844497293536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.8858833273621, + "ymin": 0.0, + "xmax": 1159.4336956136528, + "ymax": 169.55837159882094 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1046.9801868995348, + 162.41429807275364 + ], + [ + 985.5871735573457, + 75.30378869866792 + ], + [ + 819.8858833273621, + 80.78882503851969 + ], + [ + 858.3753148666556, + 169.55837159882094 + ], + [ + 1159.4336956136528, + -173.71807882669816 + ], + [ + 1066.553287167166, + -230.11244813856229 + ], + [ + 862.4918681856432, + -226.6712878088207 + ], + [ + 919.4955045204027, + -168.92221645652216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 208.13801118342207, + "ymax": 29.179301197340294 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 150.19340598656333, + 29.179301197340294 + ], + [ + 208.13801118342207, + -6.474050448790024 + ], + [ + 137.24521506156606, + -16.574780023135077 + ], + [ + 75.99946934751335, + 17.62917144920175 + ], + [ + -2.8000471164318697, + -383.18498786487135 + ], + [ + 83.52999887253202, + -396.01593443686363 + ], + [ + -3.3538786059066297, + -398.4892902576722 + ], + [ + -94.4820818612717, + -386.2364479559251 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00145/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00145/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e265d16edeb87f4135709812481b1fe2b41890ad --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00145/meta.json @@ -0,0 +1,2987 @@ +{ + "frame_id": 145, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.5, + "sim_timestamp": 8509.378953847568 + }, + "drone_pose": { + "x": 20.640876944895936, + "y": 18.37537269589258, + "z": 20.0, + "pitch": -42.3479643357552, + "yaw": 78.40846251683698, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.14850324392318726, + -0.7239941358566284, + 0.6736314296722412, + -29.841527938842773 + ], + [ + 0.979604959487915, + 0.2009332776069641, + -2.9802322387695312e-08, + 16.52768325805664 + ], + [ + -0.13535496592521667, + 0.6598926782608032, + 0.7390674352645874, + 0.13827037811279297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 20.56411158830048, + "y": 18.935607493765133, + "z": 19.994871270417523 + }, + "t1_image_uv": [ + 1093.296733454695, + -498.250319819791 + ], + "t1_depth": 0.3976616637108865 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701239582602 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.22794259502745, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 545, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3952990770339966, + "y": 0.5389233231544495, + "z": 0.9249142408370972 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.7192330005457, + "ymin": 325.0825786602582, + "xmax": 660.9652610177832, + "ymax": 394.28777099582317 + }, + "corners_3d": [ + [ + 25.371740341186523, + 38.41693878173828, + 0.059855878353118896 + ], + [ + 24.293893814086914, + 38.41693878173828, + 0.059855878353118896 + ], + [ + 24.293893814086914, + 39.20753479003906, + 0.059855878353118896 + ], + [ + 25.371740341186523, + 39.20753479003906, + 0.059855878353118896 + ], + [ + 25.371740341186523, + 38.41693878173828, + 1.909684419631958 + ], + [ + 24.293893814086914, + 38.41693878173828, + 1.909684419631958 + ], + [ + 24.293893814086914, + 39.20753479003906, + 1.909684419631958 + ], + [ + 25.371740341186523, + 39.20753479003906, + 1.909684419631958 + ] + ], + "corners_2d": [ + [ + 619.644985349355, + 389.2067703270961 + ], + [ + 655.1155606167794, + 394.28777099582317 + ], + [ + 660.0661754912578, + 376.37596756390695 + ], + [ + 625.2633734698079, + 371.49263550104513 + ], + [ + 618.7192330005457, + 342.6328053252207 + ], + [ + 655.8070607300297, + 347.67256494150786 + ], + [ + 660.9652610177832, + 329.9176050765125 + ], + [ + 624.6068623209795, + 325.0825786602582 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 145, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 307419, + "2": 263011, + "3": 64377, + "5": 644, + "6": 5126, + "9": 68167, + "10": 154196, + "12": 2359, + "14": 16277, + "16": 14205, + "20": 11491, + "24": 14328 + }, + "instance_pixel_counts": { + "3485": 2256, + "3925": 9, + "4224": 1250, + "7253": 9, + "7299": 603, + "8788": 244, + "9557": 87, + "17502": 151753, + "18526": 2040, + "20378": 4751, + "20573": 29954, + "20890": 3281, + "21085": 66290, + "21402": 36334, + "21914": 33134, + "22909": 2600, + "23421": 2800, + "25181": 9564, + "25683": 44, + "25693": 29699, + "26205": 1306, + "34899": 2597, + "36764": 73905, + "36978": 4342, + "37276": 193302, + "39073": 1119, + "40531": 991, + "42145": 557, + "42657": 379, + "43008": 545, + "43264": 243, + "43520": 164, + "43776": 639, + "44032": 56, + "44288": 712, + "44705": 1035, + "45056": 14205, + "45388": 3936, + "45434": 3135, + "45644": 3487, + "46490": 9712, + "46848": 13773, + "47002": 8857, + "48640": 2504, + "49266": 8508, + "49539": 270, + "49778": 51527, + "51309": 68167, + "51612": 8937, + "58441": 644, + "60796": 1730, + "61308": 3258, + "61820": 9586, + "62844": 10155, + "63386": 40212 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 545, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 38.81223678588867, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.3804858326911926, + "y": 0.5685351490974426, + "z": 0.9111732244491577 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.8268722408077, + "ymin": 325.63264263898935, + "xmax": 661.8684396466997, + "ymax": 393.75463239757016 + }, + "corners_3d": [ + [ + 25.401351928710938, + 38.4317512512207, + 0.07359689474105835 + ], + [ + 24.2642822265625, + 38.4317512512207, + 0.07359689474105835 + ], + [ + 24.2642822265625, + 39.19272232055664, + 0.07359689474105835 + ], + [ + 25.401351928710938, + 39.19272232055664, + 0.07359689474105835 + ], + [ + 25.401351928710938, + 38.4317512512207, + 1.8959434032440186 + ], + [ + 24.2642822265625, + 38.4317512512207, + 1.8959434032440186 + ], + [ + 24.2642822265625, + 39.19272232055664, + 1.8959434032440186 + ], + [ + 25.401351928710938, + 39.19272232055664, + 1.8959434032440186 + ] + ], + "corners_2d": [ + [ + 618.7769192025994, + 388.3986913721988 + ], + [ + 656.1951573098197, + 393.75463239757016 + ], + [ + 660.943778683908, + 376.5096544890584 + ], + [ + 624.2040404196651, + 371.3544815172443 + ], + [ + 617.8268722408077, + 342.5212674894318 + ], + [ + 656.9246219813795, + 347.8342099392293 + ], + [ + 661.8684396466997, + 330.73775002973014 + ], + [ + 623.5108635856924, + 325.63264263898935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 243, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 41.809940338134766, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.21152223646640778, + "y": 0.27467289566993713, + "z": 0.6140486001968384 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 522.9106322299621, + "ymin": 262.16626745077417, + "xmax": 543.7538091067797, + "ymax": 300.46588087015004 + }, + "corners_3d": [ + [ + 29.183496475219727, + 41.54593276977539, + 0.3707166314125061 + ], + [ + 28.646154403686523, + 41.66014862060547, + 0.3707166314125061 + ], + [ + 28.73410987854004, + 42.07394790649414, + 0.3707166314125061 + ], + [ + 29.271451950073242, + 41.95973205566406, + 0.3707166314125061 + ], + [ + 29.183496475219727, + 41.54593276977539, + 1.598813772201538 + ], + [ + 28.646154403686523, + 41.66014862060547, + 1.598813772201538 + ], + [ + 28.73410987854004, + 42.07394790649414, + 1.598813772201538 + ], + [ + 29.271451950073242, + 41.95973205566406, + 1.598813772201538 + ] + ], + "corners_2d": [ + [ + 526.0086813167482, + 300.46588087015004 + ], + [ + 542.8840740714666, + 300.39039452173307 + ], + [ + 543.7538091067797, + 292.318410039576 + ], + [ + 527.045569293244, + 292.39240916400405 + ], + [ + 522.9106322299621, + 270.222604830111 + ], + [ + 540.2449143414514, + 270.14794275310265 + ], + [ + 541.1648735933657, + 262.16626745077417 + ], + [ + 524.0069112463136, + 262.2394191756317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 164, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 45.75494384765625, + "z": 0.6779031753540039 + }, + "extent": { + "x": 0.29982054233551025, + "y": 0.40193843841552734, + "z": 0.5698957443237305 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 731.498047577518, + "ymin": 223.29979393144248, + "xmax": 757.5907032777715, + "ymax": 261.844727368604 + }, + "corners_3d": [ + [ + 22.945390701293945, + 45.41475296020508, + 0.10800737142562866 + ], + [ + 22.145917892456055, + 45.498779296875, + 0.10800737142562866 + ], + [ + 22.20859718322754, + 46.09513473510742, + 0.10800737142562866 + ], + [ + 23.00806999206543, + 46.0111083984375, + 0.10800737142562866 + ], + [ + 22.945390701293945, + 45.41475296020508, + 1.2477989196777344 + ], + [ + 22.145917892456055, + 45.498779296875, + 1.2477989196777344 + ], + [ + 22.20859718322754, + 46.09513473510742, + 1.2477989196777344 + ], + [ + 23.00806999206543, + 46.0111083984375, + 1.2477989196777344 + ] + ], + "corners_2d": [ + [ + 731.498047577518, + 260.4949802142881 + ], + [ + 754.7491864992576, + 261.844727368604 + ], + [ + 754.9117206451793, + 251.67782900473028 + ], + [ + 731.9640776330424, + 250.36315007124722 + ], + [ + 733.6562884903408, + 233.30389974919075 + ], + [ + 757.4606937367728, + 234.63709710757655 + ], + [ + 757.5907032777715, + 224.59755166104506 + ], + [ + 734.1043107277477, + 223.29979393144248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 639, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 38.81223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4289330840110779, + "y": 0.5393627882003784, + "z": 0.9547646641731262 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.6989244191365, + "ymin": 363.9348189287029, + "xmax": 1004.4571636872234, + "ymax": 439.4593351062311 + }, + "corners_3d": [ + [ + 15.872179985046387, + 38.383304595947266, + 0.1865972876548767 + ], + [ + 14.79345417022705, + 38.383304595947266, + 0.1865972876548767 + ], + [ + 14.79345417022705, + 39.24116897583008, + 0.1865972876548767 + ], + [ + 15.872179985046387, + 39.24116897583008, + 0.1865972876548767 + ], + [ + 15.872179985046387, + 38.383304595947266, + 2.0961265563964844 + ], + [ + 14.79345417022705, + 38.383304595947266, + 2.0961265563964844 + ], + [ + 14.79345417022705, + 39.24116897583008, + 2.0961265563964844 + ], + [ + 15.872179985046387, + 39.24116897583008, + 2.0961265563964844 + ] + ], + "corners_2d": [ + [ + 947.6209258392141, + 433.82236505004727 + ], + [ + 987.0708421430775, + 439.4593351062311 + ], + [ + 985.2552628627602, + 417.96940569462697 + ], + [ + 946.6989244191365, + 412.58269702592264 + ], + [ + 962.9354841300371, + 385.0624947573633 + ], + [ + 1004.4571636872234, + 390.6776519017045 + ], + [ + 1002.1421783264079, + 369.28867137213535 + ], + [ + 961.6091732649693, + 363.9348189287029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 56, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 27.68487548828125, + "z": 1.1371724605560303 + }, + "extent": { + "x": 0.44966554641723633, + "y": 0.42032596468925476, + "z": 0.9328417778015137 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 677.0434049529925, + "ymin": 690.8196567680154, + "xmax": 732.4768109604179, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.682342529296875, + 27.28160858154297, + 0.2043306827545166 + ], + [ + 20.846294403076172, + 27.193737030029297, + 0.2043306827545166 + ], + [ + 20.752288818359375, + 28.08814239501953, + 0.2043306827545166 + ], + [ + 21.588336944580078, + 28.176013946533203, + 0.2043306827545166 + ], + [ + 21.682342529296875, + 27.28160858154297, + 2.070014238357544 + ], + [ + 20.846294403076172, + 27.193737030029297, + 2.070014238357544 + ], + [ + 20.752288818359375, + 28.08814239501953, + 2.070014238357544 + ], + [ + 21.588336944580078, + 28.176013946533203, + 2.070014238357544 + ] + ], + "corners_2d": [ + [ + 677.0434049529925, + 774.677476162196 + ], + [ + 716.3469651899326, + 786.9392315038452 + ], + [ + 726.7749840158918, + 746.4707593914916 + ], + [ + 688.5867642819, + 734.9560544611979 + ], + [ + 679.5355473133114, + 731.7164534831595 + ], + [ + 721.5354577068298, + 744.3752958488728 + ], + [ + 732.4768109604179, + 702.6576685618618 + ], + [ + 691.7482747815826, + 690.8196567680154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 712, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 30.64202117919922, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.34200072288513184, + "y": 0.39275145530700684, + "z": 0.8802354335784912 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.41551662692063, + "ymin": 477.35472101027506, + "xmax": 167.18193457470977, + "ymax": 551.6570842631877 + }, + "corners_3d": [ + [ + 36.53342819213867, + 30.38915252685547, + 0.10453468561172485 + ], + [ + 35.76508712768555, + 30.2258358001709, + 0.10453468561172485 + ], + [ + 35.62287521362305, + 30.89488983154297, + 0.10453468561172485 + ], + [ + 36.39121627807617, + 31.05820655822754, + 0.10453468561172485 + ], + [ + 36.53342819213867, + 30.38915252685547, + 1.8650054931640625 + ], + [ + 35.76508712768555, + 30.2258358001709, + 1.8650054931640625 + ], + [ + 35.62287521362305, + 30.89488983154297, + 1.8650054931640625 + ], + [ + 36.39121627807617, + 31.05820655822754, + 1.8650054931640625 + ] + ], + "corners_2d": [ + [ + 123.72172999500026, + 541.525146029795 + ], + [ + 147.29408229246803, + 551.6570842631877 + ], + [ + 167.18193457470977, + 531.6436727335631 + ], + [ + 143.86234164117246, + 521.8866335758112 + ], + [ + 97.41551662692063, + 497.10748305115845 + ], + [ + 121.93581897308422, + 507.3130038587504 + ], + [ + 143.3268663573374, + 487.16384839423085 + ], + [ + 119.07573844155934, + 477.35472101027506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 14205, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 483.26471650647034, + "ymin": 0.0, + "xmax": 639.9253524124426, + "ymax": 157.8122998310869 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 639.9253524124426, + 49.197892622348775 + ], + [ + 560.4292663756714, + 42.10082784091668 + ], + [ + 494.7143404062495, + 147.74404608764382 + ], + [ + 588.5157943428351, + 157.8122998310869 + ], + [ + 639.9204023502488, + -41.25594135279266 + ], + [ + 555.2234541158937, + -47.605066342844566 + ], + [ + 483.26471650647034, + 48.012191939766865 + ], + [ + 584.3918688984172, + 57.25046390729318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 13773, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 221.2405662507827, + "ymin": 423.6868657163967, + "xmax": 401.08939304262924, + "ymax": 627.5107421992784 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 401.08939304262924, + 473.30001377620556 + ], + [ + 328.71295369802573, + 461.53701174860373 + ], + [ + 239.72272169498933, + 611.819665726053 + ], + [ + 322.1532482221382, + 627.5107421992784 + ], + [ + 391.46876242025655, + 435.44926204822934 + ], + [ + 316.33294420212974, + 423.6868657163967 + ], + [ + 221.2405662507827, + 574.8147518905718 + ], + [ + 307.26325008245334, + 590.7014643399448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2504, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 440.5208829562067, + "ymin": 49.24645131745859, + "xmax": 515.8251893323508, + "ymax": 130.46604889739234 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 515.8251893323508, + 87.28260733040878 + ], + [ + 476.5338376262199, + 83.4630535624035 + ], + [ + 445.88123338595506, + 126.0811259684211 + ], + [ + 487.78017412099007, + 130.46604889739234 + ], + [ + 512.6091493244588, + 52.94089441305073 + ], + [ + 472.3277190349861, + 49.24645131745859 + ], + [ + 440.5208829562067, + 90.53744546297946 + ], + [ + 483.547261401323, + 94.79442972129686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.3047612909945, + "ymin": 0.0, + "xmax": 1259.282258235057, + "ymax": 56.349162232744504 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1160.2835691445107, + 8.697985967902866 + ], + [ + 1150.3047612909945, + 7.93540722509772 + ], + [ + 1172.459431134507, + 55.441617310868025 + ], + [ + 1183.3814504335267, + 56.349162232744504 + ], + [ + 1226.1298265495584, + -169.0603264453532 + ], + [ + 1214.7821924085742, + -169.6277130883076 + ], + [ + 1246.7000146228354, + -133.8775054837559 + ], + [ + 1259.282258235057, + -133.18646027618496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.5419059796352, + "ymin": 102.3155270878022, + "xmax": 1199.3884282190795, + "ymax": 146.73062687012444 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1195.5905975030628, + 146.73062687012444 + ], + [ + 1182.1717708842086, + 116.02139059108657 + ], + [ + 1124.5419059796352, + 110.73163648160246 + ], + [ + 1135.0628784121134, + 140.9158590211875 + ], + [ + 1199.3884282190795, + 138.07310135035794 + ], + [ + 1185.7047648734251, + 107.56814057653892 + ], + [ + 1127.672722857498, + 102.3155270878022 + ], + [ + 1138.417023970008, + 132.2955279415311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.63856793712966, + "ymin": 150.99629234745925, + "xmax": 152.9201304624985, + "ymax": 167.1565167794199 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 120.12943925560091, + 163.5615674713308 + ], + [ + 150.92431225050314, + 167.1565167794199 + ], + [ + 152.9201304624985, + 165.3544642497169 + ], + [ + 122.19569009671727, + 161.77843353942265 + ], + [ + 115.63856793712966, + 152.76617638226134 + ], + [ + 146.67688351815292, + 156.33465708576517 + ], + [ + 148.70130600314025, + 154.54583173509124 + ], + [ + 117.73452345505302, + 150.99629234745925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.8275868834124, + "ymin": 16.063031479482106, + "xmax": 285.4395886672487, + "ymax": 28.81397716281822 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 259.40559117524833, + 26.5625955477459 + ], + [ + 284.14892299397684, + 28.81397716281822 + ], + [ + 285.4395886672487, + 27.6860584180115 + ], + [ + 260.7420321557797, + 25.443986948326597 + ], + [ + 256.8275868834124, + 17.169669040769577 + ], + [ + 281.72843216742393, + 19.397050879037977 + ], + [ + 283.0329129501239, + 18.281140092047224 + ], + [ + 258.1784224764084, + 16.063031479482106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.3574777928935, + "ymin": 638.756259707942, + "xmax": 845.7417630208818, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 784.8025159918795, + 921.138526620192 + ], + [ + 786.9196584387873, + 896.1405450307834 + ], + [ + 591.1046606526488, + 853.4953482587836 + ], + [ + 585.690422087291, + 876.9926869349046 + ], + [ + 844.2254344104608, + 719.1882185874732 + ], + [ + 845.7417630208818, + 689.1044180380725 + ], + [ + 572.3470256628339, + 638.756259707942 + ], + [ + 564.3574777928935, + 666.3480048608801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7373678131420450038, + "instance_id": 63180, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760318756103516, + "y": 25.211071014404297, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.4769216137097, + "ymin": 650.7909060060329, + "xmax": 606.7260326022214, + "ymax": 678.5107839271038 + }, + "corners_3d": [ + [ + 22.556623458862305, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.6353302001953125 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.6353302001953125 + ], + [ + 22.556623458862305, + 25.064777374267578, + 7.743465423583984 + ], + [ + 22.556623458862305, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.357364654541016, + 7.743465423583984 + ], + [ + 22.964014053344727, + 25.064777374267578, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 602.0081729492351, + 678.5107839271038 + ], + [ + 606.7260326022214, + 660.0141627437408 + ], + [ + 578.9671637991229, + 654.8363355258379 + ], + [ + 573.8354070309463, + 673.1690298783091 + ], + [ + 601.8013995242161, + 674.5118900496259 + ], + [ + 606.5477580847353, + 655.9784734562463 + ], + [ + 578.641612080949, + 650.7909060060329 + ], + [ + 573.4769216137097, + 669.1591885557809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7684424315151522064, + "instance_id": 4121, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760311126708984, + "y": 25.211071014404297, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.2954118665227, + "ymin": 650.6437586269503, + "xmax": 606.9026125442027, + "ymax": 678.6621202893774 + }, + "corners_3d": [ + [ + 22.55442237854004, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.634754657745361 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.634754657745361 + ], + [ + 22.55442237854004, + 25.063201904296875, + 7.744052410125732 + ], + [ + 22.55442237854004, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.35894012451172, + 7.744052410125732 + ], + [ + 22.96619987487793, + 25.063201904296875, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 602.1363723028222, + 678.6621202893774 + ], + [ + 606.9026125442027, + 659.9655775296369 + ], + [ + 578.847827951201, + 654.7329165640465 + ], + [ + 573.6587514163109, + 673.261988922482 + ], + [ + 601.9280521593242, + 674.6205054800496 + ], + [ + 606.7233832134743, + 655.8863641830776 + ], + [ + 578.5181587654529, + 650.6437586269503 + ], + [ + 573.2954118665227, + 669.2091829001772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.6037180990584, + "ymin": 102.33402455454302, + "xmax": 1199.3429620942934, + "ymax": 146.6518452373981 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1195.5706160267036, + 146.6518452373981 + ], + [ + 1182.1665755033341, + 115.97796709945166 + ], + [ + 1124.6037180990584, + 110.69472303688491 + ], + [ + 1135.116386609605, + 140.84481189943554 + ], + [ + 1199.3429620942934, + 138.05157024449738 + ], + [ + 1185.6761395175142, + 107.58041546952774 + ], + [ + 1127.7142305697628, + 102.33402455454302 + ], + [ + 1138.4485420763815, + 132.28144387234016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.5509137635537, + "ymin": 85.61453714689247, + "xmax": 204.34913112589516, + "ymax": 99.99350142061365 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 175.1132623659966, + 97.11574772182416 + ], + [ + 202.69893466605305, + 99.99350142061365 + ], + [ + 204.34913112589516, + 98.55138704644622 + ], + [ + 176.8201391572312, + 95.68708227034648 + ], + [ + 171.5509137635537, + 87.03040565843452 + ], + [ + 199.33209523462216, + 89.88253630070449 + ], + [ + 201.00292234936842, + 88.45323659367244 + ], + [ + 173.2792172725799, + 85.61453714689247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.1995093120188, + "ymin": 73.02639979031, + "xmax": 1214.612994955719, + "ymax": 228.91376130379976 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1162.151677081567, + 228.91376130379976 + ], + [ + 1150.3974486646948, + 194.71928449452304 + ], + [ + 1093.1995093120188, + 188.7870481376087 + ], + [ + 1102.119130541471, + 222.39874673480784 + ], + [ + 1214.612994955719, + 109.92146373755264 + ], + [ + 1199.0957779825355, + 78.45580278089204 + ], + [ + 1136.0448363466203, + 73.02639979031 + ], + [ + 1148.1018144480229, + 103.9039738770266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.5716761235603, + "ymin": 0.0, + "xmax": 880.707100603177, + "ymax": 207.48685740101914 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 845.2433806567088, + 207.48685740101914 + ], + [ + 845.7838768606888, + 201.10500480468056 + ], + [ + 743.9965531494252, + 189.9569877714734 + ], + [ + 742.5716761235603, + 196.1408299818381 + ], + [ + 880.4385207807967, + 0.7219490950571981 + ], + [ + 880.707100603177, + -4.606621243753466 + ], + [ + 761.3250942699522, + -13.87616506318767 + ], + [ + 759.8379541008725, + -8.740360197217512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 762.4836111528562, + "ymin": 0.0, + "xmax": 776.3557948632528, + "ymax": 0.016398638010173272 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 775.1408270826457, + 0.016398638010173272 + ], + [ + 776.0360752008494, + -3.4953886307608286 + ], + [ + 763.4632578502171, + -4.489574871534728 + ], + [ + 762.4836111528562, + -0.9914723112967749 + ], + [ + 775.4606284524478, + -3.327928878854209 + ], + [ + 776.3557948632528, + -6.825112025836177 + ], + [ + 763.7528628582421, + -7.815143344964156 + ], + [ + 762.7728915396178, + -4.33162004246816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.99600480306736, + "ymin": 0.0, + "xmax": 390.5394595421471, + "ymax": 62.56307366549487 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 338.77210647125946, + 62.56307366549487 + ], + [ + 390.5394595421471, + 26.162359053767887 + ], + [ + 317.313958344742, + 13.738921646609526 + ], + [ + 262.1380042494442, + 48.35244248821084 + ], + [ + 242.8633062820624, + -351.64190699408937 + ], + [ + 316.8781169135794, + -364.82319211857134 + ], + [ + 226.13647173716743, + -368.13582856709695 + ], + [ + 146.99600480306736, + -355.6916586319402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.0059069104777, + "ymin": 0.0, + "xmax": 1208.9555252813668, + "ymax": 81.55632265452277 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 923.89406746396, + 81.48923183050283 + ], + [ + 1100.882823810473, + 81.55632265452277 + ], + [ + 1044.1561845474207, + 7.959079095503057 + ], + [ + 889.0059069104777, + 7.907550390817505 + ], + [ + 990.4553227805186, + -230.75366790835267 + ], + [ + 1208.9555252813668, + -230.71419986920023 + ], + [ + 1124.899366980181, + -272.7936463347538 + ], + [ + 938.7469559411895, + -272.8222791293466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.9229482433761, + "ymin": 470.41936940134906, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1400.1226286524761, + 1419.1034204676355 + ], + [ + 1179.5602085887106, + 869.0553729635801 + ], + [ + 799.9229482433761, + 873.8843710249296 + ], + [ + 869.9514516252698, + 1428.546474978328 + ], + [ + 2497.7468642096583, + 1427.550644258009 + ], + [ + 1574.7987856237278, + 470.41936940134906 + ], + [ + 917.7796277440327, + 476.3912984537164 + ], + [ + 1205.9938905589852, + 1450.894937970874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 878.4917344914323, + "ymin": 0.0, + "xmax": 1252.3488953083047, + "ymax": 214.62905488017637 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1116.112760551614, + 213.29416006813395 + ], + [ + 1052.1291619672088, + 118.49248940056981 + ], + [ + 878.4917344914323, + 119.50223582943937 + ], + [ + 916.5604191562738, + 214.62905488017637 + ], + [ + 1252.3488953083047, + -130.06532715973577 + ], + [ + 1151.0228579298082, + -192.19581300332015 + ], + [ + 935.8328868400104, + -191.55757143399273 + ], + [ + 995.8827816164869, + -129.157410939054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 264.53852938773696, + "ymax": 48.91869983452892 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 205.6340913112515, + 48.91869983452892 + ], + [ + 264.53852938773696, + 14.118672020737847 + ], + [ + 195.90129341154085, + 2.2440730142019447 + ], + [ + 134.14268139743916, + 35.37261881007254 + ], + [ + 73.06554483986292, + -357.40110162180144 + ], + [ + 158.4539974873145, + -369.7803294671106 + ], + [ + 74.97221375998868, + -372.8536369496694 + ], + [ + -14.41839327135267, + -361.1443017153473 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00150/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00150/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..38cdbef683b35a393fc920b84c2255f1ee984809 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00150/meta.json @@ -0,0 +1,3209 @@ +{ + "frame_id": 150, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 75.0, + "sim_timestamp": 8569.2858044873 + }, + "drone_pose": { + "x": 21.11784751463404, + "y": 20.76423260819189, + "z": 20.0, + "pitch": -39.75668880992523, + "yaw": 74.75193026765382, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20218467712402344, + -0.7417036890983582, + 0.6395288109779358, + -32.46118927001953 + ], + [ + 0.964796245098114, + 0.26299864053726196, + 2.9802322387695312e-08, + 14.9134521484375 + ], + [ + -0.16819524765014648, + 0.61701500415802, + 0.7687671184539795, + 0.9884185791015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.309617461756318, + "y": 21.1250579264085, + "z": 20.098210656068566 + }, + "t1_image_uv": [ + 284.8233898381294, + -942.0857088628661 + ], + "t1_depth": 0.2435898773727771 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 41.31223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 702.0590762156819, + 404.8423989257276 + ], + "depth": 28.152429166564403, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 584, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 41.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3932836949825287, + "y": 0.3065722584724426, + "z": 0.9381718039512634 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 687.8169876956026, + "ymin": 370.30523943138087, + "xmax": 716.6807929802649, + "ymax": 438.78047393953824 + }, + "corners_3d": [ + [ + 25.139389038085938, + 40.91895294189453, + 0.046593427658081055 + ], + [ + 24.5262451171875, + 40.91895294189453, + 0.046593427658081055 + ], + [ + 24.5262451171875, + 41.70552062988281, + 0.046593427658081055 + ], + [ + 25.139389038085938, + 41.70552062988281, + 0.046593427658081055 + ], + [ + 25.139389038085938, + 40.91895294189453, + 1.922937035560608 + ], + [ + 24.5262451171875, + 40.91895294189453, + 1.922937035560608 + ], + [ + 24.5262451171875, + 41.70552062988281, + 1.922937035560608 + ], + [ + 25.139389038085938, + 41.70552062988281, + 1.922937035560608 + ] + ], + "corners_2d": [ + [ + 687.8169876956026, + 434.96705324423056 + ], + [ + 708.022972143393, + 438.78047393953824 + ], + [ + 713.5059028602558, + 421.11884894018345 + ], + [ + 693.681572541587, + 417.4570882988145 + ], + [ + 689.9170425692023, + 387.57742202530073 + ], + [ + 711.0240619577208, + 391.3430904260358 + ], + [ + 716.6807929802649, + 373.9147610065864 + ], + [ + 695.9899038011829, + 370.30523943138087 + ] + ], + "center_offset_px": [ + 62.0590762156819, + 44.84239892572759 + ] + }, + "trace_timestep_index": 150, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 292292, + "2": 265538, + "3": 99151, + "5": 1098, + "6": 3166, + "9": 84625, + "10": 106800, + "12": 2442, + "14": 18628, + "16": 18207, + "20": 15235, + "24": 14418 + }, + "instance_pixel_counts": { + "923": 37, + "2973": 695, + "3402": 280, + "3485": 3083, + "4224": 1040, + "4509": 68, + "7253": 36, + "7299": 423, + "8788": 396, + "9557": 99, + "17502": 103570, + "18526": 2754, + "20061": 1, + "20573": 37891, + "20890": 3234, + "21085": 37673, + "21402": 41213, + "21885": 159, + "21914": 32458, + "22397": 31, + "22909": 3659, + "23421": 3887, + "24669": 1, + "25181": 18432, + "25469": 88, + "25683": 43, + "25693": 34080, + "26195": 122, + "30208": 29, + "33953": 5, + "34465": 45, + "34977": 101, + "36764": 10902, + "36978": 4580, + "37276": 220237, + "39073": 1379, + "40531": 1393, + "41043": 143, + "42145": 15, + "42657": 475, + "43008": 584, + "43264": 241, + "43520": 175, + "43776": 714, + "44288": 728, + "44705": 1228, + "44954": 782, + "45056": 18207, + "45388": 5696, + "45434": 403, + "45644": 5182, + "46490": 13918, + "46848": 15630, + "47002": 12341, + "48026": 1630, + "48128": 379, + "48640": 2619, + "49266": 8798, + "49539": 271, + "49778": 85773, + "51309": 84625, + "51612": 10169, + "58441": 1098, + "61308": 2721, + "61820": 10986, + "62844": 10353, + "62874": 3445, + "63386": 56124, + "64410": 1547 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 584, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 41.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.40215086936950684, + "y": 0.4472131133079529, + "z": 0.9310469627380371 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 683.145393325002, + "ymin": 369.47828081988024, + "xmax": 721.5007991354577, + "ymax": 439.690913173302 + }, + "corners_3d": [ + [ + 25.280029296875, + 40.91008758544922, + 0.05371826887130737 + ], + [ + 24.385602951049805, + 40.91008758544922, + 0.05371826887130737 + ], + [ + 24.385604858398438, + 41.714385986328125, + 0.05371826887130737 + ], + [ + 25.280031204223633, + 41.714385986328125, + 0.05371826887130737 + ], + [ + 25.280029296875, + 40.91008758544922, + 1.9158122539520264 + ], + [ + 24.385602951049805, + 40.91008758544922, + 1.9158122539520264 + ], + [ + 24.385604858398438, + 41.714385986328125, + 1.9158122539520264 + ], + [ + 25.280031204223633, + 41.714385986328125, + 1.9158122539520264 + ] + ], + "corners_2d": [ + [ + 683.145393325002, + 434.1256730415005 + ], + [ + 712.6322962615611, + 439.690913173302 + ], + [ + 718.1489132563573, + 421.5959172726925 + ], + [ + 689.2314953586773, + 416.25693037632 + ], + [ + 685.024071551492, + 387.1047251158305 + ], + [ + 715.8159728539979, + 392.600921441399 + ], + [ + 721.5007991354577, + 374.74158129428577 + ], + [ + 691.3294196535271, + 369.47828081988024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 241, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 44.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.24133670330047607, + "y": 0.23366455733776093, + "z": 0.5905579328536987 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 589.2903960380909, + "ymin": 302.9112878789722, + "xmax": 605.9837107044103, + "ymax": 341.28406517060125 + }, + "corners_3d": [ + [ + 29.137184143066406, + 44.02529525756836, + 0.39421218633651733 + ], + [ + 28.68006706237793, + 44.122459411621094, + 0.39421218633651733 + ], + [ + 28.78042221069336, + 44.59458541870117, + 0.39421218633651733 + ], + [ + 29.237539291381836, + 44.49742126464844, + 0.39421218633651733 + ], + [ + 29.137184143066406, + 44.02529525756836, + 1.5753281116485596 + ], + [ + 28.68006706237793, + 44.122459411621094, + 1.5753281116485596 + ], + [ + 28.78042221069336, + 44.59458541870117, + 1.5753281116485596 + ], + [ + 29.237539291381836, + 44.49742126464844, + 1.5753281116485596 + ] + ], + "corners_2d": [ + [ + 590.5097730400456, + 340.7786992119871 + ], + [ + 604.7460077378109, + 341.28406517060125 + ], + [ + 605.9837107044103, + 332.18766800259164 + ], + [ + 591.9126225145441, + 331.6940183201856 + ], + [ + 589.2903960380909, + 311.87198875221935 + ], + [ + 603.8768165645052, + 312.37060902724323 + ], + [ + 605.1550554937038, + 303.39806844629277 + ], + [ + 590.7419564773028, + 302.9112878789722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 175, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 48.25494384765625, + "z": 0.6573301553726196 + }, + "extent": { + "x": 0.28316280245780945, + "y": 0.39405757188796997, + "z": 0.6081027388572693 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 795.4271062202185, + "ymin": 271.8323491848962, + "xmax": 822.9415591484217, + "ymax": 312.2361762614968 + }, + "corners_3d": [ + [ + 22.939294815063477, + 47.9321403503418, + 0.04922741651535034 + ], + [ + 22.15549659729004, + 48.014522552490234, + 0.04922741651535034 + ], + [ + 22.214693069458008, + 48.5777473449707, + 0.04922741651535034 + ], + [ + 22.998491287231445, + 48.495365142822266, + 0.04922741651535034 + ], + [ + 22.939294815063477, + 47.9321403503418, + 1.2654328346252441 + ], + [ + 22.15549659729004, + 48.014522552490234, + 1.2654328346252441 + ], + [ + 22.214693069458008, + 48.5777473449707, + 1.2654328346252441 + ], + [ + 22.998491287231445, + 48.495365142822266, + 1.2654328346252441 + ] + ], + "corners_2d": [ + [ + 795.4271062202185, + 310.0392415772966 + ], + [ + 818.3890919760277, + 312.2361762614968 + ], + [ + 818.7079795577929, + 302.6363986727382 + ], + [ + 796.0377987668352, + 300.4952013798816 + ], + [ + 799.1468162155513, + 281.2258204659532 + ], + [ + 822.6711613174078, + 283.38890742704336 + ], + [ + 822.9415591484217, + 273.93926787401193 + ], + [ + 799.7233932431818, + 271.8323491848962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 714, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 41.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4272894263267517, + "y": 0.5563671588897705, + "z": 0.9564514756202698 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 1013.1192987330073, + "ymin": 422.89130412546376, + "xmax": 1076.5600741937374, + "ymax": 501.7356068792652 + }, + "corners_3d": [ + [ + 15.88918399810791, + 40.88494873046875, + 0.18491047620773315 + ], + [ + 14.776450157165527, + 40.88494873046875, + 0.18491047620773315 + ], + [ + 14.776450157165527, + 41.739524841308594, + 0.18491047620773315 + ], + [ + 15.88918399810791, + 41.739524841308594, + 0.18491047620773315 + ], + [ + 15.88918399810791, + 40.88494873046875, + 2.097813367843628 + ], + [ + 14.776450157165527, + 40.88494873046875, + 2.097813367843628 + ], + [ + 14.776450157165527, + 41.739524841308594, + 2.097813367843628 + ], + [ + 15.88918399810791, + 41.739524841308594, + 2.097813367843628 + ] + ], + "corners_2d": [ + [ + 1013.9006627991243, + 493.7639627835507 + ], + [ + 1056.2639297436485, + 501.7356068792652 + ], + [ + 1054.479605108537, + 479.6174234678934 + ], + [ + 1013.1192987330073, + 472.01485927564596 + ], + [ + 1031.969249221196, + 444.461478005565 + ], + [ + 1076.5600741937374, + 452.37972307795974 + ], + [ + 1074.190799533234, + 430.4257977657624 + ], + [ + 1030.7097011646051, + 422.89130412546376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 728, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 33.14202117919922, + "z": 0.9847603440284729 + }, + "extent": { + "x": 0.3285546898841858, + "y": 0.48127561807632446, + "z": 0.8996986150741577 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 164.4985267589219, + "ymin": 496.7623554233702, + "xmax": 232.9065902701568, + "ymax": 574.4719054532808 + }, + "corners_3d": [ + [ + 36.61722183227539, + 32.92070770263672, + 0.08506172895431519 + ], + [ + 35.67570495605469, + 32.720584869384766, + 0.08506172895431519 + ], + [ + 35.53908157348633, + 33.36333465576172, + 0.08506172895431519 + ], + [ + 36.48059844970703, + 33.56345748901367, + 0.08506172895431519 + ], + [ + 36.61722183227539, + 32.92070770263672, + 1.8844590187072754 + ], + [ + 35.67570495605469, + 32.720584869384766, + 1.8844590187072754 + ], + [ + 35.53908157348633, + 33.36333465576172, + 1.8844590187072754 + ], + [ + 36.48059844970703, + 33.56345748901367, + 1.8844590187072754 + ] + ], + "corners_2d": [ + [ + 186.4860678944479, + 560.6802307757349 + ], + [ + 213.69290847908627, + 574.4719054532808 + ], + [ + 232.9065902701568, + 556.2701927309902 + ], + [ + 205.9250984409843, + 542.9663916414322 + ], + [ + 164.4985267589219, + 514.4607725038245 + ], + [ + 192.725141419362, + 528.2615168593142 + ], + [ + 213.260943092758, + 510.0517305214541 + ], + [ + 185.27081590665358, + 496.7623554233702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 18207, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 534.5037319760878, + "ymin": 20.725729661838272, + "xmax": 700.2984956675898, + "ymax": 234.18762899225698 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 696.6342666492978, + 119.66540318374646 + ], + [ + 615.460989394599, + 109.87852167507694 + ], + [ + 542.0669891744286, + 220.02455470402353 + ], + [ + 638.3133532559134, + 234.18762899225698 + ], + [ + 700.2984956675898, + 29.452121315866748 + ], + [ + 613.9029186792318, + 20.725729661838272 + ], + [ + 534.5037319760878, + 120.09223697463293 + ], + [ + 638.1800730598541, + 133.05577746681897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 15630, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 219.0351341169552, + "ymin": 523.039249121212, + "xmax": 421.33190736538876, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 421.33190736538876, + 578.9231715548741 + ], + [ + 346.1967766887905, + 561.3684379508845 + ], + [ + 238.0906854474132, + 731.6801287824381 + ], + [ + 324.0584085889309, + 755.7957380036216 + ], + [ + 412.3730084133183, + 540.612766755971 + ], + [ + 334.3755921256453, + 523.039249121212 + ], + [ + 219.0351341169552, + 694.588314468856 + ], + [ + 308.75517950701345, + 719.0706558403124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 379, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 631.9001959877982, + "ymin": 0.0, + "xmax": 683.7146092627175, + "ymax": 18.010622524272435 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 683.0897705756743, + -9.435404572465188 + ], + [ + 652.8573628575238, + -12.245758809736344 + ], + [ + 632.022517293892, + 14.830667233594795 + ], + [ + 664.0421176992411, + 18.010622524272435 + ], + [ + 683.7146092627175, + -31.52653355866852 + ], + [ + 653.042567207115, + -34.230628153401256 + ], + [ + 631.9001959877982, + -8.156585346494978 + ], + [ + 664.4133884128263, + -5.091220248312709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2619, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 489.60772041651376, + "ymin": 116.86464053364097, + "xmax": 567.3721597955092, + "ymax": 201.27536540383502 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 567.3721597955092, + 156.22126655987785 + ], + [ + 527.5663861578995, + 150.96085996035796 + ], + [ + 493.5532976429299, + 195.19197279026963 + ], + [ + 536.0476737147881, + 201.27536540383502 + ], + [ + 565.538766767003, + 121.94593987210715 + ], + [ + 524.7538771862198, + 116.86464053364097 + ], + [ + 489.60772041651376, + 159.6605423103722 + ], + [ + 533.2193699253422, + 165.55913319219562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1236.1495892717376, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 144.10686932845587 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1246.9756119302765, + 91.6673979939095 + ], + [ + 1236.1495892717376, + 90.56082915022319 + ], + [ + 1261.3825277526294, + 142.77089748356042 + ], + [ + 1273.3371194695537, + 144.10686932845587 + ], + [ + 1323.7876683800123, + -88.32719662724588 + ], + [ + 1311.4143199717932, + -89.15044490130214 + ], + [ + 1348.6602980727853, + -49.828436218415106 + ], + [ + 1362.5272029641283, + -48.80922862999506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1215.039870405372, + "ymin": 199.59041775852154, + "xmax": 1280.0, + "ymax": 251.66585381908385 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1295.256618698626, + 251.66585381908385 + ], + [ + 1279.098455618465, + 216.2404657258314 + ], + [ + 1215.039870405372, + 208.20432451064835 + ], + [ + 1227.5686130936565, + 242.74266412813245 + ], + [ + 1299.8716172469533, + 242.77518058536202 + ], + [ + 1283.3671064137343, + 207.5724987153932 + ], + [ + 1218.8332188467025, + 199.59041775852154 + ], + [ + 1231.6530153279937, + 233.9056906070306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.09654017895906, + "ymin": 217.40662289211494, + "xmax": 190.7152498331111, + "ymax": 234.98096067427431 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 158.14602569973061, + 230.02727677289874 + ], + [ + 188.51432752853202, + 234.98096067427431 + ], + [ + 190.7152498331111, + 233.10882022388333 + ], + [ + 160.4145913742044, + 228.18253321119042 + ], + [ + 154.09654017895906, + 219.23680666181005 + ], + [ + 184.69170804593, + 224.1518131670405 + ], + [ + 186.92192681830818, + 222.29421807680583 + ], + [ + 156.3953837137298, + 217.40662289211494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.5039747373112, + "ymin": 0.0, + "xmax": 964.5064464041252, + "ymax": 35.029876059246874 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 933.6557170318571, + 35.029876059246874 + ], + [ + 933.9449598207351, + 32.09932294314075 + ], + [ + 863.2228691500034, + 25.270545961804487 + ], + [ + 862.5039747373112, + 28.116429866569035 + ], + [ + 964.3971116736383, + -119.79639311919061 + ], + [ + 964.5064464041252, + -121.97408742597224 + ], + [ + 886.060233545335, + -127.03763011082111 + ], + [ + 885.4218291036724, + -124.92926010264375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.49647652279225, + "ymin": 78.37533724023973, + "xmax": 337.4431503485424, + "ymax": 91.80293415133133 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 311.6348962827734, + 88.77453088507923 + ], + [ + 336.05421724645174, + 91.80293415133133 + ], + [ + 337.4431503485424, + 90.65959133671458 + ], + [ + 313.06825366752446, + 87.64419268730325 + ], + [ + 309.49647652279225, + 79.49299851791443 + ], + [ + 334.06338334160887, + 82.48759154666266 + ], + [ + 335.4657135727166, + 81.35698712558695 + ], + [ + 310.94376126795106, + 78.37533724023973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1215.1109070178268, + "ymin": 199.61274474839843, + "xmax": 1280.0, + "ymax": 251.58077011944275 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1295.23582577839, + 251.58077011944275 + ], + [ + 1279.0953963610161, + 216.19627290423588 + ], + [ + 1215.1109070178268, + 208.16996392671956 + ], + [ + 1227.6300145924952, + 242.66947904687876 + ], + [ + 1299.8198499011332, + 242.74889281800375 + ], + [ + 1283.3357599483834, + 207.58541176007176 + ], + [ + 1218.879658024474, + 199.61274474839843 + ], + [ + 1231.68762354007, + 233.8908871969237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.585936865906, + "ymin": 75.28548737017968, + "xmax": 842.3639392041631, + "ymax": 83.85821462227062 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 840.8767271244634, + 83.85821462227062 + ], + [ + 841.8938432744311, + 80.0495346488641 + ], + [ + 828.6968656310996, + 78.61843253238249 + ], + [ + 827.585936865906, + 82.40604682271356 + ], + [ + 841.3478974754121, + 80.50371634795681 + ], + [ + 842.3639392041631, + 76.71067847914048 + ], + [ + 829.1350181809603, + 75.28548737017968 + ], + [ + 828.0247069487216, + 79.05749724695175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.6723848102166, + "ymin": 148.9597665475103, + "xmax": 249.73590238206583, + "ymax": 164.33548202207234 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 220.776165499822, + 160.42525463200147 + ], + [ + 247.94166217657965, + 164.33548202207234 + ], + [ + 249.73590238206583, + 162.85849825406294 + ], + [ + 222.6249121929573, + 158.96734258055199 + ], + [ + 217.6723848102166, + 150.4038762896053 + ], + [ + 245.01991662274202, + 154.2773418544309 + ], + [ + 246.83470540574552, + 152.81419988125853 + ], + [ + 219.54239501976588, + 148.9597665475103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13392155500690361596, + "instance_id": 64588, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": 85.601806640625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.4847599741886, + "ymin": 0.0, + "xmax": 985.6349704296083, + "ymax": 8.514631075788316 + }, + "corners_3d": [ + [ + 18.817964553833008, + 79.57669067382812, + 0.0 + ], + [ + 18.385149002075195, + 79.57284545898438, + 0.0 + ], + [ + 18.27800941467285, + 91.62692260742188, + 0.0 + ], + [ + 18.710824966430664, + 91.63076782226562, + 0.0 + ], + [ + 18.817964553833008, + 79.57669067382812, + 8.446706771850586 + ], + [ + 18.385149002075195, + 79.57284545898438, + 8.446706771850586 + ], + [ + 18.27800941467285, + 91.62692260742188, + 8.446706771850586 + ], + [ + 18.710824966430664, + 91.63076782226562, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 943.4847599741886, + 7.792468985096377 + ], + [ + 951.1352023735838, + 8.514631075788316 + ], + [ + 956.8109687489911, + -53.050051325642244 + ], + [ + 950.2045358647888, + -53.58715596420643 + ], + [ + 975.9191343667596, + -153.1807365332744 + ], + [ + 984.4467556135314, + -152.66954777998967 + ], + [ + 985.6349704296083, + -195.62297868612075 + ], + [ + 978.3845857921619, + -195.9922236652477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14156310929402703840, + "instance_id": 57391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": 78.5479736328125, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.2512731914021, + "ymin": 0.0, + "xmax": 792.6801738395263, + "ymax": 0.19508017296067237 + }, + "corners_3d": [ + [ + 40.42330551147461, + 78.81795501708984, + 0.0 + ], + [ + 40.42715072631836, + 78.38513946533203, + 0.0 + ], + [ + 28.373075485229492, + 78.27799224853516, + 0.0 + ], + [ + 28.36922836303711, + 78.71080780029297, + 0.0 + ], + [ + 40.42330551147461, + 78.81795501708984, + 8.446706771850586 + ], + [ + 40.42715072631836, + 78.38513946533203, + 8.446706771850586 + ], + [ + 28.373075485229492, + 78.27799224853516, + 8.446706771850586 + ], + [ + 28.36922836303711, + 78.71080780029297, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 586.0530216889841, + -20.63818953929342 + ], + [ + 583.8637332805985, + -18.38598261522384 + ], + [ + 777.0656593180554, + 0.19508017296067237 + ], + [ + 778.270246950297, + -2.260115652687432 + ], + [ + 580.6912248660818, + -173.16611633402727 + ], + [ + 578.2512731914021, + -171.5927842425973 + ], + [ + 791.4388504166293, + -158.54792262482727 + ], + [ + 792.6801738395263, + -160.27823490272044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.3109884646306, + "ymin": 169.42617990429906, + "xmax": 1280.0, + "ymax": 336.10546145048505 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1254.5320532445758, + 336.10546145048505 + ], + [ + 1240.618892391288, + 296.78522964054343 + ], + [ + 1177.3109884646306, + 287.80025478774763 + ], + [ + 1187.7037854325918, + 326.14049387672344 + ], + [ + 1318.2111435465874, + 214.04952792141796 + ], + [ + 1299.3883792367646, + 177.682889162259 + ], + [ + 1229.1815473846484, + 169.42617990429906 + ], + [ + 1243.65340669838, + 204.7969533082606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.3415307855654, + "ymin": 68.92692143514938, + "xmax": 954.2403409092728, + "ymax": 298.73546390409774 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 907.6281713355942, + 298.73546390409774 + ], + [ + 908.3267459531338, + 291.65764377306124 + ], + [ + 800.0501281167287, + 275.35196008249613 + ], + [ + 798.3415307855654, + 282.1157741900643 + ], + [ + 953.9428798599597, + 88.4263441373173 + ], + [ + 954.2403409092728, + 82.50162461606493 + ], + [ + 826.7230327149678, + 68.92692143514938 + ], + [ + 825.0218054103714, + 74.54532710919977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.5065152896719, + "ymin": 75.23962219774518, + "xmax": 842.4436484227542, + "ymax": 83.90461235631676 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 840.9407685866156, + 83.90461235631676 + ], + [ + 841.9683288548053, + 80.05471471038021 + ], + [ + 828.6299171495422, + 78.6082833297005 + ], + [ + 827.5065152896719, + 82.43665892075643 + ], + [ + 841.4171883668731, + 80.51393178301913 + ], + [ + 842.4436484227542, + 76.68001489035942 + ], + [ + 829.0726047093465, + 75.23962219774518 + ], + [ + 827.9498312611713, + 79.05205595671487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16128513534167524743, + "instance_id": 34725, + "pixel_count": null, + "type_id": "BP_StreetLight_wall35_55_SM_0", + "bbox_3d": { + "center_world": { + "x": 53.79484176635742, + "y": 58.335594177246094, + "z": 4.9542951583862305 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.5424141428271, + "ymin": 0.0, + "xmax": 188.95745700993058, + "ymax": 5.272201911231832 + }, + "corners_3d": [ + [ + 53.677154541015625, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 57.18798828125, + 5.365450859069824 + ], + [ + 53.677154541015625, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 57.18798828125, + 5.365450859069824 + ] + ], + "corners_2d": [ + [ + 157.97271886056888, + 5.272201911231832 + ], + [ + 188.95745700993058, + -11.450988879616887 + ], + [ + 184.61246306240258, + -11.900394555389084 + ], + [ + 153.49167949298374, + 4.786939401214568 + ], + [ + 152.0717199331512, + -13.197715283723085 + ], + [ + 183.6462512022697, + -29.41378827086362 + ], + [ + 179.2558011825672, + -29.849359777562142 + ], + [ + 147.5424141428271, + -13.668473306725161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 501.5281773245564, + "ymin": 0.0, + "xmax": 581.9783538181431, + "ymax": 29.472225997544285 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 517.1183502618353, + 19.93842945448347 + ], + [ + 514.3090140867046, + 22.718989783858092 + ], + [ + 579.5269477176014, + 29.472225997544285 + ], + [ + 581.9783538181431, + 26.609915602995954 + ], + [ + 504.706098304532, + -130.976493056126 + ], + [ + 501.5281773245564, + -128.9213620875713 + ], + [ + 573.2784539478306, + -123.91949502042536 + ], + [ + 576.0235789433951, + -126.04131996857211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.28152781514393, + "ymin": 0.0, + "xmax": 444.442379005368, + "ymax": 125.52743236747358 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 389.78749345792585, + 125.52743236747358 + ], + [ + 444.442379005368, + 89.05187978159745 + ], + [ + 372.39719887034073, + 74.17442301648168 + ], + [ + 314.69229070311445, + 108.47423226439349 + ], + [ + 313.11742460620064, + -280.80516181843655 + ], + [ + 388.6290960787284, + -293.7299345561885 + ], + [ + 300.22835254002257, + -297.83265218357496 + ], + [ + 220.28152781514393, + -285.7935422912079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.9847986311161, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 168.3232802754112 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 993.1417269319988, + 162.4999112924548 + ], + [ + 1183.4415336154057, + 168.3232802754112 + ], + [ + 1121.5009775855897, + 87.05738926154822 + ], + [ + 956.9847986311161, + 82.68347504219088 + ], + [ + 1075.4461589809762, + -152.4854854575409 + ], + [ + 1311.6142912888445, + -149.05981862305458 + ], + [ + 1216.8481292544611, + -195.50685445379577 + ], + [ + 1019.129668306349, + -197.9262239288438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 944.3768954662157, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 315.2793022279308 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1202.3226773154179, + 315.2793022279308 + ], + [ + 1130.9994153070968, + 207.1778729924563 + ], + [ + 944.3768954662157, + 202.2610235063192 + ], + [ + 984.1049115762557, + 308.58711216742824 + ], + [ + 1367.8573417107498, + -37.59621989537851 + ], + [ + 1249.7980089323496, + -109.01127783812638 + ], + [ + 1017.3265894381657, + -112.12220848309693 + ], + [ + 1084.2405003719928, + -42.191890305117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.63725009422251, + "ymin": 0.0, + "xmax": 320.0437646709317, + "ymax": 107.5532559990437 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 258.71653400705964, + 107.5532559990437 + ], + [ + 320.0437646709317, + 73.24802196082533 + ], + [ + 253.66404195341897, + 59.24892994214224 + ], + [ + 189.95415011436467, + 91.5678097762534 + ], + [ + 148.4403493613978, + -287.9638794253111 + ], + [ + 234.24517753608694, + -299.8595084024819 + ], + [ + 154.58205347557293, + -303.59481604716075 + ], + [ + 65.63725009422251, + -292.4804767100634 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00151/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00151/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aac53cd47f7cc1a2374c581b796d5d22f57f4380 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00151/meta.json @@ -0,0 +1,2775 @@ +{ + "frame_id": 151, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 75.5, + "sim_timestamp": 8580.539977628272 + }, + "drone_pose": { + "x": 21.309617461756318, + "y": 21.1250579264085, + "z": 20.098210656068566, + "pitch": -42.32764916400688, + "yaw": 80.33478378862087, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1241227388381958, + -0.7288122177124023, + 0.6733694076538086, + -31.574726104736328 + ], + [ + 0.9858056306838989, + 0.16789084672927856, + 0.0, + 17.460433959960938 + ], + [ + -0.11305257678031921, + 0.6638112664222717, + 0.7393062114715576, + 1.5734272003173828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.283007992262775, + "y": 21.72619526553842, + "z": 20.0 + }, + "t1_image_uv": [ + 883.6811965212901, + -259.80540843543827 + ], + "t1_depth": 0.5009454354387809 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 41.81223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.384786423834385, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 561, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 41.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.35752683877944946, + "y": 0.5247753858566284, + "z": 0.9484984278678894 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.8822457670393, + "ymin": 325.8742357057197, + "xmax": 659.8363302308463, + "ymax": 393.38139774548534 + }, + "corners_3d": [ + [ + 25.35759162902832, + 41.454708099365234, + 0.03626680374145508 + ], + [ + 24.308040618896484, + 41.4547119140625, + 0.03626680374145508 + ], + [ + 24.308042526245117, + 42.16976547241211, + 0.03626680374145508 + ], + [ + 25.357593536376953, + 42.169761657714844, + 0.03626680374145508 + ], + [ + 25.35759162902832, + 41.454708099365234, + 1.9332636594772339 + ], + [ + 24.308040618896484, + 41.4547119140625, + 1.9332636594772339 + ], + [ + 24.308042526245117, + 42.16976547241211, + 1.9332636594772339 + ], + [ + 25.357593536376953, + 42.169761657714844, + 1.9332636594772339 + ] + ], + "corners_2d": [ + [ + 620.773669765209, + 389.2793333483817 + ], + [ + 655.2977135044079, + 393.38139774548534 + ], + [ + 658.9691342323617, + 377.19082946321464 + ], + [ + 625.0418220426386, + 373.23346765025696 + ], + [ + 619.8822457670393, + 341.7682310302096 + ], + [ + 656.0103578341101, + 345.83567158472204 + ], + [ + 659.8363302308463, + 329.7917122596798 + ], + [ + 624.3611649622932, + 325.8742357057197 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 151, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 298138, + "2": 252582, + "3": 65588, + "5": 1100, + "6": 3090, + "9": 78848, + "10": 153013, + "12": 2608, + "14": 19242, + "16": 18559, + "20": 14559, + "24": 14273 + }, + "instance_pixel_counts": { + "3485": 2909, + "3925": 5, + "4224": 1339, + "7253": 40, + "7299": 637, + "8788": 334, + "9557": 97, + "17502": 149829, + "18526": 2769, + "20573": 21792, + "21085": 46616, + "21402": 37963, + "21914": 35349, + "22909": 3443, + "23421": 3523, + "25181": 15316, + "25683": 51, + "25693": 37303, + "26205": 3186, + "36764": 7997, + "36978": 5293, + "37276": 238575, + "39073": 1243, + "40531": 1366, + "42145": 629, + "42657": 436, + "43008": 561, + "43264": 237, + "43520": 174, + "43776": 644, + "44032": 165, + "44288": 827, + "44705": 1152, + "45056": 18559, + "45388": 5220, + "45434": 337, + "45644": 4791, + "46490": 13120, + "46848": 16388, + "47002": 11040, + "48640": 2854, + "49266": 10013, + "49539": 309, + "49778": 50282, + "51309": 78848, + "51612": 11027, + "58441": 1100, + "61308": 332, + "61820": 12294, + "62844": 11305, + "63386": 51566 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 561, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 41.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.35202756524086, + "y": 0.5079052448272705, + "z": 0.9391125440597534 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.4996963272189, + "ymin": 326.3018141061833, + "xmax": 659.2302329817627, + "ymax": 392.96365818006825 + }, + "corners_3d": [ + [ + 25.340723037719727, + 41.460208892822266, + 0.045652687549591064 + ], + [ + 24.32491111755371, + 41.460208892822266, + 0.045652687549591064 + ], + [ + 24.32491111755371, + 42.16426467895508, + 0.045652687549591064 + ], + [ + 25.340723037719727, + 42.16426467895508, + 0.045652687549591064 + ], + [ + 25.340723037719727, + 41.460208892822266, + 1.9238777160644531 + ], + [ + 24.32491111755371, + 41.460208892822266, + 1.9238777160644531 + ], + [ + 24.32491111755371, + 42.16426467895508, + 1.9238777160644531 + ], + [ + 25.340723037719727, + 42.16426467895508, + 1.9238777160644531 + ] + ], + "corners_2d": [ + [ + 621.355341245064, + 388.9945954882227 + ], + [ + 654.7723568508866, + 392.96365818006825 + ], + [ + 658.397618580646, + 377.02495742128013 + ], + [ + 625.5495136026435, + 373.19381933371466 + ], + [ + 620.4996963272189, + 341.9546317368023 + ], + [ + 655.453409109602, + 345.8904778108362 + ], + [ + 659.2302329817627, + 330.0947710266883 + ], + [ + 624.8984704938841, + 326.3018141061833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 237, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 44.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.2429468035697937, + "y": 0.3265722990036011, + "z": 0.5941646695137024 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 517.827580924479, + "ymin": 264.59193990038057, + "xmax": 541.5562348846481, + "ymax": 303.4083410452062 + }, + "corners_3d": [ + [ + 29.22772789001465, + 44.50440216064453, + 0.39060544967651367 + ], + [ + 28.588855743408203, + 44.640201568603516, + 0.39060544967651367 + ], + [ + 28.689878463745117, + 45.115478515625, + 0.39060544967651367 + ], + [ + 29.328750610351562, + 44.979679107666016, + 0.39060544967651367 + ], + [ + 29.22772789001465, + 44.50440216064453, + 1.5789347887039185 + ], + [ + 28.588855743408203, + 44.640201568603516, + 1.5789347887039185 + ], + [ + 28.689878463745117, + 45.115478515625, + 1.5789347887039185 + ], + [ + 29.328750610351562, + 44.979679107666016, + 1.5789347887039185 + ] + ], + "corners_2d": [ + [ + 520.9516709350002, + 303.4083410452062 + ], + [ + 541.0346542768284, + 302.89451840181823 + ], + [ + 541.5562348846481, + 293.6323809825156 + ], + [ + 521.701316811083, + 294.13461978028397 + ], + [ + 517.827580924479, + 274.2638685968502 + ], + [ + 538.4392604743807, + 273.7553627346205 + ], + [ + 539.0045365382234, + 264.59193990038057 + ], + [ + 518.6330163441921, + 265.08868627389194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 174, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 48.75494384765625, + "z": 0.654026985168457 + }, + "extent": { + "x": 0.27470824122428894, + "y": 0.3575780689716339, + "z": 0.6142371296882629 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 726.0692625536008, + "ymin": 222.24133000224066, + "xmax": 749.2853498640226, + "ymax": 261.23117339481496 + }, + "corners_3d": [ + [ + 22.903898239135742, + 48.44436264038086, + 0.03978985548019409 + ], + [ + 22.192659378051758, + 48.51911926269531, + 0.03978985548019409 + ], + [ + 22.250089645385742, + 49.06552505493164, + 0.03978985548019409 + ], + [ + 22.961328506469727, + 48.99076843261719, + 0.03978985548019409 + ], + [ + 22.903898239135742, + 48.44436264038086, + 1.2682641744613647 + ], + [ + 22.192659378051758, + 48.51911926269531, + 1.2682641744613647 + ], + [ + 22.250089645385742, + 49.06552505493164, + 1.2682641744613647 + ], + [ + 22.961328506469727, + 48.99076843261719, + 1.2682641744613647 + ] + ], + "corners_2d": [ + [ + 726.1041281812304, + 260.45135884530174 + ], + [ + 746.5933078589101, + 261.23117339481496 + ], + [ + 746.3140361925265, + 251.9805754859335 + ], + [ + 726.0692625536008, + 251.21924234040472 + ], + [ + 728.2764690407922, + 231.3481143313978 + ], + [ + 749.2853498640226, + 232.11759314820506 + ], + [ + 748.9662027845391, + 222.99212045904792 + ], + [ + 728.2142060337046, + 222.24133000224066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 644, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 41.81223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.4221838414669037, + "y": 0.4718017578125, + "z": 0.9429253339767456 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.4652673164965, + "ymin": 357.4070164532676, + "xmax": 998.9796015442942, + "ymax": 429.7643112250355 + }, + "corners_3d": [ + [ + 15.804618835449219, + 41.390052795410156, + 0.19843661785125732 + ], + [ + 14.861015319824219, + 41.390052795410156, + 0.19843661785125732 + ], + [ + 14.861015319824219, + 42.23442077636719, + 0.19843661785125732 + ], + [ + 15.804618835449219, + 42.23442077636719, + 0.19843661785125732 + ], + [ + 15.804618835449219, + 41.390052795410156, + 2.084287166595459 + ], + [ + 14.861015319824219, + 41.390052795410156, + 2.084287166595459 + ], + [ + 14.861015319824219, + 42.23442077636719, + 2.084287166595459 + ], + [ + 15.804618835449219, + 42.23442077636719, + 2.084287166595459 + ] + ], + "corners_2d": [ + [ + 948.3754441892802, + 425.74114146506014 + ], + [ + 982.3234845112311, + 429.7643112250355 + ], + [ + 979.6587807030594, + 409.00216495819495 + ], + [ + 946.4652673164965, + 405.15363157362117 + ], + [ + 963.3127496479094, + 377.87097477373226 + ], + [ + 998.9796015442942, + 381.8750723019726 + ], + [ + 995.8045441037387, + 361.22915724870126 + ], + [ + 960.9695782537917, + 357.4070164532676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 165, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 30.68487548828125, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.43580934405326843, + "y": 0.47004762291908264, + "z": 0.9376989603042603 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 693.6632287467229, + "ymin": 686.0319050162756, + "xmax": 752.6757077227387, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.730342864990234, + 30.300586700439453, + 0.1994783878326416 + ], + [ + 20.79539680480957, + 30.202320098876953, + 0.1994783878326416 + ], + [ + 20.704288482666016, + 31.069164276123047, + 0.1994783878326416 + ], + [ + 21.63923454284668, + 31.167430877685547, + 0.1994783878326416 + ], + [ + 21.730342864990234, + 30.300586700439453, + 2.074876308441162 + ], + [ + 20.79539680480957, + 30.202320098876953, + 2.074876308441162 + ], + [ + 20.704288482666016, + 31.069164276123047, + 2.074876308441162 + ], + [ + 21.63923454284668, + 31.167430877685547, + 2.074876308441162 + ] + ], + "corners_2d": [ + [ + 693.6632287467229, + 768.6647369767693 + ], + [ + 737.7232315056954, + 780.7335077786176 + ], + [ + 745.7587961758359, + 741.6714276497855 + ], + [ + 702.9430362597082, + 730.3165019288463 + ], + [ + 697.2534213676911, + 725.4900669418076 + ], + [ + 744.3267925108465, + 737.9408151674509 + ], + [ + 752.6757077227387, + 697.6990586923625 + ], + [ + 707.0200554709727, + 686.0319050162756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 827, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 33.64202117919922, + "z": 0.9847798943519592 + }, + "extent": { + "x": 0.32310301065444946, + "y": 0.5725512504577637, + "z": 0.9104647636413574 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 96.32978833117886, + "ymin": 487.55306206221013, + "xmax": 177.48756302651782, + "ymax": 566.2691153623722 + }, + "corners_3d": [ + [ + 36.70536804199219, + 33.44501876831055, + 0.0743151307106018 + ], + [ + 35.585289001464844, + 33.206939697265625, + 0.0743151307106018 + ], + [ + 35.45093536376953, + 33.83902359008789, + 0.0743151307106018 + ], + [ + 36.571014404296875, + 34.07710266113281, + 0.0743151307106018 + ], + [ + 36.70536804199219, + 33.44501876831055, + 1.8952445983886719 + ], + [ + 35.585289001464844, + 33.206939697265625, + 1.8952445983886719 + ], + [ + 35.45093536376953, + 33.83902359008789, + 1.8952445983886719 + ], + [ + 36.571014404296875, + 34.07710266113281, + 1.8952445983886719 + ] + ], + "corners_2d": [ + [ + 123.68035081058383, + 552.4118430107762 + ], + [ + 159.43425067207784, + 566.2691153623722 + ], + [ + 177.48756302651782, + 546.6892279616997 + ], + [ + 142.1459588916917, + 533.3264515411174 + ], + [ + 96.32978833117886, + 506.7714540465447 + ], + [ + 133.62922016416735, + 520.7481348990926 + ], + [ + 153.1256343878731, + 501.00513722847177 + ], + [ + 116.2698962593488, + 487.55306206221013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 18559, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 446.03229907503953, + "ymin": 0.0, + "xmax": 611.9159555911275, + "ymax": 200.05529831952947 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 611.9159555911275, + 78.5895730420267 + ], + [ + 528.3964536546398, + 72.0543128437177 + ], + [ + 461.02988920631606, + 190.58973383087041 + ], + [ + 560.7531374486229, + 200.05529831952947 + ], + [ + 609.9624314897325, + -14.301756801091301 + ], + [ + 520.7247598036157, + -20.192101893860297 + ], + [ + 446.03229907503953, + 88.06833867844898 + ], + [ + 554.0155500546563, + 96.84508806993324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 16388, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 161.9265361608659, + "ymin": 519.6394280703323, + "xmax": 364.15890572707275, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 364.15890572707275, + 568.7563319620444 + ], + [ + 284.48844714802846, + 556.9840723184564 + ], + [ + 185.31852393513844, + 741.0595909441581 + ], + [ + 277.57470939107935, + 757.2551259036454 + ], + [ + 352.0012337736363, + 531.5021161930746 + ], + [ + 268.99703052723254, + 519.6394280703323 + ], + [ + 161.9265361608659, + 706.4386358620081 + ], + [ + 258.6759460291674, + 723.0087818044374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2854, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 402.00143225678954, + "ymin": 84.0323903284903, + "xmax": 482.3302113454347, + "ymax": 171.36898052726946 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 482.3302113454347, + 122.73677635759964 + ], + [ + 440.70812706537544, + 119.17655300880216 + ], + [ + 408.76765200264094, + 167.2462477572887 + ], + [ + 453.3737248780021, + 171.36898052726946 + ], + [ + 478.0260385939688, + 87.48692179007855 + ], + [ + 435.29895372806516, + 84.0323903284903 + ], + [ + 402.00143225678954, + 130.76416871326055 + ], + [ + 447.87874593583643, + 134.7811358662966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.973030381085, + "ymin": 0.0, + "xmax": 1250.2551974734151, + "ymax": 77.99512827022272 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1146.1545614538181, + 26.835257970746852 + ], + [ + 1135.973030381085, + 26.15752585509398 + ], + [ + 1161.916234566772, + 77.18330736787681 + ], + [ + 1173.0958057220819, + 77.99512827022272 + ], + [ + 1212.261157203132, + -154.33667849701328 + ], + [ + 1200.658166189056, + -154.84634123620106 + ], + [ + 1237.3390277443496, + -116.00238518593966 + ], + [ + 1250.2551974734151, + -115.37654975203128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.8624582296152, + "ymin": 137.10872311524906, + "xmax": 1203.4701904044023, + "ymax": 184.82073612335822 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1199.4522132999518, + 184.82073612335822 + ], + [ + 1182.8910533337075, + 150.5920514194565 + ], + [ + 1122.8624582296152, + 145.7045881903315 + ], + [ + 1136.229657470533, + 179.41921459627696 + ], + [ + 1203.4701904044023, + 175.99276115037503 + ], + [ + 1186.5979124800417, + 141.96547700769452 + ], + [ + 1126.1350455715756, + 137.10872311524906 + ], + [ + 1139.7658427320762, + 170.62143237677054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.76855480634231, + "ymin": 210.98918688075324, + "xmax": 89.20249931759611, + "ymax": 227.7597975720924 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 53.25718534595444, + 224.22103475124396 + ], + [ + 86.97549923984161, + 227.7597975720924 + ], + [ + 89.20249931759611, + 225.62494317238415 + ], + [ + 55.57013037573449, + 222.1064621605752 + ], + [ + 47.76855480634231, + 213.09132194587974 + ], + [ + 81.77726476864791, + 216.60952231247728 + ], + [ + 84.04023057264419, + 214.48703503055424 + ], + [ + 50.11893374492581, + 210.98918688075324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 204.07909915863388, + "ymin": 53.402760605088645, + "xmax": 235.13613270028924, + "ymax": 66.52360891135726 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 207.1954266854878, + 64.38696240293007 + ], + [ + 233.74456753723518, + 66.52360891135726 + ], + [ + 235.13613270028924, + 65.23517902160137 + ], + [ + 208.64055401395848, + 63.10798270702162 + ], + [ + 204.07909915863388, + 54.66930014373287 + ], + [ + 230.8085251399745, + 56.785254202412204 + ], + [ + 232.21668382315596, + 55.509288705604206 + ], + [ + 205.54154473980236, + 53.402760605088645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.9281916034759, + "ymin": 137.12876974384125, + "xmax": 1203.4212243992106, + "ymax": 184.73902607742102 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1199.4302260138993, + 184.73902607742102 + ], + [ + 1182.8871783626146, + 150.5495373068046 + ], + [ + 1122.9281916034759, + 145.66805124179604 + ], + [ + 1136.2844119250947, + 179.34467700524604 + ], + [ + 1203.4212243992106, + 175.96939900943238 + ], + [ + 1186.5694711474257, + 141.97978401427866 + ], + [ + 1126.1795855540995, + 137.12876974384125 + ], + [ + 1139.7974137512003, + 170.60501021838058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.8911256855324, + "ymin": 30.22052193674739, + "xmax": 757.2907606546912, + "ymax": 38.57225627376175 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 756.2422356622192, + 38.57225627376175 + ], + [ + 757.0010570859906, + 34.572548844711946 + ], + [ + 743.7450558881743, + 33.632560130677405 + ], + [ + 742.8911256855324, + 37.618531907848535 + ], + [ + 756.5321626726285, + 35.141706216968885 + ], + [ + 757.2907606546912, + 31.156971081513234 + ], + [ + 744.0014956315727, + 30.22052193674739 + ], + [ + 743.1473091307334, + 34.1915389180906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 110.88076132371623, + "ymin": 133.73220051954635, + "xmax": 146.91972069369234, + "ymax": 148.5911355676137 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 115.19549393859961, + 145.80957734492515 + ], + [ + 145.1077608154621, + 148.5911355676137 + ], + [ + 146.91972069369234, + 146.9134683421516 + ], + [ + 117.07524778247591, + 144.14594054818136 + ], + [ + 110.88076132371623, + 135.38299050172546 + ], + [ + 141.02167036014924, + 138.1432219757224 + ], + [ + 142.85897768379567, + 136.47839486496707 + ], + [ + 112.78689251126627, + 133.73220051954635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.153814520985, + "ymin": 107.09419845353742, + "xmax": 1219.6468133083154, + "ymax": 268.3945256528032 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1164.2401452715574, + 268.3945256528032 + ], + [ + 1149.5877948805855, + 230.5529533892144 + ], + [ + 1090.153814520985, + 225.10988738596177 + ], + [ + 1101.6977142176506, + 262.3866432130493 + ], + [ + 1219.6468133083154, + 147.31565865028222 + ], + [ + 1200.5816649717895, + 112.12635722789395 + ], + [ + 1134.8383770936848, + 107.09419845353742 + ], + [ + 1150.0805388421638, + 141.7048680969265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.7093292351469, + "ymin": 23.811931986923355, + "xmax": 868.3390926596891, + "ymax": 250.95838685015758 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 833.1094557453983, + 250.95838685015758 + ], + [ + 833.3721994674999, + 243.78652808384743 + ], + [ + 725.9703078795764, + 233.37082856399041 + ], + [ + 724.7093292351469, + 240.34608029302197 + ], + [ + 868.3390926596891, + 38.77989015014538 + ], + [ + 868.2595475872578, + 32.661124381221384 + ], + [ + 741.22978353546, + 23.811931986923355 + ], + [ + 739.9104113223927, + 29.7332674948197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.8136731531579, + "ymin": 30.17576860424208, + "xmax": 757.368367218287, + "ymax": 38.61738387900357 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 756.3088946698055, + 38.61738387900357 + ], + [ + 757.0753679069782, + 34.57444547381209 + ], + [ + 743.6773120729858, + 33.62438944193093 + ], + [ + 742.8136731531579, + 37.65329466324647 + ], + [ + 756.6021249207051, + 35.14985064961826 + ], + [ + 757.368367218287, + 31.122208583027486 + ], + [ + 743.9363304914236, + 30.17576860424208 + ], + [ + 743.0724271132069, + 34.18939555581392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 72.29957551289203, + "ymin": 0.0, + "xmax": 348.7795776017832, + "ymax": 99.16907862359147 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 293.92758335375083, + 99.16907862359147 + ], + [ + 348.7795776017832, + 57.9289794160548 + ], + [ + 271.02939818447487, + 45.261216504938034 + ], + [ + 212.14563311131417, + 84.54062040041055 + ], + [ + 175.95619985082158, + -334.55654167251805 + ], + [ + 257.5346438292348, + -350.2623480260595 + ], + [ + 160.09281733659458, + -353.81931313641064 + ], + [ + 72.29957551289203, + -338.97962209171374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.5217799481638, + "ymin": 0.0, + "xmax": 1200.1253933045007, + "ymax": 108.8136999473756 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 908.1936007794145, + 108.8136999473756 + ], + [ + 1090.0324503310233, + 105.93113297449497 + ], + [ + 1027.4033632038195, + 27.070138713309916 + ], + [ + 868.5217799481638, + 29.265101096270087 + ], + [ + 974.1825980403471, + -212.3281829021513 + ], + [ + 1200.1253933045007, + -214.06710143170983 + ], + [ + 1107.6315366702288, + -260.15289418756527 + ], + [ + 916.0786078312274, + -258.90781887283936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.5941023577725, + "ymin": 671.6183156749257, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1528.0307187443786, + 1715.4800840617356 + ], + [ + 1231.4666451000248, + 1017.2860027315922 + ], + [ + 815.5941023577725, + 1040.0936028593712 + ], + [ + 924.9223612973332, + 1764.1504737162397 + ], + [ + 3396.6974153080923, + 2349.8706975232344 + ], + [ + 1746.8224345052795, + 671.6183156749257 + ], + [ + 972.9118629306429, + 705.1008972261665 + ], + [ + 1567.0585120578803, + 2553.2837646633816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.1419261788258, + "ymin": 0.0, + "xmax": 1258.483533468364, + "ymax": 256.2832870362741 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1114.6495187660905, + 250.63566790051428 + ], + [ + 1042.4632321496692, + 147.1763354825529 + ], + [ + 863.1419261788258, + 151.39548416522527 + ], + [ + 907.6104538459124, + 256.2832870362741 + ], + [ + 1258.483533468364, + -101.90221220759992 + ], + [ + 1143.7769512300035, + -171.72738046373945 + ], + [ + 919.7635075851787, + -168.987561044627 + ], + [ + 989.4868309548581, + -97.92550718146185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 214.79552528390093, + "ymax": 86.21631216125974 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 151.5598004530728, + 86.21631216125974 + ], + [ + 214.79552528390093, + 46.589802546048986 + ], + [ + 141.63670860950583, + 34.41997670483079 + ], + [ + 74.97635736923269, + 72.19883952119517 + ], + [ + -8.834529473661291, + -340.37116842099954 + ], + [ + 86.559513735147, + -355.2076683465194 + ], + [ + -3.4041548080244866, + -358.53130632752607 + ], + [ + -103.72219781721628, + -344.4891350500774 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00152/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00152/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1aaf94909c38a55bfa11408e9814a99410f5224 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00152/meta.json @@ -0,0 +1,3003 @@ +{ + "frame_id": 152, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 76.0, + "sim_timestamp": 8593.239254448097 + }, + "drone_pose": { + "x": 21.283007992262775, + "y": 21.72619526553842, + "z": 20.0, + "pitch": -40.52654116806999, + "yaw": 77.23597933658488, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.16793465614318848, + -0.7413215637207031, + 0.6498003005981445, + -32.67625427246094 + ], + [ + 0.9752882719039917, + 0.220936119556427, + 0.0, + 15.9569673538208 + ], + [ + -0.143564373254776, + 0.6337425708770752, + 0.7601050138473511, + 1.6221942901611328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.360667531266355, + "y": 22.208389234082, + "z": 20.0 + }, + "t1_image_uv": [ + 719.7885896729683, + -460.6868532755252 + ], + "t1_depth": 0.37050250272061047 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 42.31223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 676.9568553621272, + 390.54577580925434 + ], + "depth": 28.21311571131742, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 565, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 42.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.4005419909954071, + "y": 0.5193920731544495, + "z": 0.9302287101745605 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 656.478635839645, + "ymin": 355.27491701949276, + "xmax": 698.0162657982603, + "ymax": 425.27006282981483 + }, + "corners_3d": [ + [ + 25.352209091186523, + 41.91169357299805, + 0.054536521434783936 + ], + [ + 24.313425064086914, + 41.91169357299805, + 0.054536521434783936 + ], + [ + 24.313425064086914, + 42.7127799987793, + 0.054536521434783936 + ], + [ + 25.352209091186523, + 42.7127799987793, + 0.054536521434783936 + ], + [ + 25.352209091186523, + 41.91169357299805, + 1.9149940013885498 + ], + [ + 24.313425064086914, + 41.91169357299805, + 1.9149940013885498 + ], + [ + 24.313425064086914, + 42.7127799987793, + 1.9149940013885498 + ], + [ + 25.352209091186523, + 42.7127799987793, + 1.9149940013885498 + ] + ], + "corners_2d": [ + [ + 656.478635839645, + 419.8675896082739 + ], + [ + 690.7855846764332, + 425.27006282981483 + ], + [ + 695.6000097989764, + 407.14447232396583 + ], + [ + 661.9619852390696, + 401.96014699825304 + ], + [ + 657.2057238996146, + 372.9606048959493 + ], + [ + 693.0407593542038, + 378.302410960746 + ], + [ + 698.0162657982603, + 360.3917806828048 + ], + [ + 662.9104577160896, + 355.27491701949276 + ] + ], + "center_offset_px": [ + 36.95685536212716, + 30.545775809254337 + ] + }, + "trace_timestep_index": 152, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 293932, + "2": 258887, + "3": 87370, + "5": 1165, + "6": 3700, + "9": 85405, + "10": 121883, + "12": 2347, + "14": 16289, + "16": 19298, + "20": 16958, + "24": 14366 + }, + "instance_pixel_counts": { + "923": 159, + "2973": 348, + "3402": 282, + "3485": 3262, + "3925": 5, + "4224": 1460, + "4509": 10, + "6045": 29, + "7253": 41, + "7299": 702, + "8788": 548, + "9557": 102, + "17502": 118534, + "18526": 2891, + "20573": 27667, + "20890": 81, + "21085": 36860, + "21402": 41075, + "21885": 39, + "21914": 32629, + "22909": 3861, + "23421": 4070, + "24669": 1, + "25181": 19262, + "25469": 60, + "25683": 49, + "25693": 40171, + "26195": 109, + "26205": 405, + "28029": 31, + "33953": 7, + "34465": 54, + "34977": 27, + "36764": 2352, + "36978": 5138, + "37276": 230438, + "39073": 1373, + "40531": 1419, + "41043": 115, + "42145": 699, + "42657": 474, + "43008": 565, + "43264": 234, + "43520": 168, + "43776": 651, + "44288": 729, + "44705": 1246, + "44954": 122, + "45056": 19298, + "45388": 6120, + "45434": 154, + "45644": 5527, + "46490": 14667, + "46848": 13413, + "47002": 12844, + "48026": 1017, + "48128": 82, + "48640": 2794, + "49266": 9716, + "49539": 299, + "49778": 72516, + "50586": 291, + "51309": 85405, + "51612": 10563, + "58441": 1165, + "61308": 926, + "61820": 12388, + "62844": 10420, + "62874": 1529, + "63386": 59355, + "64410": 99 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 565, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 42.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.38417723774909973, + "y": 0.5636840462684631, + "z": 0.9128856658935547 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 655.1459709721349, + "ymin": 355.8655808312649, + "xmax": 699.3999575085871, + "ymax": 424.7044729968138 + }, + "corners_3d": [ + [ + 25.396501541137695, + 41.92805862426758, + 0.0718795657157898 + ], + [ + 24.269132614135742, + 41.92805862426758, + 0.0718795657157898 + ], + [ + 24.269132614135742, + 42.696414947509766, + 0.0718795657157898 + ], + [ + 25.396501541137695, + 42.696414947509766, + 0.0718795657157898 + ], + [ + 25.396501541137695, + 41.92805862426758, + 1.897650957107544 + ], + [ + 24.269132614135742, + 41.92805862426758, + 1.897650957107544 + ], + [ + 24.269132614135742, + 42.696414947509766, + 1.897650957107544 + ], + [ + 25.396501541137695, + 42.696414947509766, + 1.897650957107544 + ] + ], + "corners_2d": [ + [ + 655.1459709721349, + 418.84673301888284 + ], + [ + 692.3782678683126, + 424.7044729968138 + ], + [ + 696.9696142898687, + 407.3120625834476 + ], + [ + 660.4341716691765, + 401.6814664887649 + ], + [ + 655.8010609724664, + 372.82187584422667 + ], + [ + 694.6594656345949, + 378.61485629696995 + ], + [ + 699.3999575085871, + 361.4244763829886 + ], + [ + 661.3000060221241, + 355.8655808312649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 234, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 45.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.21577638387680054, + "y": 0.25482669472694397, + "z": 0.6056047081947327 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 560.4548170042453, + "ymin": 291.7419048063535, + "xmax": 578.8567452733126, + "ymax": 329.6375126934221 + }, + "corners_3d": [ + [ + 29.163198471069336, + 45.0458984375, + 0.3791654109954834 + ], + [ + 28.664682388305664, + 45.151859283447266, + 0.3791654109954834 + ], + [ + 28.75440788269043, + 45.57398223876953, + 0.3791654109954834 + ], + [ + 29.2529239654541, + 45.468021392822266, + 0.3791654109954834 + ], + [ + 29.163198471069336, + 45.0458984375, + 1.5903748273849487 + ], + [ + 28.664682388305664, + 45.151859283447266, + 1.5903748273849487 + ], + [ + 28.75440788269043, + 45.57398223876953, + 1.5903748273849487 + ], + [ + 29.2529239654541, + 45.468021392822266, + 1.5903748273849487 + ] + ], + "corners_2d": [ + [ + 562.4511440535384, + 329.50729563893094 + ], + [ + 578.0409761509353, + 329.6375126934221 + ], + [ + 578.8567452733126, + 321.45576823592387 + ], + [ + 563.4281458315897, + 321.3282331232184 + ], + [ + 560.4548170042453, + 299.8141114757408 + ], + [ + 576.4457058963441, + 299.94266209100607 + ], + [ + 577.2991913501501, + 291.8677407220822 + ], + [ + 561.4778922847183, + 291.7419048063535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 168, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 49.25494384765625, + "z": 0.6612021327018738 + }, + "extent": { + "x": 0.2638830244541168, + "y": 0.3563280701637268, + "z": 0.6009119153022766 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 767.4222052782001, + "ymin": 255.76060281090315, + "xmax": 791.5866102930257, + "ymax": 294.4252493218874 + }, + "corners_3d": [ + [ + 22.90378761291504, + 48.95526123046875, + 0.06029021739959717 + ], + [ + 22.19503402709961, + 49.029754638671875, + 0.06029021739959717 + ], + [ + 22.250200271606445, + 49.55462646484375, + 0.06029021739959717 + ], + [ + 22.958953857421875, + 49.480133056640625, + 0.06029021739959717 + ], + [ + 22.90378761291504, + 48.95526123046875, + 1.2621140480041504 + ], + [ + 22.19503402709961, + 49.029754638671875, + 1.2621140480041504 + ], + [ + 22.250200271606445, + 49.55462646484375, + 1.2621140480041504 + ], + [ + 22.958953857421875, + 49.480133056640625, + 1.2621140480041504 + ] + ], + "corners_2d": [ + [ + 767.4222052782001, + 292.9834596245995 + ], + [ + 788.0370342439719, + 294.4252493218874 + ], + [ + 788.057812393467, + 285.51214970206286 + ], + [ + 767.6858158763811, + 284.1041642329855 + ], + [ + 770.4715134786538, + 264.5063919439751 + ], + [ + 791.5866102930257, + 265.9269687676329 + ], + [ + 791.564990106153, + 257.14708934107 + ], + [ + 770.7045819129123, + 255.76060281090315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 651, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 42.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.385458379983902, + "y": 0.5531908869743347, + "z": 0.930867075920105 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 985.5011960787008, + "ymin": 400.57939367579553, + "xmax": 1046.2861414395024, + "ymax": 473.9336265312587 + }, + "corners_3d": [ + [ + 15.886008262634277, + 41.92677688598633, + 0.21049487590789795 + ], + [ + 14.77962589263916, + 41.92677688598633, + 0.21049487590789795 + ], + [ + 14.77962589263916, + 42.697696685791016, + 0.21049487590789795 + ], + [ + 15.886008262634277, + 42.697696685791016, + 0.21049487590789795 + ], + [ + 15.886008262634277, + 41.92677688598633, + 2.0722289085388184 + ], + [ + 14.77962589263916, + 41.92677688598633, + 2.0722289085388184 + ], + [ + 14.77962589263916, + 42.697696685791016, + 2.0722289085388184 + ], + [ + 15.886008262634277, + 42.697696685791016, + 2.0722289085388184 + ] + ], + "corners_2d": [ + [ + 986.7616937221585, + 467.48486062394926 + ], + [ + 1027.90670290725, + 473.9336265312587 + ], + [ + 1025.7767315489884, + 454.3780573933577 + ], + [ + 985.5011960787008, + 448.195437692563 + ], + [ + 1003.0729401683375, + 419.7180651650367 + ], + [ + 1046.2861414395024, + 426.1247810889654 + ], + [ + 1043.6550741984956, + 406.7096227903034 + ], + [ + 1001.3998573496848, + 400.57939367579553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 729, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 34.14202117919922, + "z": 0.9847944974899292 + }, + "extent": { + "x": 0.34840330481529236, + "y": 0.5022375583648682, + "z": 0.8847198486328125 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 135.63066499256752, + "ymin": 498.60116108807665, + "xmax": 209.19270937969094, + "ymax": 577.0491485116613 + }, + "corners_3d": [ + [ + 36.641849517822266, + 33.9056510925293, + 0.1000746488571167 + ], + [ + 35.659324645996094, + 33.69681167602539, + 0.1000746488571167 + ], + [ + 35.51445388793945, + 34.37839126586914, + 0.1000746488571167 + ], + [ + 36.496978759765625, + 34.58723068237305, + 0.1000746488571167 + ], + [ + 36.641849517822266, + 33.9056510925293, + 1.8695143461227417 + ], + [ + 35.659324645996094, + 33.69681167602539, + 1.8695143461227417 + ], + [ + 35.51445388793945, + 34.37839126586914, + 1.8695143461227417 + ], + [ + 36.496978759765625, + 34.58723068237305, + 1.8695143461227417 + ] + ], + "corners_2d": [ + [ + 159.26289868645563, + 563.5244039324436 + ], + [ + 189.06853665678125, + 577.0491485116613 + ], + [ + 209.19270937969094, + 556.8433162643933 + ], + [ + 179.7027654107447, + 543.8368261006605 + ], + [ + 135.63066499256752, + 518.3263949691072 + ], + [ + 166.59419295456854, + 531.8986226946606 + ], + [ + 188.15983225574945, + 511.62835111927564 + ], + [ + 157.53122093017498, + 498.60116108807665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 19298, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 490.256129743604, + "ymin": 15.183856836970278, + "xmax": 658.302062358341, + "ymax": 235.4201605373217 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 657.1504508897327, + 114.72953906797412 + ], + [ + 574.0718778586463, + 106.16556506007487 + ], + [ + 501.45006853646737, + 222.92589586057693 + ], + [ + 600.6265238004452, + 235.4201605373217 + ], + [ + 658.302062358341, + 22.856037129263143 + ], + [ + 569.7152033226691, + 15.183856836970278 + ], + [ + 490.256129743604, + 121.1231390505285 + ], + [ + 597.3824703412399, + 132.6328982222843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 13413, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 172.50946503401167, + "ymin": 552.0494372843866, + "xmax": 384.6292545693096, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 384.6292545693096, + 605.9424945615046 + ], + [ + 305.56004934593585, + 590.0583753594175 + ], + [ + 194.9949764837288, + 777.1130496981605 + ], + [ + 286.4171905664002, + 799.2153439325341 + ], + [ + 373.5872469340001, + 568.020946268556 + ], + [ + 291.3236753099373, + 552.0494372843866 + ], + [ + 172.50946503401167, + 741.4474511053509 + ], + [ + 268.21568113090467, + 764.0178808481724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 82, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 587.7669666379263, + "ymin": 0.0, + "xmax": 639.9736541601397, + "ymax": 9.75222190229806 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 639.9736541601397, + -19.005790851037318 + ], + [ + 609.1351071666268, + -21.453408323186125 + ], + [ + 588.5842661364236, + 6.9765046626521325 + ], + [ + 621.3086806939889, + 9.75222190229806 + ], + [ + 639.9732589852845, + -41.534578516660645 + ], + [ + 608.6747524959397, + -43.89199508262732 + ], + [ + 587.7669666379263, + -16.485614128084705 + ], + [ + 621.009773635842, + -13.806989671589918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2794, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 445.4759884421683, + "ymin": 116.13744181464281, + "xmax": 525.9237033216916, + "ymax": 203.41391016343425 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 525.9237033216916, + 155.54281043359683 + ], + [ + 484.84604623790324, + 150.89889032218767 + ], + [ + 450.8043730575662, + 198.02359434463875 + ], + [ + 494.79462483952267, + 203.41391016343425 + ], + [ + 522.9235748666313, + 120.63259990292718 + ], + [ + 480.7971563047455, + 116.13744181464281 + ], + [ + 445.4759884421683, + 161.83541616972033 + ], + [ + 490.6707384352596, + 167.07427596556178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1195.02741838981, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 128.3538029789981 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1205.6702447017115, + 75.39657691879074 + ], + [ + 1195.02741838981, + 74.46749016571442 + ], + [ + 1221.5422808266587, + 127.23228124069593 + ], + [ + 1233.2870432671257, + 128.3538029789981 + ], + [ + 1278.5161667180873, + -105.86695722928528 + ], + [ + 1266.362982704051, + -106.56093169970711 + ], + [ + 1304.7091198812705, + -66.65171279607284 + ], + [ + 1318.3185619808191, + -65.79231567821205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.1830200425297, + "ymin": 189.00761563817912, + "xmax": 1265.269966642574, + "ymax": 240.63155687697116 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1260.8065358758345, + 240.63155687697116 + ], + [ + 1243.5643107564333, + 204.50213772882066 + ], + [ + 1180.1830200425297, + 197.6786731999051 + ], + [ + 1193.83357244764, + 233.05096138478365 + ], + [ + 1265.269966642574, + 231.69953895294026 + ], + [ + 1247.6786978352025, + 195.7871128480122 + ], + [ + 1183.827320586728, + 189.00761563817912 + ], + [ + 1197.7721389176772, + 224.1622676839262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.57375715059914, + "ymin": 232.55685685576248, + "xmax": 133.03032621625505, + "ymax": 250.15244796104622 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 98.40633875796004, + 245.61749957016562 + ], + [ + 130.72520822365652, + 250.15244796104622 + ], + [ + 133.03032621625505, + 248.09234970561076 + ], + [ + 100.78986127916914, + 243.58356551922355 + ], + [ + 93.57375715059914, + 234.576810177659 + ], + [ + 126.1515655202927, + 239.08096029522562 + ], + [ + 128.49069820717995, + 237.03478884647393 + ], + [ + 95.99252592120388, + 232.55685685576248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 822.3228788695774, + "ymin": 0.0, + "xmax": 921.1978290610642, + "ymax": 22.911179317075266 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 893.8337804942389, + 22.911179317075266 + ], + [ + 894.0352595202471, + 19.89229052821122 + ], + [ + 822.9628695743179, + 14.032920613603267 + ], + [ + 822.3228788695774, + 16.97841811785071 + ], + [ + 921.1636575495463, + -134.29013701924595 + ], + [ + 921.1978290610642, + -136.54555133988873 + ], + [ + 842.2623854735953, + -140.9144556383796 + ], + [ + 841.6868890683322, + -138.71963615007866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.60291594809672, + "ymin": 80.77411828526499, + "xmax": 285.2732739395428, + "ymax": 94.24516339447916 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 258.21909728597444, + 91.52070104429185 + ], + [ + 283.84200388073106, + 94.24516339447916 + ], + [ + 285.2732739395428, + 93.00851607451978 + ], + [ + 259.700176118688, + 90.29615326448084 + ], + [ + 255.60291594809672, + 81.9857498337285 + ], + [ + 281.3892811057125, + 84.68160732770002 + ], + [ + 282.83588902005766, + 83.45792130467902 + ], + [ + 257.09996249979866, + 80.77411828526499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.2533074637188, + "ymin": 189.02964126104652, + "xmax": 1265.2181007777676, + "ymax": 240.54664141381534 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1260.7846374419346, + 240.54664141381534 + ], + [ + 1243.5612855682189, + 204.45876487305793 + ], + [ + 1180.2533074637188, + 197.6436339834408 + ], + [ + 1193.8930003710404, + 232.97614107055819 + ], + [ + 1265.2181007777676, + 231.67367356484726 + ], + [ + 1247.648412469281, + 195.80114493839616 + ], + [ + 1183.8739969707835, + 189.02964126104652 + ], + [ + 1197.8057353051083, + 224.14616376755455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.5339805338332, + "ymin": 71.3827122864356, + "xmax": 804.4104312203046, + "ymax": 80.07410610191647 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 803.0963381720819, + 80.07410610191647 + ], + [ + 804.0133751194527, + 76.04282707250547 + ], + [ + 790.5497340575909, + 74.78372083949233 + ], + [ + 789.5339805338332, + 78.79603752274676 + ], + [ + 803.4941470150474, + 76.6523178302391 + ], + [ + 804.4104312203046, + 72.63685016375553 + ], + [ + 790.9133392965593, + 71.3827122864356 + ], + [ + 789.8978452625759, + 75.37924624453115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.15619151715742, + "ymin": 157.65472655146957, + "xmax": 194.48026002052592, + "ymax": 173.06797736848696 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 163.88325168154284, + 169.51705595799226 + ], + [ + 192.6141074777422, + 173.06797736848696 + ], + [ + 194.48026002052592, + 171.45558247036087 + ], + [ + 165.8116629762934, + 167.92265617494843 + ], + [ + 160.15619151715742, + 159.23535999885723 + ], + [ + 189.09206511108812, + 162.75584711055856 + ], + [ + 190.98190237579388, + 161.15723326110282 + ], + [ + 162.109162991792, + 157.65472655146957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.892367493003, + "ymin": 158.64539873095123, + "xmax": 1280.0, + "ymax": 325.3048118731284 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1221.5666356263964, + 325.3048118731284 + ], + [ + 1206.5338645156107, + 285.3138772220642 + ], + [ + 1143.892367493003, + 277.705234033141 + ], + [ + 1155.441721531126, + 316.86316448282923 + ], + [ + 1283.1113240808913, + 202.79496457887186 + ], + [ + 1263.1325250239506, + 165.66477343205406 + ], + [ + 1193.6687745486424, + 158.64539873095123 + ], + [ + 1209.3415927659241, + 194.92393334175574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.8428410958459, + "ymin": 64.90651104335456, + "xmax": 917.9651754876413, + "ymax": 295.9479072593057 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 875.6113983707345, + 295.9479072593057 + ], + [ + 876.1028783967129, + 288.58375673403384 + ], + [ + 766.3827718985408, + 274.4372875455891 + ], + [ + 764.8428410958459, + 281.52467293857785 + ], + [ + 917.8707800038628, + 83.0444816805292 + ], + [ + 917.9651754876413, + 76.8141690855835 + ], + [ + 788.2946815747309, + 64.90651104335456 + ], + [ + 786.7330323207598, + 70.86230256231534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.4539912234104, + "ymin": 71.33619302673219, + "xmax": 804.4906340543833, + "ymax": 80.12112640456735 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 803.1627546323828, + 80.12112640456735 + ], + [ + 804.0891296827637, + 76.04624303760323 + ], + [ + 790.4812178166749, + 74.77365344145852 + ], + [ + 789.4539912234104, + 78.82916368674614 + ], + [ + 803.565030776379, + 76.66243667508013 + ], + [ + 804.4906340543833, + 72.60370693197507 + ], + [ + 790.8485502817281, + 71.33619302673219 + ], + [ + 789.8215861092983, + 75.37557922060472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16128513534167524743, + "instance_id": 34725, + "pixel_count": null, + "type_id": "BP_StreetLight_wall35_55_SM_0", + "bbox_3d": { + "center_world": { + "x": 53.79484176635742, + "y": 58.335594177246094, + "z": 4.9542951583862305 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 82.0998580025539, + "ymin": 0.0, + "xmax": 126.55173839921667, + "ymax": 6.647598366871307 + }, + "corners_3d": [ + [ + 53.677154541015625, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 57.18798828125, + 5.365450859069824 + ], + [ + 53.677154541015625, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 57.18798828125, + 5.365450859069824 + ] + ], + "corners_2d": [ + [ + 93.98398747726321, + 6.647598366871307 + ], + [ + 126.55173839921667, + -11.642964278662248 + ], + [ + 121.95362694403025, + -12.050873570747399 + ], + [ + 89.22954999520675, + 6.205798536396912 + ], + [ + 86.90906647027214, + -12.48152282971597 + ], + [ + 120.16243207251773, + -30.241698561285034 + ], + [ + 115.51303090734541, + -30.637574126791833 + ], + [ + 82.0998580025539, + -12.910723710487446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.84734909807696, + "ymin": 0.0, + "xmax": 537.6927268038532, + "ymax": 23.130193743489144 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 470.93711238362107, + 14.244096385890316 + ], + [ + 468.111648557453, + 17.192140155774894 + ], + [ + 535.2516759300493, + 23.130193743489144 + ], + [ + 537.6927268038532, + 20.10866249629845 + ], + [ + 453.09555338476576, + -140.75274671615966 + ], + [ + 449.84734909807696, + -138.55579792709256 + ], + [ + 523.9682580260592, + -134.12187135358056 + ], + [ + 526.748444726209, + -136.37950361028226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.86482864246477, + "ymin": 0.0, + "xmax": 397.4260715673397, + "ymax": 127.40712063785867 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 341.49652158629686, + 127.40712063785867 + ], + [ + 397.4260715673397, + 87.99246741257679 + ], + [ + 322.31624475023335, + 73.73137518804594 + ], + [ + 262.8370117118725, + 110.96603087425288 + ], + [ + 245.0984256920326, + -293.8565458707792 + ], + [ + 325.094796173125, + -308.19292220056764 + ], + [ + 232.13722729805045, + -312.15299502045787 + ], + [ + 146.86482864246477, + -298.7339025483492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.4990426619254, + "ymin": 0.0, + "xmax": 1267.7127555343695, + "ymax": 154.67839653848213 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 957.0027424367698, + 152.73738364504203 + ], + [ + 1145.6944330917013, + 154.67839653848213 + ], + [ + 1081.9731121711745, + 72.78268062321831 + ], + [ + 918.4990426619254, + 71.32334802129776 + ], + [ + 1033.1926508481697, + -166.97492221771574 + ], + [ + 1267.7127555343695, + -165.82130465619684 + ], + [ + 1171.5472473877294, + -213.01655278977466 + ], + [ + 974.756501133672, + -213.83092680344032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.4979650127278, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 304.85147759755046 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1169.2128861555302, + 304.85147759755046 + ], + [ + 1095.2658784168814, + 195.64507552133185 + ], + [ + 909.4979650127278, + 194.81879378814358 + ], + [ + 952.4720834285738, + 303.7275907276554 + ], + [ + 1329.0844487470022, + -51.0475297847575 + ], + [ + 1208.3076204493009, + -123.99347836770681 + ], + [ + 976.3087230785154, + -124.52243715054857 + ], + [ + 1046.687377482614, + -51.830250390200206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 267.68603336243467, + "ymax": 111.16575698848439 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 204.14686985993546, + 111.16575698848439 + ], + [ + 267.68603336243467, + 73.7785450436271 + ], + [ + 197.9294454130071, + 60.24765883919554 + ], + [ + 131.5176251143199, + 95.61939319193783 + ], + [ + 70.06889151251687, + -300.6061830990253 + ], + [ + 162.14144231148856, + -313.93339329333935 + ], + [ + 77.64035545083345, + -317.5749245385439 + ], + [ + -18.340619288733137, + -305.0690301475356 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00153/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00153/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..49b359cd04837b964b536561d89b156b7b1fa9c8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00153/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 153, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 76.5, + "sim_timestamp": 8604.0349607463 + }, + "drone_pose": { + "x": 21.360667531266355, + "y": 22.208389234082, + "z": 20.0, + "pitch": -41.12120230242322, + "yaw": 82.85547231550333, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0936923623085022, + -0.747471034526825, + 0.6576540470123291, + -31.754539489746094 + ], + [ + 0.9922356009483337, + 0.12437260150909424, + 2.9802322387695312e-08, + 18.432697296142578 + ], + [ + -0.08179420232772827, + 0.6525477170944214, + 0.7533200979232788, + 1.172811508178711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.513880348469918, + "y": 22.71021013823736, + "z": 20.13069270161906 + }, + "t1_image_uv": [ + 356.5543304827864, + -1026.847999921095 + ], + "t1_depth": 0.3035008576663221 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 42.81223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 609.9864003977734, + 380.25180515025505 + ], + "depth": 28.23153856371493, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 571, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 42.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.38890257477760315, + "y": 0.5554956197738647, + "z": 0.9177601933479309 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 588.0490875834885, + "ymin": 346.4423512782112, + "xmax": 630.6527391146266, + "ymax": 413.4422481147222 + }, + "corners_3d": [ + [ + 25.38831329345703, + 42.42333221435547, + 0.06700503826141357 + ], + [ + 24.277320861816406, + 42.423336029052734, + 0.06700503826141357 + ], + [ + 24.277320861816406, + 43.201141357421875, + 0.06700503826141357 + ], + [ + 25.38831329345703, + 43.20113754272461, + 0.06700503826141357 + ], + [ + 25.38831329345703, + 42.42333221435547, + 1.9025254249572754 + ], + [ + 24.277320861816406, + 42.423336029052734, + 1.9025254249572754 + ], + [ + 24.277320861816406, + 43.201141357421875, + 1.9025254249572754 + ], + [ + 25.38831329345703, + 43.20113754272461, + 1.9025254249572754 + ] + ], + "corners_2d": [ + [ + 590.2420826199291, + 410.19715611171927 + ], + [ + 627.2026025662127, + 413.4422481147222 + ], + [ + 630.6527391146266, + 395.6143646830456 + ], + [ + 594.4163727994627, + 392.4975321597007 + ], + [ + 588.0490875834885, + 363.94445295248795 + ], + [ + 626.6364275229944, + 367.1566659353196 + ], + [ + 630.2478307012133, + 349.52217254167755 + ], + [ + 592.449111077, + 346.4423512782112 + ] + ], + "center_offset_px": [ + -30.013599602226577, + 20.251805150255052 + ] + }, + "trace_timestep_index": 153, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 293704, + "2": 254093, + "3": 56153, + "5": 1155, + "6": 3330, + "9": 88803, + "10": 158585, + "12": 2556, + "14": 13120, + "16": 20374, + "20": 15840, + "24": 13887 + }, + "instance_pixel_counts": { + "2973": 12, + "3485": 3365, + "3925": 1, + "4181": 87, + "4224": 1331, + "7253": 48, + "7299": 632, + "8788": 395, + "9557": 96, + "17502": 155414, + "18526": 2804, + "20573": 15847, + "21085": 39295, + "21402": 32248, + "21914": 32955, + "22909": 4147, + "23421": 3967, + "24669": 4, + "25181": 21672, + "25683": 37, + "25693": 42696, + "26195": 120, + "26205": 11221, + "33953": 9, + "34465": 66, + "34977": 128, + "36978": 4101, + "37276": 232433, + "39073": 1250, + "40531": 1399, + "41043": 48, + "42145": 634, + "42657": 429, + "43008": 571, + "43264": 247, + "43520": 168, + "43776": 633, + "44288": 937, + "44705": 1185, + "45056": 20374, + "45388": 5661, + "45644": 5280, + "46490": 15991, + "46848": 10122, + "47002": 12436, + "48640": 2998, + "49266": 11172, + "49539": 334, + "49778": 40880, + "51309": 88803, + "51612": 10510, + "58441": 1155, + "61820": 11118, + "62844": 10496, + "62874": 164, + "63386": 61107 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 571, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 42.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3754602074623108, + "y": 0.5717748999595642, + "z": 0.9132723212242126 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 587.5693351544179, + "ymin": 346.81104988227446, + "xmax": 631.1264569982945, + "ymax": 413.0673504904298 + }, + "corners_3d": [ + [ + 25.404592514038086, + 42.43677520751953, + 0.07149291038513184 + ], + [ + 24.26104164123535, + 42.43677520751953, + 0.07149291038513184 + ], + [ + 24.26104164123535, + 43.18769836425781, + 0.07149291038513184 + ], + [ + 25.404592514038086, + 43.18769836425781, + 0.07149291038513184 + ], + [ + 25.404592514038086, + 42.43677520751953, + 1.8980375528335571 + ], + [ + 24.26104164123535, + 42.43677520751953, + 1.8980375528335571 + ], + [ + 24.26104164123535, + 43.18769836425781, + 1.8980375528335571 + ], + [ + 25.404592514038086, + 43.18769836425781, + 1.8980375528335571 + ] + ], + "corners_2d": [ + [ + 589.7710952172037, + 409.72947822115873 + ], + [ + 627.8055437697681, + 413.0673504904298 + ], + [ + 631.1264569982945, + 395.85426489187364 + ], + [ + 593.8117643912025, + 392.643860309814 + ], + [ + 587.5693351544179, + 363.7068471889886 + ], + [ + 627.2689074917035, + 367.0109648047411 + ], + [ + 630.7438305675134, + 349.983613567347 + ], + [ + 591.8277620269582, + 346.81104988227446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 247, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 45.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.26203373074531555, + "y": 0.26666995882987976, + "z": 0.5983861684799194 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 486.1768118286351, + "ymin": 286.9211861203249, + "xmax": 506.97362281017587, + "ymax": 327.1922537737288 + }, + "corners_3d": [ + [ + 29.165164947509766, + 45.49818801879883, + 0.38638395071029663 + ], + [ + 28.64348030090332, + 45.60907745361328, + 0.38638395071029663 + ], + [ + 28.75244140625, + 46.1216926574707, + 0.38638395071029663 + ], + [ + 29.274126052856445, + 46.01080322265625, + 0.38638395071029663 + ], + [ + 29.165164947509766, + 45.49818801879883, + 1.5831563472747803 + ], + [ + 28.64348030090332, + 45.60907745361328, + 1.5831563472747803 + ], + [ + 28.75244140625, + 46.1216926574707, + 1.5831563472747803 + ], + [ + 29.274126052856445, + 46.01080322265625, + 1.5831563472747803 + ] + ], + "corners_2d": [ + [ + 490.0773822199545, + 327.1922537737288 + ], + [ + 506.6600447257674, + 326.3108825088417 + ], + [ + 506.97362281017587, + 316.2546676553284 + ], + [ + 490.59883271929465, + 317.1141278985705 + ], + [ + 486.1768118286351, + 297.7289258829868 + ], + [ + 503.19480479949516, + 296.8577349322823 + ], + [ + 503.56085988578593, + 286.9211861203249 + ], + [ + 486.76172452433866, + 287.77016678395404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 168, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 49.75494384765625, + "z": 0.6509755849838257 + }, + "extent": { + "x": 0.2982262969017029, + "y": 0.2671264410018921, + "z": 0.6199040412902832 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.1794977031894, + "ymin": 239.73317953607514, + "xmax": 712.6091413183937, + "ymax": 279.0958848396572 + }, + "corners_3d": [ + [ + 22.81148338317871, + 49.43042755126953, + 0.031071603298187256 + ], + [ + 22.2801570892334, + 49.48627471923828, + 0.031071603298187256 + ], + [ + 22.342504501342773, + 50.07946014404297, + 0.031071603298187256 + ], + [ + 22.873830795288086, + 50.02361297607422, + 0.031071603298187256 + ], + [ + 22.81148338317871, + 49.43042755126953, + 1.2708796262741089 + ], + [ + 22.2801570892334, + 49.48627471923828, + 1.2708796262741089 + ], + [ + 22.342504501342773, + 50.07946014404297, + 1.2708796262741089 + ], + [ + 22.873830795288086, + 50.02361297607422, + 1.2708796262741089 + ] + ], + "corners_2d": [ + [ + 695.5766894478937, + 278.9148547239547 + ], + [ + 710.8475803268585, + 279.0958848396572 + ], + [ + 710.2488661718097, + 269.10836127641903 + ], + [ + 695.1794977031894, + 268.9320748159875 + ], + [ + 696.9582149589778, + 249.5642128733228 + ], + [ + 712.6091413183937, + 249.74255068180958 + ], + [ + 711.9719362876713, + 239.9067304085897 + ], + [ + 696.5326179275839, + 239.73317953607514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 633, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 42.81223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.40422606468200684, + "y": 0.3670288026332855, + "z": 0.9375602006912231 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 920.2434087289481, + "ymin": 369.0649711691556, + "xmax": 963.4960595495508, + "ymax": 438.65717899248295 + }, + "corners_3d": [ + [ + 15.699845314025879, + 42.40801239013672, + 0.20380175113677979 + ], + [ + 14.965787887573242, + 42.40801239013672, + 0.20380175113677979 + ], + [ + 14.965788841247559, + 43.216461181640625, + 0.20380175113677979 + ], + [ + 15.699846267700195, + 43.216461181640625, + 0.20380175113677979 + ], + [ + 15.699845314025879, + 42.40801239013672, + 2.0789222717285156 + ], + [ + 14.965787887573242, + 42.40801239013672, + 2.0789222717285156 + ], + [ + 14.965788841247559, + 43.216461181640625, + 2.0789222717285156 + ], + [ + 15.699846267700195, + 43.216461181640625, + 2.0789222717285156 + ] + ], + "corners_2d": [ + [ + 922.8831313943294, + 436.3717203824409 + ], + [ + 948.9993164270345, + 438.65717899248295 + ], + [ + 945.7919639379868, + 418.9585385872144 + ], + [ + 920.2434087289481, + 416.77012557395886 + ], + [ + 936.1199960498146, + 388.4899127496344 + ], + [ + 963.4960595495508, + 390.7573112238317 + ], + [ + 959.8158293533975, + 371.2317311494075 + ], + [ + 933.062808690411, + 369.0649711691556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 937, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 34.64202117919922, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.33146604895591736, + "y": 0.5746240019798279, + "z": 0.9104449152946472 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 54.73189043899538, + "ymin": 526.9116268001181, + "xmax": 141.10441027478794, + "ymax": 607.1050848958225 + }, + "corners_3d": [ + [ + 36.70913314819336, + 34.43727111816406, + 0.07432031631469727 + ], + [ + 35.584999084472656, + 34.198326110839844, + 0.07432031631469727 + ], + [ + 35.44717025756836, + 34.846771240234375, + 0.07432031631469727 + ], + [ + 36.57130432128906, + 35.085716247558594, + 0.07432031631469727 + ], + [ + 36.70913314819336, + 34.43727111816406, + 1.8952101469039917 + ], + [ + 35.584999084472656, + 34.198326110839844, + 1.8952101469039917 + ], + [ + 35.44717025756836, + 34.846771240234375, + 1.8952101469039917 + ], + [ + 36.57130432128906, + 35.085716247558594, + 1.8952101469039917 + ] + ], + "corners_2d": [ + [ + 84.3256276345636, + 594.0950761198065 + ], + [ + 122.12584324851593, + 607.1050848958225 + ], + [ + 141.10441027478794, + 585.6574634820975 + ], + [ + 103.81940870019264, + 573.1536669542407 + ], + [ + 54.73189043899538, + 547.9980886219112 + ], + [ + 94.1925266418724, + 561.1203192071222 + ], + [ + 114.75469660095155, + 539.4967574770412 + ], + [ + 75.85068632974173, + 526.9116268001181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 20374, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 397.9697944558808, + "ymin": 12.65581779096209, + "xmax": 569.4566496733685, + "ymax": 236.88121422334729 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 569.4566496733685, + 110.22628002757085 + ], + [ + 484.1143725306189, + 105.23710636945418 + ], + [ + 416.75486268739337, + 229.52599777987504 + ], + [ + 519.7697460503342, + 236.88121422334729 + ], + [ + 564.590539799049, + 17.142676800055426 + ], + [ + 473.4587409565672, + 12.65581779096209 + ], + [ + 397.9697944558808, + 126.01688558957201 + ], + [ + 509.53880732655966, + 132.83052086989616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 10122, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 100.01779660368015, + "ymin": 589.6795994300114, + "xmax": 319.63077346251737, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 319.63077346251737, + 636.82680761024 + ], + [ + 234.51241380563863, + 627.1565362778584 + ], + [ + 127.6724134771614, + 835.8818196907475 + ], + [ + 227.91964342296262, + 849.5719462611474 + ], + [ + 305.07651631508463, + 599.4463886975645 + ], + [ + 216.25823037631812, + 589.6795994300114 + ], + [ + 100.01779660368015, + 802.211984084726 + ], + [ + 205.43181092267707, + 816.2792541680626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2998, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 354.1448374606635, + "ymin": 120.33179644757303, + "xmax": 437.7057453763748, + "ymax": 209.67276509069848 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 437.7057453763748, + 158.49303265969178 + ], + [ + 394.75580324163894, + 155.74009653416107 + ], + [ + 362.3069222836007, + 206.4604840100368 + ], + [ + 408.5577782987856, + 209.67276509069848 + ], + [ + 432.18782416362586, + 123.00183792297838 + ], + [ + 388.0960636212502, + 120.33179644757303 + ], + [ + 354.1448374606635, + 169.6262413491842 + ], + [ + 401.72225559024736, + 172.75544359813253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.386835756069, + "ymin": 0.0, + "xmax": 1198.0973713590165, + "ymax": 98.35130983799172 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1100.3805058944843, + 47.57076606547412 + ], + [ + 1090.386835756069, + 47.07644092849307 + ], + [ + 1118.4360905587105, + 97.75691815965638 + ], + [ + 1129.424139712232, + 98.35130983799172 + ], + [ + 1158.5685778320299, + -130.9033207936422 + ], + [ + 1147.2515045045693, + -131.27103180916845 + ], + [ + 1185.488617474749, + -93.11114053668058 + ], + [ + 1198.0973713590165, + -92.65800712223637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1085.219086393039, + "ymin": 161.45312704639468, + "xmax": 1166.8279673513512, + "ymax": 208.30558276836524 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1163.136057514649, + 208.30558276836524 + ], + [ + 1144.8057535027292, + 173.6828365610477 + ], + [ + 1085.219086393039, + 170.04349506524028 + ], + [ + 1100.2949433815506, + 204.27051754858974 + ], + [ + 1166.8279673513512, + 199.47453504129675 + ], + [ + 1148.1873978075241, + 165.06828892555188 + ], + [ + 1088.1848010050817, + 161.45312704639468 + ], + [ + 1103.5241364909139, + 195.46344075160027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 264.8961689132303, + "xmax": 23.23175457407251, + "ymax": 281.4171446742084 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + -15.256637759123237, + 278.54702238453257 + ], + [ + 20.821998698465336, + 281.4171446742084 + ], + [ + 23.23175457407251, + 279.06743608346676 + ], + [ + -12.744762733957941, + 276.2150117973837 + ], + [ + -21.5433505112469, + 267.2152242314031 + ], + [ + 14.858683099462382, + 270.0695901024631 + ], + [ + 17.310200964408182, + 267.73276553876394 + ], + [ + -18.987889349940474, + 264.8961689132303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.5107366375911, + "ymin": 0.0, + "xmax": 816.4841249495113, + "ymax": 7.37397371394195 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 799.2107313102601, + 7.37397371394195 + ], + [ + 799.2140180973944, + 4.3339838015171495 + ], + [ + 728.9537166895334, + 1.0514724900327224 + ], + [ + 728.5107366375911, + 4.05010490741131 + ], + [ + 816.4841249495113, + -150.18878937803936 + ], + [ + 816.3679446532049, + -152.46333834808718 + ], + [ + 738.4655215810225, + -154.91587868348256 + ], + [ + 738.0407833896429, + -152.67558153714106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.28293599336808, + "ymin": 94.19843976482377, + "xmax": 179.140063568338, + "ymax": 107.06924370132467 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 149.84426081803474, + 105.39078652043338 + ], + [ + 177.6795370059683, + 107.06924370132467 + ], + [ + 179.140063568338, + 105.69535389666339 + ], + [ + 151.36577529962307, + 104.02475791736455 + ], + [ + 146.28293599336808, + 95.55116678792314 + ], + [ + 174.31072167549354, + 97.21334315777705 + ], + [ + 175.7898327129082, + 95.85277474109608 + ], + [ + 147.82387742364403, + 94.19843976482377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1085.2834533467142, + "ymin": 161.47264264109972, + "xmax": 1166.7782707336326, + "ymax": 208.2244371806894 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1163.1111796002845, + 208.2244371806894 + ], + [ + 1144.8009662233173, + 173.64134847963902 + ], + [ + 1085.2834533467142, + 170.00646037065977 + ], + [ + 1100.346499030094, + 204.1947467979915 + ], + [ + 1166.7782707336326, + 199.45176978459025 + ], + [ + 1148.1601980164419, + 165.0835382103931 + ], + [ + 1088.2299860186176, + 161.47264264109972 + ], + [ + 1103.5545199209787, + 195.44586547875375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.5044643968076, + "ymin": 62.927260462518234, + "xmax": 714.9457560450661, + "ymax": 71.23484411238121 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 714.113480892102, + 71.23484411238121 + ], + [ + 714.7613539415487, + 67.07831403457385 + ], + [ + 701.2543219186441, + 66.35932093676286 + ], + [ + 700.5044643968076, + 70.50485285565247 + ], + [ + 714.2976822144643, + 67.7840907237051 + ], + [ + 714.9457560450661, + 63.64348344802386 + ], + [ + 701.4052085935859, + 62.927260462518234 + ], + [ + 700.6546415969382, + 67.05688463775209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.231206168095355, + "ymin": 180.7112065077872, + "xmax": 85.79343246614383, + "ymax": 195.32369358896915 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 52.149778786863635, + 193.10172087661851 + ], + [ + 83.85980861806104, + 195.32369358896915 + ], + [ + 85.79343246614383, + 193.50477008605063 + ], + [ + 54.162408524896364, + 191.294764831961 + ], + [ + 47.231206168095355, + 182.50447272595105 + ], + [ + 79.19102149818718, + 184.70972212577792 + ], + [ + 81.15355012638793, + 182.90447938144092 + ], + [ + 49.27398210433125, + 180.7112065077872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1055.3124350692815, + "ymin": 131.49942910234344, + "xmax": 1181.930382498148, + "ymax": 291.9858704372014 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1130.96380396884, + 291.9858704372014 + ], + [ + 1114.4464078138167, + 253.58454618888013 + ], + [ + 1055.3124350692815, + 249.5185839884502 + ], + [ + 1068.6477913653941, + 287.4832224715864 + ], + [ + 1181.930382498148, + 170.77186347181947 + ], + [ + 1161.0012775610367, + 135.24014089493167 + ], + [ + 1095.8162560678793, + 131.49942910234344 + ], + [ + 1112.8583780359063, + 166.58665662197015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.5313101441225, + "ymin": 56.50493503088563, + "xmax": 827.7087347740139, + "ymax": 282.8135914864797 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 798.9128750032569, + 282.8135914864797 + ], + [ + 798.9209215155496, + 275.3717753544079 + ], + [ + 689.6074042795126, + 267.3952147704155 + ], + [ + 688.5313101441225, + 274.67953637951973 + ], + [ + 827.7087347740139, + 69.56511631984836 + ], + [ + 827.3861466325675, + 63.2495510444827 + ], + [ + 698.3821613906916, + 56.50493503088563 + ], + [ + 697.2146122388076, + 62.66321190404449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.4267297406996, + "ymin": 62.882737008315246, + "xmax": 715.0235309094669, + "ymax": 71.27972584389772 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 714.1826711511669, + 71.27972584389772 + ], + [ + 714.8369616285368, + 67.07828565719177 + ], + [ + 701.1852103229121, + 66.35159440689472 + ], + [ + 700.4267297406996, + 70.54179819436212 + ], + [ + 714.3690381274351, + 67.79177108383192 + ], + [ + 715.0235309094669, + 63.60659829658732 + ], + [ + 701.3375418218423, + 62.882737008315246 + ], + [ + 700.5783336382397, + 67.0566889462682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 338.3431743992166, + "ymin": 0.0, + "xmax": 440.9951752809882, + "ymax": 21.28294477334191 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 371.25699333509937, + 14.595521966690796 + ], + [ + 368.49912410490947, + 17.766552582870474 + ], + [ + 438.66978405137485, + 21.28294477334191 + ], + [ + 440.9951752809882, + 18.06692522562963 + ], + [ + 341.6193068265181, + -144.76855472233763 + ], + [ + 338.3431743992166, + -142.3849478945574 + ], + [ + 416.13144430673015, + -139.7377763628454 + ], + [ + 418.8765767896532, + -142.15898758669277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 298.8527779477003, + "ymax": 138.49683337691718 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 242.1027907185885, + 138.49683337691718 + ], + [ + 298.8527779477003, + 94.5760106155688 + ], + [ + 218.08295205605515, + 83.0171522193587 + ], + [ + 156.65002389356562, + 125.01788161916377 + ], + [ + 105.97578810948357, + -300.27271788105213 + ], + [ + 192.34592775001863, + -316.7367298252474 + ], + [ + 91.12939327362415, + -319.7948995374877 + ], + [ + -2.503402082440516, + -304.1549582550099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.3450423702071, + "ymin": 0.0, + "xmax": 1146.334367439957, + "ymax": 134.71632590779012 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 868.9333772196749, + 134.71632590779012 + ], + [ + 1049.1052731642917, + 127.9567867590684 + ], + [ + 983.6848605214964, + 49.78029095090557 + ], + [ + 826.3450423702071, + 54.90108090211709 + ], + [ + 924.0953939707575, + -184.52871385911897 + ], + [ + 1146.334367439957, + -188.5363914738498 + ], + [ + 1052.7133019601897, + -233.38870798456037 + ], + [ + 864.2089350756568, + -230.53257526415632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.484612533121, + "ymin": 0.0, + "xmax": 1211.4202716904501, + "ymax": 285.94509138177693 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1080.6662561992812, + 274.6510733750961 + ], + [ + 1004.0864693174411, + 170.7904753075333 + ], + [ + 825.484612533121, + 179.16553509840702 + ], + [ + 874.1971458831515, + 285.94509138177693 + ], + [ + 1211.4202716904501, + -76.9596221038795 + ], + [ + 1093.549322723697, + -145.90565955432226 + ], + [ + 871.7967912709921, + -140.54769182878516 + ], + [ + 945.0459174747318, + -69.120442706696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 159.4005957916188, + "ymax": 128.10701430872314 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 92.99591805756063, + 128.10701430872314 + ], + [ + 159.4005957916188, + 85.5457920320494 + ], + [ + 82.83623961597277, + 74.34805342221642 + ], + [ + 12.357612417180349, + 115.07689462740674 + ], + [ + -88.61498126136667, + -305.0638223478986 + ], + [ + 13.834157780028931, + -320.78674211946543 + ], + [ + -80.4989200168045, + -323.6749973581044 + ], + [ + -188.90071423915492, + -308.7203557019508 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00154/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00154/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b4c583a6942e628713118b97372e5dbc1491d0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00154/meta.json @@ -0,0 +1,2669 @@ +{ + "frame_id": 154, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 77.0, + "sim_timestamp": 8614.506466555875 + }, + "drone_pose": { + "x": 21.513880348469918, + "y": 22.71021013823736, + "z": 20.13069270161906, + "pitch": -42.53616988721939, + "yaw": 80.84841636076536, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.11719387769699097, + -0.7274712920188904, + 0.6760555505752563, + -32.651790618896484 + ], + [ + 0.9872710108757019, + 0.15904700756072998, + 0.0, + 17.628040313720703 + ], + [ + -0.10752460360527039, + 0.6674500107765198, + 0.7368506789207458, + 2.637887954711914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.506789973228834, + "y": 23.175023480059863, + "z": 20.0 + }, + "t1_image_uv": [ + 822.515734726819, + -120.77760775172374 + ], + "t1_depth": 0.42566295646455543 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 43.31223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.32005263632906, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 558, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 43.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.35227903723716736, + "y": 0.5255810618400574, + "z": 0.9481709599494934 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.918634157726, + "ymin": 326.04302075482275, + "xmax": 659.8008571958543, + "ymax": 393.19078550380374 + }, + "corners_3d": [ + [ + 25.3583984375, + 42.959957122802734, + 0.036594271659851074 + ], + [ + 24.307235717773438, + 42.959957122802734, + 0.036594271659851074 + ], + [ + 24.307235717773438, + 43.66451644897461, + 0.036594271659851074 + ], + [ + 25.3583984375, + 43.66451644897461, + 0.036594271659851074 + ], + [ + 25.3583984375, + 42.959957122802734, + 1.932936191558838 + ], + [ + 24.307235717773438, + 42.959957122802734, + 1.932936191558838 + ], + [ + 24.307235717773438, + 43.66451644897461, + 1.932936191558838 + ], + [ + 25.3583984375, + 43.66451644897461, + 1.932936191558838 + ] + ], + "corners_2d": [ + [ + 620.8136008581452, + 389.27671891169706 + ], + [ + 655.5132013973503, + 393.19078550380374 + ], + [ + 658.9301767059782, + 377.1232971950372 + ], + [ + 624.8236383282258, + 373.3453521148319 + ], + [ + 619.918634157726, + 341.83539480652166 + ], + [ + 656.2400865427189, + 345.71926061781136 + ], + [ + 659.8008571958543, + 329.78567386403455 + ], + [ + 624.1286833873944, + 326.04302075482275 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 154, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 300899, + "2": 251117, + "3": 63357, + "5": 1276, + "6": 3337, + "9": 85240, + "10": 147343, + "12": 2532, + "14": 14581, + "16": 20860, + "20": 16753, + "24": 14305 + }, + "instance_pixel_counts": { + "3485": 3278, + "3925": 2, + "4224": 1428, + "7253": 58, + "7299": 671, + "8788": 382, + "9557": 99, + "17502": 143848, + "18526": 3076, + "20573": 19053, + "21085": 39872, + "21402": 36650, + "21914": 34028, + "22909": 3910, + "23421": 3965, + "25181": 18366, + "25683": 58, + "25693": 41200, + "26205": 3398, + "33953": 10, + "36978": 5894, + "37276": 242541, + "39073": 1333, + "40531": 1469, + "42145": 692, + "42657": 462, + "43008": 558, + "43264": 242, + "43520": 181, + "43776": 641, + "44032": 123, + "44288": 787, + "44705": 1248, + "45056": 20860, + "45388": 6156, + "45644": 5682, + "46490": 14989, + "46848": 11527, + "47002": 12388, + "48640": 3054, + "49266": 11075, + "49539": 340, + "49778": 46388, + "51309": 85240, + "51612": 11027, + "58441": 1276, + "61820": 12390, + "62844": 10908, + "63386": 58358 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 558, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 43.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.35566282272338867, + "y": 0.49055173993110657, + "z": 0.9404749870300293 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1068985818915, + "ymin": 326.2934684505109, + "xmax": 658.6204041612868, + "ymax": 392.9542702428068 + }, + "corners_3d": [ + [ + 25.323368072509766, + 42.956573486328125, + 0.044290244579315186 + ], + [ + 24.342266082763672, + 42.956573486328125, + 0.044290244579315186 + ], + [ + 24.342266082763672, + 43.66790008544922, + 0.044290244579315186 + ], + [ + 25.323368072509766, + 43.66790008544922, + 0.044290244579315186 + ], + [ + 25.323368072509766, + 42.956573486328125, + 1.9252402782440186 + ], + [ + 24.342266082763672, + 42.956573486328125, + 1.9252402782440186 + ], + [ + 24.342266082763672, + 43.66790008544922, + 1.9252402782440186 + ], + [ + 25.323368072509766, + 43.66790008544922, + 1.9252402782440186 + ] + ], + "corners_2d": [ + [ + 621.9424154558615, + 389.30052934991085 + ], + [ + 654.3378199270164, + 392.9542702428068 + ], + [ + 657.8083140510096, + 376.7374105757719 + ], + [ + 625.9719610876615, + 373.21195915121746 + ], + [ + 621.1068985818915, + 342.24303473327177 + ], + [ + 655.0040119623554, + 345.8688438857532 + ], + [ + 658.6204041612868, + 329.78622938922314 + ], + [ + 625.334884933611, + 326.2934684505109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 242, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 46.309940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.20425660908222198, + "y": 0.29802006483078003, + "z": 0.6128610968589783 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 517.3766497312848, + "ymin": 264.91027291527695, + "xmax": 539.33993859536, + "ymax": 303.3004151875737 + }, + "corners_3d": [ + [ + 29.207843780517578, + 46.04818344116211, + 0.3719090223312378 + ], + [ + 28.624828338623047, + 46.1721076965332, + 0.3719090223312378 + ], + [ + 28.709762573242188, + 46.57169723510742, + 0.3719090223312378 + ], + [ + 29.29277801513672, + 46.44777297973633, + 0.3719090223312378 + ], + [ + 29.207843780517578, + 46.04818344116211, + 1.5976312160491943 + ], + [ + 28.624828338623047, + 46.1721076965332, + 1.5976312160491943 + ], + [ + 28.709762573242188, + 46.57169723510742, + 1.5976312160491943 + ], + [ + 29.29277801513672, + 46.44777297973633, + 1.5976312160491943 + ] + ], + "corners_2d": [ + [ + 520.6295618617677, + 303.3004151875737 + ], + [ + 538.9952343187131, + 302.7250250587871 + ], + [ + 539.33993859536, + 294.8800798160344 + ], + [ + 521.1495795671407, + 295.4445559189974 + ], + [ + 517.3766497312848, + 273.24225296560365 + ], + [ + 536.2447712868417, + 272.67275276252883 + ], + [ + 536.6256781629528, + 264.91027291527695 + ], + [ + 517.942545338497, + 265.46868086191984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 181, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 50.25494384765625, + "z": 0.6662164926528931 + }, + "extent": { + "x": 0.31037595868110657, + "y": 0.41401606798171997, + "z": 0.5915995836257935 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 722.9517153746517, + "ymin": 220.56083685092798, + "xmax": 749.5140674243498, + "ymax": 259.7512816611022 + }, + "corners_3d": [ + [ + 22.956298828125, + 49.902992248535156, + 0.07461684942245483 + ], + [ + 22.132802963256836, + 49.98954391479492, + 0.07461684942245483 + ], + [ + 22.197689056396484, + 50.606895446777344, + 0.07461684942245483 + ], + [ + 23.02118492126465, + 50.52034378051758, + 0.07461684942245483 + ], + [ + 22.956298828125, + 49.902992248535156, + 1.2578160762786865 + ], + [ + 22.132802963256836, + 49.98954391479492, + 1.2578160762786865 + ], + [ + 22.197689056396484, + 50.606895446777344, + 1.2578160762786865 + ], + [ + 23.02118492126465, + 50.52034378051758, + 1.2578160762786865 + ] + ], + "corners_2d": [ + [ + 723.1045721488587, + 258.9699267239627 + ], + [ + 746.8972691159003, + 259.7512816611022 + ], + [ + 746.4240332988294, + 249.24586337918998 + ], + [ + 722.9517153746517, + 248.48538930139867 + ], + [ + 725.1368493848443, + 230.91187592105229 + ], + [ + 749.5140674243498, + 231.68355451506454 + ], + [ + 748.9933366938099, + 221.3113990123791 + ], + [ + 724.9523214438161, + 220.56083685092798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 641, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 43.31223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.3753741383552551, + "y": 0.5463281273841858, + "z": 0.9305850267410278 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 944.3932377245478, + "ymin": 356.81677758767734, + "xmax": 1002.1402829468643, + "ymax": 426.62467401689656 + }, + "corners_3d": [ + [ + 15.879144668579102, + 42.93686294555664, + 0.2107769250869751 + ], + [ + 14.78648853302002, + 42.93686294555664, + 0.2107769250869751 + ], + [ + 14.786489486694336, + 43.6876106262207, + 0.2107769250869751 + ], + [ + 15.879145622253418, + 43.6876106262207, + 0.2107769250869751 + ], + [ + 15.879144668579102, + 42.93686294555664, + 2.0719470977783203 + ], + [ + 14.78648853302002, + 42.93686294555664, + 2.0719470977783203 + ], + [ + 14.786489486694336, + 43.6876106262207, + 2.0719470977783203 + ], + [ + 15.879145622253418, + 43.6876106262207, + 2.0719470977783203 + ] + ], + "corners_2d": [ + [ + 946.2687757827397, + 422.2164146766684 + ], + [ + 985.5058599879617, + 426.62467401689656 + ], + [ + 982.8547254217278, + 408.1046926364685 + ], + [ + 944.3932377245478, + 403.8667072819914 + ], + [ + 960.9422284188868, + 375.06719560020275 + ], + [ + 1002.1402829468643, + 379.4566726095845 + ], + [ + 999.0236200658439, + 361.0288115587028 + ], + [ + 958.6797365313118, + 356.81677758767734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 172, + "instance_id": 44032, + "pixel_count": 123, + "type_id": "walker.pedestrian.0036", + "bbox_3d": { + "center_world": { + "x": 21.217315673828125, + "y": 32.18487548828125, + "z": 1.1371773481369019 + }, + "extent": { + "x": 0.4346277117729187, + "y": 0.5557251572608948, + "z": 0.939659833908081 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 694.8247337673629, + "ymin": 686.7065936610195, + "xmax": 762.070565311167, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 21.815427780151367, + 31.810718536376953, + 0.1975175142288208 + ], + [ + 20.710065841674805, + 31.69454002380371, + 0.1975175142288208 + ], + [ + 20.619203567504883, + 32.55903244018555, + 0.1975175142288208 + ], + [ + 21.724565505981445, + 32.67521286010742, + 0.1975175142288208 + ], + [ + 21.815427780151367, + 31.810718536376953, + 2.0768370628356934 + ], + [ + 20.710065841674805, + 31.69454002380371, + 2.0768370628356934 + ], + [ + 20.619203567504883, + 32.55903244018555, + 2.0768370628356934 + ], + [ + 21.724565505981445, + 32.67521286010742, + 2.0768370628356934 + ] + ], + "corners_2d": [ + [ + 694.8247337673629, + 769.2051553650897 + ], + [ + 747.1221235739986, + 783.0690315174998 + ], + [ + 754.5182183990383, + 743.8153525547393 + ], + [ + 703.7027461284501, + 730.7694141106977 + ], + [ + 698.5178445559168, + 726.2871174882716 + ], + [ + 754.4209334224801, + 740.6029383179917 + ], + [ + 762.070565311167, + 700.1233083605503 + ], + [ + 707.8577037890512, + 686.7065936610195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 787, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 35.14202117919922, + "z": 0.9848677515983582 + }, + "extent": { + "x": 0.32014769315719604, + "y": 0.5836144685745239, + "z": 0.9071707725524902 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.20832117726172, + "ymin": 492.24911034569203, + "xmax": 177.50351019430968, + "ymax": 570.8605350471518 + }, + "corners_3d": [ + [ + 36.715576171875, + 34.95021057128906, + 0.07769697904586792 + ], + [ + 35.5738525390625, + 34.70752716064453, + 0.07769697904586792 + ], + [ + 35.44072723388672, + 35.333831787109375, + 0.07769697904586792 + ], + [ + 36.58245086669922, + 35.576515197753906, + 0.07769697904586792 + ], + [ + 36.715576171875, + 34.95021057128906, + 1.8920385837554932 + ], + [ + 35.5738525390625, + 34.70752716064453, + 1.8920385837554932 + ], + [ + 35.44072723388672, + 35.333831787109375, + 1.8920385837554932 + ], + [ + 36.58245086669922, + 35.576515197753906, + 1.8920385837554932 + ] + ], + "corners_2d": [ + [ + 122.77283228882027, + 556.8855059928508 + ], + [ + 159.73230539931217, + 570.8605350471518 + ], + [ + 177.50351019430968, + 551.1519101964594 + ], + [ + 140.97946430715575, + 537.673818880043 + ], + [ + 95.20832117726172, + 511.61622399504813 + ], + [ + 133.7876336084836, + 525.7274503569273 + ], + [ + 152.9938363003165, + 505.8323908835021 + ], + [ + 114.88412127980405, + 492.24911034569203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 20860, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 428.9797364115797, + "ymin": 0.0, + "xmax": 601.7018207437031, + "ymax": 221.52141688491554 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 601.7018207437031, + 91.98150065419003 + ], + [ + 515.753825697539, + 85.42149357592353 + ], + [ + 445.921590072511, + 211.91638035464098 + ], + [ + 549.123339100274, + 221.52141688491554 + ], + [ + 598.9452498524846, + -2.6207210784565973 + ], + [ + 506.9135626912211, + -8.562666157652757 + ], + [ + 428.9797364115797, + 107.65146667693057 + ], + [ + 541.0771643176539, + 116.61911189084458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 11527, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 124.05415837924602, + "ymin": 574.8580801995304, + "xmax": 342.4590760646192, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 342.4590760646192, + 623.8715273113803 + ], + [ + 258.6005892307485, + 611.5163593857784 + ], + [ + 150.93950051261203, + 817.5015682048927 + ], + [ + 248.8590595608506, + 834.795029167559 + ], + [ + 328.5791995457376, + 587.3709447095372 + ], + [ + 241.00972525046916, + 574.8580801995304 + ], + [ + 124.05415837924602, + 785.1316780450259 + ], + [ + 227.06335651860644, + 802.9471972174649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 3054, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 384.37937710039023, + "ymin": 100.09008972771625, + "xmax": 468.16953875235333, + "ymax": 191.4081295129679 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 468.16953875235333, + 139.42235358242587 + ], + [ + 425.20584119651795, + 135.8294932472131 + ], + [ + 391.92076763734303, + 187.22896759007483 + ], + [ + 438.0710792009081, + 191.4081295129679 + ], + [ + 463.30871838790546, + 103.58349839846204 + ], + [ + 419.1636401989017, + 100.09008972771625 + ], + [ + 384.37937710039023, + 150.16938982079907 + ], + [ + 431.8952766264892, + 154.25092995918408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.5133961631552, + "ymin": 0.0, + "xmax": 1256.9426176078548, + "ymax": 89.08045610350126 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1147.9044919580904, + 35.3254763575369 + ], + [ + 1137.5133961631552, + 34.65316008279308 + ], + [ + 1165.2792072026696, + 88.27197918182674 + ], + [ + 1176.7115725771944, + 89.08045610350126 + ], + [ + 1216.2368360506161, + -149.12633604910053 + ], + [ + 1204.3559535907543, + -149.63602875975647 + ], + [ + 1243.6816407015078, + -108.4593951553752 + ], + [ + 1256.9426176078548, + -107.83024153389158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1129.8079815051465, + "ymin": 156.6102555152523, + "xmax": 1214.2448906391417, + "ymax": 207.07177975965627 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1209.9877461201422, + 207.07177975965627 + ], + [ + 1191.7969244477968, + 170.30282247667887 + ], + [ + 1129.8079815051465, + 165.34386542838214 + ], + [ + 1144.5882625407835, + 201.57321506828183 + ], + [ + 1214.2448906391417, + 198.11472313130253 + ], + [ + 1195.7085384155043, + 161.54079759963514 + ], + [ + 1133.255074252545, + 156.6102555152523 + ], + [ + 1148.3282680180428, + 192.64356957618307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 11.443537721185521, + "ymin": 241.63909436412152, + "xmax": 55.24033520090882, + "ymax": 258.9189498825646 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 17.55644261932696, + 255.24988177011926 + ], + [ + 52.848775875277965, + 258.9189498825646 + ], + [ + 55.24033520090882, + 256.5793708629358 + ], + [ + 20.042181836997088, + 252.93223678636426 + ], + [ + 11.443537721185521, + 243.9453404270586 + ], + [ + 47.05493892996731, + 247.5966395073957 + ], + [ + 49.48758177928323, + 245.26835172746962 + ], + [ + 13.972050184410364, + 241.63909436412152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 178.84462587341608, + "ymin": 70.1675509969071, + "xmax": 211.26338845004892, + "ymax": 83.61993294834906 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 182.2708568729584, + 81.44712455393824 + ], + [ + 209.79671520378201, + 83.61993294834906 + ], + [ + 211.26338845004892, + 82.23500306570719 + ], + [ + 183.79511509311425, + 80.07212282824281 + ], + [ + 178.84462587341608, + 71.53001003245481 + ], + [ + 206.56481764358665, + 73.68309312870747 + ], + [ + 208.04994477266342, + 72.31072254694254 + ], + [ + 180.38814834645729, + 70.1675509969071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1129.8768086268356, + "ymin": 156.63162405697557, + "xmax": 1214.1935966575734, + "ymax": 206.9876708417435 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1209.9650425575978, + 206.9876708417435 + ], + [ + 1191.7940312108462, + 170.26067213548208 + ], + [ + 1129.8768086268356, + 165.30775290143853 + ], + [ + 1144.6448845301318, + 201.49639570993975 + ], + [ + 1214.1935966575734, + 198.0897902257709 + ], + [ + 1195.679733059406, + 161.55634801074513 + ], + [ + 1133.3015955433243, + 156.63162405697557 + ], + [ + 1148.3603733625928, + 192.62571597850783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.7934905175687, + "ymin": 49.7566097598384, + "xmax": 751.7336817641805, + "ymax": 58.577489243487605 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 750.6994764461, + 58.577489243487605 + ], + [ + 751.4451641358853, + 54.221700980247874 + ], + [ + 737.6422938652584, + 53.25364124137087 + ], + [ + 736.7934905175687, + 57.59472022081752 + ], + [ + 750.9882401665714, + 55.06182832447371 + ], + [ + 751.7336817641805, + 50.72126310438091 + ], + [ + 737.8946509133689, + 49.7566097598384 + ], + [ + 737.0455505488366, + 54.08247910833262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 80.00184778508299, + "ymin": 156.9852147706366, + "xmax": 117.85692264779027, + "ymax": 172.25586178998768 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 84.77007706072322, + 169.40055575457222 + ], + [ + 115.92918651557125, + 172.25586178998768 + ], + [ + 117.85692264779027, + 170.4355658364384 + ], + [ + 86.77139504942625, + 167.5952083063881 + ], + [ + 80.00184778508299, + 158.77800185454328 + ], + [ + 111.40976734829951, + 161.61360707251296 + ], + [ + 113.36605598267067, + 159.80584737390663 + ], + [ + 82.03288657684755, + 156.9852147706366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.467093997294, + "ymin": 126.02946540686713, + "xmax": 1231.3750749686474, + "ymax": 291.6804350677948 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1172.759895078484, + 291.6804350677948 + ], + [ + 1156.692757482916, + 251.24955096082462 + ], + [ + 1095.467093997294, + 245.75571404497333 + ], + [ + 1108.231649520037, + 285.5983877924221 + ], + [ + 1231.3750749686474, + 169.04480968755684 + ], + [ + 1210.4171810182002, + 131.14724257278252 + ], + [ + 1142.4536598309223, + 126.02946540686713 + ], + [ + 1159.3196042389943, + 163.31735566371793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.856617843497, + "ymin": 43.12232348676105, + "xmax": 867.4442134652975, + "ymax": 274.8005538987624 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 831.0008696348102, + 274.8005538987624 + ], + [ + 831.1835208491316, + 267.10527777544445 + ], + [ + 720.1069645234741, + 256.53362578984485 + ], + [ + 718.856617843497, + 264.02280272491436 + ], + [ + 867.4442134652975, + 58.90263303547471 + ], + [ + 867.2423376894574, + 52.23806710046779 + ], + [ + 734.9754600435436, + 43.12232348676105 + ], + [ + 733.6605269608017, + 49.575343213695135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.7131149032845, + "ymin": 49.709355148771124, + "xmax": 751.8141864607873, + "ymax": 58.62516669729291 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 750.7692157697137, + 58.62516669729291 + ], + [ + 751.5223700879317, + 54.222305805992676 + ], + [ + 737.5716148255862, + 53.24388238663846 + ], + [ + 736.7131149032845, + 57.63171540011575 + ], + [ + 751.0612865742836, + 55.07160694962033 + ], + [ + 751.8141864607873, + 50.684298549193215 + ], + [ + 737.8264912209182, + 49.709355148771124 + ], + [ + 736.9676848949128, + 54.08164952130892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.60167318779179, + "ymin": 0.0, + "xmax": 330.4819042258787, + "ymax": 115.73142570766532 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 273.36792887073193, + 115.73142570766532 + ], + [ + 330.4819042258787, + 71.66640183916229 + ], + [ + 250.3653406026025, + 58.52184381191222 + ], + [ + 188.93816494995713, + 100.48505364172502 + ], + [ + 142.53188462655856, + -330.86888348478794 + ], + [ + 229.40725450881416, + -348.1306748248213 + ], + [ + 128.22193497159316, + -351.9510225988631 + ], + [ + 34.60167318779179, + -335.65783588219745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.4056067141559, + "ymin": 0.0, + "xmax": 1206.9808103932742, + "ymax": 122.35271758626988 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 906.1540604034028, + 122.35271758626988 + ], + [ + 1092.2406489479167, + 118.48134415493408 + ], + [ + 1026.6051450417951, + 35.66926796639382 + ], + [ + 864.4056067141559, + 38.60034008845332 + ], + [ + 974.1947731700147, + -205.88830476214605 + ], + [ + 1206.9808103932742, + -208.2647833893334 + ], + [ + 1109.2694160768508, + -257.4065295985042 + ], + [ + 912.695349135339, + -255.72064175371509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.5325411771888, + "ymin": 0.0, + "xmax": 1273.4219212102075, + "ymax": 279.3871297484318 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1120.8745486407179, + 272.17219117371314 + ], + [ + 1044.4636925212114, + 162.3861124043509 + ], + [ + 860.5325411771888, + 167.73479380935424 + ], + [ + 907.8122295672254, + 279.3871297484318 + ], + [ + 1273.4219212102075, + -87.61537791780432 + ], + [ + 1150.35629318917, + -163.29053093477535 + ], + [ + 918.8416965562697, + -159.75156403160634 + ], + [ + 993.7912171567235, + -82.40869197752767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 192.2011954537661, + "ymax": 102.60379962294104 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 126.09769766221734, + 102.60379962294104 + ], + [ + 192.2011954537661, + 60.220573681013605 + ], + [ + 116.7905453792132, + 47.57940801233076 + ], + [ + 47.019261259201926, + 87.97901659605873 + ], + [ + -50.765167781907394, + -336.93754559498575 + ], + [ + 51.236088590593226, + -353.2570013225204 + ], + [ + -42.13666475888522, + -356.83196691495607 + ], + [ + -149.46769770618198, + -341.4020691653632 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00155/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00155/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..661deb34444639bf800d1440bed35daf1a3dac8e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00155/meta.json @@ -0,0 +1,3527 @@ +{ + "frame_id": 155, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 77.5, + "sim_timestamp": 8626.02793187974 + }, + "drone_pose": { + "x": 21.506789973228834, + "y": 23.175023480059863, + "z": 20.0, + "pitch": -38.99836593339609, + "yaw": 78.92040835361948, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1493493914604187, + -0.7626784443855286, + 0.6292983293533325, + -33.47308349609375 + ], + [ + 0.9813612103462219, + 0.1921723484992981, + 0.0, + 16.65233039855957 + ], + [ + -0.12093374133110046, + 0.6175689101219177, + 0.7771638631820679, + 1.3697929382324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 21.57549748045652, + "y": 23.659396016760805, + "z": 20.0 + }, + "t1_image_uv": [ + 704.8698694305156, + -417.3473400492418 + ], + "t1_depth": 0.3796819441442974 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 43.81223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 663.8912654900877, + 415.51242692716653 + ], + "depth": 28.202552559847508, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 542, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 43.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3659155070781708, + "y": 0.4440649449825287, + "z": 0.9434460997581482 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 646.5748244277361, + "ymin": 381.2208978186691, + "xmax": 681.681924011612, + "ymax": 449.20538346228 + }, + "corners_3d": [ + [ + 25.27688217163086, + 43.446319580078125, + 0.04131913185119629 + ], + [ + 24.388751983642578, + 43.446319580078125, + 0.04131913185119629 + ], + [ + 24.388751983642578, + 44.17815399169922, + 0.04131913185119629 + ], + [ + 25.27688217163086, + 44.17815399169922, + 0.04131913185119629 + ], + [ + 25.27688217163086, + 43.446319580078125, + 1.9282113313674927 + ], + [ + 24.388751983642578, + 43.446319580078125, + 1.9282113313674927 + ], + [ + 24.388751983642578, + 44.17815399169922, + 1.9282113313674927 + ], + [ + 25.27688217163086, + 44.17815399169922, + 1.9282113313674927 + ] + ], + "corners_2d": [ + [ + 646.5748244277361, + 445.18414496019443 + ], + [ + 676.014546868288, + 449.20538346228 + ], + [ + 679.9757696143312, + 432.53228593305363 + ], + [ + 651.081880394213, + 428.6639563982226 + ], + [ + 646.8597944756432, + 397.49053300068374 + ], + [ + 677.5831056953903, + 401.45487206478435 + ], + [ + 681.681924011612, + 385.02813784978196 + ], + [ + 651.5526076443219, + 381.2208978186691 + ] + ], + "center_offset_px": [ + 23.891265490087676, + 55.51242692716653 + ] + }, + "trace_timestep_index": 155, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 75, + "semantic_pixel_counts": { + "1": 295001, + "2": 259164, + "3": 87509, + "5": 1279, + "6": 4319, + "9": 75410, + "10": 133316, + "12": 2437, + "14": 9428, + "16": 20381, + "20": 18886, + "24": 14470 + }, + "instance_pixel_counts": { + "923": 2852, + "2973": 1252, + "3402": 372, + "3485": 3490, + "3925": 4, + "4224": 1500, + "4509": 148, + "6045": 88, + "7253": 68, + "7299": 721, + "8788": 671, + "9557": 104, + "17502": 129763, + "18526": 3098, + "20573": 20993, + "21085": 30776, + "21402": 37892, + "21885": 272, + "21914": 29232, + "22397": 372, + "22909": 4230, + "23421": 4322, + "24669": 1221, + "25181": 26538, + "25469": 171, + "25683": 53, + "25693": 44510, + "26195": 212, + "26205": 1921, + "27392": 46, + "28029": 63, + "30208": 162, + "33441": 1, + "33953": 6, + "34465": 77, + "34977": 208, + "35233": 226, + "36978": 5851, + "37276": 214120, + "39073": 1433, + "40531": 1472, + "41043": 198, + "42145": 738, + "42657": 484, + "43008": 542, + "43264": 238, + "43520": 182, + "43776": 654, + "44288": 821, + "44705": 1311, + "44954": 1036, + "45056": 20381, + "45388": 6314, + "45568": 335, + "45644": 6494, + "45978": 1639, + "46490": 16385, + "46848": 4729, + "47002": 13755, + "48026": 1870, + "48128": 1398, + "48640": 2966, + "49266": 10761, + "49539": 325, + "49778": 70897, + "50586": 612, + "51309": 75410, + "51612": 9492, + "58441": 1279, + "61820": 12090, + "62547": 5, + "62844": 9264, + "62874": 10790, + "63386": 63621, + "64410": 3618 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 542, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 43.81223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3894604444503784, + "y": 0.33009764552116394, + "z": 0.9407615661621094 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 650.1922974537409, + "ymin": 381.2645278832025, + "xmax": 677.9288300879447, + "ymax": 449.16877874441076 + }, + "corners_3d": [ + [ + 25.162914276123047, + 43.42277526855469, + 0.04400366544723511 + ], + [ + 24.50271987915039, + 43.42277526855469, + 0.04400366544723511 + ], + [ + 24.50271987915039, + 44.201698303222656, + 0.04400366544723511 + ], + [ + 25.162914276123047, + 44.201698303222656, + 0.04400366544723511 + ], + [ + 25.162914276123047, + 43.42277526855469, + 1.9255268573760986 + ], + [ + 24.50271987915039, + 43.42277526855469, + 1.9255268573760986 + ], + [ + 24.50271987915039, + 44.201698303222656, + 1.9255268573760986 + ], + [ + 25.162914276123047, + 44.201698303222656, + 1.9255268573760986 + ] + ], + "corners_2d": [ + [ + 650.1922974537409, + 446.1758652626683 + ], + [ + 672.0909659442356, + 449.16877874441076 + ], + [ + 676.3824920805657, + 431.44396869297486 + ], + [ + 654.9157302596644, + 428.57204164717314 + ], + [ + 650.6333371246737, + 398.60301843435514 + ], + [ + 673.4846236730951, + 401.55386426524313 + ], + [ + 677.9288300879447, + 384.0910812617154 + ], + [ + 655.5474465972468, + 381.2645278832025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 238, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 28.958803176879883, + "y": 46.809940338134766, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.26127079129219055, + "y": 0.21840333938598633, + "z": 0.5926167368888855 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 546.1171114275026, + "ymin": 318.21498402727275, + "xmax": 562.5255330154837, + "ymax": 357.1673993855042 + }, + "corners_3d": [ + [ + 29.118112564086914, + 46.508968353271484, + 0.39215338230133057 + ], + [ + 28.69085121154785, + 46.599788665771484, + 0.39215338230133057 + ], + [ + 28.79949378967285, + 47.11091232299805, + 0.39215338230133057 + ], + [ + 29.226755142211914, + 47.02009201049805, + 0.39215338230133057 + ], + [ + 29.118112564086914, + 46.508968353271484, + 1.5773868560791016 + ], + [ + 28.69085121154785, + 46.599788665771484, + 1.5773868560791016 + ], + [ + 28.79949378967285, + 47.11091232299805, + 1.5773868560791016 + ], + [ + 29.226755142211914, + 47.02009201049805, + 1.5773868560791016 + ] + ], + "corners_2d": [ + [ + 548.3562864295003, + 357.1673993855042 + ], + [ + 561.7773822542254, + 357.032308838154 + ], + [ + 562.5255330154837, + 347.1081031906222 + ], + [ + 549.2765961900323, + 347.23975307535386 + ], + [ + 546.1171114275026, + 328.13057627366004 + ], + [ + 559.8664728552645, + 327.9973738980777 + ], + [ + 560.6577404239554, + 318.21498402727275 + ], + [ + 547.0890059573483, + 318.34471257393756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 182, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 50.75494384765625, + "z": 0.6760225296020508 + }, + "extent": { + "x": 0.2544909417629242, + "y": 0.31212398409843445, + "z": 0.5733883380889893 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 752.0700490714479, + "ymin": 280.0336887806801, + "xmax": 772.9241906936359, + "ymax": 316.39544047966297 + }, + "corners_3d": [ + [ + 22.860807418823242, + 50.46922302246094, + 0.1026342511177063 + ], + [ + 22.239978790283203, + 50.53447341918945, + 0.1026342511177063 + ], + [ + 22.293180465698242, + 51.04066467285156, + 0.1026342511177063 + ], + [ + 22.91400909423828, + 50.97541427612305, + 0.1026342511177063 + ], + [ + 22.860807418823242, + 50.46922302246094, + 1.24941086769104 + ], + [ + 22.239978790283203, + 50.53447341918945, + 1.24941086769104 + ], + [ + 22.293180465698242, + 51.04066467285156, + 1.24941086769104 + ], + [ + 22.91400909423828, + 50.97541427612305, + 1.24941086769104 + ] + ], + "corners_2d": [ + [ + 752.0966755425812, + 315.4557296403219 + ], + [ + 770.0604808603115, + 316.39544047966297 + ], + [ + 769.8249808627322, + 307.8652500577254 + ], + [ + 752.0700490714479, + 306.947247924283 + ], + [ + 754.5616225132653, + 288.4061545703162 + ], + [ + 772.9241906936359, + 289.3311054359941 + ], + [ + 772.649550342048, + 280.93681009940855 + ], + [ + 754.5051754285533, + 280.0336887806801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 654, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 43.81223678588867, + "z": 1.141361951828003 + }, + "extent": { + "x": 0.41801267862319946, + "y": 0.5517382621765137, + "z": 0.9578091502189636 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 971.5786438021848, + "ymin": 417.5900935403207, + "xmax": 1031.9784510450243, + "ymax": 493.082548361347 + }, + "corners_3d": [ + [ + 15.884554862976074, + 43.394222259521484, + 0.1835528016090393 + ], + [ + 14.781078338623047, + 43.39422607421875, + 0.1835528016090393 + ], + [ + 14.781079292297363, + 44.23025131225586, + 0.1835528016090393 + ], + [ + 15.88455581665039, + 44.230247497558594, + 0.1835528016090393 + ], + [ + 15.884554862976074, + 43.394222259521484, + 2.0991711616516113 + ], + [ + 14.781078338623047, + 43.39422607421875, + 2.0991711616516113 + ], + [ + 14.781079292297363, + 44.23025131225586, + 2.0991711616516113 + ], + [ + 15.88455581665039, + 44.230247497558594, + 2.0991711616516113 + ] + ], + "corners_2d": [ + [ + 973.6926486076816, + 487.53611402152376 + ], + [ + 1014.4036751986298, + 493.082548361347 + ], + [ + 1011.3339165160389, + 471.9918710676409 + ], + [ + 971.5786438021848, + 466.69868647648036 + ], + [ + 989.2565436887819, + 438.18790467280144 + ], + [ + 1031.9784510450243, + 443.6780169173031 + ], + [ + 1028.3423080107398, + 422.81822121645826 + ], + [ + 986.6715972832515, + 417.5900935403207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 821, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 35.64202117919922, + "z": 0.984809160232544 + }, + "extent": { + "x": 0.3361279368400574, + "y": 0.43204832077026367, + "z": 0.8870357275009155 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 120.68502440358577, + "ymin": 536.9879799987605, + "xmax": 190.95473125486404, + "ymax": 614.0076089250581 + }, + "corners_3d": [ + [ + 36.57064437866211, + 35.4030647277832, + 0.09777343273162842 + ], + [ + 35.72542953491211, + 35.223411560058594, + 0.09777343273162842 + ], + [ + 35.58565902709961, + 35.880977630615234, + 0.09777343273162842 + ], + [ + 36.43087387084961, + 36.060630798339844, + 0.09777343273162842 + ], + [ + 36.57064437866211, + 35.4030647277832, + 1.8718448877334595 + ], + [ + 35.72542953491211, + 35.223411560058594, + 1.8718448877334595 + ], + [ + 35.58565902709961, + 35.880977630615234, + 1.8718448877334595 + ], + [ + 36.43087387084961, + 36.060630798339844, + 1.8718448877334595 + ] + ], + "corners_2d": [ + [ + 144.74174362259924, + 602.7420052213448 + ], + [ + 171.28710118428938, + 614.0076089250581 + ], + [ + 190.95473125486404, + 593.622955242937 + ], + [ + 164.7177907392857, + 582.7959407478245 + ], + [ + 120.68502440358577, + 556.9449735326087 + ], + [ + 148.25600754458918, + 568.2335113503532 + ], + [ + 169.34713568711902, + 547.8162250390214 + ], + [ + 142.10428195060854, + 536.9879799987605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 20381, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 457.0082791896854, + "ymin": 57.578920756907735, + "xmax": 629.5204423688755, + "ymax": 284.15522479507064 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 629.5204423688755, + 156.55251867585864 + ], + [ + 544.5586396974254, + 148.79351418849404 + ], + [ + 470.67879477783407, + 272.59701849232073 + ], + [ + 573.2934816974971, + 284.15522479507064 + ], + [ + 628.8260887201878, + 64.51908837997632 + ], + [ + 538.3259729487254, + 57.578920756907735 + ], + [ + 457.0082791896854, + 169.82074491681277 + ], + [ + 567.8101463105108, + 180.46577036249764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 178, + "instance_id": 45568, + "pixel_count": 335, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 16.211416244506836, + "y": 84.5851821899414, + "z": 1.0446116924285889 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 865.827364595979, + "ymin": 0.0, + "xmax": 980.6112576650298, + "ymax": 14.26732345523834 + }, + "corners_3d": [ + [ + 19.346824645996094, + 85.78356170654297, + -0.004483966622501612 + ], + [ + 19.349559783935547, + 83.39398956298828, + -0.004483966622501612 + ], + [ + 13.076009750366211, + 83.38680267333984, + -0.004483966622501612 + ], + [ + 13.073274612426758, + 85.77637481689453, + -0.004483966622501612 + ], + [ + 19.346824645996094, + 85.78356170654297, + 2.093707323074341 + ], + [ + 19.349559783935547, + 83.39398956298828, + 2.093707323074341 + ], + [ + 13.076009750366211, + 83.38680267333984, + 2.093707323074341 + ], + [ + 13.073274612426758, + 85.77637481689453, + 2.093707323074341 + ] + ], + "corners_2d": [ + [ + 866.3596481171153, + -5.613890049893371 + ], + [ + 865.827364595979, + 7.277503886125601 + ], + [ + 972.7558122582168, + 14.26732345523834 + ], + [ + 969.9985047939754, + 0.9546746471569918 + ], + [ + 871.451691995756, + -40.508353594633036 + ], + [ + 871.0701844738657, + -28.435584336029365 + ], + [ + 980.6112576650298, + -21.882511671504915 + ], + [ + 977.5430799861128, + -34.359029335921946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 183, + "instance_id": 46848, + "pixel_count": 4729, + "type_id": "vehicle.lincoln.mkz_2017", + "bbox_3d": { + "center_world": { + "x": 31.59943962097168, + "y": 31.596656799316406, + "z": 0.752410888671875 + }, + "extent": { + "x": 2.4508416652679443, + "y": 1.0641621351242065, + "z": 0.7553732395172119 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 113.04216677901798, + "ymin": 640.392811781579, + "xmax": 347.6141985602842, + "ymax": 720.0 + }, + "corners_3d": [ + [ + 30.534297943115234, + 34.04707336425781, + -0.00296233594417572 + ], + [ + 32.66262435913086, + 34.04792404174805, + -0.00296233594417572 + ], + [ + 32.664581298828125, + 29.146240234375, + -0.00296233594417572 + ], + [ + 30.536256790161133, + 29.1453914642334, + -0.00296233594417572 + ], + [ + 30.534297943115234, + 34.04707336425781, + 1.507784128189087 + ], + [ + 32.66262435913086, + 34.04792404174805, + 1.507784128189087 + ], + [ + 32.664581298828125, + 29.146240234375, + 1.507784128189087 + ], + [ + 30.536256790161133, + 29.1453914642334, + 1.507784128189087 + ] + ], + "corners_2d": [ + [ + 347.6141985602842, + 694.2648553847966 + ], + [ + 262.81934542832454, + 678.5611502055655 + ], + [ + 139.67841705661755, + 896.3703678073224 + ], + [ + 239.49504511575094, + 919.000852283389 + ], + [ + 334.5498168495837, + 656.226822809542 + ], + [ + 246.21472580348836, + 640.392811781579 + ], + [ + 113.04216677901798, + 861.8080877976333 + ], + [ + 217.78564653727557, + 885.0376067111864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 1398, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 557.0180533552918, + "ymin": 0.0, + "xmax": 609.9960002978646, + "ymax": 48.637987196168524 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 609.9960002978646, + 19.03309733003124 + ], + [ + 578.7811192852578, + 16.858781568535903 + ], + [ + 558.2923133831129, + 46.15948730692048 + ], + [ + 591.5152456265401, + 48.637987196168524 + ], + [ + 609.5558639524279, + -3.360068848012361 + ], + [ + 577.8876237383046, + -5.45291396202424 + ], + [ + 557.0180533552918, + 22.77564821483304 + ], + [ + 590.7550022062181, + 25.166010587082724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 2966, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 411.90304040894443, + "ymin": 161.84690599676813, + "xmax": 495.565100088234, + "ymax": 252.03734891137043 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 495.565100088234, + 201.0980279915699 + ], + [ + 453.2296579091819, + 196.8409650364716 + ], + [ + 418.14315786973617, + 247.05294000426028 + ], + [ + 463.7025032792784, + 252.03734891137043 + ], + [ + 491.7909467972014, + 165.96631920262374 + ], + [ + 448.3837249969774, + 161.84690599676813 + ], + [ + 411.90304040894443, + 210.5298315776952 + ], + [ + 458.7055682671573, + 215.37375054724404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.7149286201848, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 162.75154572595207 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1179.3096019956893, + 108.89828871791923 + ], + [ + 1168.7149286201848, + 108.08404999222759 + ], + [ + 1198.0170987781312, + 161.76228662699359 + ], + [ + 1209.7460314366135, + 162.75154572595207 + ], + [ + 1246.5746376198504, + -70.28969654677121 + ], + [ + 1234.5438149315773, + -70.89354388792981 + ], + [ + 1275.5786959592044, + -30.58014877785166 + ], + [ + 1289.0920103325784, + -29.82744542535471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.6854930964791, + "ymin": 230.48736648630913, + "xmax": 1251.8891759538003, + "ymax": 283.17261380976555 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1247.5690646110156, + 283.17261380976555 + ], + [ + 1227.8273156004375, + 245.3533978847973 + ], + [ + 1163.6854930964791, + 239.18926203286523 + ], + [ + 1179.6087567488175, + 276.28850454716064 + ], + [ + 1251.8891759538003, + 274.1963519652763 + ], + [ + 1231.779884046627, + 236.61069985898544 + ], + [ + 1167.1737985486443, + 230.48736648630913 + ], + [ + 1183.4076662498032, + 267.35260977710675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3735996053022730404, + "instance_id": 42088, + "pixel_count": null, + "type_id": "BP_StreetLight_wall10_SM_0", + "bbox_3d": { + "center_world": { + "x": 42.92074966430664, + "y": 42.695438385009766, + "z": 3.3115663528442383 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 39.13012254752471, + "ymin": 294.8321605452446, + "xmax": 81.30024125802152, + "ymax": 312.65875414328 + }, + "corners_3d": [ + [ + 43.49455261230469, + 42.6365966796875, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.1059885025024414 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.1059885025024414 + ], + [ + 43.49455261230469, + 42.6365966796875, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.636592864990234, + 3.517144203186035 + ], + [ + 42.346946716308594, + 42.75428009033203, + 3.517144203186035 + ], + [ + 43.49455261230469, + 42.7542839050293, + 3.517144203186035 + ] + ], + "corners_2d": [ + [ + 44.53619957761612, + 308.3079523840336 + ], + [ + 78.78652174598983, + 312.65875414328 + ], + [ + 81.30024125802152, + 310.3738345370712 + ], + [ + 47.141550647632016, + 306.05014552185037 + ], + [ + 39.13012254752471, + 297.0751350151238 + ], + [ + 73.66056760209472, + 301.39771208783276 + ], + [ + 76.21336447060833, + 299.1275566233246 + ], + [ + 41.77602545146567, + 294.8321605452446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.4824348217871, + "ymin": 0.0, + "xmax": 890.1029754170726, + "ymax": 59.08819511898258 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 866.3874561861389, + 59.08819511898258 + ], + [ + 866.4877342002575, + 56.00669781741459 + ], + [ + 795.0416000081096, + 50.8312407459851 + ], + [ + 794.4824348217871, + 53.8455082426853 + ], + [ + 890.1029754170726, + -96.63022676417546 + ], + [ + 890.0443419805127, + -98.92031451919598 + ], + [ + 810.972788205865, + -102.75960787337976 + ], + [ + 810.4689420794328, + -100.52460445097495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6488712317779344426, + "instance_id": 10876, + "pixel_count": null, + "type_id": "BP_StreetLight_simple13_SM_2", + "bbox_3d": { + "center_world": { + "x": -2.840424060821533, + "y": 80.668701171875, + "z": 4.007325172424316 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1261.4776131491462, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 61.81862854150876 + }, + "corners_3d": [ + [ + -2.620816230773926, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620823860168457, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620816230773926, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 7.8840436935424805 + ], + [ + -2.620823860168457, + 82.58541870117188, + 7.8840436935424805 + ] + ], + "corners_2d": [ + [ + 1283.1159384596315, + 61.20578887007423 + ], + [ + 1292.0176913251885, + 61.81862854150876 + ], + [ + 1269.8724892421078, + 35.94538188394864 + ], + [ + 1261.4776131491462, + 35.39689982688458 + ], + [ + 1350.7309200860245, + -94.85516402761817 + ], + [ + 1360.6656019899667, + -94.39869605930306 + ], + [ + 1332.2533521615928, + -113.56378572316504 + ], + [ + 1322.9452298064891, + -113.96771778334448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.23616865414385, + "ymin": 129.2624301473574, + "xmax": 245.2884827018857, + "ymax": 142.71378511236935 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 217.13313438190914, + 140.18942660279518 + ], + [ + 243.77905167309655, + 142.71378511236935 + ], + [ + 245.2884827018857, + 141.38898178606277 + ], + [ + 218.69852446710217, + 138.8765249126998 + ], + [ + 214.23616865414385, + 130.56147781551556 + ], + [ + 241.05225646902494, + 133.059316522132 + ], + [ + 242.5785450859201, + 131.7484116760786 + ], + [ + 215.81912592081386, + 129.2624301473574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9078925607238436432, + "instance_id": 20486, + "pixel_count": null, + "type_id": "BP_StreetLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": 48.24480056762695, + "y": 80.38460540771484, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 357.5802223064223, + "ymin": 0.0, + "xmax": 411.30020626264866, + "ymax": 0.8684319506240854 + }, + "corners_3d": [ + [ + 48.46440887451172, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519989013672, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519226074219, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440124511719, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440887451172, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519989013672, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519226074219, + 82.30132293701172, + 7.906484603881836 + ], + [ + 48.46440124511719, + 82.30132293701172, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 381.06076755603686, + 0.4009793560524031 + ], + [ + 387.8296308055926, + 0.8684319506240854 + ], + [ + 411.30020626264866, + -18.99894203071102 + ], + [ + 404.8275671802028, + -19.423059314146144 + ], + [ + 357.5802223064223, + -139.71460008520307 + ], + [ + 364.93497383277656, + -139.3757287275797 + ], + [ + 391.60777037930126, + -153.71782842981656 + ], + [ + 384.60121190035363, + -154.0226525587159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.7564116996114, + "ymin": 230.5098297218034, + "xmax": 1251.8352489656027, + "ymax": 283.0868030471254 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1247.5441711257276, + 283.0868030471254 + ], + [ + 1227.8240565166475, + 245.3110758255786 + ], + [ + 1163.7564116996114, + 239.15445879519694 + ], + [ + 1179.6665697679673, + 276.2118890450337 + ], + [ + 1251.8352489656027, + 274.1698951731371 + ], + [ + 1231.7504425330262, + 236.62595995245232 + ], + [ + 1167.2221378494883, + 230.5098297218034 + ], + [ + 1183.440554954805, + 267.3350371134191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.2561592695157, + "ymin": 118.1424160663031, + "xmax": 779.3584546400821, + "ymax": 127.02464768128189 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 778.2049737146842, + 127.02464768128189 + ], + [ + 779.023125570009, + 122.72921515441487 + ], + [ + 765.1823832063197, + 121.56976827457447 + ], + [ + 764.2561592695157, + 125.84670453536432 + ], + [ + 778.5409871206322, + 123.5757819981859 + ], + [ + 779.3584546400821, + 119.29726805377928 + ], + [ + 765.4836780981557, + 118.1424160663031 + ], + [ + 764.5576040743226, + 122.4024621252934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.39858971112665, + "ymin": 212.40915264817002, + "xmax": 148.70927008200744, + "ymax": 227.91290248209452 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 116.53175085130545, + 224.5643870120884 + ], + [ + 146.70638524052953, + 227.91290248209452 + ], + [ + 148.70927008200744, + 226.15500268436233 + ], + [ + 118.60605021030426, + 222.8246601798097 + ], + [ + 112.39858971112665, + 214.13408728658135 + ], + [ + 142.7909957400958, + 217.45433948371797 + ], + [ + 144.8204855387046, + 215.71124320260674 + ], + [ + 114.50051244062547, + 212.40915264817002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13392155500690361596, + "instance_id": 64588, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": 85.601806640625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.3891519953974, + "ymin": 0.0, + "xmax": 907.8869639684367, + "ymax": 30.753502995371264 + }, + "corners_3d": [ + [ + 18.817964553833008, + 79.57669067382812, + 0.0 + ], + [ + 18.385149002075195, + 79.57284545898438, + 0.0 + ], + [ + 18.27800941467285, + 91.62692260742188, + 0.0 + ], + [ + 18.710824966430664, + 91.63076782226562, + 0.0 + ], + [ + 18.817964553833008, + 79.57669067382812, + 8.446706771850586 + ], + [ + 18.385149002075195, + 79.57284545898438, + 8.446706771850586 + ], + [ + 18.27800941467285, + 91.62692260742188, + 8.446706771850586 + ], + [ + 18.710824966430664, + 91.63076782226562, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 874.3891519953974, + 30.204964684947413 + ], + [ + 882.0594465810018, + 30.753502995371264 + ], + [ + 883.6652050908384, + -33.19237006124479 + ], + [ + 877.086659400573, + -33.595592069680606 + ], + [ + 899.3643793152278, + -131.2640964794375 + ], + [ + 907.8869639684367, + -130.87604876310786 + ], + [ + 905.619623364601, + -175.44008361613248 + ], + [ + 898.4239058898936, + -175.71684929749858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14156310929402703840, + "instance_id": 57391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": 78.5479736328125, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 493.65941488899955, + "ymin": 0.0, + "xmax": 714.6357518568686, + "ymax": 26.6932178841746 + }, + "corners_3d": [ + [ + 40.42330551147461, + 78.81795501708984, + 0.0 + ], + [ + 40.42715072631836, + 78.38513946533203, + 0.0 + ], + [ + 28.373075485229492, + 78.27799224853516, + 0.0 + ], + [ + 28.36922836303711, + 78.71080780029297, + 0.0 + ], + [ + 40.42330551147461, + 78.81795501708984, + 8.446706771850586 + ], + [ + 40.42715072631836, + 78.38513946533203, + 8.446706771850586 + ], + [ + 28.373075485229492, + 78.27799224853516, + 8.446706771850586 + ], + [ + 28.36922836303711, + 78.71080780029297, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 509.38258709372286, + 9.717902370787158 + ], + [ + 507.1831073207494, + 12.164536015922806 + ], + [ + 706.4469192276173, + 26.6932178841746 + ], + [ + 707.5471554180574, + 24.078770999132132 + ], + [ + 496.1662753177229, + -145.6848502331659 + ], + [ + 493.65941488899955, + -143.97004079504308 + ], + [ + 713.4657161587852, + -133.74598165640361 + ], + [ + 714.6357518568686, + -135.5910197523291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.7451015212325, + "ymin": 200.0107895466811, + "xmax": 1269.3481062128913, + "ymax": 368.3606317985412 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1209.733286627632, + 368.3606317985412 + ], + [ + 1192.2393329238766, + 326.4344830500215 + ], + [ + 1128.7451015212325, + 319.5505566689766 + ], + [ + 1142.5239816809187, + 360.68275926415475 + ], + [ + 1269.3481062128913, + 245.1816815217774 + ], + [ + 1246.6364944725883, + 206.34609077398792 + ], + [ + 1176.398877881065, + 200.0107895466811 + ], + [ + 1194.5392488099865, + 238.03737395668037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.1803792469585, + "ymin": 111.58665875808285, + "xmax": 895.8835204100108, + "ymax": 343.6864500340018 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 857.1260084175383, + 343.6864500340018 + ], + [ + 857.3808860039676, + 335.8541972232529 + ], + [ + 744.5832627707545, + 322.83450523210087 + ], + [ + 743.1803792469585, + 330.396965442363 + ], + [ + 895.8835204100108, + 129.14728865314825 + ], + [ + 895.7141283185625, + 122.531189211005 + ], + [ + 762.6517508715698, + 111.58665875808285 + ], + [ + 761.2204696544875, + 117.93565397384424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.1749039959702, + "ymin": 118.09488856198647, + "xmax": 779.4398246480444, + "ymax": 127.07271478602982 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 778.2743338904208, + 127.07271478602982 + ], + [ + 779.100707427903, + 122.7308295153764 + ], + [ + 765.1116869470403, + 121.5589718919314 + ], + [ + 764.1749039959702, + 125.88196021385252 + ], + [ + 778.6141532238825, + 123.5866525089074 + ], + [ + 779.4398246480444, + 119.26205203658125 + ], + [ + 765.4160365466001, + 118.09488856198647 + ], + [ + 764.4794038429645, + 122.40062139252143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16128513534167524743, + "instance_id": 34725, + "pixel_count": null, + "type_id": "BP_StreetLight_wall35_55_SM_0", + "bbox_3d": { + "center_world": { + "x": 53.79484176635742, + "y": 58.335594177246094, + "z": 4.9542951583862305 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 33.48276914519272, + "ymin": 15.742305348079185, + "xmax": 80.83683592601278, + "ymax": 54.41062118185744 + }, + "corners_3d": [ + [ + 53.677154541015625, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 57.18798828125, + 5.365450859069824 + ], + [ + 53.677154541015625, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 57.18798828125, + 5.365450859069824 + ] + ], + "corners_2d": [ + [ + 46.18982145830773, + 54.41062118185744 + ], + [ + 80.83683592601278, + 34.85220318558754 + ], + [ + 76.05453411102758, + 34.4760351137528 + ], + [ + 41.230923330377436, + 54.00122428853831 + ], + [ + 38.49907561657744, + 35.097831819907015 + ], + [ + 73.898790735631, + 16.107350483021946 + ], + [ + 69.06304358734678, + 15.742305348079185 + ], + [ + 33.48276914519272, + 34.70011400634303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.2887911435939, + "ymin": 0.0, + "xmax": 506.6433446504683, + "ymax": 63.44392736482786 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 438.52701813112054, + 55.03675347309763 + ], + [ + 435.64671037980276, + 58.10550863216923 + ], + [ + 504.1781700857309, + 63.44392736482786 + ], + [ + 506.6433446504683, + 60.3061003215937 + ], + [ + 417.620145875052, + -99.6360782690441 + ], + [ + 414.2887911435939, + -97.3564130294186 + ], + [ + 489.8065428436416, + -93.38336071877677 + ], + [ + 492.6343298927601, + -95.71978001383565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.88798976538953, + "ymin": 0.0, + "xmax": 362.9006373688405, + "ymax": 174.7206621337267 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 304.8266468537776, + 174.7206621337267 + ], + [ + 362.9006373688405, + 132.63900835168675 + ], + [ + 285.4654854185542, + 118.71758783298094 + ], + [ + 223.35462037056698, + 158.52404103827186 + ], + [ + 197.34643848205081, + -249.54733899401094 + ], + [ + 281.42848954973255, + -264.80765732692385 + ], + [ + 185.94348298743688, + -268.6262695140932 + ], + [ + 95.88798976538953, + -254.31666762505415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.6706700818668, + "ymin": 0.0, + "xmax": 1237.2671247591647, + "ymax": 191.45516794137058 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 934.3862377238206, + 191.45516794137058 + ], + [ + 1123.6743384150018, + 190.6971382520012 + ], + [ + 1056.0913904361687, + 107.46018704256022 + ], + [ + 892.6706700818668, + 108.02482138717164 + ], + [ + 1003.6304480627622, + -127.0537438699917 + ], + [ + 1237.2671247591647, + -127.50008078025121 + ], + [ + 1137.8076354447112, + -174.97047492329546 + ], + [ + 942.3565835899003, + -174.65842577808576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.9753185682086, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 349.8646548636663 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1155.3313962145085, + 347.01053184559674 + ], + [ + 1075.2830585783347, + 233.9228008535521 + ], + [ + 887.9753185682086, + 235.99371058604606 + ], + [ + 935.6766831519005, + 349.8646548636663 + ], + [ + 1308.7179170543411, + -9.736466610803461 + ], + [ + 1181.0185590841452, + -84.69220856168158 + ], + [ + 948.4497621134711, + -83.37646815619291 + ], + [ + 1024.110682049291, + -7.75921920922724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 228.86988748236126, + "ymax": 159.62132459181987 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 162.187048327041, + 159.62132459181987 + ], + [ + 228.86988748236126, + 119.53230337412836 + ], + [ + 156.7245130773601, + 106.26669111832655 + ], + [ + 86.73090089467769, + 144.23871930102237 + ], + [ + 15.578545426425421, + -255.87668197172468 + ], + [ + 113.3228125466187, + -270.14273783023805 + ], + [ + 26.16796333902562, + -273.67526969383766 + ], + [ + -76.08601012547365, + -260.26774452574796 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00166/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00166/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42a86a7db8bb0e42216f7078c2a2f69a1fb6cbc2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00166/meta.json @@ -0,0 +1,3218 @@ +{ + "frame_id": 166, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 83.0, + "sim_timestamp": 8756.86113436101 + }, + "drone_pose": { + "x": 22.13912928717909, + "y": 28.462836235795503, + "z": 19.86685214855357, + "pitch": -39.85064379916403, + "yaw": 84.24668837696198, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.07696020603179932, + -0.7638502717018127, + 0.6407885551452637, + -36.175628662109375 + ], + [ + 0.994962751865387, + 0.10024553537368774, + 2.9802322387695312e-08, + 19.174335479736328 + ], + [ + -0.06423619389533997, + 0.6375607252120972, + 0.7677174210548401, + 4.316791534423828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 22.26577626282447, + "y": 29.036767916640365, + "z": 19.82585504582929 + }, + "t1_image_uv": [ + 501.4379790594701, + -333.2206022558453 + ], + "t1_depth": 0.47441510353425287 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 49.31223678588867, + "z": 0.9847652411458694 + }, + "image_uv": [ + 619.9360476187175, + 395.0341593492938 + ], + "depth": 28.232551104814235, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 580, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 49.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.37998655438423157, + "y": 0.38505613803863525, + "z": 0.9436209797859192 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 604.5263847366235, + "ymin": 361.3356414906435, + "xmax": 634.4292387854348, + "ymax": 428.0596479108574 + }, + "corners_3d": [ + [ + 25.217872619628906, + 48.9322509765625, + 0.04114425182342529 + ], + [ + 24.44776153564453, + 48.9322509765625, + 0.04114425182342529 + ], + [ + 24.44776153564453, + 49.692222595214844, + 0.04114425182342529 + ], + [ + 25.217872619628906, + 49.692222595214844, + 0.04114425182342529 + ], + [ + 25.217872619628906, + 48.9322509765625, + 1.9283862113952637 + ], + [ + 24.44776153564453, + 48.9322509765625, + 1.9283862113952637 + ], + [ + 24.44776153564453, + 49.692222595214844, + 1.9283862113952637 + ], + [ + 25.217872619628906, + 49.692222595214844, + 1.9283862113952637 + ] + ], + "corners_2d": [ + [ + 606.0275803914201, + 426.2566334046338 + ], + [ + 631.7512076485147, + 428.0596479108574 + ], + [ + 634.4292387854348, + 410.7162295907282 + ], + [ + 609.2123135102072, + 408.9843664365452 + ], + [ + 604.5263847366235, + 378.3604395413529 + ], + [ + 631.385913479058, + 380.1393481968062 + ], + [ + 634.1876751362305, + 363.0413411567081 + ], + [ + 607.8801052517589, + 361.3356414906435 + ] + ], + "center_offset_px": [ + -20.063952381282547, + 35.034159349293816 + ] + }, + "trace_timestep_index": 166, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 78, + "semantic_pixel_counts": { + "1": 297635, + "2": 278480, + "3": 35080, + "5": 1918, + "6": 5771, + "9": 92393, + "10": 148978, + "12": 2450, + "14": 7479, + "16": 28164, + "20": 8305, + "24": 14947 + }, + "instance_pixel_counts": { + "596": 267, + "923": 4315, + "2973": 1785, + "3402": 563, + "3485": 4911, + "3925": 3, + "4224": 1730, + "4509": 186, + "6045": 152, + "7253": 140, + "7299": 818, + "8788": 774, + "9557": 124, + "17502": 143988, + "18526": 4596, + "20349": 8, + "20573": 8214, + "21085": 26227, + "21402": 24180, + "21885": 355, + "21914": 24140, + "22397": 689, + "22909": 6143, + "23421": 5883, + "24669": 3791, + "24957": 94, + "25181": 39647, + "25469": 243, + "25693": 58549, + "26195": 328, + "26205": 8522, + "27392": 188, + "28029": 187, + "30208": 234, + "33441": 2, + "33953": 31, + "34465": 213, + "34977": 313, + "35233": 293, + "37276": 181093, + "39073": 1780, + "40531": 1853, + "41043": 257, + "42145": 925, + "42657": 599, + "43008": 580, + "43264": 261, + "43418": 2452, + "43520": 168, + "43776": 602, + "44288": 839, + "44705": 1674, + "44800": 844, + "44954": 1278, + "45056": 28164, + "45568": 849, + "45644": 290, + "45978": 3461, + "46490": 24105, + "47002": 18338, + "47514": 1339, + "48026": 2157, + "48128": 1777, + "48640": 4009, + "49266": 10281, + "49539": 537, + "49778": 24799, + "50586": 1372, + "51309": 92393, + "51612": 7913, + "58441": 1918, + "61820": 9356, + "62547": 140, + "62844": 7750, + "62874": 18619, + "63386": 89668, + "63898": 67, + "64410": 3873 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 580, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 49.31223678588867, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.40201902389526367, + "y": 0.4515039026737213, + "z": 0.9313411712646484 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 602.1244236000272, + "ymin": 361.0292145580756, + "xmax": 636.6837760136965, + "ymax": 428.4304170411511 + }, + "corners_3d": [ + [ + 25.284320831298828, + 48.91021728515625, + 0.053424060344696045 + ], + [ + 24.38131332397461, + 48.91021728515625, + 0.053424060344696045 + ], + [ + 24.38131332397461, + 49.714256286621094, + 0.053424060344696045 + ], + [ + 25.284320831298828, + 49.714256286621094, + 0.053424060344696045 + ], + [ + 25.284320831298828, + 48.91021728515625, + 1.9161064624786377 + ], + [ + 24.38131332397461, + 48.91021728515625, + 1.9161064624786377 + ], + [ + 24.38131332397461, + 49.714256286621094, + 1.9161064624786377 + ], + [ + 25.284320831298828, + 49.714256286621094, + 1.9161064624786377 + ] + ], + "corners_2d": [ + [ + 603.7074934472829, + 426.3139079230033 + ], + [ + 633.896098386554, + 428.4304170411511 + ], + [ + 636.6837760136965, + 410.075932179515 + ], + [ + 607.1241160722412, + 408.04771036839514 + ], + [ + 602.1244236000272, + 379.0368602919129 + ], + [ + 633.6291698339838, + 381.1255494136071 + ], + [ + 636.5419462964445, + 363.02709652544195 + ], + [ + 605.721558492611, + 361.0292145580756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 261, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 27.632665634155273, + "y": 50.46271514892578, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.20736940205097198, + "y": 0.28871098160743713, + "z": 0.6119354963302612 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 522.0994222626468, + "ymin": 343.3481087498606, + "xmax": 544.2455170765669, + "ymax": 384.01811035829286 + }, + "corners_3d": [ + [ + 27.871952056884766, + 50.199851989746094, + 0.3728395104408264 + ], + [ + 27.30714988708496, + 50.31990432739258, + 0.3728395104408264 + ], + [ + 27.39337921142578, + 50.72557830810547, + 0.3728395104408264 + ], + [ + 27.958181381225586, + 50.605525970458984, + 0.3728395104408264 + ], + [ + 27.871952056884766, + 50.199851989746094, + 1.596710443496704 + ], + [ + 27.30714988708496, + 50.31990432739258, + 1.596710443496704 + ], + [ + 27.39337921142578, + 50.72557830810547, + 1.596710443496704 + ], + [ + 27.958181381225586, + 50.605525970458984, + 1.596710443496704 + ] + ], + "corners_2d": [ + [ + 525.4332124897203, + 384.01811035829286 + ], + [ + 544.2455170765669, + 382.6725540765576 + ], + [ + 543.8102338738983, + 373.9508722875308 + ], + [ + 525.196679142912, + 375.26807068390275 + ], + [ + 522.3083121196679, + 353.30171941799335 + ], + [ + 541.6381114601817, + 351.9709667682804 + ], + [ + 541.2194474938557, + 343.3481087498606 + ], + [ + 522.0994222626468, + 344.65006361962213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 168, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 56.25494384765625, + "z": 0.6476271152496338 + }, + "extent": { + "x": 0.30082395672798157, + "y": 0.27187010645866394, + "z": 0.6261226534843445 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 698.2917213850585, + "ymin": 254.64196638234603, + "xmax": 716.4441120224287, + "ymax": 294.05668894297946 + }, + "corners_3d": [ + [ + 22.815929412841797, + 55.92734909057617, + 0.021504461765289307 + ], + [ + 22.275169372558594, + 55.98418426513672, + 0.021504461765289307 + ], + [ + 22.338058471679688, + 56.58253860473633, + 0.021504461765289307 + ], + [ + 22.87881851196289, + 56.52570343017578, + 0.021504461765289307 + ], + [ + 22.815929412841797, + 55.92734909057617, + 1.273749828338623 + ], + [ + 22.275169372558594, + 55.98418426513672, + 1.273749828338623 + ], + [ + 22.338058471679688, + 56.58253860473633, + 1.273749828338623 + ], + [ + 22.87881851196289, + 56.52570343017578, + 1.273749828338623 + ] + ], + "corners_2d": [ + [ + 699.1632186474501, + 294.05668894297946 + ], + [ + 714.6265758385781, + 294.0175459642357 + ], + [ + 713.5463502321421, + 284.09012922635713 + ], + [ + 698.2917213850585, + 284.1282223572778 + ], + [ + 700.604222113032, + 264.4368042493037 + ], + [ + 716.4441120224287, + 264.3983230469787 + ], + [ + 715.3128128382755, + 254.64196638234603 + ], + [ + 699.6918681381518, + 254.67939086881137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 602, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 49.31223678588867, + "z": 1.1413521766662598 + }, + "extent": { + "x": 0.3756951689720154, + "y": 0.5482617020606995, + "z": 0.9297932982444763 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 923.1342992202293, + "ymin": 378.81408086059355, + "xmax": 979.7449547535396, + "ymax": 447.0528523178976 + }, + "corners_3d": [ + [ + 15.881078720092773, + 48.93654251098633, + 0.21155887842178345 + ], + [ + 14.784555435180664, + 48.93654251098633, + 0.21155887842178345 + ], + [ + 14.784555435180664, + 49.687931060791016, + 0.21155887842178345 + ], + [ + 15.881078720092773, + 49.687931060791016, + 0.21155887842178345 + ], + [ + 15.881078720092773, + 48.93654251098633, + 2.071145534515381 + ], + [ + 14.784555435180664, + 48.93654251098633, + 2.071145534515381 + ], + [ + 14.784555435180664, + 49.687931060791016, + 2.071145534515381 + ], + [ + 15.881078720092773, + 49.687931060791016, + 2.071145534515381 + ] + ], + "corners_2d": [ + [ + 926.3842868422544, + 444.3516047410496 + ], + [ + 965.1127162744244, + 447.0528523178976 + ], + [ + 961.0659493178462, + 428.99947871992595 + ], + [ + 923.1342992202293, + 426.4067488074697 + ], + [ + 939.2325360468132, + 396.53557478048265 + ], + [ + 979.7449547535396, + 399.2059899509251 + ], + [ + 975.2094539682439, + 381.3725490074171 + ], + [ + 935.5680598614155, + 378.81408086059355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 839, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 41.14202117919922, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.32362914085388184, + "y": 0.5862926840782166, + "z": 0.8870820999145508 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 66.54351921083446, + "ymin": 551.6339805187263, + "xmax": 152.7267870636103, + "ymax": 631.1140811254802 + }, + "corners_3d": [ + [ + 36.71891784667969, + 40.94736099243164, + 0.0976831316947937 + ], + [ + 35.571956634521484, + 40.70356750488281, + 0.0976831316947937 + ], + [ + 35.43738555908203, + 41.3366813659668, + 0.0976831316947937 + ], + [ + 36.584346771240234, + 41.580474853515625, + 0.0976831316947937 + ], + [ + 36.71891784667969, + 40.94736099243164, + 1.87184739112854 + ], + [ + 35.571956634521484, + 40.70356750488281, + 1.87184739112854 + ], + [ + 35.43738555908203, + 41.3366813659668, + 1.87184739112854 + ], + [ + 36.584346771240234, + 41.580474853515625, + 1.87184739112854 + ] + ], + "corners_2d": [ + [ + 94.49240511134678, + 618.4946429714249 + ], + [ + 134.5040160945369, + 631.1140811254802 + ], + [ + 152.7267870636103, + 609.5409274702137 + ], + [ + 113.30062547418459, + 597.4212389555948 + ], + [ + 66.54351921083446, + 572.8105370823689 + ], + [ + 108.28071703047544, + 585.5124150373522 + ], + [ + 127.98315340676493, + 563.8077242963759 + ], + [ + 86.87888625064306, + 551.6339805187263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 175, + "instance_id": 44800, + "pixel_count": 844, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": -8.268728256225586, + "y": 84.49394226074219, + "z": 0.645438015460968 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 1236.601372387414, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 33.974052381242814 + }, + "corners_3d": [ + [ + -5.9110517501831055, + 85.44405364990234, + -0.0050319479778409 + ], + [ + -5.908883094787598, + 83.54922485351562, + -0.0050319479778409 + ], + [ + -10.626404762268066, + 83.54383087158203, + -0.0050319479778409 + ], + [ + -10.628573417663574, + 85.43865203857422, + -0.0050319479778409 + ], + [ + -5.9110517501831055, + 85.44405364990234, + 1.295907974243164 + ], + [ + -5.908883094787598, + 83.54922485351562, + 1.295907974243164 + ], + [ + -10.626404762268066, + 83.54383087158203, + 1.295907974243164 + ], + [ + -10.628573417663574, + 85.43865203857422, + 1.295907974243164 + ] + ], + "corners_2d": [ + [ + 1236.601372387414, + 18.03520076909149 + ], + [ + 1249.4967619946133, + 30.65979864247936 + ], + [ + 1339.947659489508, + 33.974052381242814 + ], + [ + 1324.5280769934866, + 21.173971342449192 + ], + [ + 1245.938273491748, + -5.316761605326349 + ], + [ + 1259.3018735657247, + 6.858761266118677 + ], + [ + 1351.2882323277972, + 10.056859084149039 + ], + [ + 1335.3154058224438, + -2.290620085135515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 28164, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 336.07390755522283, + "ymin": 98.83870233813309, + "xmax": 540.2654230861402, + "ymax": 367.1334303012052 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 540.2654230861402, + 202.76561954485774 + ], + [ + 444.19529231219315, + 197.71961206589194 + ], + [ + 362.7488873955797, + 359.1989641950944 + ], + [ + 482.52974075444183, + 367.1334303012052 + ], + [ + 532.6874436001448, + 103.4279485949088 + ], + [ + 429.443108638412, + 98.83870233813309 + ], + [ + 336.07390755522283, + 248.46239490181227 + ], + [ + 467.2143772213417, + 255.96416600761776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 178, + "instance_id": 45568, + "pixel_count": 849, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 16.211416244506836, + "y": 84.5851821899414, + "z": 1.0446116924285889 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 785.3462544296983, + "ymin": 0.0, + "xmax": 904.8383195903139, + "ymax": 18.96287140011293 + }, + "corners_3d": [ + [ + 19.346824645996094, + 85.78356170654297, + -0.004483966622501612 + ], + [ + 19.349559783935547, + 83.39398956298828, + -0.004483966622501612 + ], + [ + 13.076009750366211, + 83.38680267333984, + -0.004483966622501612 + ], + [ + 13.073274612426758, + 85.77637481689453, + -0.004483966622501612 + ], + [ + 19.346824645996094, + 85.78356170654297, + 2.093707323074341 + ], + [ + 19.349559783935547, + 83.39398956298828, + 2.093707323074341 + ], + [ + 13.076009750366211, + 83.38680267333984, + 2.093707323074341 + ], + [ + 13.073274612426758, + 85.77637481689453, + 2.093707323074341 + ] + ], + "corners_2d": [ + [ + 785.3462544296983, + 0.052425616811376585 + ], + [ + 785.9463438169068, + 14.837548111249419 + ], + [ + 898.2430695800017, + 18.96287140011293 + ], + [ + 893.9657717624543, + 3.9135058427917784 + ], + [ + 788.9019922773797, + -36.89068856005548 + ], + [ + 789.6394017247163, + -23.000391139870885 + ], + [ + 904.8383195903139, + -19.12067375588009 + ], + [ + 900.2344650072871, + -33.26548560950425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 1777, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 452.5567105957657, + "ymin": 12.735579291250872, + "xmax": 511.7794010513769, + "ymax": 73.91346504387428 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 511.7794010513769, + 38.09977473400568 + ], + [ + 477.32448366053717, + 36.74962983727215 + ], + [ + 455.7866168819555, + 72.35438161259896 + ], + [ + 492.75015257922064, + 73.91346504387428 + ], + [ + 509.68362602206577, + 14.038858682606133 + ], + [ + 474.6731512998058, + 12.735579291250872 + ], + [ + 452.5567105957657, + 47.14462620349485 + ], + [ + 490.1603720081027, + 48.6532629301401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 4009, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 289.26804059689124, + "ymin": 225.32771952094635, + "xmax": 389.8517320062156, + "ymax": 333.0413169465133 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 389.8517320062156, + 265.9268592746771 + ], + [ + 340.7641910227567, + 263.0605523440736 + ], + [ + 300.54147767573977, + 329.6064808297769 + ], + [ + 354.1083503674094, + 333.0413169465133 + ], + [ + 382.2513853183381, + 228.12289575646702 + ], + [ + 331.7103634455722, + 225.32771952094635 + ], + [ + 289.26804059689124, + 290.40026206298717 + ], + [ + 344.5701563273398, + 293.76917540337274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.5501865334932, + "ymin": 0.0, + "xmax": 1241.280926318105, + "ymax": 181.010166126994 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1122.4559733510127, + 119.67325708145864 + ], + [ + 1111.5501865334932, + 119.19878549939978 + ], + [ + 1149.3001281119114, + 180.42631449911082 + ], + [ + 1161.433848335655, + 181.010166126994 + ], + [ + 1188.0622279625381, + -69.4104518914063 + ], + [ + 1175.611823803862, + -69.76772191076236 + ], + [ + 1227.2048072610635, + -22.975169751009275 + ], + [ + 1241.280926318105, + -22.52217990290825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.123523198552, + "ymin": 282.2569598755622, + "xmax": 1240.1639814792297, + "ymax": 342.2780352935975 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1235.3577304846972, + 342.2780352935975 + ], + [ + 1207.263076771754, + 295.3768987070244 + ], + [ + 1138.123523198552, + 291.45244439538317 + ], + [ + 1161.6820383823401, + 337.8394589692407 + ], + [ + 1240.1639814792297, + 332.8498730422243 + ], + [ + 1211.5663344979507, + 286.1615612643784 + ], + [ + 1141.8820054547184, + 282.2569598755622 + ], + [ + 1165.8694664368536, + 328.4295050579337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.2042955543601, + "ymin": 0.0, + "xmax": 808.9516937039599, + "ymax": 75.11568135043814 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 791.3673707203652, + 75.11568135043814 + ], + [ + 791.190246625762, + 71.51176278526799 + ], + [ + 714.5634866112837, + 68.38386953519984 + ], + [ + 714.2042955543601, + 71.94380373295394 + ], + [ + 808.9516937039599, + -91.59307457983192 + ], + [ + 808.6172871740173, + -94.3148374098563 + ], + [ + 723.09966815343, + -96.6735228812654 + ], + [ + 722.7655388966743, + -93.98878273015617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6488712317779344426, + "instance_id": 10876, + "pixel_count": null, + "type_id": "BP_StreetLight_simple13_SM_2", + "bbox_3d": { + "center_world": { + "x": -2.840424060821533, + "y": 80.668701171875, + "z": 4.007325172424316 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.0862373683651, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 61.14182816631421 + }, + "corners_3d": [ + [ + -2.620816230773926, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620823860168457, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620816230773926, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 7.8840436935424805 + ], + [ + -2.620823860168457, + 82.58541870117188, + 7.8840436935424805 + ] + ], + "corners_2d": [ + [ + 1219.5881764853, + 60.79633332113815 + ], + [ + 1228.5275007185028, + 61.14182816631421 + ], + [ + 1202.5060919153345, + 32.8765676797064 + ], + [ + 1194.0862373683651, + 32.56884113131645 + ], + [ + 1284.757165275832, + -102.17024598962291 + ], + [ + 1294.7522891282226, + -101.91063530092907 + ], + [ + 1261.86606692639, + -123.01765710950929 + ], + [ + 1252.515735011164, + -123.24599004230208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.78928189878036, + "ymin": 203.37793402396542, + "xmax": 86.80107448531544, + "ymax": 217.5844719717968 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 52.60341239080071, + 215.78895034256132 + ], + [ + 84.9120727315858, + 217.5844719717968 + ], + [ + 86.80107448531544, + 215.7570728149418 + ], + [ + 54.5766468916928, + 213.9714838384352 + ], + [ + 47.78928189878036, + 205.1806719011416 + ], + [ + 80.3502007796152, + 206.96172300490468 + ], + [ + 82.26743978296201, + 205.14905200265483 + ], + [ + 49.79206815989221, + 203.37793402396542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9078925607238436432, + "instance_id": 20486, + "pixel_count": null, + "type_id": "BP_StreetLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": 48.24480056762695, + "y": 80.38460540771484, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.39769470250565, + "ymin": 0.0, + "xmax": 289.4248804490131, + "ymax": 25.41552924557351 + }, + "corners_3d": [ + [ + 48.46440887451172, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519989013672, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519226074219, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440124511719, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440887451172, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519989013672, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519226074219, + 82.30132293701172, + 7.906484603881836 + ], + [ + 48.46440124511719, + 82.30132293701172, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 255.3100497036873, + 25.11706805812156 + ], + [ + 263.00611646230425, + 25.41552924557351 + ], + [ + 289.4248804490131, + 0.90276336754971 + ], + [ + 282.1167889202018, + 0.6348225744092701 + ], + [ + 215.39769470250565, + -128.95902013814452 + ], + [ + 223.86461499821206, + -128.7384057797451 + ], + [ + 255.12516264637395, + -146.76049560508824 + ], + [ + 247.12535058431047, + -146.95640894570812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.203345404709, + "ymin": 282.28271440832, + "xmax": 1240.1016416667985, + "ymax": 342.18537898233205 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1235.3277410382548, + 342.18537898233205 + ], + [ + 1207.2634376665792, + 295.3374436786696 + ], + [ + 1138.203345404709, + 291.4177096659721 + ], + [ + 1161.741601692086, + 337.75271164709903 + ], + [ + 1240.1016416667985, + 332.81946194189175 + ], + [ + 1211.5382411528867, + 286.1827488998911 + ], + [ + 1141.9375956947981, + 282.28271440832 + ], + [ + 1165.9015592911223, + 328.4048646787665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7191926611445, + "ymin": 186.02049794999132, + "xmax": 708.7451843101426, + "ymax": 196.51276851799253 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 708.013077656828, + 196.51276851799253 + ], + [ + 708.548384300295, + 190.62372864441005 + ], + [ + 692.4040611484353, + 189.80626665320617 + ], + [ + 691.7191926611445, + 195.68000887119743 + ], + [ + 708.2101658510404, + 192.70608630259434 + ], + [ + 708.7451843101426, + 186.83538896918648 + ], + [ + 692.5543161843344, + 186.02049794999132 + ], + [ + 691.8688682076278, + 191.87590137347064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13392155500690361596, + "instance_id": 64588, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": 85.601806640625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.0513834204403, + "ymin": 0.0, + "xmax": 824.5971657291174, + "ymax": 41.271406832503374 + }, + "corners_3d": [ + [ + 18.817964553833008, + 79.57669067382812, + 0.0 + ], + [ + 18.385149002075195, + 79.57284545898438, + 0.0 + ], + [ + 18.27800941467285, + 91.62692260742188, + 0.0 + ], + [ + 18.710824966430664, + 91.63076782226562, + 0.0 + ], + [ + 18.817964553833008, + 79.57669067382812, + 8.446706771850586 + ], + [ + 18.385149002075195, + 79.57284545898438, + 8.446706771850586 + ], + [ + 18.27800941467285, + 91.62692260742188, + 8.446706771850586 + ], + [ + 18.710824966430664, + 91.63076782226562, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 797.0559603445266, + 40.93189665015342 + ], + [ + 805.1895443760247, + 41.271406832503374 + ], + [ + 800.9501221686942, + -31.883413483691754 + ], + [ + 794.0513834204403, + -32.127813115400556 + ], + [ + 815.4934850446375, + -131.5474657413131 + ], + [ + 824.5971657291174, + -131.30377197182122 + ], + [ + 816.7122421171647, + -182.89826157419998 + ], + [ + 809.1280104320261, + -183.06760501653184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14156310929402703840, + "instance_id": 57391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": 78.5479736328125, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.74486336772173, + "ymin": 0.0, + "xmax": 618.3857965960959, + "ymax": 43.34615204839463 + }, + "corners_3d": [ + [ + 40.42330551147461, + 78.81795501708984, + 0.0 + ], + [ + 40.42715072631836, + 78.38513946533203, + 0.0 + ], + [ + 28.373075485229492, + 78.27799224853516, + 0.0 + ], + [ + 28.36922836303711, + 78.71080780029297, + 0.0 + ], + [ + 40.42330551147461, + 78.81795501708984, + 8.446706771850586 + ], + [ + 40.42715072631836, + 78.38513946533203, + 8.446706771850586 + ], + [ + 28.373075485229492, + 78.27799224853516, + 8.446706771850586 + ], + [ + 28.36922836303711, + 78.71080780029297, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 400.11219524707013, + 31.001950366907806 + ], + [ + 397.7291835483252, + 33.986388638627034 + ], + [ + 617.3622932587595, + 43.34615204839463 + ], + [ + 618.3857965960959, + 40.24339209833727 + ], + [ + 372.59708971770897, + -138.6572104567055 + ], + [ + 369.74486336772173, + -136.52398878506222 + ], + [ + 614.6898722486276, + -129.81368462953424 + ], + [ + 615.8524529385826, + -132.04153718274813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1100.6527804555467, + "ymin": 249.82467365167093, + "xmax": 1259.7907153359242, + "ymax": 431.0064956229898 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1193.7846358495785, + 431.0064956229898 + ], + [ + 1168.683109678237, + 379.82395191670213 + ], + [ + 1100.6527804555467, + 375.50704344135755 + ], + [ + 1121.39724556024, + 426.1362314130246 + ], + [ + 1259.7907153359242, + 302.3813504606002 + ], + [ + 1227.5879165738224, + 253.88429285569748 + ], + [ + 1151.6780576736824, + 249.82467365167093 + ], + [ + 1178.4171013438317, + 297.7374396472545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.5024045742183, + "ymin": 178.60452020632866, + "xmax": 844.1929928678801, + "ymax": 424.75706611022684 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 808.551355202823, + 424.75706611022684 + ], + [ + 808.0555203373319, + 414.668369846649 + ], + [ + 680.4996782604832, + 405.9888536703116 + ], + [ + 679.5024045742183, + 415.8728026299411 + ], + [ + 844.1929928678801, + 195.2394563213859 + ], + [ + 843.0920254632157, + 186.27858118288347 + ], + [ + 688.8398710957256, + 178.60452020632866 + ], + [ + 687.751942673452, + 187.34605411816597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.6274314769109, + "ymin": 185.96436655115778, + "xmax": 708.8367672256334, + "ymax": 196.5695654875321 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 708.0973442095435, + 196.5695654875321 + ], + [ + 708.6375979993801, + 190.61691934859473 + ], + [ + 692.3204810790141, + 189.79072281648584 + ], + [ + 691.6274314769109, + 195.72774001213415 + ], + [ + 708.2968126668073, + 192.72184322066536 + ], + [ + 708.8367672256334, + 186.78793650963797 + ], + [ + 692.472103014126, + 185.96436655115778 + ], + [ + 691.7784566491459, + 191.88264818676654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.13855905801705, + "ymin": 0.0, + "xmax": 398.3395602772209, + "ymax": 95.78657910814889 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 321.18006967162705, + 88.50889973567234 + ], + [ + 317.94958550975343, + 92.35648197217563 + ], + [ + 395.6522821037061, + 95.78657910814889 + ], + [ + 398.3395602772209, + 91.889555743078 + ], + [ + 283.06849646260514, + -81.43443994728375 + ], + [ + 279.13855905801705, + -78.50612348388012 + ], + [ + 365.9931312886602, + -75.89125253193811 + ], + [ + 369.24506241330977, + -78.86176280608385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 233.9303425019462, + "ymax": 245.69464748626524 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 165.13487010531634, + 245.69464748626524 + ], + [ + 233.9303425019462, + 188.96478795219303 + ], + [ + 143.14517600062618, + 175.393611987155 + ], + [ + 68.16244663597331, + 229.47065484747543 + ], + [ + -22.089913369718488, + -240.52405273515535 + ], + [ + 90.83204393182018, + -262.74260954913143 + ], + [ + -25.356781136005225, + -266.5497987584222 + ], + [ + -148.24180028876333, + -245.57258156149624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.4596608687327, + "ymin": 0.0, + "xmax": 1190.1923300550957, + "ymax": 227.76294915458985 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 876.3778262620119, + 227.76294915458985 + ], + [ + 1075.5350063958278, + 216.7451579377116 + ], + [ + 994.7547405834974, + 122.22168986712668 + ], + [ + 823.4596608687327, + 130.2821321086597 + ], + [ + 939.9278203705687, + -117.00824126988732 + ], + [ + 1190.1923300550957, + -123.75416561494217 + ], + [ + 1071.8165776449805, + -179.2739360883437 + ], + [ + 864.0078546250518, + -174.69780896231237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.0340660261319, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 424.0978140850583 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1130.9992336929076, + 404.9989579445786 + ], + [ + 1030.8383542636157, + 271.27780698884004 + ], + [ + 831.0340660261319, + 284.76975277878984 + ], + [ + 895.1132375288263, + 424.0978140850583 + ], + [ + 1300.9539295241343, + 22.458346625789545 + ], + [ + 1138.8398361165491, + -71.06579478387175 + ], + [ + 885.1055047242668, + -62.071852786610805 + ], + [ + 986.1220523383429, + 36.65752795668658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.72193228575304, + "ymax": 234.7072564108833 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + -6.105041836571445, + 234.7072564108833 + ], + [ + 75.72193228575304, + 179.6314073944268 + ], + [ + -10.176019975560848, + 166.45586594993483 + ], + [ + -97.34871448072158, + 218.99279081176448 + ], + [ + -253.779030626574, + -245.8955942394308 + ], + [ + -117.68781408311781, + -267.1337670588347 + ], + [ + -225.40946473386725, + -270.73912331655504 + ], + [ + -369.47227728483097, + -250.66059686536687 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00167/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00167/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cb45df8cba7e879d7006496227bb1b062c9e34fd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00167/meta.json @@ -0,0 +1,3101 @@ +{ + "frame_id": 167, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 83.5, + "sim_timestamp": 8769.911933686119 + }, + "drone_pose": { + "x": 22.26577626282447, + "y": 29.036767916640365, + "z": 19.82585504582929, + "pitch": -40.80779923356714, + "yaw": 78.50451421732522, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.15084433555603027, + -0.7417229413986206, + 0.6535236835479736, + -37.852569580078125 + ], + [ + 0.9799404144287109, + 0.1992906928062439, + -2.9802322387695312e-08, + 16.03237533569336 + ], + [ + -0.13024118542671204, + 0.6404142379760742, + 0.7569061517715454, + 6.489171028137207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 22.13151560700893, + "y": 29.53792175301274, + "z": 19.87526405129071 + }, + "t1_image_uv": [ + 1336.1232868197953, + -665.2168863668555 + ], + "t1_depth": 0.3191748483340411 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 49.81223678588867, + "z": 0.9848238348963787 + }, + "image_uv": [ + 695.4899705260182, + 381.23040964868966 + ], + "depth": 28.10992352205315, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 561, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 49.81223678588867, + "z": 0.9848238229751587 + }, + "extent": { + "x": 0.3559972941875458, + "y": 0.4853784143924713, + "z": 0.9410703778266907 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 676.2756611737993, + "ymin": 346.82892923190565, + "xmax": 715.2930481220426, + "ymax": 414.95872667012947 + }, + "corners_3d": [ + [ + 25.318195343017578, + 49.45623779296875, + 0.04375344514846802 + ], + [ + 24.34743881225586, + 49.45623779296875, + 0.04375344514846802 + ], + [ + 24.34743881225586, + 50.168235778808594, + 0.04375344514846802 + ], + [ + 25.318195343017578, + 50.168235778808594, + 0.04375344514846802 + ], + [ + 25.318195343017578, + 49.45623779296875, + 1.9258942604064941 + ], + [ + 24.34743881225586, + 49.45623779296875, + 1.9258942604064941 + ], + [ + 24.34743881225586, + 50.168235778808594, + 1.9258942604064941 + ], + [ + 25.318195343017578, + 50.168235778808594, + 1.9258942604064941 + ] + ], + "corners_2d": [ + [ + 676.2756611737993, + 410.42299641326935 + ], + [ + 708.6328182049275, + 414.95872667012947 + ], + [ + 712.0902208774072, + 398.81671623535755 + ], + [ + 680.3036229156552, + 394.4447405292148 + ], + [ + 677.9098463734487, + 362.6060236926453 + ], + [ + 711.7413347267677, + 367.0893585585187 + ], + [ + 715.2930481220426, + 351.14329766078754 + ], + [ + 682.0848129798808, + 346.82892923190565 + ] + ], + "center_offset_px": [ + 55.48997052601817, + 21.23040964868966 + ] + }, + "trace_timestep_index": 167, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 305377, + "2": 270098, + "3": 72889, + "5": 2213, + "6": 3879, + "9": 95789, + "10": 114450, + "12": 2457, + "14": 6079, + "16": 28264, + "20": 4795, + "24": 15310 + }, + "instance_pixel_counts": { + "923": 910, + "2973": 1667, + "3402": 297, + "3485": 5065, + "4224": 622, + "4509": 187, + "6045": 30, + "7253": 155, + "8788": 443, + "9557": 138, + "17502": 108631, + "18526": 5334, + "20573": 16610, + "21085": 25864, + "21402": 34804, + "21885": 392, + "21914": 24693, + "22397": 476, + "22909": 6010, + "23421": 6334, + "24669": 2505, + "25181": 37416, + "25469": 275, + "25693": 46651, + "26195": 269, + "27392": 53, + "28029": 8, + "30208": 208, + "33441": 1, + "33953": 38, + "34465": 209, + "34977": 295, + "35233": 277, + "36978": 566, + "37276": 193388, + "39073": 961, + "40531": 2023, + "41043": 261, + "43008": 561, + "43264": 257, + "43520": 170, + "43776": 676, + "44288": 793, + "44705": 1909, + "44954": 1391, + "45056": 28264, + "45568": 380, + "45978": 1952, + "46490": 23301, + "47002": 20102, + "48026": 2425, + "48128": 1801, + "48640": 3898, + "49266": 15909, + "49539": 515, + "49778": 56414, + "50586": 1, + "51309": 95789, + "51612": 8361, + "58441": 2213, + "61820": 10979, + "62844": 7909, + "62874": 13659, + "63386": 92727, + "64410": 4693 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 561, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 49.81223678588867, + "z": 0.9848238229751587 + }, + "extent": { + "x": 0.39903196692466736, + "y": 0.4970703125, + "z": 0.9330530166625977 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 675.6458645923432, + "ymin": 346.0546331500822, + "xmax": 715.8906919087243, + "ymax": 415.81351913948924 + }, + "corners_3d": [ + [ + 25.32988739013672, + 49.413204193115234, + 0.051770806312561035 + ], + [ + 24.33574676513672, + 49.413204193115234, + 0.051770806312561035 + ], + [ + 24.33574676513672, + 50.21126937866211, + 0.051770806312561035 + ], + [ + 25.32988739013672, + 50.21126937866211, + 0.051770806312561035 + ], + [ + 25.32988739013672, + 49.413204193115234, + 1.9178768396377563 + ], + [ + 24.33574676513672, + 49.413204193115234, + 1.9178768396377563 + ], + [ + 24.33574676513672, + 50.21126937866211, + 1.9178768396377563 + ], + [ + 25.32988739013672, + 50.21126937866211, + 1.9178768396377563 + ] + ], + "corners_2d": [ + [ + 675.6458645923432, + 411.1582629066611 + ], + [ + 708.8246221596489, + 415.81351913948924 + ], + [ + 712.6927004822069, + 397.71833579200023 + ], + [ + 680.1691322168509, + 393.25108535313694 + ], + [ + 677.2394516005812, + 363.7382326717303 + ], + [ + 711.9185093715435, + 368.3406366114082 + ], + [ + 715.8906919087243, + 350.46309835194995 + ], + [ + 681.9267964314636, + 346.0546331500822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 257, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 27.252635955810547, + "y": 50.75640869140625, + "z": 0.9847701191902161 + }, + "extent": { + "x": 0.24280276894569397, + "y": 0.17694826424121857, + "z": 0.5961129665374756 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 615.3928805006726, + "ymin": 329.87779407518383, + "xmax": 627.6248617881599, + "ymax": 370.21963997492554 + }, + "corners_3d": [ + [ + 27.37523651123047, + 50.482120513916016, + 0.3886571526527405 + ], + [ + 27.029071807861328, + 50.555702209472656, + 0.3886571526527405 + ], + [ + 27.130035400390625, + 51.030696868896484, + 0.3886571526527405 + ], + [ + 27.476200103759766, + 50.957115173339844, + 0.3886571526527405 + ], + [ + 27.37523651123047, + 50.482120513916016, + 1.5808830261230469 + ], + [ + 27.029071807861328, + 50.555702209472656, + 1.5808830261230469 + ], + [ + 27.130035400390625, + 51.030696868896484, + 1.5808830261230469 + ], + [ + 27.476200103759766, + 50.957115173339844, + 1.5808830261230469 + ] + ], + "corners_2d": [ + [ + 616.0454550901998, + 370.21963997492554 + ], + [ + 627.6097782641742, + 370.1522366106273 + ], + [ + 627.6248617881599, + 359.78643645994873 + ], + [ + 616.20342261965, + 359.8521845767996 + ], + [ + 615.3928805006726, + 340.20840131591 + ], + [ + 627.2722691734081, + 340.14163831082453 + ], + [ + 627.2920402595339, + 329.87779407518383 + ], + [ + 615.5633765516599, + 329.9428737441046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 170, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 56.75494384765625, + "z": 0.6742773056030273 + }, + "extent": { + "x": 0.29783201217651367, + "y": 0.40666499733924866, + "z": 0.5766294598579407 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.7369483733751, + "ymin": 245.0487250871893, + "xmax": 805.3193141966719, + "ymax": 283.76484047689496 + }, + "corners_3d": [ + [ + 22.950298309326172, + 56.416236877441406, + 0.09764784574508667 + ], + [ + 22.14142417907715, + 56.501251220703125, + 0.09764784574508667 + ], + [ + 22.203689575195312, + 57.093650817871094, + 0.09764784574508667 + ], + [ + 23.012563705444336, + 57.008636474609375, + 0.09764784574508667 + ], + [ + 22.950298309326172, + 56.416236877441406, + 1.2509067058563232 + ], + [ + 22.14142417907715, + 56.501251220703125, + 1.2509067058563232 + ], + [ + 22.203689575195312, + 57.093650817871094, + 1.2509067058563232 + ], + [ + 23.012563705444336, + 57.008636474609375, + 1.2509067058563232 + ] + ], + "corners_2d": [ + [ + 777.9487288307348, + 282.43246419583704 + ], + [ + 801.5714513090688, + 283.76484047689496 + ], + [ + 801.0446556072332, + 273.739958221332 + ], + [ + 777.7369483733751, + 272.44280835352913 + ], + [ + 781.1428356834238, + 254.89198850368996 + ], + [ + 805.3193141966719, + 256.20529771833725 + ], + [ + 804.7294031278208, + 246.32652369008366 + ], + [ + 780.8827784606034, + 245.0487250871893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 676, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 49.81223678588867, + "z": 1.1413521766662598 + }, + "extent": { + "x": 0.42841672897338867, + "y": 0.4129687547683716, + "z": 0.9373033046722412 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 1009.6543690603978, + "ymin": 385.6148808556194, + "xmax": 1062.3051277076304, + "ymax": 459.48646997128355 + }, + "corners_3d": [ + [ + 15.7457857131958, + 49.383819580078125, + 0.20404887199401855 + ], + [ + 14.919848442077637, + 49.383819580078125, + 0.20404887199401855 + ], + [ + 14.919848442077637, + 50.24065399169922, + 0.20404887199401855 + ], + [ + 15.7457857131958, + 50.24065399169922, + 0.20404887199401855 + ], + [ + 15.7457857131958, + 49.383819580078125, + 2.078655481338501 + ], + [ + 14.919848442077637, + 49.383819580078125, + 2.078655481338501 + ], + [ + 14.919848442077637, + 50.24065399169922, + 2.078655481338501 + ], + [ + 15.7457857131958, + 50.24065399169922, + 2.078655481338501 + ] + ], + "corners_2d": [ + [ + 1012.2906325765655, + 455.1917872077364 + ], + [ + 1043.0055400246747, + 459.48646997128355 + ], + [ + 1039.645992871474, + 437.9868252326013 + ], + [ + 1009.6543690603978, + 433.88831797870614 + ], + [ + 1030.0329024411901, + 406.7401653543656 + ], + [ + 1062.3051277076304, + 411.0045504339331 + ], + [ + 1058.3207574534983, + 389.6755046731806 + ], + [ + 1026.8459810061072, + 385.6148808556194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 793, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 41.64202117919922, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.3508996367454529, + "y": 0.5207543969154358, + "z": 0.896264910697937 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 155.68787353311643, + "ymin": 497.10811265296707, + "xmax": 230.9029990703524, + "ymax": 577.1738623919102 + }, + "corners_3d": [ + [ + 36.660484313964844, + 41.40705871582031, + 0.08850032091140747 + ], + [ + 35.6417350769043, + 41.19051742553711, + 0.08850032091140747 + ], + [ + 35.495819091796875, + 41.876983642578125, + 0.08850032091140747 + ], + [ + 36.51456832885742, + 42.09352493286133, + 0.08850032091140747 + ], + [ + 36.660484313964844, + 41.40705871582031, + 1.8810300827026367 + ], + [ + 35.6417350769043, + 41.19051742553711, + 1.8810300827026367 + ], + [ + 35.495819091796875, + 41.876983642578125, + 1.8810300827026367 + ], + [ + 36.51456832885742, + 42.09352493286133, + 1.8810300827026367 + ] + ], + "corners_2d": [ + [ + 179.08818217374545, + 563.6142571714456 + ], + [ + 211.351224510659, + 577.1738623919102 + ], + [ + 230.9029990703524, + 556.3046909994833 + ], + [ + 199.0269879523678, + 543.2773594451633 + ], + [ + 155.68787353311643, + 517.5027461296303 + ], + [ + 189.2883849453301, + 531.1235264318477 + ], + [ + 210.28775739812875, + 510.1677343936441 + ], + [ + 177.10186446478065, + 497.10811265296707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 28264, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 419.27066359787597, + "ymin": 80.09321558001886, + "xmax": 624.6661597095496, + "ymax": 354.19026817289057 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 624.6661597095496, + 189.96602378279698 + ], + [ + 529.232515000254, + 179.83855339330742 + ], + [ + 438.9575544735611, + 338.44506410215564 + ], + [ + 556.4183282770516, + 354.19026817289057 + ], + [ + 623.4624448747539, + 89.33627884045103 + ], + [ + 520.6811862584443, + 80.09321558001886 + ], + [ + 419.27066359787597, + 227.4560221086698 + ], + [ + 548.0580806238697, + 242.39500561133016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 178, + "instance_id": 45568, + "pixel_count": 380, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 16.211416244506836, + "y": 84.5851821899414, + "z": 1.0446116924285889 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 888.7425725960284, + "ymin": 0.0, + "xmax": 1016.9865408650238, + "ymax": 15.86218437540623 + }, + "corners_3d": [ + [ + 19.346824645996094, + 85.78356170654297, + -0.004483966622501612 + ], + [ + 19.349559783935547, + 83.39398956298828, + -0.004483966622501612 + ], + [ + 13.076009750366211, + 83.38680267333984, + -0.004483966622501612 + ], + [ + 13.073274612426758, + 85.77637481689453, + -0.004483966622501612 + ], + [ + 19.346824645996094, + 85.78356170654297, + 2.093707323074341 + ], + [ + 19.349559783935547, + 83.39398956298828, + 2.093707323074341 + ], + [ + 13.076009750366211, + 83.38680267333984, + 2.093707323074341 + ], + [ + 13.073274612426758, + 85.77637481689453, + 2.093707323074341 + ] + ], + "corners_2d": [ + [ + 889.0900395307682, + -8.314137090673626 + ], + [ + 888.7425725960284, + 7.131525928990072 + ], + [ + 1007.0237332468571, + 15.86218437540623 + ], + [ + 1003.4712783071253, + -0.14573650670484994 + ], + [ + 895.5056385953167, + -46.437836841976434 + ], + [ + 895.3698028157262, + -31.893252846949395 + ], + [ + 1016.9865408650238, + -23.660798771217173 + ], + [ + 1013.003285807874, + -38.74910143220387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 1801, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 547.079707670363, + "ymin": 0.0, + "xmax": 606.6984160062357, + "ymax": 56.23084992119783 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 606.6984160062357, + 20.484549046860536 + ], + [ + 572.3960430411666, + 17.772930621402452 + ], + [ + 548.7192418353629, + 53.109882793355155 + ], + [ + 585.3856516550559, + 56.23084992119783 + ], + [ + 606.1382856044441, + -3.927567202060118 + ], + [ + 571.265355196702, + -6.54700488892064 + ], + [ + 547.079707670363, + 27.626998779828 + ], + [ + 584.3987280250296, + 30.649248612217605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 3898, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 371.70478211798866, + "ymin": 202.50466615201503, + "xmax": 471.3763127373037, + "ymax": 311.5543282718009 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 471.3763127373037, + 245.96313690670766 + ], + [ + 423.6210734009422, + 240.32538574298982 + ], + [ + 380.425845683897, + 304.8393584168656 + ], + [ + 432.18815386127693, + 311.5543282718009 + ], + [ + 466.15541884055267, + 208.0070109085722 + ], + [ + 416.9760506224773, + 202.50466615201503 + ], + [ + 371.70478211798866, + 265.63013090755186 + ], + [ + 425.1435290215776, + 272.22090563234104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.572925591648, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 200.955344669738 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1243.5827132611967, + 132.9955558966948 + ], + [ + 1231.572925591648, + 131.93879112654398 + ], + [ + 1269.1714510070083, + 199.64671952840527 + ], + [ + 1282.6109074274332, + 200.955344669738 + ], + [ + 1333.3071733847044, + -66.03153237091203 + ], + [ + 1319.3347840483084, + -66.84377939685777 + ], + [ + 1374.7957999190576, + -13.931303211480724 + ], + [ + 1390.7381588702094, + -12.89090725724867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1251.1195617322546, + "ymin": 310.835650089222, + "xmax": 1280.0, + "ymax": 382.10486792636726 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1356.6329206635837, + 382.10486792636726 + ], + [ + 1328.0870324605262, + 329.1452350925355 + ], + [ + 1251.1195617322546, + 320.2750649803752 + ], + [ + 1274.2800307365217, + 372.0257576467919 + ], + [ + 1362.9713634733216, + 372.4662090128523 + ], + [ + 1333.791104617496, + 319.67237206737946 + ], + [ + 1256.1288210915259, + 310.835650089222 + ], + [ + 1279.8230557914242, + 362.4141753087171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.40342997587, + "ymin": 0.0, + "xmax": 921.2556050527177, + "ymax": 70.27879516887697 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 890.4600852764559, + 70.27879516887697 + ], + [ + 890.5123637979991, + 66.50991702099054 + ], + [ + 811.0078308378584, + 59.94824133723529 + ], + [ + 810.40342997587, + 63.62498616047492 + ], + [ + 921.2556050527177, + -102.05431729949504 + ], + [ + 921.0727293573825, + -104.93134382082377 + ], + [ + 831.582884265209, + -109.92851903473058 + ], + [ + 831.065593964471, + -107.13025999047608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.475310129769, + "ymin": 167.0005362326391, + "xmax": 183.4255565099033, + "ymax": 182.607601044959 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 151.45573854248215, + 179.2155070658295 + ], + [ + 181.5398130251515, + 182.607601044959 + ], + [ + 183.4255565099033, + 180.89272641196365 + ], + [ + 153.4104668909264, + 177.51842038414213 + ], + [ + 147.475310129769, + 168.68361071839482 + ], + [ + 177.78478484646558, + 172.04791271381163 + ], + [ + 179.6958974932963, + 170.34705246763315 + ], + [ + 149.45643042383193, + 167.0005362326391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1251.2119992091202, + "ymin": 310.8671345436672, + "xmax": 1280.0, + "ymax": 382.00373031443564 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1356.607084641615, + 382.00373031443564 + ], + [ + 1328.091753174451, + 329.1040804881293 + ], + [ + 1251.2119992091202, + 320.24448221558833 + ], + [ + 1274.3538117656078, + 371.93797101185004 + ], + [ + 1362.9029203521338, + 372.42862887239005 + ], + [ + 1333.7581309228474, + 319.6935429520416 + ], + [ + 1256.1889416028603, + 310.8671345436672 + ], + [ + 1279.8604996392341, + 362.3897457225334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.3401157439749, + "ymin": 184.96713059954465, + "xmax": 798.6202282577651, + "ymax": 196.72032880103671 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 797.20980058143, + 196.72032880103671 + ], + [ + 798.1421389457697, + 190.55961244539037 + ], + [ + 781.4257529602338, + 188.83576470990965 + ], + [ + 780.3401157439749, + 194.96416381028303 + ], + [ + 797.6895249928689, + 192.82923629667204 + ], + [ + 798.6202282577651, + 186.68601957790673 + ], + [ + 781.8521848843731, + 184.96713059954465 + ], + [ + 780.7672290935001, + 191.0780243660741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13321617258198990044, + "instance_id": 56572, + "pixel_count": null, + "type_id": "BP_StreetLight_wall11_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 47.840511322021484, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.73736027684572, + "ymin": 276.5891362110928, + "xmax": 60.70077026635124, + "ymax": 294.8529409234071 + }, + "corners_3d": [ + [ + 44.67703628540039, + 47.78166961669922, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.78166580200195, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 47.89935302734375, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.899356842041016, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 47.78166961669922, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.78166580200195, + 3.247763156890869 + ], + [ + 43.5294303894043, + 47.89935302734375, + 3.247763156890869 + ], + [ + 44.67703628540039, + 47.899356842041016, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + 23.62744714287851, + 290.19547574013603 + ], + [ + 58.11042973557744, + 294.8529409234071 + ], + [ + 60.70077026635124, + 292.4973133934898 + ], + [ + 26.307751032025635, + 287.8684475181499 + ], + [ + 17.73736027684572, + 278.90338580528385 + ], + [ + 52.5154178147435, + 283.5356823131224 + ], + [ + 55.14801004703088, + 281.19271656501695 + ], + [ + 20.461426784526566, + 276.5891362110928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13392155500690361596, + "instance_id": 64588, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": 85.601806640625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.6524251759339, + "ymin": 0.0, + "xmax": 940.4219692098518, + "ymax": 35.495261458743244 + }, + "corners_3d": [ + [ + 18.817964553833008, + 79.57669067382812, + 0.0 + ], + [ + 18.385149002075195, + 79.57284545898438, + 0.0 + ], + [ + 18.27800941467285, + 91.62692260742188, + 0.0 + ], + [ + 18.710824966430664, + 91.63076782226562, + 0.0 + ], + [ + 18.817964553833008, + 79.57669067382812, + 8.446706771850586 + ], + [ + 18.385149002075195, + 79.57284545898438, + 8.446706771850586 + ], + [ + 18.27800941467285, + 91.62692260742188, + 8.446706771850586 + ], + [ + 18.710824966430664, + 91.63076782226562, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 898.6524251759339, + 34.80684566371826 + ], + [ + 907.158221764225, + 35.495261458743244 + ], + [ + 907.5440601125949, + -41.08460060746063 + ], + [ + 900.327771566223, + -41.579942244963945 + ], + [ + 930.8076992616495, + -143.84598826313828 + ], + [ + 940.4219692098518, + -143.3464357522161 + ], + [ + 935.2738425026787, + -197.89523766747413 + ], + [ + 927.2751406640502, + -198.2414877398811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14156310929402703840, + "instance_id": 57391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": 78.5479736328125, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.5952117252222, + "ymin": 0.0, + "xmax": 723.2230529779902, + "ymax": 30.02935251177638 + }, + "corners_3d": [ + [ + 40.42330551147461, + 78.81795501708984, + 0.0 + ], + [ + 40.42715072631836, + 78.38513946533203, + 0.0 + ], + [ + 28.373075485229492, + 78.27799224853516, + 0.0 + ], + [ + 28.36922836303711, + 78.71080780029297, + 0.0 + ], + [ + 40.42330551147461, + 78.81795501708984, + 8.446706771850586 + ], + [ + 40.42715072631836, + 78.38513946533203, + 8.446706771850586 + ], + [ + 28.373075485229492, + 78.27799224853516, + 8.446706771850586 + ], + [ + 28.36922836303711, + 78.71080780029297, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 496.3749738797443, + 8.997557077663771 + ], + [ + 493.8424645930177, + 11.925618955327309 + ], + [ + 712.9225612767405, + 30.02935251177638 + ], + [ + 714.1657583788758, + 26.87736381320684 + ], + [ + 479.5418802308678, + -162.45292099131507 + ], + [ + 476.5952117252222, + -160.35382052137686 + ], + [ + 721.8916183495717, + -147.30812956115972 + ], + [ + 723.2230529779902, + -149.58784280804963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.1744817460465, + "ymin": 277.19314646662946, + "xmax": 1280.0, + "ymax": 472.4350542510087 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1301.5765019628182, + 472.4350542510087 + ], + [ + 1277.1077827143122, + 415.37219807019085 + ], + [ + 1202.1744817460465, + 405.7324782256553 + ], + [ + 1221.579885123982, + 461.5187198194287 + ], + [ + 1388.2200600308242, + 341.54446314273065 + ], + [ + 1354.8712952553713, + 286.4198149283528 + ], + [ + 1269.9536292405182, + 277.19314646662946 + ], + [ + 1296.7491960102636, + 330.9313112113362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.1932884548436, + "ymin": 177.13263760858055, + "xmax": 940.6519286030648, + "ymax": 436.33384023988435 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 885.3824278669515, + 436.33384023988435 + ], + [ + 885.5290973433815, + 425.760159424686 + ], + [ + 753.8611448705364, + 407.58762055975853 + ], + [ + 752.1932884548436, + 417.7336677186659 + ], + [ + 940.6519286030648, + 203.09271786039884 + ], + [ + 940.0422274919138, + 193.5007943699955 + ], + [ + 778.5162549274447, + 177.13263760858055 + ], + [ + 776.8302318027077, + 186.25309916817184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.241737547373, + "ymin": 184.90435874275423, + "xmax": 798.7186948503019, + "ymax": 196.7840647290245 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 797.2936447668887, + 196.7840647290245 + ], + [ + 798.2351907141872, + 190.5567271652092 + ], + [ + 781.3398968049206, + 188.81446284229457 + ], + [ + 780.241737547373, + 195.008783353573 + ], + [ + 797.7788246897519, + 192.85101632905733 + ], + [ + 798.7186948503019, + 186.64155699769802 + ], + [ + 781.7706310814074, + 184.90435874275423 + ], + [ + 780.6731628090971, + 191.08079513854273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16128513534167524743, + "instance_id": 34725, + "pixel_count": null, + "type_id": "BP_StreetLight_wall35_55_SM_0", + "bbox_3d": { + "center_world": { + "x": 53.79484176635742, + "y": 58.335594177246094, + "z": 4.9542951583862305 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 29.411965030905776, + "xmax": 4.087497819067266, + "ymax": 75.50386893120674 + }, + "corners_3d": [ + [ + 53.677154541015625, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 59.48320007324219, + 4.543139457702637 + ], + [ + 53.91252899169922, + 57.18798828125, + 4.543139457702637 + ], + [ + 53.677154541015625, + 57.18798828125, + 5.365450859069824 + ], + [ + 53.677154541015625, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 59.48320007324219, + 5.365450859069824 + ], + [ + 53.91252899169922, + 57.18798828125, + 5.365450859069824 + ] + ], + "corners_2d": [ + [ + -38.64944767652628, + 75.50386893120674 + ], + [ + 4.087497819067266, + 50.66348487883175 + ], + [ + -1.2372643901443325, + 50.169531732043936 + ], + [ + -44.18597170671353, + 74.96157734130247 + ], + [ + -49.04916643198601, + 54.10584107306744 + ], + [ + -5.206155282026543, + 29.8930944359729 + ], + [ + -10.599697144524043, + 29.411965030905776 + ], + [ + -54.65992873378457, + 53.57688992470577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.3657894680954, + "ymin": 0.0, + "xmax": 490.75176808803974, + "ymax": 74.35907731563998 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 415.59501881390963, + 63.87323895110808 + ], + [ + 412.216399551846, + 67.6048519054711 + ], + [ + 487.86366977295023, + 74.35907731563998 + ], + [ + 490.75176808803974, + 70.53324717975681 + ], + [ + 388.3715048260684, + -106.93613735373879 + ], + [ + 384.3657894680954, + -104.09097273604914 + ], + [ + 468.9990613486839, + -98.92889443221713 + ], + [ + 472.39164649120926, + -101.85482938131366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 325.0989343095023, + "ymax": 213.64581686907485 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 256.0441638847941, + 213.64581686907485 + ], + [ + 325.0989343095023, + 160.65274428349483 + ], + [ + 239.64422876993558, + 142.7644641930024 + ], + [ + 165.91717925808092, + 192.54925853161285 + ], + [ + 103.8592615697429, + -270.99339452676895 + ], + [ + 212.44710271256974, + -291.62353616726523 + ], + [ + 103.47132220656522, + -297.0178010014548 + ], + [ + -12.325207334901734, + -277.91846917650435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 920.4057897840437, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 234.23315647010406 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 969.798750053175, + 234.23315647010406 + ], + [ + 1185.160640612882, + 234.131557706869 + ], + [ + 1103.6287898516223, + 129.200299151859 + ], + [ + 920.4057897840437, + 129.27387208910116 + ], + [ + 1065.193266748325, + -123.75262020838062 + ], + [ + 1342.8193578737842, + -123.81691272842397 + ], + [ + 1212.9759364943643, + -187.46795550600325 + ], + [ + 986.549729217284, + -187.42517182954543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.1356893062355, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 441.7388744220823 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1233.3413864386166, + 439.23107146606856 + ], + [ + 1132.6909126497967, + 289.5235175654658 + ], + [ + 918.1356893062355, + 291.2718228002869 + ], + [ + 976.5942351383367, + 441.7388744220823 + ], + [ + 1461.8104641724085, + 41.61031698738287 + ], + [ + 1281.6714974131403, + -67.99450086009034 + ], + [ + 1002.4914380241711, + -66.7900829720545 + ], + [ + 1106.6977995411462, + 43.56497247586293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 176.03983596649556, + "ymax": 193.95410059988117 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + 96.67627304068628, + 193.95410059988117 + ], + [ + 176.03983596649556, + 143.79505094825078 + ], + [ + 97.13308846851908, + 126.84963795073915 + ], + [ + 14.071947557185695, + 174.05152413820034 + ], + [ + -108.48442674847468, + -279.74388773874875 + ], + [ + 17.828012923857045, + -298.7961329807189 + ], + [ + -79.96274264203657, + -303.7334892809331 + ], + [ + -211.25522015194508, + -286.0394597256078 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00171/meta.json b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00171/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b8891435f74d8bb0778ee7eda2c37a5b5a0bc944 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777147172/aug_001/frames_playback/frame_00171/meta.json @@ -0,0 +1,4055 @@ +{ + "frame_id": 171, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 85.5, + "sim_timestamp": 8815.663416919764 + }, + "drone_pose": { + "x": 22.737962143776237, + "y": 31.249665748965153, + "z": 20.07961478604316, + "pitch": -38.03284325342068, + "yaw": 86.1544074157592, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.052826642990112305, + -0.7858842611312866, + 0.6161130666732788, + -38.131103515625 + ], + [ + 0.9977483749389648, + 0.06706798076629639, + 0.0, + 20.59091567993164 + ], + [ + -0.04132145643234253, + 0.6147258281707764, + 0.7876577377319336, + 4.333678245544434 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": 23.1610019776662, + "y": 32.24727602712104, + "z": 19.812344713343172 + }, + "t1_image_uv": [ + 288.852074009539, + -55.44998367402053 + ], + "t1_depth": 0.9710225025886646 + }, + "target": { + "enabled": true, + "actor_id": 168, + "world_location": { + "x": 24.83281707763672, + "y": 51.81223678588867, + "z": 0.9847750067706511 + }, + "image_uv": [ + 615.6516057781231, + 439.213709452287 + ], + "depth": 28.035044865485208, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 587, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 51.81223678588867, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.39747434854507446, + "y": 0.3019946217536926, + "z": 0.9357151389122009 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 603.2774754884055, + "ymin": 405.5853905004285, + "xmax": 627.2784219289069, + "ymax": 472.2518504596845 + }, + "corners_3d": [ + [ + 25.134811401367188, + 51.41476058959961, + 0.04905986785888672 + ], + [ + 24.53082275390625, + 51.414764404296875, + 0.04905986785888672 + ], + [ + 24.53082275390625, + 52.209712982177734, + 0.04905986785888672 + ], + [ + 25.134811401367188, + 52.20970916748047, + 0.04905986785888672 + ], + [ + 25.134811401367188, + 51.41476058959961, + 1.9204901456832886 + ], + [ + 24.53082275390625, + 51.414764404296875, + 1.9204901456832886 + ], + [ + 24.53082275390625, + 52.209712982177734, + 1.9204901456832886 + ], + [ + 25.134811401367188, + 52.20970916748047, + 1.9204901456832886 + ] + ], + "corners_2d": [ + [ + 604.7728431519319, + 471.2792845108511 + ], + [ + 625.1877648749829, + 472.2518504596845 + ], + [ + 627.2784219289069, + 453.59760379616927 + ], + [ + 607.3019012063417, + 452.6665976907805 + ], + [ + 603.2774754884055, + 423.9052896427082 + ], + [ + 624.5582566696363, + 424.86347969350663 + ], + [ + 626.749934656361, + 406.50095434416147 + ], + [ + 605.9450971821077, + 405.5853905004285 + ] + ], + "center_offset_px": [ + -24.3483942218769, + 79.21370945228699 + ] + }, + "trace_timestep_index": 171, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 318819, + "2": 276649, + "3": 16301, + "5": 2449, + "6": 8409, + "7": 150, + "9": 102807, + "10": 121498, + "12": 2506, + "14": 13937, + "16": 33106, + "20": 9269, + "24": 15700 + }, + "instance_pixel_counts": { + "596": 403, + "923": 11778, + "2461": 448, + "2973": 3192, + "3402": 629, + "3485": 5977, + "3925": 3, + "3997": 188, + "4224": 2028, + "4509": 337, + "6045": 326, + "7253": 165, + "7299": 907, + "8788": 1365, + "9557": 141, + "17502": 115211, + "18526": 5908, + "20349": 272, + "20573": 2258, + "21085": 17765, + "21402": 17764, + "21885": 404, + "21914": 16588, + "22397": 797, + "22909": 7467, + "23421": 7052, + "24669": 5354, + "24957": 128, + "25181": 47718, + "25469": 319, + "25693": 64696, + "26195": 593, + "26205": 10013, + "27392": 668, + "28029": 253, + "28541": 28, + "30208": 690, + "33441": 2, + "33953": 56, + "34465": 337, + "34977": 357, + "35233": 326, + "37276": 123970, + "39073": 2081, + "40531": 2116, + "41043": 397, + "42145": 887, + "42657": 688, + "43008": 587, + "43264": 268, + "43418": 3041, + "43520": 168, + "43776": 619, + "44288": 864, + "44705": 1991, + "44800": 1368, + "44954": 1400, + "45056": 33106, + "45568": 3754, + "45978": 3908, + "46490": 29644, + "47002": 22019, + "47514": 1522, + "47872": 2088, + "48026": 2490, + "48128": 1954, + "48640": 4773, + "49266": 5727, + "49539": 699, + "49778": 10574, + "50586": 1659, + "51309": 102807, + "51612": 5232, + "58441": 2449, + "61820": 6858, + "62362": 11791, + "62547": 299, + "62844": 5232, + "62874": 44265, + "63386": 109534, + "63898": 4102, + "64410": 13379 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 168, + "instance_id": 43008, + "pixel_count": 587, + "type_id": "walker.pedestrian.0031", + "bbox_3d": { + "center_world": { + "x": 24.83281707763672, + "y": 51.81223678588867, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.4054540991783142, + "y": 0.4314501881599426, + "z": 0.9294487833976746 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 598.7002152028645, + "ymin": 405.37390417265783, + "xmax": 631.5842867916697, + "ymax": 472.4999035531048 + }, + "corners_3d": [ + [ + 25.264266967773438, + 51.40678405761719, + 0.055326223373413086 + ], + [ + 24.4013671875, + 51.40678405761719, + 0.055326223373413086 + ], + [ + 24.4013671875, + 52.217689514160156, + 0.055326223373413086 + ], + [ + 25.264266967773438, + 52.217689514160156, + 0.055326223373413086 + ], + [ + 25.264266967773438, + 51.40678405761719, + 1.9142237901687622 + ], + [ + 24.4013671875, + 51.40678405761719, + 1.9142237901687622 + ], + [ + 24.4013671875, + 52.217689514160156, + 1.9142237901687622 + ], + [ + 25.264266967773438, + 52.217689514160156, + 1.9142237901687622 + ] + ], + "corners_2d": [ + [ + 600.3709038727828, + 471.1097373910973 + ], + [ + 629.5474618831485, + 472.4999035531048 + ], + [ + 631.5842867916697, + 453.4628268753891 + ], + [ + 603.0468060884402, + 452.13323968866297 + ], + [ + 598.7002152028645, + 424.0535267694911 + ], + [ + 629.1060617549302, + 425.42330777308223 + ], + [ + 631.2370587497846, + 406.68156227063446 + ], + [ + 601.5246357988199, + 405.37390417265783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 169, + "instance_id": 43264, + "pixel_count": 268, + "type_id": "walker.pedestrian.0012", + "bbox_3d": { + "center_world": { + "x": 25.3878116607666, + "y": 53.216575622558594, + "z": 0.9847750067710876 + }, + "extent": { + "x": 0.2375744730234146, + "y": 0.2133447378873825, + "z": 0.5963584184646606 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 593.080723629692, + "ymin": 386.2691297107087, + "xmax": 609.7455813023705, + "ymax": 427.44530777122793 + }, + "corners_3d": [ + [ + 25.547100067138672, + 52.93983459472656, + 0.388416588306427 + ], + [ + 25.12973403930664, + 53.02854919433594, + 0.388416588306427 + ], + [ + 25.22852325439453, + 53.493316650390625, + 0.388416588306427 + ], + [ + 25.645889282226562, + 53.40460205078125, + 0.388416588306427 + ], + [ + 25.547100067138672, + 52.93983459472656, + 1.5811333656311035 + ], + [ + 25.12973403930664, + 53.02854919433594, + 1.5811333656311035 + ], + [ + 25.22852325439453, + 53.493316650390625, + 1.5811333656311035 + ], + [ + 25.645889282226562, + 53.40460205078125, + 1.5811333656311035 + ] + ], + "corners_2d": [ + [ + 595.8698951789302, + 427.44530777122793 + ], + [ + 609.7455813023705, + 426.11717343004426 + ], + [ + 607.9472133501413, + 415.9408481591805 + ], + [ + 594.2417414547324, + 417.23607810286865 + ], + [ + 594.7356797617816, + 397.635331422308 + ], + [ + 608.9692879053254, + 396.3227389381892 + ], + [ + 607.135278969256, + 386.2691297107087 + ], + [ + 593.080723629692, + 387.54838371548306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 170, + "instance_id": 43520, + "pixel_count": 168, + "type_id": "walker.pedestrian.0050", + "bbox_3d": { + "center_world": { + "x": 22.576993942260742, + "y": 58.75494384765625, + "z": 0.6687887907028198 + }, + "extent": { + "x": 0.2597411870956421, + "y": 0.34206295013427734, + "z": 0.586822509765625 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 686.5260865848456, + "ymin": 295.58234151120155, + "xmax": 708.5421625211424, + "ymax": 332.02576343274075 + }, + "corners_3d": [ + [ + 22.890031814575195, + 58.46086883544922, + 0.08196622133255005 + ], + [ + 22.209653854370117, + 58.532379150390625, + 0.08196622133255005 + ], + [ + 22.26395606994629, + 59.04901885986328, + 0.08196622133255005 + ], + [ + 22.944334030151367, + 58.977508544921875, + 0.08196622133255005 + ], + [ + 22.890031814575195, + 58.46086883544922, + 1.2556113004684448 + ], + [ + 22.209653854370117, + 58.532379150390625, + 1.2556113004684448 + ], + [ + 22.26395606994629, + 59.04901885986328, + 1.2556113004684448 + ], + [ + 22.944334030151367, + 58.977508544921875, + 1.2556113004684448 + ] + ], + "corners_2d": [ + [ + 687.6464845657988, + 332.02576343274075 + ], + [ + 707.072939559581, + 331.5916429524885 + ], + [ + 705.7205591354534, + 322.938984753512 + ], + [ + 686.5260865848456, + 323.36276657319786 + ], + [ + 688.6908147072199, + 304.51242955333146 + ], + [ + 708.5421625211424, + 304.0856830436833 + ], + [ + 707.1425450339467, + 295.58234151120155 + ], + [ + 687.5333751057254, + 295.9987063638541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 171, + "instance_id": 43776, + "pixel_count": 619, + "type_id": "walker.pedestrian.0029", + "bbox_3d": { + "center_world": { + "x": 15.332817077636719, + "y": 51.81223678588867, + "z": 1.1413570642471313 + }, + "extent": { + "x": 0.3924047648906708, + "y": 0.43996337056159973, + "z": 0.9426442980766296 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 922.926152885905, + "ymin": 415.812384885079, + "xmax": 972.2613646580817, + "ymax": 484.2879301201593 + }, + "corners_3d": [ + [ + 15.772780418395996, + 51.419830322265625, + 0.1987127661705017 + ], + [ + 14.892853736877441, + 51.419830322265625, + 0.1987127661705017 + ], + [ + 14.892853736877441, + 52.20464324951172, + 0.1987127661705017 + ], + [ + 15.772780418395996, + 52.20464324951172, + 0.1987127661705017 + ], + [ + 15.772780418395996, + 51.419830322265625, + 2.084001302719116 + ], + [ + 14.892853736877441, + 51.419830322265625, + 2.084001302719116 + ], + [ + 14.892853736877441, + 52.20464324951172, + 2.084001302719116 + ], + [ + 15.772780418395996, + 52.20464324951172, + 2.084001302719116 + ] + ], + "corners_2d": [ + [ + 927.3964068999717, + 482.82095255205746 + ], + [ + 958.3214552527747, + 484.2879301201593 + ], + [ + 953.169939707612, + 465.2153516585221 + ], + [ + 922.926152885905, + 463.81156300830196 + ], + [ + 939.960031332585, + 434.53859966788633 + ], + [ + 972.2613646580817, + 435.9852049071768 + ], + [ + 966.5726011533172, + 417.19404486149404 + ], + [ + 935.0137759915852, + 415.812384885079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 173, + "instance_id": 44288, + "pixel_count": 864, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": 36.07815170288086, + "y": 43.64202117919922, + "z": 0.9847652316093445 + }, + "extent": { + "x": 0.31861570477485657, + "y": 0.3715576231479645, + "z": 0.883310079574585 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 63.020230828689364, + "ymin": 618.672602660321, + "xmax": 135.8013609338866, + "ymax": 694.5990112282893 + }, + "corners_3d": [ + [ + 36.507835388183594, + 43.40761947631836, + 0.10145515203475952 + ], + [ + 35.78095626831055, + 43.253116607666016, + 0.10145515203475952 + ], + [ + 35.648468017578125, + 43.87642288208008, + 0.10145515203475952 + ], + [ + 36.37534713745117, + 44.03092575073242, + 0.10145515203475952 + ], + [ + 36.507835388183594, + 43.40761947631836, + 1.8680753707885742 + ], + [ + 35.78095626831055, + 43.253116607666016, + 1.8680753707885742 + ], + [ + 35.648468017578125, + 43.87642288208008, + 1.8680753707885742 + ], + [ + 36.37534713745117, + 44.03092575073242, + 1.8680753707885742 + ] + ], + "corners_2d": [ + [ + 90.81924813664978, + 686.9194969800744 + ], + [ + 117.50157409713336, + 694.5990112282893 + ], + [ + 135.8013609338866, + 671.7247464028219 + ], + [ + 109.55064244947698, + 664.3643730772425 + ], + [ + 63.020230828689364, + 641.3434192295899 + ], + [ + 90.8551387056051, + 649.0732884357253 + ], + [ + 110.65703400773668, + 626.0654542471084 + ], + [ + 83.28949522870187, + 618.672602660321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 175, + "instance_id": 44800, + "pixel_count": 1368, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": -8.268728256225586, + "y": 84.49394226074219, + "z": 0.645438015460968 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 1218.6636773405462, + "ymin": 43.906538448877996, + "xmax": 1280.0, + "ymax": 82.48257043207173 + }, + "corners_3d": [ + [ + -5.9110517501831055, + 85.44405364990234, + -0.0050319479778409 + ], + [ + -5.908883094787598, + 83.54922485351562, + -0.0050319479778409 + ], + [ + -10.626404762268066, + 83.54383087158203, + -0.0050319479778409 + ], + [ + -10.628573417663574, + 85.43865203857422, + -0.0050319479778409 + ], + [ + -5.9110517501831055, + 85.44405364990234, + 1.295907974243164 + ], + [ + -5.908883094787598, + 83.54922485351562, + 1.295907974243164 + ], + [ + -10.626404762268066, + 83.54383087158203, + 1.295907974243164 + ], + [ + -10.628573417663574, + 85.43865203857422, + 1.295907974243164 + ] + ], + "corners_2d": [ + [ + 1218.6636773405462, + 67.05022368695484 + ], + [ + 1232.8576640609224, + 80.1735251580053 + ], + [ + 1323.1423601888864, + 82.48257043207173 + ], + [ + 1306.353767126196, + 69.23216835063846 + ], + [ + 1227.4730650896086, + 43.906538448877996 + ], + [ + 1242.145816013658, + 56.5618598901097 + ], + [ + 1333.898264072996, + 58.789706939681196 + ], + [ + 1316.5471911236282, + 46.00990910422394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 176, + "instance_id": 45056, + "pixel_count": 33106, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": 31.47837257385254, + "y": 56.43335723876953, + "z": 2.116823673248291 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 295.96234544611, + "ymin": 174.25061256737774, + "xmax": 516.1313171392186, + "ymax": 468.5220951409054 + }, + "corners_3d": [ + [ + 29.50424575805664, + 61.568912506103516, + -0.00960041955113411 + ], + [ + 33.44839859008789, + 61.57048797607422, + -0.00960041955113411 + ], + [ + 33.45249938964844, + 51.29780578613281, + -0.00960041955113411 + ], + [ + 29.508350372314453, + 51.296226501464844, + -0.00960041955113411 + ], + [ + 29.50424575805664, + 61.568912506103516, + 4.243247985839844 + ], + [ + 33.44839859008789, + 61.57048797607422, + 4.243247985839844 + ], + [ + 33.45249938964844, + 51.29780578613281, + 4.243247985839844 + ], + [ + 29.508350372314453, + 51.296226501464844, + 4.243247985839844 + ] + ], + "corners_2d": [ + [ + 516.1313171392186, + 278.756713156945 + ], + [ + 414.1017710572306, + 274.9396341496169 + ], + [ + 327.373450772911, + 462.2452902335443 + ], + [ + 457.6767109824235, + 468.5220951409054 + ], + [ + 506.56892959642414, + 177.74059769198132 + ], + [ + 396.76995443824353, + 174.25061256737774 + ], + [ + 295.96234544611, + 349.2062696039986 + ], + [ + 439.2093814701001, + 355.2029734831994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 178, + "instance_id": 45568, + "pixel_count": 3754, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": 16.211416244506836, + "y": 84.5851821899414, + "z": 1.0446116924285889 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": -179.93441772460938 + }, + "bbox_2d": { + "xmin": 762.7803362677595, + "ymin": 16.84473748682376, + "xmax": 884.6701135788459, + "ymax": 72.36013742270427 + }, + "corners_3d": [ + [ + 19.346824645996094, + 85.78356170654297, + -0.004483966622501612 + ], + [ + 19.349559783935547, + 83.39398956298828, + -0.004483966622501612 + ], + [ + 13.076009750366211, + 83.38680267333984, + -0.004483966622501612 + ], + [ + 13.073274612426758, + 85.77637481689453, + -0.004483966622501612 + ], + [ + 19.346824645996094, + 85.78356170654297, + 2.093707323074341 + ], + [ + 19.349559783935547, + 83.39398956298828, + 2.093707323074341 + ], + [ + 13.076009750366211, + 83.38680267333984, + 2.093707323074341 + ], + [ + 13.073274612426758, + 85.77637481689453, + 2.093707323074341 + ] + ], + "corners_2d": [ + [ + 762.7803362677595, + 53.72160525483463 + ], + [ + 764.1735230366315, + 69.42353129319571 + ], + [ + 878.6840019934546, + 72.36013742270427 + ], + [ + 873.3523237631687, + 56.460702003227254 + ], + [ + 765.7327606529708, + 16.84473748682376 + ], + [ + 767.2675196467338, + 31.603200924202213 + ], + [ + 884.6701135788459, + 34.366143743967086 + ], + [ + 878.9990089681728, + 19.417448358533306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 187, + "instance_id": 47872, + "pixel_count": 2088, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -8.803977966308594, + "y": 92.05735778808594, + "z": 0.9344704747200012 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": -0.41619873046875 + }, + "bbox_2d": { + "xmin": 1178.7199455358216, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 33.65783649237079 + }, + "corners_3d": [ + [ + -11.113187789916992, + 91.10830688476562, + 0.007047443650662899 + ], + [ + -11.099156379699707, + 93.03984832763672, + 0.007047443650662899 + ], + [ + -6.494768142700195, + 93.00640106201172, + 0.007047443650662899 + ], + [ + -6.508799076080322, + 91.07485961914062, + 0.007047443650662899 + ], + [ + -11.113187789916992, + 91.10830688476562, + 1.8618935346603394 + ], + [ + -11.099156379699707, + 93.03984832763672, + 1.8618935346603394 + ], + [ + -6.494768142700195, + 93.00640106201172, + 1.8618935346603394 + ], + [ + -6.508799076080322, + 91.07485961914062, + 1.8618935346603394 + ] + ], + "corners_2d": [ + [ + 1269.5991720237485, + 33.65783649237079 + ], + [ + 1255.3065816012409, + 22.754590450657247 + ], + [ + 1178.7199455358216, + 21.24260213173136 + ], + [ + 1190.9478935578481, + 32.06524806477779 + ], + [ + 1282.338716966438, + 2.220997559025193 + ], + [ + 1267.4308980932346, + -8.073881156758773 + ], + [ + 1189.2955992760549, + -9.50066101862825 + ], + [ + 1202.0533199382883, + 0.7166034405485675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 188, + "instance_id": 48128, + "pixel_count": 1954, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 35.0816650390625, + "y": 76.08637237548828, + "z": 0.6455501317977905 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 421.05338341852627, + "ymin": 72.83577864763276, + "xmax": 482.6835224503529, + "ymax": 137.11409031520594 + }, + "corners_3d": [ + [ + 34.13330841064453, + 78.44475555419922, + -0.004919833969324827 + ], + [ + 36.02813720703125, + 78.44551086425781, + -0.004919833969324827 + ], + [ + 36.03002166748047, + 73.72798919677734, + -0.004919833969324827 + ], + [ + 34.135196685791016, + 73.72723388671875, + -0.004919833969324827 + ], + [ + 34.13330841064453, + 78.44475555419922, + 1.2960200309753418 + ], + [ + 36.02813720703125, + 78.44551086425781, + 1.2960200309753418 + ], + [ + 36.03002166748047, + 73.72798919677734, + 1.2960200309753418 + ], + [ + 34.135196685791016, + 73.72723388671875, + 1.2960200309753418 + ] + ], + "corners_2d": [ + [ + 482.6835224503529, + 98.01390655277748 + ], + [ + 446.822200015068, + 97.0325574718193 + ], + [ + 424.8306772823768, + 135.96969398214358 + ], + [ + 463.5119920624509, + 137.11409031520594 + ], + [ + 480.12401576192985, + 73.78363889620238 + ], + [ + 443.6856477160527, + 72.83577864763276 + ], + [ + 421.05338341852627, + 110.49173378144613 + ], + [ + 460.4069003103406, + 111.5999531216691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 190, + "instance_id": 48640, + "pixel_count": 4773, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": 35.10169982910156, + "y": 54.58958053588867, + "z": 0.8010054230690002 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": -89.97711181640625 + }, + "bbox_2d": { + "xmin": 246.5069927615242, + "ymin": 312.7504905768685, + "xmax": 356.4972673236033, + "ymax": 431.86167377911954 + }, + "corners_3d": [ + [ + 34.175479888916016, + 56.58305358886719, + -0.007549364119768143 + ], + [ + 36.02632522583008, + 56.58379364013672, + -0.007549364119768143 + ], + [ + 36.02791976928711, + 52.596107482910156, + -0.007549364119768143 + ], + [ + 34.17707061767578, + 52.595367431640625, + -0.007549364119768143 + ], + [ + 34.175479888916016, + 56.58305358886719, + 1.609560251235962 + ], + [ + 36.02632522583008, + 56.58379364013672, + 1.609560251235962 + ], + [ + 36.02791976928711, + 52.596107482910156, + 1.609560251235962 + ], + [ + 34.17707061767578, + 52.595367431640625, + 1.609560251235962 + ] + ], + "corners_2d": [ + [ + 356.4972673236033, + 353.4648299399947 + ], + [ + 303.60231847900263, + 351.2453834650041 + ], + [ + 259.63916080649705, + 429.1509621834979 + ], + [ + 317.95967639351574, + 431.86167377911954 + ], + [ + 347.6407626653662, + 314.9205564491417 + ], + [ + 293.1257071705438, + 312.7504905768685 + ], + [ + 246.5069927615242, + 389.16546117422797 + ], + [ + 306.80303101688816, + 391.8333324578833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5180567198885628115, + "instance_id": 54088, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 18.884029388427734, + "y": 79.85494232177734, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995727598667145, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.0285247051227, + "ymin": 26.58623608864957, + "xmax": 784.4960496744538, + "ymax": 46.48240038396682 + }, + "corners_3d": [ + [ + 18.744693756103516, + 80.0448989868164, + 2.645533323287964 + ], + [ + 19.023365020751953, + 80.0448989868164, + 2.645533323287964 + ], + [ + 19.023365020751953, + 79.66498565673828, + 2.645533323287964 + ], + [ + 18.744693756103516, + 79.66498565673828, + 2.645533323287964 + ], + [ + 18.744693756103516, + 80.0448989868164, + 3.5146729946136475 + ], + [ + 19.023365020751953, + 80.0448989868164, + 3.5146729946136475 + ], + [ + 19.023365020751953, + 79.66498565673828, + 3.5146729946136475 + ], + [ + 18.744693756103516, + 79.66498565673828, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 782.5308014247041, + 43.8105432254161 + ], + [ + 777.0285247051227, + 43.67964837009771 + ], + [ + 777.3670757325106, + 46.34989187096494 + ], + [ + 782.9032720168528, + 46.48240038396682 + ], + [ + 784.1096160418831, + 26.71337557134808 + ], + [ + 778.5459284865085, + 26.58623608864957 + ], + [ + 778.8976788101376, + 29.18003814590446 + ], + [ + 784.4960496744538, + 29.3087625114527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10222057477703152384, + "instance_id": 51, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 40.14504623413086, + "y": 78.88402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 355.97856874960206, + "ymin": 23.50002271361859, + "xmax": 366.62262826198696, + "ymax": 43.2637945687793 + }, + "corners_3d": [ + [ + 40.00571060180664, + 78.6940689086914, + 2.645533323287964 + ], + [ + 40.00571060180664, + 79.07398223876953, + 2.645533323287964 + ], + [ + 40.28438186645508, + 79.07398223876953, + 2.645533323287964 + ], + [ + 40.28438186645508, + 78.6940689086914, + 2.645533323287964 + ], + [ + 40.00571060180664, + 78.6940689086914, + 3.5146729946136475 + ], + [ + 40.00571060180664, + 79.07398223876953, + 3.5146729946136475 + ], + [ + 40.28438186645508, + 79.07398223876953, + 3.5146729946136475 + ], + [ + 40.28438186645508, + 78.6940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 364.45499742747893, + 43.2637945687793 + ], + [ + 366.62262826198696, + 40.63099580618797 + ], + [ + 361.28489388661137, + 40.50200834821101 + ], + [ + 359.0853603876293, + 43.13322870209919 + ], + [ + 361.40666478183846, + 26.18231875747739 + ], + [ + 363.61681658417274, + 23.625289230498197 + ], + [ + 358.2213193061338, + 23.50002271361859 + ], + [ + 355.97856874960206, + 26.05550235710558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1837172118188098546, + "instance_id": 62083, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_2", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 4.264798641204834 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.3850985540034, + "ymin": 0.0, + "xmax": 1239.3746152285225, + "ymax": 243.43768468125097 + }, + "corners_3d": [ + [ + 4.262045383453369, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745217323303223, + 71.23918914794922, + 0.16192388534545898 + ], + [ + 4.745208263397217, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262036323547363, + 65.57108306884766, + 0.16192388534545898 + ], + [ + 4.262045383453369, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745217323303223, + 71.23918914794922, + 8.367673873901367 + ], + [ + 4.745208263397217, + 65.57108306884766, + 8.367673873901367 + ], + [ + 4.262036323547363, + 65.57108306884766, + 8.367673873901367 + ] + ], + "corners_2d": [ + [ + 1114.4946168177494, + 177.29634562247603 + ], + [ + 1103.3850985540034, + 176.95707181292815 + ], + [ + 1147.758030153045, + 243.01485935703798 + ], + [ + 1160.1903092930897, + 243.43768468125097 + ], + [ + 1178.1813534925666, + -11.953640197623145 + ], + [ + 1165.5385969799304, + -12.210265887629532 + ], + [ + 1224.9905178986728, + 38.54352523292647 + ], + [ + 1239.3746152285225, + 38.87357466470223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2452484729099250361, + "instance_id": 47594, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_0", + "bbox_3d": { + "center_world": { + "x": 9.021385192871094, + "y": 51.449432373046875, + "z": 3.6522765159606934 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.854242852375, + "ymin": 369.21683645888385, + "xmax": 1270.384479873119, + "ymax": 435.6085369205362 + }, + "corners_3d": [ + [ + 8.054020881652832, + 50.36016082763672, + 3.4889514446258545 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.488954782485962 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.488954782485962 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.4889514446258545 + ], + [ + 8.054020881652832, + 50.36016082763672, + 3.815598249435425 + ], + [ + 8.054017066955566, + 52.538700103759766, + 3.8156015872955322 + ], + [ + 9.988749504089355, + 52.53870391845703, + 3.8156015872955322 + ], + [ + 9.988753318786621, + 50.360164642333984, + 3.815598249435425 + ] + ], + "corners_2d": [ + [ + 1265.1988063308195, + 435.6085369205362 + ], + [ + 1229.6665128936074, + 381.54961220880386 + ], + [ + 1156.854242852375, + 378.54519931928036 + ], + [ + 1187.1643836737271, + 432.16983780920475 + ], + [ + 1270.384479873119, + 426.0559582563952 + ], + [ + 1234.2350970277362, + 372.2078215772589 + ], + [ + 1160.8430013445804, + 369.21683645888385 + ], + [ + 1191.6837677934063, + 422.62892759076306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3925562181820830127, + "instance_id": 44881, + "pixel_count": null, + "type_id": "BP_StreetLight_simple5_18_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150758743286133, + "y": 74.93170928955078, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.4485073761082, + "ymin": 0.0, + "xmax": 788.4053976205709, + "ymax": 134.20283003820467 + }, + "corners_3d": [ + [ + 19.234039306640625, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 75.15131378173828, + 0.1535632610321045 + ], + [ + 23.06747817993164, + 74.71210479736328, + 0.1535632610321045 + ], + [ + 19.234039306640625, + 74.71210479736328, + 7.907000541687012 + ], + [ + 19.234039306640625, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 75.15131378173828, + 7.907000541687012 + ], + [ + 23.06747817993164, + 74.71210479736328, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 773.0764969458221, + 134.20283003820467 + ], + [ + 772.6975762770281, + 130.3126591324808 + ], + [ + 693.6585662317058, + 128.0570350232789 + ], + [ + 693.4485073761082, + 131.91348500092928 + ], + [ + 788.4053976205709, + -33.176675247431604 + ], + [ + 787.8566591423769, + -36.12963499393868 + ], + [ + 699.7588618168359, + -37.83953411762246 + ], + [ + 699.5752507462928, + -34.91508638805976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6488712317779344426, + "instance_id": 10876, + "pixel_count": null, + "type_id": "BP_StreetLight_simple13_SM_2", + "bbox_3d": { + "center_world": { + "x": -2.840424060821533, + "y": 80.668701171875, + "z": 4.007325172424316 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1177.9623874341964, + "ymin": 0.0, + "xmax": 1278.621063311601, + "ymax": 112.89705317604603 + }, + "corners_3d": [ + [ + -2.620816230773926, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 0.13060641288757324 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620823860168457, + 82.58541870117188, + 0.13060641288757324 + ], + [ + -2.620816230773926, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600242614746094, + 78.75198364257812, + 7.8840436935424805 + ], + [ + -3.0600318908691406, + 82.58541870117188, + 7.8840436935424805 + ], + [ + -2.620823860168457, + 82.58541870117188, + 7.8840436935424805 + ] + ], + "corners_2d": [ + [ + 1206.416996144028, + 112.65494711814694 + ], + [ + 1215.4065964484012, + 112.89705317604603 + ], + [ + 1186.4109010162904, + 83.29375888327957 + ], + [ + 1177.9623874341964, + 83.07926220106754 + ], + [ + 1268.610674814046, + -49.26317924384858 + ], + [ + 1278.621063311601, + -49.080873495221 + ], + [ + 1242.550316974664, + -71.23033838999288 + ], + [ + 1233.206217510014, + -71.389790090355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6696009163556980627, + "instance_id": 37639, + "pixel_count": null, + "type_id": "BP_StreetLight_wall12_SM_0", + "bbox_3d": { + "center_world": { + "x": 44.103233337402344, + "y": 54.394187927246094, + "z": 3.0421853065490723 + }, + "extent": { + "x": 0.05884373560547829, + "y": 0.5738033056259155, + "z": 0.20557785034179688 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 298.31486069335574, + "xmax": 25.090988410768546, + "ymax": 312.7819516958278 + }, + "corners_3d": [ + [ + 44.67703628540039, + 54.33534622192383, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.33534240722656, + 2.8366074562072754 + ], + [ + 43.5294303894043, + 54.45302963256836, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.453033447265625, + 2.8366074562072754 + ], + [ + 44.67703628540039, + 54.33534622192383, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.33534240722656, + 3.247763156890869 + ], + [ + 43.5294303894043, + 54.45302963256836, + 3.247763156890869 + ], + [ + 44.67703628540039, + 54.453033447265625, + 3.247763156890869 + ] + ], + "corners_2d": [ + [ + -12.549096706434057, + 311.3562872402833 + ], + [ + 22.932940747882753, + 312.7819516958278 + ], + [ + 25.090988410768546, + 310.60936667863086 + ], + [ + -10.286083024280629, + 309.1924828556663 + ], + [ + -18.12010343842951, + 300.4632321964816 + ], + [ + 17.654068759010443, + 301.878790166222 + ], + [ + 19.846957335613524, + 299.72162611582087 + ], + [ + -15.820518703480047, + 298.31486069335574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8188221675527999603, + "instance_id": 29456, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_0", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 8.113178253173828 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.341520175625, + "ymin": 0.0, + "xmax": 1233.0654977656736, + "ymax": 46.3508134862343 + }, + "corners_3d": [ + [ + 4.355686664581299, + 71.13771057128906, + 8.067089080810547 + ], + [ + 4.651575565338135, + 71.13771057128906, + 8.067089080810547 + ], + [ + 4.651566982269287, + 65.67256164550781, + 8.067089080810547 + ], + [ + 4.355678081512451, + 65.67256164550781, + 8.067089080810547 + ], + [ + 4.355686664581299, + 71.13771057128906, + 8.15926742553711 + ], + [ + 4.651575565338135, + 71.13771057128906, + 8.15926742553711 + ], + [ + 4.651566982269287, + 65.67256164550781, + 8.15926742553711 + ], + [ + 4.355678081512451, + 65.67256164550781, + 8.15926742553711 + ] + ], + "corners_2d": [ + [ + 1174.061506111399, + -3.3633318288024725 + ], + [ + 1166.341520175625, + -3.523621391389952 + ], + [ + 1223.322678258066, + 46.14677478312831 + ], + [ + 1232.059550437939, + 46.3508134862343 + ], + [ + 1174.86559130783, + -5.758230860932372 + ], + [ + 1167.1336538826035, + -5.917769661233592 + ], + [ + 1224.3133178253952, + 43.52949158412139 + ], + [ + 1233.0654977656736, + 43.73265304516411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9078925607238436432, + "instance_id": 20486, + "pixel_count": null, + "type_id": "BP_StreetLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": 48.24480056762695, + "y": 80.38460540771484, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.06348747044717, + "ymin": 0.0, + "xmax": 250.40888181352943, + "ymax": 87.90677540305961 + }, + "corners_3d": [ + [ + 48.46440887451172, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519989013672, + 78.46788787841797, + 0.1530468463897705 + ], + [ + 48.02519226074219, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440124511719, + 82.30132293701172, + 0.1530468463897705 + ], + [ + 48.46440887451172, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519989013672, + 78.46788787841797, + 7.906484603881836 + ], + [ + 48.02519226074219, + 82.30132293701172, + 7.906484603881836 + ], + [ + 48.46440124511719, + 82.30132293701172, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 214.30278747241505, + 87.68783962653526 + ], + [ + 222.40229255193293, + 87.90677540305961 + ], + [ + 250.40888181352943, + 61.06073377633783 + ], + [ + 242.75120130621008, + 60.8656545854771 + ], + [ + 170.06348747044717, + -68.15413032990546 + ], + [ + 178.98279323383355, + -67.9911317162742 + ], + [ + 212.39406148204108, + -87.86323022625544 + ], + [ + 204.00753533102676, + -88.00678967407828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10893111354844921677, + "instance_id": 19775, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_1", + "bbox_3d": { + "center_world": { + "x": 9.021378517150879, + "y": 51.449432373046875, + "z": 3.653377056121826 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.9413114579067, + "ymin": 369.2455868520845, + "xmax": 1270.3149799734524, + "ymax": 435.51132984299966 + }, + "corners_3d": [ + [ + 8.055209159851074, + 50.36135482788086, + 3.4911367893218994 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.491140365600586 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.491140365600586 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.4911367893218994 + ], + [ + 8.055209159851074, + 50.36135482788086, + 3.8156137466430664 + ], + [ + 8.055205345153809, + 52.537506103515625, + 3.815617322921753 + ], + [ + 9.987547874450684, + 52.53750991821289, + 3.815617322921753 + ], + [ + 9.98755168914795, + 50.361358642578125, + 3.8156137466430664 + ] + ], + "corners_2d": [ + [ + 1265.1642490170466, + 435.51132984299966 + ], + [ + 1229.6701525750404, + 381.51342207340053 + ], + [ + 1156.9413114579067, + 378.5125927385281 + ], + [ + 1187.2248670713197, + 432.0772163178244 + ], + [ + 1270.3149799734524, + 426.021793878406 + ], + [ + 1234.208571230593, + 372.2330922227644 + ], + [ + 1160.9043946487623, + 369.2455868520845 + ], + [ + 1191.7145666583513, + 422.59926106314686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11940856534909826703, + "instance_id": 36790, + "pixel_count": null, + "type_id": "AmericanLights_Town04_02_746_Poles_4", + "bbox_3d": { + "center_world": { + "x": 42.60203170776367, + "y": 94.34819030761719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.9276143415857, + "ymin": 0.0, + "xmax": 428.6090960075194, + "ymax": 29.13086498684845 + }, + "corners_3d": [ + [ + 42.33203125, + 100.37330627441406, + 0.0 + ], + [ + 42.76485061645508, + 100.37715148925781, + 0.0 + ], + [ + 42.872032165527344, + 88.32307434082031, + 0.0 + ], + [ + 42.439212799072266, + 88.31922912597656, + 0.0 + ], + [ + 42.33203125, + 100.37330627441406, + 8.446706771850586 + ], + [ + 42.76485061645508, + 100.37715148925781, + 8.446706771850586 + ], + [ + 42.872032165527344, + 88.32307434082031, + 8.446706771850586 + ], + [ + 42.439212799072266, + 88.31922912597656, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 428.6090960075194, + -29.585237384100424 + ], + [ + 422.57487646806993, + -29.72328702859909 + ], + [ + 372.1832659545952, + 28.944316238387444 + ], + [ + 379.17564139264874, + 29.13086498684845 + ], + [ + 411.0145810950049, + -164.1614729384711 + ], + [ + 404.48560977747644, + -164.25531498384805 + ], + [ + 345.9276143415857, + -123.8298036992395 + ], + [ + 353.5930182149608, + -123.6994938493495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12035074223596053564, + "instance_id": 15396, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_1", + "bbox_3d": { + "center_world": { + "x": 22.760326385498047, + "y": 49.70125198364258, + "z": 7.689397811889648 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.6014633195382, + "ymin": 285.48809768717, + "xmax": 701.743322851309, + "ymax": 297.13882961084755 + }, + "corners_3d": [ + [ + 22.556631088256836, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.6353302001953125 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.6353302001953125 + ], + [ + 22.556631088256836, + 49.55495834350586, + 7.743465423583984 + ], + [ + 22.556631088256836, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.8475456237793, + 7.743465423583984 + ], + [ + 22.964021682739258, + 49.55495834350586, + 7.743465423583984 + ] + ], + "corners_2d": [ + [ + 701.3461693742577, + 297.13882961084755 + ], + [ + 701.5586371486802, + 290.0356015155551 + ], + [ + 683.996737791372, + 289.3782788718423 + ], + [ + 683.6014633195382, + 296.4677288037576 + ], + [ + 701.5321433138231, + 293.2276629210873 + ], + [ + 701.743322851309, + 286.143622332237 + ], + [ + 684.1286072047075, + 285.48809768717 + ], + [ + 683.733513994534, + 292.5583559494203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13392155500690361596, + "instance_id": 64588, + "pixel_count": null, + "type_id": "AmericanLights_Town04_4_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": 85.601806640625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.9252946310771, + "ymin": 0.0, + "xmax": 802.101821328223, + "ymax": 97.39090311488678 + }, + "corners_3d": [ + [ + 18.817964553833008, + 79.57669067382812, + 0.0 + ], + [ + 18.385149002075195, + 79.57284545898438, + 0.0 + ], + [ + 18.27800941467285, + 91.62692260742188, + 0.0 + ], + [ + 18.710824966430664, + 91.63076782226562, + 0.0 + ], + [ + 18.817964553833008, + 79.57669067382812, + 8.446706771850586 + ], + [ + 18.385149002075195, + 79.57284545898438, + 8.446706771850586 + ], + [ + 18.27800941467285, + 91.62692260742188, + 8.446706771850586 + ], + [ + 18.710824966430664, + 91.63076782226562, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 776.9318624280932, + 97.13881842794797 + ], + [ + 785.2695086223446, + 97.39090311488678 + ], + [ + 776.9351353061304, + 19.80346703239951 + ], + [ + 769.9252946310771, + 19.625110693711576 + ], + [ + 792.7889565634973, + -75.42524494328336 + ], + [ + 802.101821328223, + -75.24340878015767 + ], + [ + 790.0394591085551, + -130.2010822298572 + ], + [ + 782.3528798791501, + -130.32512875624587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14156310929402703840, + "instance_id": 57391, + "pixel_count": null, + "type_id": "AmericanLights_Town04_3_Poles_4", + "bbox_3d": { + "center_world": { + "x": 34.398189544677734, + "y": 78.5479736328125, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 331.9113507209072, + "ymin": 0.0, + "xmax": 593.2088171729374, + "ymax": 102.21202254978698 + }, + "corners_3d": [ + [ + 40.42330551147461, + 78.81795501708984, + 0.0 + ], + [ + 40.42715072631836, + 78.38513946533203, + 0.0 + ], + [ + 28.373075485229492, + 78.27799224853516, + 0.0 + ], + [ + 28.36922836303711, + 78.71080780029297, + 0.0 + ], + [ + 40.42330551147461, + 78.81795501708984, + 8.446706771850586 + ], + [ + 40.42715072631836, + 78.38513946533203, + 8.446706771850586 + ], + [ + 28.373075485229492, + 78.27799224853516, + 8.446706771850586 + ], + [ + 28.36922836303711, + 78.71080780029297, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 366.2308858009939, + 91.89070651803388 + ], + [ + 363.75585138189945, + 95.15050315754434 + ], + [ + 592.2525389963298, + 102.21202254978698 + ], + [ + 593.2088171729374, + 98.85715078060787 + ], + [ + 334.90756372722996, + -79.20592950970774 + ], + [ + 331.9113507209072, + -76.85871367951506 + ], + [ + 586.6590409164612, + -71.76160115549987 + ], + [ + 587.7689716134157, + -74.18532944910163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193606379704581929, + "instance_id": 10623, + "pixel_count": null, + "type_id": "BP_Lamppost_tall28_65_SM_2", + "bbox_3d": { + "center_world": { + "x": 9.021740913391113, + "y": 51.449466705322266, + "z": 2.5428078174591064 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.0490926859588, + "ymin": 336.157781974348, + "xmax": 1280.0, + "ymax": 525.4747934432968 + }, + "corners_3d": [ + [ + 7.993313312530518, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 52.59981918334961, + 0.1999828815460205 + ], + [ + 10.050168991088867, + 50.29911422729492, + 0.1999828815460205 + ], + [ + 7.993313312530518, + 50.29911422729492, + 4.885632514953613 + ], + [ + 7.993313312530518, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 52.59981918334961, + 4.885632514953613 + ], + [ + 10.050168991088867, + 50.29911422729492, + 4.885632514953613 + ] + ], + "corners_2d": [ + [ + 1220.5438170570937, + 525.4747934432968 + ], + [ + 1188.6284679661885, + 466.8183552948796 + ], + [ + 1117.0490926859588, + 463.531678701931 + ], + [ + 1143.958902821943, + 521.7242111527756 + ], + [ + 1291.701152652442, + 395.32756297352296 + ], + [ + 1251.079744632181, + 339.2728673822527 + ], + [ + 1171.1207081995249, + 336.157781974348 + ], + [ + 1205.4455594527708, + 391.71703148931743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14420232755855440643, + "instance_id": 827, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.150760650634766, + "y": 49.70132827758789, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2378554859265, + "ymin": 277.65266429193764, + "xmax": 849.3095414029236, + "ymax": 528.3087602200064 + }, + "corners_3d": [ + [ + 19.234041213989258, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.92093276977539, + 0.1535632610321045 + ], + [ + 23.067480087280273, + 49.48172378540039, + 0.1535632610321045 + ], + [ + 19.234041213989258, + 49.48172378540039, + 7.907000541687012 + ], + [ + 19.234041213989258, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.92093276977539, + 7.907000541687012 + ], + [ + 23.067480087280273, + 49.48172378540039, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 811.4641709166854, + 528.3087602200064 + ], + [ + 810.3094822529532, + 516.4541951366855 + ], + [ + 672.8738447959199, + 509.6404529218147 + ], + [ + 672.2378554859265, + 521.3165022402216 + ], + [ + 849.3095414029236, + 294.57095413301573 + ], + [ + 847.3098974024996, + 283.81014109382664 + ], + [ + 679.9506424502365, + 277.65266429193764 + ], + [ + 679.2873962714849, + 288.2164334286664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15723868702788537010, + "instance_id": 45770, + "pixel_count": null, + "type_id": "BP_StreetLight_simple6_SM_0", + "bbox_3d": { + "center_world": { + "x": 22.760316848754883, + "y": 49.70124816894531, + "z": 7.689403533935547 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.5035714636341, + "ymin": 285.4258239683951, + "xmax": 701.8407925623943, + "ymax": 297.2019597503898 + }, + "corners_3d": [ + [ + 22.554428100585938, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.634754657745361 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.634754657745361 + ], + [ + 22.554428100585938, + 49.55337905883789, + 7.744052410125732 + ], + [ + 22.554428100585938, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.849117279052734, + 7.744052410125732 + ], + [ + 22.966205596923828, + 49.55337905883789, + 7.744052410125732 + ] + ], + "corners_2d": [ + [ + 701.4400771974717, + 297.2019597503898 + ], + [ + 701.6538390423248, + 290.02205155165655 + ], + [ + 683.9040925958138, + 289.3577146932196 + ], + [ + 683.5035714636341, + 296.5235463844954 + ], + [ + 701.6283529613796, + 293.24862947834134 + ], + [ + 701.8407925623943, + 286.0883239077026 + ], + [ + 684.03709311399, + 285.4258239683951 + ], + [ + 683.6367511193977, + 292.5720487324025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16047040052213436169, + "instance_id": 2511, + "pixel_count": null, + "type_id": "BP_StreetLight_doble10_38_SM_1", + "bbox_3d": { + "center_world": { + "x": 4.503626823425293, + "y": 68.40513610839844, + "z": 8.113173484802246 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.420008731874, + "ymin": 0.0, + "xmax": 1232.9716390533847, + "ymax": 46.3060775361393 + }, + "corners_3d": [ + [ + 4.357576847076416, + 71.13509368896484, + 8.067673683166504 + ], + [ + 4.649685859680176, + 71.13509368896484, + 8.067673683166504 + ], + [ + 4.64967679977417, + 65.67517852783203, + 8.067673683166504 + ], + [ + 4.35756778717041, + 65.67517852783203, + 8.067673683166504 + ], + [ + 4.357576847076416, + 71.13509368896484, + 8.158673286437988 + ], + [ + 4.649685859680176, + 71.13509368896484, + 8.158673286437988 + ], + [ + 4.64967679977417, + 65.67517852783203, + 8.158673286437988 + ], + [ + 4.35756778717041, + 65.67517852783203, + 8.158673286437988 + ] + ], + "corners_2d": [ + [ + 1174.0418737734608, + -3.358423435562486 + ], + [ + 1166.420008731874, + -3.516677891152426 + ], + [ + 1223.3539527318019, + 46.10467557048406 + ], + [ + 1231.9787658255532, + 46.3060775361393 + ], + [ + 1174.8356809294949, + -5.722789822361278 + ], + [ + 1167.20216665713, + -5.880312530366666 + ], + [ + 1224.331908885003, + 43.52097006722482 + ], + [ + 1232.9716390533847, + 43.721517135953206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17238339242736476974, + "instance_id": 12003, + "pixel_count": null, + "type_id": "BP_StreetLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": 40.0237922668457, + "y": 70.62604522705078, + "z": 4.029765605926514 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.00438183605536, + "ymin": 0.0, + "xmax": 364.6636464819512, + "ymax": 162.78837429409435 + }, + "corners_3d": [ + [ + 41.94050979614258, + 70.84565734863281, + 0.1530468463897705 + ], + [ + 41.940513610839844, + 70.40644836425781, + 0.1530468463897705 + ], + [ + 38.10707473754883, + 70.40643310546875, + 0.1530468463897705 + ], + [ + 38.10707092285156, + 70.84564208984375, + 0.1530468463897705 + ], + [ + 41.94050979614258, + 70.84565734863281, + 7.906484603881836 + ], + [ + 41.940513610839844, + 70.40644836425781, + 7.906484603881836 + ], + [ + 38.10707473754883, + 70.40643310546875, + 7.906484603881836 + ], + [ + 38.10707092285156, + 70.84564208984375, + 7.906484603881836 + ] + ], + "corners_2d": [ + [ + 283.2380375491539, + 155.95964483476237 + ], + [ + 279.80157447953195, + 160.24352008128858 + ], + [ + 361.8520922034915, + 162.78837429409435 + ], + [ + 364.6636464819512, + 158.46500357069522 + ], + [ + 240.23649200545935, + -16.563107868641566 + ], + [ + 236.00438183605536, + -13.274091574615227 + ], + [ + 327.8563306862991, + -11.317292436372895 + ], + [ + 331.3061082736941, + -14.640331547397409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7931758685438289917, + "instance_id": 64807, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4975_10", + "bbox_3d": { + "center_world": { + "x": 44.25172424316406, + "y": 58.79963302612305, + "z": 8.126054763793945 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 188.81282998289657, + "ymax": 336.5299943101694 + }, + "corners_3d": [ + [ + 42.45259475708008, + 56.29243469238281, + 0.5180595517158508 + ], + [ + 41.6895637512207, + 60.51958465576172, + 0.5180595517158508 + ], + [ + 45.899803161621094, + 61.279563903808594, + 0.47502389550209045 + ], + [ + 46.66283416748047, + 57.05241775512695, + 0.47502389550209045 + ], + [ + 42.60364532470703, + 56.3197021484375, + 15.777085304260254 + ], + [ + 41.840614318847656, + 60.54684829711914, + 15.777085304260254 + ], + [ + 46.05085372924805, + 61.30683135986328, + 15.734049797058105 + ], + [ + 46.81388473510742, + 57.079681396484375, + 15.734049797058105 + ] + ], + "corners_2d": [ + [ + 113.0307098404852, + 336.5299943101694 + ], + [ + 188.81282998289657, + 270.3190170458928 + ], + [ + 91.20324716152004, + 256.5779012839318 + ], + [ + 7.800719017061169, + 319.78108367365513 + ], + [ + -104.10992672854786, + -166.84410862392212 + ], + [ + 24.99288104103107, + -194.4020722652033 + ], + [ + -100.80963424073559, + -198.5371273713955 + ], + [ + -242.43311682127216, + -172.5004332612582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8713185647875448925, + "instance_id": 24032, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2227_1", + "bbox_3d": { + "center_world": { + "x": 12.966812133789062, + "y": 66.53024291992188, + "z": 5.896068572998047 + }, + "extent": { + "x": 4.218998432159424, + "y": 4.084116458892822, + "z": 6.247657299041748 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.8387984877116, + "ymin": 0.0, + "xmax": 1189.251851804178, + "ymax": 299.37030287424335 + }, + "corners_3d": [ + [ + 16.12398338317871, + 61.579261779785156, + -0.35158872604370117 + ], + [ + 8.120989799499512, + 63.213924407958984, + -0.35158872604370117 + ], + [ + 9.809640884399414, + 71.4812240600586, + -0.35158872604370117 + ], + [ + 17.812633514404297, + 69.8465576171875, + -0.35158872604370117 + ], + [ + 16.12398338317871, + 61.579261779785156, + 12.143726348876953 + ], + [ + 8.120989799499512, + 63.213924407958984, + 12.143726348876953 + ], + [ + 9.809640884399414, + 71.4812240600586, + 12.143726348876953 + ], + [ + 17.812633514404297, + 69.8465576171875, + 12.143726348876953 + ] + ], + "corners_2d": [ + [ + 869.7465914316022, + 299.37030287424335 + ], + [ + 1074.771856036376, + 283.2626540287701 + ], + [ + 984.043204115324, + 181.23671873741839 + ], + [ + 808.8387984877116, + 192.79627952244542 + ], + [ + 932.0787601274851, + -50.0539383914404 + ], + [ + 1189.251851804178, + -60.10228861359809 + ], + [ + 1057.9780288288198, + -120.92457828795222 + ], + [ + 846.0166936658104, + -114.26857439860947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11762159964561168764, + "instance_id": 31833, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2232_6", + "bbox_3d": { + "center_world": { + "x": 74.44013214111328, + "y": 95.7735366821289, + "z": 6.283101558685303 + }, + "extent": { + "x": 4.616544246673584, + "y": 4.4689531326293945, + "z": 6.836358547210693 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 43.59037917232422, + "ymax": 15.16828912782779 + }, + "corners_3d": [ + [ + 68.75005340576172, + 92.7890625, + -0.5532569885253906 + ], + [ + 71.27241516113281, + 101.3636703491211, + -0.5532569885253906 + ], + [ + 80.13021087646484, + 98.75801086425781, + -0.5532569885253906 + ], + [ + 77.60784912109375, + 90.18340301513672, + -0.5532569885253906 + ], + [ + 68.75005340576172, + 92.7890625, + 13.119460105895996 + ], + [ + 71.27241516113281, + 101.3636703491211, + 13.119460105895996 + ], + [ + 80.13021087646484, + 98.75801086425781, + 13.119460105895996 + ], + [ + 77.60784912109375, + 90.18340301513672, + 13.119460105895996 + ] + ], + "corners_2d": [ + [ + 8.404116414939494, + 5.066079585540024 + ], + [ + 43.59037917232422, + -33.59937233009845 + ], + [ + -95.86653593605445, + -25.394111198805888 + ], + [ + -147.4259494652788, + 15.16828912782779 + ], + [ + -88.18915456438583, + -236.91221488253257 + ], + [ + -37.50443282028357, + -253.99484426511492 + ], + [ + -198.54175959110148, + -250.41186114984419 + ], + [ + -271.40707899265067, + -232.36460527980557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12803988971268164567, + "instance_id": 55115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1815_1", + "bbox_3d": { + "center_world": { + "x": 13.631872177124023, + "y": 54.68069076538086, + "z": 5.65765380859375 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.0276528594422, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 523.238600795009 + }, + "corners_3d": [ + [ + 9.159534454345703, + 51.89651107788086, + -0.33000612258911133 + ], + [ + 10.720187187194824, + 59.071083068847656, + -0.33000612258911133 + ], + [ + 18.104209899902344, + 57.46487045288086, + -0.33000612258911133 + ], + [ + 16.543556213378906, + 50.29029846191406, + -0.33000612258911133 + ], + [ + 9.159534454345703, + 51.89651107788086, + 11.645313262939453 + ], + [ + 10.720187187194824, + 59.071083068847656, + 11.645313262939453 + ], + [ + 18.104209899902344, + 57.46487045288086, + 11.645313262939453 + ], + [ + 16.543556213378906, + 50.29029846191406, + 11.645313262939453 + ] + ], + "corners_2d": [ + [ + 1150.4549133615578, + 494.84625232785163 + ], + [ + 1033.512562375576, + 344.944128180871 + ], + [ + 826.0276528594422, + 364.4339978917022 + ], + [ + 903.0972037154851, + 523.238600795009 + ], + [ + 1332.351784466186, + 105.56077451595652 + ], + [ + 1143.3812801053307, + -1.9197701771922198 + ], + [ + 879.7394027605169, + 11.357949416666997 + ], + [ + 1000.9730714500026, + 127.39528708439383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12915751003867730075, + "instance_id": 39760, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2229_3", + "bbox_3d": { + "center_world": { + "x": 51.28858947753906, + "y": 99.43648529052734, + "z": 7.778855323791504 + }, + "extent": { + "x": 4.616544246673584, + "y": 4.4689531326293945, + "z": 8.463813781738281 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.99510568929628, + "ymin": 0.0, + "xmax": 368.7282163525885, + "ymax": 6.611159213022006 + }, + "corners_3d": [ + [ + 45.598514556884766, + 96.45201110839844, + -0.6849584579467773 + ], + [ + 48.12087631225586, + 105.02661895751953, + -0.6849584579467773 + ], + [ + 56.97866439819336, + 102.42095947265625, + -0.6849584579467773 + ], + [ + 54.456302642822266, + 93.84635162353516, + -0.6849584579467773 + ], + [ + 45.598514556884766, + 96.45201110839844, + 16.24266815185547 + ], + [ + 48.12087631225586, + 105.02661895751953, + 16.24266815185547 + ], + [ + 56.97866439819336, + 102.42095947265625, + 16.24266815185547 + ], + [ + 54.456302642822266, + 93.84635162353516, + 16.24266815185547 + ] + ], + "corners_2d": [ + [ + 368.7249362798836, + -3.014920341369873 + ], + [ + 368.7282163525885, + -39.979112953463186 + ], + [ + 239.98764804301243, + -32.11878128796957 + ], + [ + 226.08772427516266, + 6.611159213022006 + ], + [ + 317.10924398766844, + -305.6039396836146 + ], + [ + 322.86322118192106, + -315.10849273407894 + ], + [ + 170.57832689184573, + -313.1158229144853 + ], + [ + 144.99510568929628, + -303.0719663964675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15907555624041589655, + "instance_id": 38699, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_4968_3", + "bbox_3d": { + "center_world": { + "x": 50.92117691040039, + "y": 58.83260726928711, + "z": 8.154160499572754 + }, + "extent": { + "x": 2.1392481327056885, + "y": 2.147731065750122, + "z": 7.629899024963379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 17.92292112417283, + "ymax": 327.5725146189156 + }, + "corners_3d": [ + [ + 49.122047424316406, + 56.325408935546875, + 0.5461652874946594 + ], + [ + 48.35901641845703, + 60.55255889892578, + 0.5461652874946594 + ], + [ + 52.56925582885742, + 61.312538146972656, + 0.5031296610832214 + ], + [ + 53.3322868347168, + 57.085391998291016, + 0.5031296610832214 + ], + [ + 49.27309799194336, + 56.35267639160156, + 15.805191040039062 + ], + [ + 48.510066986083984, + 60.5798225402832, + 15.805191040039062 + ], + [ + 52.720306396484375, + 61.339805603027344, + 15.762155532836914 + ], + [ + 53.48333740234375, + 57.11265563964844, + 15.762155532836914 + ] + ], + "corners_2d": [ + [ + -73.95884018496258, + 327.5725146189156 + ], + [ + 17.92292112417283, + 262.82495176132204 + ], + [ + -74.86062012384866, + 249.38710588270555 + ], + [ + -173.41485999499662, + 311.2245500677922 + ], + [ + -361.5471381333414, + -171.68894346638046 + ], + [ + -202.928958395491, + -198.29125294284938 + ], + [ + -320.1886915461911, + -202.25480636672216 + ], + [ + -488.9898782834116, + -177.09572633712583 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00000/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fc210f1f5ab5e8ecbadab675b75750dee13b063 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00000/meta.json @@ -0,0 +1,1934 @@ +{ + "frame_id": 0, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 0.0, + "sim_timestamp": 11779.654524713987 + }, + "drone_pose": { + "x": -49.66593526124112, + "y": 73.28728356344556, + "z": 22.0, + "pitch": -46.86250294682965, + "yaw": -87.13759477388828, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03414499759674072, + 0.6828984022140503, + 0.7297149300575256, + 35.68988800048828 + ], + [ + -0.9987523555755615, + 0.049937665462493896, + 2.9802322387695312e-08, + 45.944175720214844 + ], + [ + -0.036440253257751465, + -0.7288044691085815, + 0.6837514638900757, + -70.26448059082031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.59826800739374, + "y": 71.66463549672466, + "z": 21.2 + }, + "t1_image_uv": [ + 54.645486401167204, + 12.08519875699676 + ], + "t1_depth": 1.6600412883328801 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.66718292236328, + "y": 53.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.250393730819113, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 165, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.66718292236328, + "y": 53.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31581783294677734, + "y": 0.2255004644393921, + "z": 0.5548633337020874 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.3583027160253, + "ymin": 338.2111385816549, + "xmax": 652.5921110869161, + "ymax": 381.5793339555885 + }, + "corners_3d": [ + [ + -49.04995346069336, + 53.376102447509766, + 0.10068696737289429 + ], + [ + -48.731048583984375, + 53.69500732421875, + 0.10068696737289429 + ], + [ + -48.2844123840332, + 53.24837112426758, + 0.10068696737289429 + ], + [ + -48.60331726074219, + 52.929466247558594, + 0.10068696737289429 + ], + [ + -49.04995346069336, + 53.376102447509766, + 1.2104136943817139 + ], + [ + -48.731048583984375, + 53.69500732421875, + 1.2104136943817139 + ], + [ + -48.2844123840332, + 53.24837112426758, + 1.2104136943817139 + ], + [ + -48.60331726074219, + 52.929466247558594, + 1.2104136943817139 + ] + ], + "corners_2d": [ + [ + 627.7041652143317, + 374.26713135446465 + ], + [ + 638.5409329818518, + 381.5793339555885 + ], + [ + 652.2489196825662, + 370.3035580298654 + ], + [ + 641.4333593382969, + 363.147599359688 + ], + [ + 627.3583027160253, + 349.36604308165306 + ], + [ + 638.4995946432085, + 356.7051684232037 + ], + [ + 652.5921110869161, + 345.3890908038804 + ], + [ + 641.4732339031808, + 338.2111385816549 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 0, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 331567, + "2": 446710, + "3": 101839, + "6": 4353, + "9": 13684, + "10": 707, + "12": 1566, + "14": 6251, + "20": 8489, + "24": 6434 + }, + "instance_pixel_counts": { + "2189": 10899, + "4960": 69809, + "6215": 44973, + "7314": 2488, + "7751": 97538, + "7776": 65187, + "7826": 12088, + "9362": 5865, + "9874": 25434, + "17558": 10434, + "18512": 3255, + "21890": 1495, + "22676": 11701, + "23188": 51746, + "24724": 9111, + "25236": 39704, + "28755": 1420, + "28802": 1438, + "30809": 17517, + "32914": 31722, + "35986": 59769, + "36500": 272, + "36698": 18114, + "37012": 1351, + "38548": 92, + "39060": 373, + "39564": 908, + "39770": 13523, + "40076": 4207, + "40538": 51297, + "41612": 1021, + "42074": 1388, + "42124": 4368, + "48274": 127930, + "50322": 91375, + "53908": 3350, + "55444": 996, + "56576": 165, + "56832": 191, + "57088": 477, + "57173": 18918, + "57344": 372, + "57600": 361, + "60672": 6251 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 165, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.66718292236328, + "y": 53.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22501951456069946, + "y": 0.22606931626796722, + "z": 0.5559741258621216 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.392339404001, + "ymin": 339.7648393814889, + "xmax": 650.6000264742033, + "ymax": 379.9768374561145 + }, + "corners_3d": [ + [ + -48.98615264892578, + 53.311492919921875, + 0.09957617521286011 + ], + [ + -48.666439056396484, + 53.63120651245117, + 0.09957617521286011 + ], + [ + -48.34821319580078, + 53.31298065185547, + 0.09957617521286011 + ], + [ + -48.66792678833008, + 52.99326705932617, + 0.09957617521286011 + ], + [ + -48.98615264892578, + 53.311492919921875, + 1.211524486541748 + ], + [ + -48.666439056396484, + 53.63120651245117, + 1.211524486541748 + ], + [ + -48.34821319580078, + 53.31298065185547, + 1.211524486541748 + ], + [ + -48.66792678833008, + 52.99326705932617, + 1.211524486541748 + ] + ], + "corners_2d": [ + [ + 629.682671840887, + 372.66895302322035 + ], + [ + 640.5436681477088, + 379.9768374561145 + ], + [ + 650.3101060691091, + 371.9429152376545 + ], + [ + 639.4642591824814, + 364.7466293791226 + ], + [ + 629.392339404001, + 347.7124047469147 + ], + [ + 640.5590779663528, + 355.04660311604624 + ], + [ + 650.6000264742033, + 346.9839114932726 + ], + [ + 639.4493016564387, + 339.7648393814889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 191, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.541194915771484, + "y": 56.309940338134766, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2456982433795929, + "y": 0.26151609420776367, + "z": 0.5281513333320618 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 775.8256986721573, + "ymin": 410.08114134380867, + "xmax": 804.3926843959575, + "ymax": 452.5376933569831 + }, + "corners_3d": [ + [ + -44.89718246459961, + 56.35499954223633, + 0.12739408016204834 + ], + [ + -44.47404098510742, + 56.66242980957031, + 0.12739408016204834 + ], + [ + -44.18520736694336, + 56.2648811340332, + 0.12739408016204834 + ], + [ + -44.60834884643555, + 55.95745086669922, + 0.12739408016204834 + ], + [ + -44.89718246459961, + 56.35499954223633, + 1.1836967468261719 + ], + [ + -44.47404098510742, + 56.66242980957031, + 1.1836967468261719 + ], + [ + -44.18520736694336, + 56.2648811340332, + 1.1836967468261719 + ], + [ + -44.60834884643555, + 55.95745086669922, + 1.1836967468261719 + ] + ], + "corners_2d": [ + [ + 775.8256986721573, + 444.65004344810666 + ], + [ + 792.0855086808176, + 452.5376933569831 + ], + [ + 799.8301150253023, + 441.22126453212775 + ], + [ + 783.6797381163232, + 433.49206306974645 + ], + [ + 779.7153964512869, + 421.31394625588655 + ], + [ + 796.4727106953901, + 429.2583955119719 + ], + [ + 804.3926843959575, + 417.86148545842644 + ], + [ + 787.7517907087381, + 410.08114134380867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 477, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.92300796508789, + "y": 60.25494384765625, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.33876463770866394, + "y": 0.3752075135707855, + "z": 0.887035608291626 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 542.6090415640994, + "ymin": 525.9655674976777, + "xmax": 586.3923531376597, + "ymax": 597.2318139064705 + }, + "corners_3d": [ + [ + -51.42852020263672, + 60.25563049316406, + -0.2314804196357727 + ], + [ + -50.870853424072266, + 60.75775909423828, + -0.2314804196357727 + ], + [ + -50.41749572753906, + 60.25425720214844, + -0.2314804196357727 + ], + [ + -50.975162506103516, + 59.75212860107422, + -0.2314804196357727 + ], + [ + -51.42852020263672, + 60.25563049316406, + 1.542590856552124 + ], + [ + -50.870853424072266, + 60.75775909423828, + 1.542590856552124 + ], + [ + -50.41749572753906, + 60.25425720214844, + 1.542590856552124 + ], + [ + -50.975162506103516, + 59.75212860107422, + 1.542590856552124 + ] + ], + "corners_2d": [ + [ + 547.6397768466184, + 580.9266105904844 + ], + [ + 569.0180056287168, + 597.2318139064705 + ], + [ + 586.3923531376597, + 579.1669339600746 + ], + [ + 565.0949532123526, + 563.3223448908574 + ], + [ + 542.6090415640994, + 543.963940979316 + ], + [ + 565.0983018175538, + 560.6589092779104 + ], + [ + 583.4767676602277, + 542.1636238018789 + ], + [ + 561.0757413794715, + 525.9655674976777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 372, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -58.16718292236328, + "y": 53.31223678588867, + "z": 0.80767422914505 + }, + "extent": { + "x": 0.33241209387779236, + "y": 0.34700682759284973, + "z": 0.8921388983726501 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 300.30630575505336, + "ymin": 335.79412236312703, + "xmax": 346.45009528002754, + "ymax": 399.62751528308183 + }, + "corners_3d": [ + [ + -58.64640426635742, + 53.27678680419922, + -0.0844646692276001 + ], + [ + -58.18202209472656, + 53.79254150390625, + -0.0844646692276001 + ], + [ + -57.68796157836914, + 53.347686767578125, + -0.0844646692276001 + ], + [ + -58.15234375, + 52.831932067871094, + -0.0844646692276001 + ], + [ + -58.64640426635742, + 53.27678680419922, + 1.6998131275177002 + ], + [ + -58.18202209472656, + 53.79254150390625, + 1.6998131275177002 + ], + [ + -57.68796157836914, + 53.347686767578125, + 1.6998131275177002 + ], + [ + -58.15234375, + 52.831932067871094, + 1.6998131275177002 + ] + ], + "corners_2d": [ + [ + 315.31234734786347, + 387.483451753805 + ], + [ + 327.69386968347237, + 399.62751528308183 + ], + [ + 346.45009528002754, + 388.04383103881503 + ], + [ + 333.99008779426845, + 376.1612353952286 + ], + [ + 300.30630575505336, + 347.1801456181199 + ], + [ + 313.0856513926237, + 359.4052443457642 + ], + [ + 332.87558150461433, + 347.74397713382217 + ], + [ + 320.0064385856434, + 335.79412236312703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 361, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -37.42184829711914, + "y": 45.14202117919922, + "z": 0.7865317463874817 + }, + "extent": { + "x": 0.34153684973716736, + "y": 0.3584863245487213, + "z": 0.9318064451217651 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 916.7422252628014, + "ymin": 154.3106013186591, + "xmax": 955.8002095964102, + "ymax": 212.27695169038907 + }, + "corners_3d": [ + [ + -37.908870697021484, + 45.05274963378906, + -0.14527469873428345 + ], + [ + -37.48744583129883, + 45.63279342651367, + -0.14527469873428345 + ], + [ + -36.9348258972168, + 45.231292724609375, + -0.14527469873428345 + ], + [ + -37.35625076293945, + 44.651248931884766, + -0.14527469873428345 + ], + [ + -37.908870697021484, + 45.05274963378906, + 1.7183382511138916 + ], + [ + -37.48744583129883, + 45.63279342651367, + 1.7183382511138916 + ], + [ + -36.9348258972168, + 45.231292724609375, + 1.7183382511138916 + ], + [ + -37.35625076293945, + 44.651248931884766, + 1.7183382511138916 + ] + ], + "corners_2d": [ + [ + 916.7422252628014, + 202.93894808065437 + ], + [ + 931.9000683912209, + 212.27695169038907 + ], + [ + 943.7886669573086, + 205.09024612305896 + ], + [ + 928.6281650489693, + 195.90388964228603 + ], + [ + 927.6562383507646, + 161.26962045187392 + ], + [ + 943.5407302940432, + 170.51357171735668 + ], + [ + 955.8002095964102, + 163.39855475412 + ], + [ + 939.915007306875, + 154.3106013186591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 6251, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 538.2098194387241, + "ymin": 304.76830576040345, + "xmax": 606.315111946103, + "ymax": 441.91105411216074 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 603.896244938225, + 341.54531994111977 + ], + [ + 545.7818041775744, + 343.34950259333294 + ], + [ + 542.5224004439419, + 441.91105411216074 + ], + [ + 606.315111946103, + 439.737104127302 + ], + [ + 602.4494567763088, + 304.76830576040345 + ], + [ + 541.9996257897419, + 306.57642110833 + ], + [ + 538.2098194387241, + 405.74273077972754 + ], + [ + 604.8275346228423, + 403.54709064700967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.987339875724, + "ymin": 34.28190333749848, + "xmax": 1005.520342265976, + "ymax": 250.3958689978163 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 943.9727981085105, + 246.83145251652624 + ], + [ + 940.6621979513027, + 238.7681751676125 + ], + [ + 832.987339875724, + 242.26967734516265 + ], + [ + 835.3459747325783, + 250.3958689978163 + ], + [ + 1005.520342265976, + 41.78288483851833 + ], + [ + 1000.892913700083, + 34.28190333749848 + ], + [ + 871.8279111566355, + 37.5359289625934 + ], + [ + 875.0852346245938, + 45.10730799339376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.2180836193576, + "ymin": 43.52071376964392, + "xmax": 890.8852100930355, + "ymax": 52.33194238708097 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 890.1801373124276, + 51.97679121738713 + ], + [ + 887.9162132522192, + 46.913969896391336 + ], + [ + 874.2180836193576, + 47.2641186158844 + ], + [ + 876.3856025358131, + 52.33194238708097 + ], + [ + 890.8852100930355, + 48.573588210421406 + ], + [ + 888.6099549694093, + 43.52071376964392 + ], + [ + 874.873817455519, + 43.870168077415826 + ], + [ + 877.0521298680808, + 48.92804917137801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3903144511618673790, + "instance_id": 32492, + "pixel_count": null, + "type_id": "BP_StreetLight_simple21_50_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 65.59422302246094, + "z": 4.084104061126709 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 617.4264695351742, + "xmax": 258.4942520303262, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 65.37461853027344, + 0.20738530158996582 + ], + [ + -61.47300338745117, + 65.81382751464844, + 0.20738530158996582 + ], + [ + -57.63956832885742, + 65.81382751464844, + 0.20738530158996582 + ], + [ + -57.63956832885742, + 65.37461853027344, + 0.20738530158996582 + ], + [ + -61.47300338745117, + 65.37461853027344, + 7.960823059082031 + ], + [ + -61.47300338745117, + 65.81382751464844, + 7.960823059082031 + ], + [ + -57.63956832885742, + 65.81382751464844, + 7.960823059082031 + ], + [ + -57.63956832885742, + 65.37461853027344, + 7.960823059082031 + ] + ], + "corners_2d": [ + [ + 80.26722947482358, + 799.253807224355 + ], + [ + 73.14065550743089, + 820.5635333461032 + ], + [ + 253.99090628442104, + 811.1881027097644 + ], + [ + 258.4942520303262, + 790.1446780377398 + ], + [ + -127.46365942966872, + 628.4332800726008 + ], + [ + -141.4571535199193, + 654.3820707142584 + ], + [ + 109.12692521617373, + 642.9309878833461 + ], + [ + 118.11318841737909, + 617.4264695351742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.4772416493389, + "ymin": 18.287074703412713, + "xmax": 329.77412549182293, + "ymax": 26.767685062769146 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 316.1357180264645, + 21.997499736171335 + ], + [ + 314.3732033302255, + 26.767685062769146 + ], + [ + 328.1071801138095, + 26.4334488446799 + ], + [ + 329.77412549182293, + 21.66785916351023 + ], + [ + 315.2507716439784, + 18.615987491595263 + ], + [ + 313.4772416493389, + 23.37573775717118 + ], + [ + 327.2494235087637, + 23.04222681216595 + ], + [ + 328.9268536485155, + 18.287074703412713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9180452569440971693, + "instance_id": 44523, + "pixel_count": null, + "type_id": "BP_StreetLight_simple21_50_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 65.59414672851562, + "z": 7.74321985244751 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 82.03040100706778, + "ymin": 626.8339366720713, + "xmax": 116.81342609319074, + "ymax": 648.1258699389398 + }, + "corners_3d": [ + [ + -58.15041732788086, + 65.4478530883789, + 7.689152240753174 + ], + [ + -58.15041732788086, + 65.74044036865234, + 7.689152240753174 + ], + [ + -57.7430305480957, + 65.74044036865234, + 7.689152240753174 + ], + [ + -57.7430305480957, + 65.4478530883789, + 7.689152240753174 + ], + [ + -58.15041732788086, + 65.4478530883789, + 7.797287464141846 + ], + [ + -58.15041732788086, + 65.74044036865234, + 7.797287464141846 + ], + [ + -57.7430305480957, + 65.74044036865234, + 7.797287464141846 + ], + [ + -57.7430305480957, + 65.4478530883789, + 7.797287464141846 + ] + ], + "corners_2d": [ + [ + 91.15473023814127, + 631.2119216488163 + ], + [ + 84.90677081171373, + 648.1258699389398 + ], + [ + 110.90576976402235, + 646.9340672418533 + ], + [ + 116.81342609319074, + 630.0506208480213 + ], + [ + 88.34756898500484, + 627.9982768705706 + ], + [ + 82.03040100706778, + 644.9577029630984 + ], + [ + 108.16662310808158, + 643.762621610271 + ], + [ + 114.13991107734694, + 626.8339366720713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.4903026424899, + "ymin": 11.993596354746273, + "xmax": 381.607679860099, + "ymax": 225.88054238613 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 274.59613432328297, + 218.17585932122077 + ], + [ + 272.01947112352156, + 225.88054238613 + ], + [ + 379.9712944964845, + 222.5017242835734 + ], + [ + 381.607679860099, + 214.85515249313124 + ], + [ + 203.31958411722826, + 15.046586933392803 + ], + [ + 199.4903026424899, + 22.147404232819667 + ], + [ + 328.9521327628636, + 19.03042629323585 + ], + [ + 331.43148919866013, + 11.993596354746273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10292302821757355357, + "instance_id": 23813, + "pixel_count": null, + "type_id": "BP_StreetLight_simple21_50_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 65.59414672851562, + "z": 7.743225574493408 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.83921212475991, + "ymin": 626.7203821211511, + "xmax": 116.99667737003824, + "ymax": 648.2411253056234 + }, + "corners_3d": [ + [ + -58.15261459350586, + 65.44628143310547, + 7.688576698303223 + ], + [ + -58.15261459350586, + 65.74201202392578, + 7.688576698303223 + ], + [ + -57.740840911865234, + 65.74201202392578, + 7.688576698303223 + ], + [ + -57.740840911865234, + 65.44628143310547, + 7.688576698303223 + ], + [ + -58.15261459350586, + 65.44628143310547, + 7.797874450683594 + ], + [ + -58.15261459350586, + 65.74201202392578, + 7.797874450683594 + ], + [ + -57.740840911865234, + 65.74201202392578, + 7.797874450683594 + ], + [ + -57.740840911865234, + 65.44628143310547, + 7.797874450683594 + ] + ], + "corners_2d": [ + [ + 91.06421646987792, + 631.1455303556571 + ], + [ + 84.74763948332054, + 648.2411253056234 + ], + [ + 111.02774434144203, + 647.0363375409502 + ], + [ + 116.99667737003824, + 629.9719029225528 + ], + [ + 88.22651318119438, + 627.8971134379336 + ], + [ + 81.83921212475991, + 645.0391704587219 + ], + [ + 108.25952906449868, + 643.8310317488008 + ], + [ + 114.29549259551129, + 626.7203821211511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.1296127166884, + "ymin": 43.47335681274609, + "xmax": 890.9759596221325, + "ymax": 52.379413707597394 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 890.263034298678, + 52.020410297007516 + ], + [ + 887.9743942156507, + 46.903035790367824 + ], + [ + 874.1296127166884, + 47.25692849492742 + ], + [ + 876.319763820906, + 52.379413707597394 + ], + [ + 890.9759596221325, + 48.580569194818565 + ], + [ + 888.6757407135724, + 43.47335681274609 + ], + [ + 874.7921323176311, + 43.82654006583755 + ], + [ + 876.9933071393639, + 48.93886749406528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.5650781074069, + "ymin": 18.332247764967462, + "xmax": 329.6883427272226, + "ymax": 26.722562877641735 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 316.19453734916726, + 22.00327996195847 + ], + [ + 314.4512493672183, + 26.722562877641735 + ], + [ + 328.03860121887413, + 26.391915664339194 + ], + [ + 329.6883427272226, + 21.67713100318997 + ], + [ + 315.31914532801204, + 18.65768436446092 + ], + [ + 313.5650781074069, + 23.36675320289669 + ], + [ + 327.18982317541975, + 23.036815916846706 + ], + [ + 328.84983015408426, + 18.332247764967462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17064443677538505728, + "instance_id": 212, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2228_2", + "bbox_3d": { + "center_world": { + "x": -78.11064910888672, + "y": 44.74112319946289, + "z": 10.142723083496094 + }, + "extent": { + "x": 6.170944690704346, + "y": 6.574845314025879, + "z": 10.822158813476562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 12.362723773340804, + "ymax": 422.6590959301569 + }, + "corners_3d": [ + [ + -70.05914306640625, + 48.80098342895508, + -0.6794357299804688 + ], + [ + -74.56871032714844, + 36.448726654052734, + -0.6794357299804688 + ], + [ + -86.16215515136719, + 40.6812629699707, + -0.6794357299804688 + ], + [ + -81.652587890625, + 53.03351974487305, + -0.6794357299804688 + ], + [ + -70.05914306640625, + 48.80098342895508, + 20.964881896972656 + ], + [ + -74.56871032714844, + 36.448726654052734, + 20.964881896972656 + ], + [ + -86.16215515136719, + 40.6812629699707, + 20.964881896972656 + ], + [ + -81.652587890625, + 53.03351974487305, + 20.964881896972656 + ] + ], + "corners_2d": [ + [ + 3.713818001700133, + 312.97982024654954 + ], + [ + 12.362723773340804, + 114.84255630408882 + ], + [ + -333.0058815604932, + 183.01468934117952 + ], + [ + -440.27824148982336, + 422.6590959301569 + ], + [ + -595.1668538571953, + -577.9264817981514 + ], + [ + -383.17657908988895, + -606.5444514446903 + ], + [ + -1038.736398393648, + -597.7931338598925 + ], + [ + -1704.6607536263336, + -556.835356357644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00002/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..836ca5ea8802d6656f1f8400d1ef75def7013c98 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00002/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 2, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 1.0, + "sim_timestamp": 11804.353237875039 + }, + "drone_pose": { + "x": -50.9783398451773, + "y": 70.64902976349445, + "z": 20.671873386176937, + "pitch": -47.175803038397696, + "yaw": -81.2840226613373, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10300713777542114, + 0.6719011068344116, + 0.7334428429603577, + 37.558658599853516 + ], + [ + -0.9884516000747681, + 0.15153658390045166, + 0.0, + 39.6837158203125 + ], + [ + -0.11114341020584106, + -0.7249727845191956, + 0.6797510981559753, + -70.9362564086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.08295619066873, + "y": 69.94235873192955, + "z": 20.643287509910976 + }, + "t1_image_uv": [ + 223.3533608619599, + -592.5885661400822 + ], + "t1_depth": 0.48500293930604643 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 52.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.290910029256025, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 52.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26622068881988525, + "y": 0.24083250761032104, + "z": 0.5486851930618286 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.1171162345221, + "ymin": 338.99653726449014, + "xmax": 649.9967906405207, + "ymax": 380.69975391933775 + }, + "corners_3d": [ + [ + -48.408016204833984, + 52.57845687866211, + 0.10686510801315308 + ], + [ + -47.92634963989258, + 52.57845687866211, + 0.10686510801315308 + ], + [ + -47.92634963989258, + 52.046016693115234, + 0.10686510801315308 + ], + [ + -48.408016204833984, + 52.046016693115234, + 0.10686510801315308 + ], + [ + -48.408016204833984, + 52.57845687866211, + 1.204235553741455 + ], + [ + -47.92634963989258, + 52.57845687866211, + 1.204235553741455 + ], + [ + -47.92634963989258, + 52.046016693115234, + 1.204235553741455 + ], + [ + -48.408016204833984, + 52.046016693115234, + 1.204235553741455 + ] + ], + "corners_2d": [ + [ + 633.0955267894329, + 380.69975391933775 + ], + [ + 649.7046259912906, + 378.7963018091013 + ], + [ + 646.8036516349102, + 365.2719614352595 + ], + [ + 630.4027558872307, + 367.1268644759078 + ], + [ + 632.8872762441002, + 354.4885451460445 + ], + [ + 649.9967906405207, + 352.57643233396266 + ], + [ + 647.0057756662434, + 338.99653726449014 + ], + [ + 630.1171162345221, + 340.85843955756894 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 2, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 356876, + "2": 435480, + "3": 87316, + "6": 3519, + "9": 12858, + "10": 774, + "12": 1991, + "14": 7832, + "20": 7971, + "24": 6983 + }, + "instance_pixel_counts": { + "2189": 11942, + "4960": 66270, + "6215": 46700, + "7314": 2078, + "7751": 94556, + "7776": 44839, + "7826": 13649, + "9362": 7671, + "9874": 32487, + "17558": 10210, + "18512": 3546, + "22676": 11713, + "23188": 60706, + "24724": 10701, + "25236": 48872, + "28755": 1862, + "28802": 1657, + "30809": 7240, + "31833": 115, + "32914": 34297, + "35986": 58360, + "36500": 249, + "36698": 10630, + "37012": 1561, + "38548": 109, + "39060": 467, + "39564": 809, + "39770": 12700, + "40076": 4892, + "40538": 55712, + "41612": 1266, + "42074": 919, + "42124": 5454, + "48274": 134132, + "50322": 90752, + "53908": 3696, + "55444": 901, + "56576": 196, + "56832": 227, + "57088": 675, + "57173": 17283, + "57344": 503, + "57600": 390, + "60672": 7832 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 196, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 52.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26094481348991394, + "y": 0.2845483422279358, + "z": 0.5633537173271179 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.6035770406554, + "ymin": 338.59884017448576, + "xmax": 651.520925677119, + "ymax": 381.0765583175934 + }, + "corners_3d": [ + [ + -48.45173263549805, + 52.57318115234375, + 0.09219658374786377 + ], + [ + -47.882633209228516, + 52.57318115234375, + 0.09219658374786377 + ], + [ + -47.882633209228516, + 52.051292419433594, + 0.09219658374786377 + ], + [ + -48.45173263549805, + 52.051292419433594, + 0.09219658374786377 + ], + [ + -48.45173263549805, + 52.57318115234375, + 1.2189040184020996 + ], + [ + -47.882633209228516, + 52.57318115234375, + 1.2189040184020996 + ], + [ + -47.882633209228516, + 52.051292419433594, + 1.2189040184020996 + ], + [ + -48.45173263549805, + 52.051292419433594, + 1.2189040184020996 + ] + ], + "corners_2d": [ + [ + 631.561571599594, + 381.0765583175934 + ], + [ + 651.1754512784248, + 378.8283218547837 + ], + [ + 648.3146796759238, + 365.577158563913 + ], + [ + 628.9417345189254, + 367.76919557420234 + ], + [ + 631.3001353520174, + 354.16447405282565 + ], + [ + 651.520925677119, + 351.90575314663545 + ], + [ + 648.568389003036, + 338.59884017448576 + ], + [ + 628.6035770406554, + 340.79938609041767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 227, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 55.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2191772609949112, + "y": 0.2991064786911011, + "z": 0.5280141830444336 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 793.3773486236577, + "ymin": 402.731676645691, + "xmax": 825.8115940226728, + "ymax": 445.0578381915933 + }, + "corners_3d": [ + [ + -44.30233383178711, + 55.57320785522461, + 0.1275361180305481 + ], + [ + -43.711483001708984, + 55.47962951660156, + 0.1275361180305481 + ], + [ + -43.78005599975586, + 55.04667282104492, + 0.1275361180305481 + ], + [ + -44.370906829833984, + 55.14025115966797, + 0.1275361180305481 + ], + [ + -44.30233383178711, + 55.57320785522461, + 1.1835644245147705 + ], + [ + -43.711483001708984, + 55.47962951660156, + 1.1835644245147705 + ], + [ + -43.78005599975586, + 55.04667282104492, + 1.1835644245147705 + ], + [ + -44.370906829833984, + 55.14025115966797, + 1.1835644245147705 + ] + ], + "corners_2d": [ + [ + 800.0061833320583, + 445.0578381915933 + ], + [ + 820.2782016959217, + 439.72524496858006 + ], + [ + 813.4617192043611, + 427.6824387903917 + ], + [ + 793.3773486236577, + 432.9002496020968 + ], + [ + 804.941554460484, + 420.23803628718264 + ], + [ + 825.8115940226728, + 414.8634704725176 + ], + [ + 818.7266680370084, + 402.731676645691 + ], + [ + 798.0553757419481, + 407.9870564343311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 675, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 59.25494384765625, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3638598620891571, + "y": 0.5752514600753784, + "z": 0.9090783596038818 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 560.407548706232, + "ymin": 548.0530134453487, + "xmax": 617.3371806393284, + "ymax": 623.8194568121947 + }, + "corners_3d": [ + [ + -50.97842788696289, + 59.64841079711914, + -0.25352317094802856 + ], + [ + -49.82950210571289, + 59.588199615478516, + -0.25352317094802856 + ], + [ + -49.86758804321289, + 58.86147689819336, + -0.25352317094802856 + ], + [ + -51.01651382446289, + 58.921688079833984, + -0.25352317094802856 + ], + [ + -50.97842788696289, + 59.64841079711914, + 1.5646336078643799 + ], + [ + -49.82950210571289, + 59.588199615478516, + 1.5646336078643799 + ], + [ + -49.86758804321289, + 58.86147689819336, + 1.5646336078643799 + ], + [ + -51.01651382446289, + 58.921688079833984, + 1.5646336078643799 + ] + ], + "corners_2d": [ + [ + 569.6184727674053, + 623.8194568121947 + ], + [ + 617.3371806393284, + 614.8059563009258 + ], + [ + 611.739590601434, + 588.0703027982258 + ], + [ + 564.9778646772265, + 596.7129890641675 + ], + [ + 565.2338402277003, + 584.8268737715377 + ], + [ + 615.9357281520813, + 575.543134818337 + ], + [ + 610.030378519552, + 548.0530134453487 + ], + [ + 560.407548706232, + 556.931895209315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 503, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 52.31223678588867, + "z": 0.80779629945755 + }, + "extent": { + "x": 0.2999853491783142, + "y": 0.4813207983970642, + "z": 0.8811700940132141 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 266.92828950145116, + "ymin": 363.69663723746606, + "xmax": 323.05709687646214, + "ymax": 425.1305009591991 + }, + "corners_3d": [ + [ + -58.163543701171875, + 52.58662033081055, + -0.07337379455566406 + ], + [ + -57.20222091674805, + 52.637001037597656, + -0.07337379455566406 + ], + [ + -57.17082214355469, + 52.0378532409668, + -0.07337379455566406 + ], + [ + -58.132144927978516, + 51.98747253417969, + -0.07337379455566406 + ], + [ + -58.163543701171875, + 52.58662033081055, + 1.6889663934707642 + ], + [ + -57.20222091674805, + 52.637001037597656, + 1.6889663934707642 + ], + [ + -57.17082214355469, + 52.0378532409668, + 1.6889663934707642 + ], + [ + -58.132144927978516, + 51.98747253417969, + 1.6889663934707642 + ] + ], + "corners_2d": [ + [ + 285.0491712031922, + 425.1305009591991 + ], + [ + 320.38622661828475, + 422.4408126828366 + ], + [ + 323.05709687646214, + 405.984400281441 + ], + [ + 288.2572504719361, + 408.5939923269989 + ], + [ + 266.92828950145116, + 383.0335568371537 + ], + [ + 304.1112581292414, + 380.31498920970984 + ], + [ + 307.17207683822335, + 363.69663723746606 + ], + [ + 270.5834169260594, + 366.33021824904847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 390, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 44.14202117919922, + "z": 0.7875034213066101 + }, + "extent": { + "x": 0.3778344690799713, + "y": 0.44667235016822815, + "z": 0.9354987740516663 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 900.3102210071069, + "ymin": 125.06207803355346, + "xmax": 941.2163080374281, + "ymax": 182.17161182418607 + }, + "corners_3d": [ + [ + -37.42212677001953, + 44.44532775878906, + -0.14799535274505615 + ], + [ + -36.5397834777832, + 44.585079193115234, + -0.14799535274505615 + ], + [ + -36.42156982421875, + 43.838714599609375, + -0.14799535274505615 + ], + [ + -37.30391311645508, + 43.6989631652832, + -0.14799535274505615 + ], + [ + -37.42212677001953, + 44.44532775878906, + 1.7230021953582764 + ], + [ + -36.5397834777832, + 44.585079193115234, + 1.7230021953582764 + ], + [ + -36.42156982421875, + 43.838714599609375, + 1.7230021953582764 + ], + [ + -37.30391311645508, + 43.6989631652832, + 1.7230021953582764 + ] + ], + "corners_2d": [ + [ + 904.1066297175171, + 182.0962198317648 + ], + [ + 929.1546859818365, + 182.17161182418607 + ], + [ + 924.9880553785055, + 169.50124041774632 + ], + [ + 900.3102210071069, + 169.4280585679051 + ], + [ + 915.1224040289885, + 137.5659597037623 + ], + [ + 941.2163080374281, + 137.6404201231696 + ], + [ + 936.6931114173249, + 125.13426666450431 + ], + [ + 911.0007431310553, + 125.06207803355346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 7832, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 514.6179174540482, + "ymin": 330.3585635130634, + "xmax": 599.9342639093921, + "ymax": 489.26530252505074 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 583.8705525460505, + 369.492586737852 + ], + [ + 519.9906747339919, + 376.3813643525623 + ], + [ + 529.3184167779109, + 489.26530252505074 + ], + [ + 599.9342639093921, + 480.8250442061686 + ], + [ + 581.374690252144, + 330.3585635130634 + ], + [ + 514.6179174540482, + 337.28641738507883 + ], + [ + 523.8051223672142, + 451.3895220040621 + ], + [ + 597.9533056538322, + 442.82011395192893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.2996214549069, + "ymin": 9.760222311127166, + "xmax": 997.0617718238403, + "ymax": 250.7862042286979 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 932.8314734620159, + 239.21171655395284 + ], + [ + 928.1206310426745, + 230.74886803954197 + ], + [ + 816.2996214549069, + 242.10892082633887 + ], + [ + 820.0130048209141, + 250.7862042286979 + ], + [ + 997.0617718238403, + 17.56392769325214 + ], + [ + 990.6063987335644, + 9.760222311127166 + ], + [ + 855.1189639223383, + 20.242758297604325 + ], + [ + 860.1081416805066, + 28.288323146447908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.9780582767861, + "ymin": 25.83670962358258, + "xmax": 876.6220218725341, + "ymax": 36.09060447583289 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 875.8955408325388, + 34.93410886103976 + ], + [ + 872.4784897706743, + 29.56592685678089 + ], + [ + 857.9780582767861, + 30.705005082394223 + ], + [ + 861.2901386761521, + 36.09060447583289 + ], + [ + 876.6220218725341, + 31.19295641182231 + ], + [ + 873.1890234617679, + 25.83670962358258 + ], + [ + 858.6453528010493, + 26.973234481427824 + ], + [ + 861.9727521642542, + 32.34691338303452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.70739130739832, + "ymin": 29.436920328138683, + "xmax": 249.23842021918523, + "ymax": 39.89312486442407 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 233.46197534892087, + 34.38455987325898 + ], + [ + 231.98809542812342, + 39.89312486442407 + ], + [ + 247.8891398085587, + 38.710114995534354 + ], + [ + 249.23842021918523, + 33.2196752394355 + ], + [ + 232.1957495292861, + 30.599199182695315 + ], + [ + 230.70739130739832, + 36.0956026940853 + ], + [ + 246.6603880455213, + 34.91518221112841 + ], + [ + 248.0233350520577, + 29.436920328138683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.90431077046344, + "ymin": 22.16004303219887, + "xmax": 320.96680723506137, + "ymax": 265.1095025306252 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 199.60375004312192, + 256.1553773528371 + ], + [ + 197.45276401914373, + 265.1095025306252 + ], + [ + 319.9943311010828, + 253.16668419689125 + ], + [ + 320.96680723506137, + 244.4373620705154 + ], + [ + 100.71001457936381, + 33.043520716267494 + ], + [ + 96.90431077046344, + 41.401460307862635 + ], + [ + 248.41703695344268, + 30.261843144870113 + ], + [ + 250.4258266375199, + 22.16004303219887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.8790301700428, + "ymin": 25.78166942497012, + "xmax": 876.7234873071701, + "ymax": 36.14592271980939 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 875.9888695674468, + 34.976875075564465 + ], + [ + 872.5346706139062, + 29.550900553923498 + ], + [ + 857.8790301700428, + 30.70215386307285 + ], + [ + 861.2259894053677, + 36.14592271980939 + ], + [ + 876.7234873071701, + 31.19545039000934 + ], + [ + 873.2529929202734, + 25.78166942497012 + ], + [ + 858.5531816593937, + 26.930314068924986 + ], + [ + 861.9157874370237, + 32.36190457371163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.80752359956023, + "ymin": 29.492500283671177, + "xmax": 249.14113043380814, + "ymax": 39.83736764432473 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 233.53184457737893, + 34.38765285376945 + ], + [ + 232.07425318410583, + 39.83736764432473 + ], + [ + 247.80550184305218, + 38.667070975320314 + ], + [ + 249.14113043380814, + 33.23509734094927 + ], + [ + 232.2792824064308, + 30.64250528384042 + ], + [ + 230.80752359956023, + 36.080316068902675 + ], + [ + 246.58962013887572, + 34.9125540373451 + ], + [ + 247.93863009335138, + 29.492500283671177 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00003/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be1ccd15786df9a3da2f21c5abcf6bf29b596bac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00003/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 3, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 1.5, + "sim_timestamp": 11815.013096064562 + }, + "drone_pose": { + "x": -51.08295619066873, + "y": 69.94235873192955, + "z": 20.643287509910976, + "pitch": -47.42575824872516, + "yaw": -80.86365095461011, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10742485523223877, + 0.667961835861206, + 0.7364013195037842, + 37.00466537475586 + ], + [ + -0.9873132705688477, + 0.15878450870513916, + 2.9802322387695312e-08, + 39.32911682128906 + ], + [ + -0.11692911386489868, + -0.7270587682723999, + 0.6765449643135071, + -70.7914047241211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.08780054080445, + "y": 69.36495218184011, + "z": 20.616889620996748 + }, + "t1_image_uv": [ + 411.1161917613115, + -592.3555061369619 + ], + "t1_depth": 0.40460457476562794 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 51.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.142451891619054, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 51.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26088377833366394, + "y": 0.2975854277610779, + "z": 0.5517722368240356 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0266747396672, + "ymin": 338.7003881249503, + "xmax": 652.1014534639049, + "ymax": 380.98786109083187 + }, + "corners_3d": [ + [ + -48.46476745605469, + 52.0731201171875, + 0.10377806425094604 + ], + [ + -47.869598388671875, + 52.0731201171875, + 0.10377806425094604 + ], + [ + -47.869598388671875, + 51.551353454589844, + 0.10377806425094604 + ], + [ + -48.46476745605469, + 51.551353454589844, + 0.10377806425094604 + ], + [ + -48.46476745605469, + 52.0731201171875, + 1.207322597503662 + ], + [ + -47.869598388671875, + 52.0731201171875, + 1.207322597503662 + ], + [ + -47.869598388671875, + 51.551353454589844, + 1.207322597503662 + ], + [ + -48.46476745605469, + 51.551353454589844, + 1.207322597503662 + ] + ], + "corners_2d": [ + [ + 631.138736290661, + 380.98786109083187 + ], + [ + 651.7426235792104, + 378.5011960162531 + ], + [ + 648.7295799774885, + 365.14760925910036 + ], + [ + 628.3780567019315, + 367.5721450217638 + ], + [ + 630.8673021325834, + 354.61468048314225 + ], + [ + 652.1014534639049, + 352.11543360168054 + ], + [ + 648.9928868691557, + 338.7003881249503 + ], + [ + 628.0266747396672, + 341.1353179198349 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 3, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 358908, + "2": 434661, + "3": 84816, + "6": 3639, + "9": 13330, + "10": 781, + "12": 1902, + "14": 8232, + "20": 8252, + "24": 7079 + }, + "instance_pixel_counts": { + "2189": 11808, + "4960": 67916, + "6215": 48771, + "7314": 2227, + "7751": 92252, + "7776": 41424, + "7826": 14219, + "9362": 8314, + "9874": 34203, + "17558": 9933, + "18512": 3525, + "22676": 12585, + "23188": 63421, + "24724": 11537, + "25236": 51275, + "28755": 1940, + "28802": 1699, + "30809": 6012, + "31833": 190, + "32914": 33905, + "35986": 56620, + "36500": 261, + "36698": 7746, + "37012": 1635, + "38548": 114, + "39060": 489, + "39564": 869, + "39770": 13727, + "40076": 5108, + "40538": 56121, + "41612": 1365, + "42074": 1020, + "42124": 5727, + "48274": 131962, + "50322": 88128, + "53908": 3620, + "55444": 960, + "56576": 196, + "56832": 224, + "57088": 584, + "57173": 18057, + "57344": 506, + "57600": 392, + "60672": 8232 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 196, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 51.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2757324278354645, + "y": 0.2749096751213074, + "z": 0.5540562868118286 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.7465016042869, + "ymin": 338.35973431100683, + "xmax": 651.3844494720818, + "ymax": 381.33264745895383 + }, + "corners_3d": [ + [ + -48.44209289550781, + 52.08797073364258, + 0.10149401426315308 + ], + [ + -47.89227294921875, + 52.08797073364258, + 0.10149401426315308 + ], + [ + -47.89227294921875, + 51.536502838134766, + 0.10149401426315308 + ], + [ + -48.44209289550781, + 51.536502838134766, + 0.10149401426315308 + ], + [ + -48.44209289550781, + 52.08797073364258, + 1.209606647491455 + ], + [ + -47.89227294921875, + 52.08797073364258, + 1.209606647491455 + ], + [ + -47.89227294921875, + 51.536502838134766, + 1.209606647491455 + ], + [ + -48.44209289550781, + 51.536502838134766, + 1.209606647491455 + ] + ], + "corners_2d": [ + [ + 632.0058376897439, + 381.33264745895383 + ], + [ + 651.0453506227159, + 379.0338163855909 + ], + [ + 647.8710937940241, + 364.91767812932164 + ], + [ + 629.0779578279448, + 367.1558504841414 + ], + [ + 631.7598655535309, + 354.8517517849389 + ], + [ + 651.3844494720818, + 352.5411897686104 + ], + [ + 648.1094379433936, + 338.35973431100683 + ], + [ + 628.7465016042869, + 340.60749259097975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 224, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 54.809940338134766, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2284204214811325, + "y": 0.300896018743515, + "z": 0.5326569676399231 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 794.4521091068989, + "ymin": 401.8698552161426, + "xmax": 827.6091675913686, + "ymax": 445.184055715429 + }, + "corners_3d": [ + [ + -44.30265426635742, + 55.082618713378906, + 0.12289822101593018 + ], + [ + -43.70827102661133, + 54.98847961425781, + 0.12289822101593018 + ], + [ + -43.77973556518555, + 54.537261962890625, + 0.12289822101593018 + ], + [ + -44.37411880493164, + 54.63140106201172, + 0.12289822101593018 + ], + [ + -44.30265426635742, + 55.082618713378906, + 1.1882121562957764 + ], + [ + -43.70827102661133, + 54.98847961425781, + 1.1882121562957764 + ], + [ + -43.77973556518555, + 54.537261962890625, + 1.1882121562957764 + ], + [ + -44.37411880493164, + 54.63140106201172, + 1.1882121562957764 + ] + ], + "corners_2d": [ + [ + 801.5112633238718, + 445.184055715429 + ], + [ + 821.9248390571374, + 439.6525141684836 + ], + [ + 814.6708758441202, + 427.03832432912384 + ], + [ + 794.4521091068989, + 432.4461718516691 + ], + [ + 806.5833618096063, + 420.16182533867357 + ], + [ + 827.6091675913686, + 414.5837501265273 + ], + [ + 820.0654429207045, + 401.8698552161426 + ], + [ + 799.2461546902891, + 407.3193563406419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 584, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 58.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33644774556159973, + "y": 0.46016600728034973, + "z": 0.8731791377067566 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 567.463419568016, + "ymin": 553.1301376109377, + "xmax": 614.502610487534, + "ymax": 623.8249764127575 + }, + "corners_3d": [ + [ + -50.86493682861328, + 59.115013122558594, + -0.2176288366317749 + ], + [ + -49.945865631103516, + 59.06684875488281, + -0.2176288366317749 + ], + [ + -49.9810791015625, + 58.394874572753906, + -0.2176288366317749 + ], + [ + -50.900150299072266, + 58.44303894042969, + -0.2176288366317749 + ], + [ + -50.86493682861328, + 59.115013122558594, + 1.5287294387817383 + ], + [ + -49.945865631103516, + 59.06684875488281, + 1.5287294387817383 + ], + [ + -49.9810791015625, + 58.394874572753906, + 1.5287294387817383 + ], + [ + -50.900150299072266, + 58.44303894042969, + 1.5287294387817383 + ] + ], + "corners_2d": [ + [ + 576.1648780085653, + 623.8249764127575 + ], + [ + 614.502610487534, + 616.2939321246514 + ], + [ + 609.1365295965517, + 591.32424909345 + ], + [ + 571.5081899487209, + 598.5682308664824 + ], + [ + 572.3164537746562, + 586.5589602046211 + ], + [ + 612.9748262110003, + 578.8039518330288 + ], + [ + 607.3247840782489, + 553.1301376109377 + ], + [ + 567.463419568016, + 560.572321062069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 506, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 51.81223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3117309510707855, + "y": 0.5010131597518921, + "z": 0.9004307389259338 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 263.4972364566558, + "ymin": 364.9126647898135, + "xmax": 322.0784184097026, + "ymax": 428.4644894688502 + }, + "corners_3d": [ + [ + -58.18382263183594, + 52.097320556640625, + -0.0926440954208374 + ], + [ + -57.183170318603516, + 52.14976119995117, + -0.0926440954208374 + ], + [ + -57.150543212890625, + 51.52715301513672, + -0.0926440954208374 + ], + [ + -58.15119552612305, + 51.47471237182617, + -0.0926440954208374 + ], + [ + -58.18382263183594, + 52.097320556640625, + 1.7082173824310303 + ], + [ + -57.183170318603516, + 52.14976119995117, + 1.7082173824310303 + ], + [ + -57.150543212890625, + 51.52715301513672, + 1.7082173824310303 + ], + [ + -58.15119552612305, + 51.47471237182617, + 1.7082173824310303 + ] + ], + "corners_2d": [ + [ + 282.39088294735956, + 428.4644894688502 + ], + [ + 319.46139531124567, + 425.4197371322909 + ], + [ + 322.0784184097026, + 408.1208961445826 + ], + [ + 285.59407172898375, + 411.0713896112021 + ], + [ + 263.4972364566558, + 385.4844111185389 + ], + [ + 302.57505512967305, + 382.4029849387816 + ], + [ + 305.6044010019941, + 364.9126647898135 + ], + [ + 267.177365804296, + 367.8937875411083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 392, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 43.64202117919922, + "z": 0.7880112528800964 + }, + "extent": { + "x": 0.38431516289711, + "y": 0.5349755883216858, + "z": 0.9372717142105103 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 896.74492015335, + "ymin": 121.65699142401866, + "xmax": 943.0313811502888, + "ymax": 179.28270490915594 + }, + "corners_3d": [ + [ + -37.51035690307617, + 43.93791580200195, + -0.14926046133041382 + ], + [ + -36.45357894897461, + 44.10529327392578, + -0.14926046133041382 + ], + [ + -36.33333969116211, + 43.346126556396484, + -0.14926046133041382 + ], + [ + -37.39011764526367, + 43.178749084472656, + -0.14926046133041382 + ], + [ + -37.51035690307617, + 43.93791580200195, + 1.725282907485962 + ], + [ + -36.45357894897461, + 44.10529327392578, + 1.725282907485962 + ], + [ + -36.33333969116211, + 43.346126556396484, + 1.725282907485962 + ], + [ + -37.39011764526367, + 43.178749084472656, + 1.725282907485962 + ] + ], + "corners_2d": [ + [ + 900.7070869155499, + 179.28270490915594 + ], + [ + 930.7791146960437, + 179.2391052653838 + ], + [ + 926.3659862957524, + 166.27425482884448 + ], + [ + 896.74492015335, + 166.31655603809924 + ], + [ + 911.6928162289261, + 134.50300660594613 + ], + [ + 943.0313811502888, + 134.4599241681749 + ], + [ + 938.2437666097112, + 121.65699142401866 + ], + [ + 907.3946402309132, + 121.69873803054574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 8232, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 515.1523919721936, + "ymin": 343.548980733201, + "xmax": 603.3232017679426, + "ymax": 507.0375919163112 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 585.6047929702287, + 382.63209132703247 + ], + [ + 520.6221406063809, + 390.11923340575174 + ], + [ + 531.4111105241848, + 507.0375919163112 + ], + [ + 603.3232017679426, + 497.8402908283938 + ], + [ + 583.1304495253888, + 343.548980733201 + ], + [ + 515.1523919721936, + 351.09262911626973 + ], + [ + 525.8669057061392, + 469.5186499011577 + ], + [ + 601.4653932099063, + 460.1598753608084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.128329533377, + "ymin": 15.082925101692524, + "xmax": 1005.0903361440332, + "ymax": 258.95200119119403 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 938.1942702062822, + 246.47773028537867 + ], + [ + 933.2843921136443, + 237.79040798429682 + ], + [ + 820.128329533377, + 250.03153885830724 + ], + [ + 824.0243489338409, + 258.95200119119403 + ], + [ + 1005.0903361440332, + 23.151997281899185 + ], + [ + 998.3292208166104, + 15.082925101692524 + ], + [ + 860.7267468010958, + 26.462632754568517 + ], + [ + 865.9868360409286, + 34.79774602090788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.6078788381947, + "ymin": 32.0485208421004, + "xmax": 882.7048720187785, + "ymax": 42.63570855539905 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 881.9422685334657, + 41.37930487586641 + ], + [ + 878.3442690009205, + 35.8211219047937 + ], + [ + 863.6078788381947, + 37.058353298113104 + ], + [ + 867.0982645285732, + 42.63570855539905 + ], + [ + 882.7048720187785, + 37.595038732155274 + ], + [ + 879.0897644831502, + 32.0485208421004 + ], + [ + 864.3084860376808, + 33.283132479502115 + ], + [ + 867.8153217761696, + 38.848842648043956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.91142351024632, + "ymin": 38.18547016308793, + "xmax": 241.8784945944824, + "ymax": 49.03475358008325 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 225.7194537215334, + 43.29093673337832 + ], + [ + 224.25180879348278, + 49.03475358008325 + ], + [ + 240.54066559023238, + 47.74070557321693 + ], + [ + 241.8784945944824, + 42.017045538477646 + ], + [ + 224.39428601707817, + 39.456700349462096 + ], + [ + 222.91142351024632, + 45.188695728744165 + ], + [ + 239.25507402197718, + 43.89728578734429 + ], + [ + 240.60724996826934, + 38.18547016308793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.63617577142543, + "ymin": 30.751546102789803, + "xmax": 316.47828577834196, + "ymax": 276.86699999526354 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 192.7510314728126, + 267.5982767275117 + ], + [ + 190.61961309163354, + 276.86699999526354 + ], + [ + 315.56330614393704, + 263.9070418886156 + ], + [ + 316.47828577834196, + 254.88525017324469 + ], + [ + 89.50488396328024, + 42.667562025154496 + ], + [ + 85.63617577142543, + 51.4015922770206 + ], + [ + 241.02493428518346, + 39.200181769712685 + ], + [ + 243.01733032304702, + 30.751546102789803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.5064494265627, + "ymin": 31.99170106731924, + "xmax": 882.8088100800226, + "ymax": 42.69283581486036 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 882.0376660491177, + 41.42279521261736 + ], + [ + 878.4005640600046, + 35.80478353206314 + ], + [ + 863.5064494265627, + 37.055236941133614 + ], + [ + 867.0336114315932, + 42.69283581486036 + ], + [ + 882.8088100800226, + 37.5977951416495 + ], + [ + 879.1542267445387, + 31.99170106731924 + ], + [ + 864.2142566755849, + 33.23947795889984 + ], + [ + 867.7582206009015, + 38.865179871047815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.01394692546592, + "ymin": 38.24312628226005, + "xmax": 241.77895006633696, + "ymax": 48.97688524610578 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 225.79110266211023, + 43.29443412873593 + ], + [ + 224.33970380108786, + 48.97688524610578 + ], + [ + 240.4546201596184, + 47.696744479754784 + ], + [ + 241.77895006633696, + 42.03402306951273 + ], + [ + 224.4802365098202, + 39.500932802739214 + ], + [ + 223.01394692546592, + 45.171812691885066 + ], + [ + 239.18249203736065, + 43.89425424636573 + ], + [ + 240.52086954865234, + 38.24312628226005 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00004/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e713135ddeb80bf38f4b44e6f4ff7afe8c6fef67 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00004/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 4, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.0, + "sim_timestamp": 11825.039564054692 + }, + "drone_pose": { + "x": -51.08780054080445, + "y": 69.36495218184011, + "z": 20.616889620996748, + "pitch": -47.5058528625378, + "yaw": -80.81015743735344, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10788381099700928, + 0.6668444871902466, + 0.7373462915420532, + 36.565391540527344 + ], + [ + -0.9871646165847778, + 0.15970611572265625, + -2.9802322387695312e-08, + 39.354061126708984 + ], + [ + -0.11775872111320496, + -0.7278821468353271, + 0.6755149364471436, + -70.43256378173828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.06009209917867, + "y": 68.83936603836146, + "z": 20.59226668261594 + }, + "t1_image_uv": [ + 493.8244088460352, + -593.7110365089808 + ], + "t1_depth": 0.37162909540934913 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 51.31223678588867, + "z": 0.6555551742017269 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.071856481172038, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 51.31223678588867, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2946874797344208, + "y": 0.22507567703723907, + "z": 0.5472399592399597 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.3698230066423, + "ymin": 338.19769279826846, + "xmax": 649.7553729942811, + "ymax": 381.5099859920938 + }, + "corners_3d": [ + [ + -48.39225769042969, + 51.60692596435547, + 0.10831522941589355 + ], + [ + -47.942108154296875, + 51.60692596435547, + 0.10831522941589355 + ], + [ + -47.942108154296875, + 51.017547607421875, + 0.10831522941589355 + ], + [ + -48.39225769042969, + 51.017547607421875, + 0.10831522941589355 + ], + [ + -48.39225769042969, + 51.60692596435547, + 1.202795147895813 + ], + [ + -47.942108154296875, + 51.60692596435547, + 1.202795147895813 + ], + [ + -47.942108154296875, + 51.017547607421875, + 1.202795147895813 + ], + [ + -48.39225769042969, + 51.017547607421875, + 1.202795147895813 + ] + ], + "corners_2d": [ + [ + 633.8315929045293, + 381.5099859920938 + ], + [ + 649.4670291126403, + 379.60788542334245 + ], + [ + 646.0700580058428, + 364.45977368055094 + ], + [ + 630.6509200587623, + 366.30822683759874 + ], + [ + 633.6433724617347, + 355.3296781566873 + ], + [ + 649.7553729942811, + 353.41762903570503 + ], + [ + 646.2522356913516, + 338.19769279826846 + ], + [ + 630.3698230066423, + 340.0542058698852 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 4, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359482, + "2": 433742, + "3": 83686, + "6": 3757, + "9": 13818, + "10": 783, + "12": 1931, + "14": 8574, + "20": 8660, + "24": 7167 + }, + "instance_pixel_counts": { + "2189": 11582, + "4960": 69567, + "6215": 51099, + "7314": 2484, + "7751": 89807, + "7776": 38478, + "7826": 14733, + "9362": 8977, + "9874": 35534, + "17558": 9646, + "18512": 3631, + "22676": 13763, + "23188": 65767, + "24724": 12489, + "25236": 53239, + "28755": 2002, + "28802": 1755, + "30809": 5548, + "31833": 298, + "32914": 33273, + "35986": 54883, + "36500": 308, + "36698": 5504, + "37012": 1687, + "38548": 132, + "39060": 505, + "39564": 964, + "39770": 15209, + "40076": 5291, + "40538": 55893, + "41612": 1476, + "42074": 1234, + "42124": 5948, + "48274": 129055, + "50322": 85169, + "53908": 3527, + "55444": 1008, + "56576": 198, + "56832": 228, + "57088": 589, + "57173": 18847, + "57344": 517, + "57600": 399, + "60672": 8574 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 198, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 51.31223678588867, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.26582273840904236, + "y": 0.23835448920726776, + "z": 0.5526500344276428 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.0567209921197, + "ymin": 338.74428569747727, + "xmax": 650.0569513554849, + "ymax": 380.93696466017053 + }, + "corners_3d": [ + [ + -48.40553665161133, + 51.578060150146484, + 0.10290515422821045 + ], + [ + -47.928829193115234, + 51.578060150146484, + 0.10290515422821045 + ], + [ + -47.928829193115234, + 51.04641342163086, + 0.10290515422821045 + ], + [ + -48.40553665161133, + 51.04641342163086, + 0.10290515422821045 + ], + [ + -48.40553665161133, + 51.578060150146484, + 1.208205223083496 + ], + [ + -47.928829193115234, + 51.578060150146484, + 1.208205223083496 + ], + [ + -47.928829193115234, + 51.04641342163086, + 1.208205223083496 + ], + [ + -48.40553665161133, + 51.04641342163086, + 1.208205223083496 + ] + ], + "corners_2d": [ + [ + 633.2129138407604, + 380.93696466017053 + ], + [ + 649.7570258732853, + 378.92554081519626 + ], + [ + 646.6875551706519, + 365.26315191469706 + ], + [ + 630.3500036179712, + 367.22333800748083 + ], + [ + 633.0038771478261, + 354.4940024892307 + ], + [ + 650.0569513554849, + 352.4720421735989 + ], + [ + 646.8904142483518, + 338.74428569747727 + ], + [ + 630.0567209921197, + 340.7131863781522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 228, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 54.309940338134766, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.23173585534095764, + "y": 0.20291993021965027, + "z": 0.5213583111763 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 798.2260776522285, + "ymin": 403.0200037948891, + "xmax": 824.7647098027883, + "ymax": 444.28468468334944 + }, + "corners_3d": [ + [ + -44.20536422729492, + 54.5705680847168, + 0.13419687747955322 + ], + [ + -43.80452346801758, + 54.507080078125, + 0.13419687747955322 + ], + [ + -43.87702560424805, + 54.049312591552734, + 0.13419687747955322 + ], + [ + -44.27786636352539, + 54.11280059814453, + 0.13419687747955322 + ], + [ + -44.20536422729492, + 54.5705680847168, + 1.1769134998321533 + ], + [ + -43.80452346801758, + 54.507080078125, + 1.1769134998321533 + ], + [ + -43.87702560424805, + 54.049312591552734, + 1.1769134998321533 + ], + [ + -44.27786636352539, + 54.11280059814453, + 1.1769134998321533 + ] + ], + "corners_2d": [ + [ + 805.4586176258922, + 444.28468468334944 + ], + [ + 819.257945623564, + 440.52871067711965 + ], + [ + 811.8918313797462, + 427.66636973193386 + ], + [ + 798.2260776522285, + 431.337065705477 + ], + [ + 810.5589097458178, + 419.7721032386462 + ], + [ + 824.7647098027883, + 415.98456624083025 + ], + [ + 817.1102920064501, + 403.0200037948891 + ], + [ + 803.0459477019554, + 406.7189464615784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 589, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 58.25494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3185156285762787, + "y": 0.34708738327026367, + "z": 0.8656319379806519 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 572.618726996317, + "ymin": 555.8147245864037, + "xmax": 609.8760552434023, + "ymax": 623.0953202534273 + }, + "corners_3d": [ + [ + -50.75294876098633, + 58.5911865234375, + -0.21008163690567017 + ], + [ + -50.05972671508789, + 58.55485916137695, + -0.21008163690567017 + ], + [ + -50.09306716918945, + 57.918701171875, + -0.21008163690567017 + ], + [ + -50.78628921508789, + 57.95502853393555, + -0.21008163690567017 + ], + [ + -50.75294876098633, + 58.5911865234375, + 1.5211822986602783 + ], + [ + -50.05972671508789, + 58.55485916137695, + 1.5211822986602783 + ], + [ + -50.09306716918945, + 57.918701171875, + 1.5211822986602783 + ], + [ + -50.78628921508789, + 57.95502853393555, + 1.5211822986602783 + ] + ], + "corners_2d": [ + [ + 580.8926962963935, + 623.0953202534273 + ], + [ + 609.8760552434023, + 617.3711973338404 + ], + [ + 604.833829074541, + 593.6011884009872 + ], + [ + 576.3588556931921, + 599.1182829561135 + ], + [ + 577.3504228583555, + 586.1546198678327 + ], + [ + 608.0790939618918, + 580.2599573487225 + ], + [ + 602.7765249115915, + 555.8147245864037 + ], + [ + 572.618726996317, + 561.4838116082155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 517, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 51.31223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.30357909202575684, + "y": 0.5056347250938416, + "z": 0.8945261836051941 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 262.35624618755503, + "ymin": 365.60097544108453, + "xmax": 321.3195358338912, + "ymax": 428.58869883264407 + }, + "corners_3d": [ + [ + -58.188011169433594, + 51.58893585205078, + -0.08673477172851562 + ], + [ + -57.178131103515625, + 51.64186096191406, + -0.08673477172851562 + ], + [ + -57.14635467529297, + 51.03553771972656, + -0.08673477172851562 + ], + [ + -58.15623474121094, + 50.98261260986328, + -0.08673477172851562 + ], + [ + -58.188011169433594, + 51.58893585205078, + 1.7023175954818726 + ], + [ + -57.178131103515625, + 51.64186096191406, + 1.7023175954818726 + ], + [ + -57.14635467529297, + 51.03553771972656, + 1.7023175954818726 + ], + [ + -58.15623474121094, + 50.98261260986328, + 1.7023175954818726 + ] + ], + "corners_2d": [ + [ + 281.2595307301501, + 428.58869883264407 + ], + [ + 318.7806399634984, + 425.47694452760095 + ], + [ + 321.3195358338912, + 408.5598805639455 + ], + [ + 284.37710830080516, + 411.5776603855528 + ], + [ + 262.35624618755503, + 385.8590884205111 + ], + [ + 301.90412786775966, + 382.7091974027903 + ], + [ + 304.84397508433153, + 365.60097544108453 + ], + [ + 265.93842220005604, + 368.6508548757148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 399, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 43.14202117919922, + "z": 0.788504421710968 + }, + "extent": { + "x": 0.3953906297683716, + "y": 0.49260252714157104, + "z": 0.9326995611190796 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 898.1792873420411, + "ymin": 120.58219431938721, + "xmax": 942.2642671681899, + "ymax": 178.50789343630325 + }, + "corners_3d": [ + [ + -37.470237731933594, + 43.455482482910156, + -0.14419513940811157 + ], + [ + -36.497161865234375, + 43.60960388183594, + -0.14419513940811157 + ], + [ + -36.37345886230469, + 42.82855987548828, + -0.14419513940811157 + ], + [ + -37.346534729003906, + 42.6744384765625, + -0.14419513940811157 + ], + [ + -37.470237731933594, + 43.455482482910156, + 1.7212040424346924 + ], + [ + -36.497161865234375, + 43.60960388183594, + 1.7212040424346924 + ], + [ + -36.37345886230469, + 42.82855987548828, + 1.7212040424346924 + ], + [ + -37.346534729003906, + 42.6744384765625, + 1.7212040424346924 + ] + ], + "corners_2d": [ + [ + 902.3029852094736, + 178.50789343630325 + ], + [ + 930.0568566219408, + 178.45181970388495 + ], + [ + 925.5048276772507, + 165.07348250527457 + ], + [ + 898.1792873420411, + 165.12783769942547 + ], + [ + 913.3430834997018, + 133.85178732400271 + ], + [ + 942.2642671681899, + 133.79636552664346 + ], + [ + 937.3274199981345, + 120.58219431938721 + ], + [ + 908.8710541176239, + 120.63584779024461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 8574, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 516.1861445834978, + "ymin": 356.9335561299289, + "xmax": 606.0308934611018, + "ymax": 524.1885849255974 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 587.6427555647523, + 395.95214089684987 + ], + [ + 521.699702699265, + 403.70317169060405 + ], + [ + 532.9552438923689, + 524.1885849255974 + ], + [ + 606.0308934611018, + 514.6394955770015 + ], + [ + 585.2205204100708, + 356.9335561299289 + ], + [ + 516.1861445834978, + 364.7539017787397 + ], + [ + 527.3868837860082, + 486.983289208321 + ], + [ + 604.2780873839133, + 477.24997497862415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.8596514238493, + "ymin": 23.103937293081685, + "xmax": 1013.9405768027061, + "ymax": 268.83030781139524 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 944.4358923796217, + 255.9662518282115 + ], + [ + 939.3955251948493, + 247.06354700372646 + ], + [ + 824.8596514238493, + 259.6844456627515 + ], + [ + 828.8632093372217, + 268.83030781139524 + ], + [ + 1013.9405768027061, + 31.419694566033456 + ], + [ + 1006.9592177943687, + 23.103937293081685 + ], + [ + 867.2687117733662, + 34.9033635389618 + ], + [ + 872.7060157395586, + 43.49909838778285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.1534057848683, + "ymin": 40.524343118277784, + "xmax": 889.6320626640658, + "ymax": 51.362253396620474 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 888.833716138729, + 50.05908199781953 + ], + [ + 885.1160420025612, + 44.3289961309394 + ], + [ + 870.1534057848683, + 45.61199005440051 + ], + [ + 873.7603431690577, + 51.362253396620474 + ], + [ + 889.6320626640658, + 46.24294296427604 + ], + [ + 885.8963348703759, + 40.524343118277784 + ], + [ + 870.8873550752382, + 41.80474050972151 + ], + [ + 874.5116577037994, + 47.54354191154965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.69198936918394, + "ymin": 47.182283089346186, + "xmax": 238.02237649006764, + "ymax": 58.29805829093732 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 221.5806872424488, + 52.369300340471284 + ], + [ + 220.07091707775788, + 58.29805829093732 + ], + [ + 236.64677346161136, + 56.95427667007101 + ], + [ + 238.02237649006764, + 51.04676924962024 + ], + [ + 220.2176697628675, + 48.502183105071765 + ], + [ + 218.69198936918394, + 54.41933505958826 + ], + [ + 235.32466926812322, + 53.0781569329593 + ], + [ + 236.71526558065, + 47.182283089346186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 78.89593855237831, + "ymin": 39.642157972435484, + "xmax": 314.4356746050163, + "ymax": 287.6311243542811 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 188.9609819548404, + 278.11574034482135 + ], + [ + 186.78282164167928, + 287.6311243542811 + ], + [ + 313.50641907785064, + 274.2487448298974 + ], + [ + 314.4356746050163, + 264.9914039726535 + ], + [ + 82.8862155770471, + 52.01922692613567 + ], + [ + 78.89593855237831, + 61.042404429708824 + ], + [ + 237.10139739759796, + 48.36419719621688 + ], + [ + 239.15069401262133, + 39.642157972435484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.049962413283, + "ymin": 40.466185183895675, + "xmax": 889.7380924524574, + "ymax": 51.42074209724427 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 888.9308078171571, + 50.103425206293025 + ], + [ + 885.172732624006, + 44.311665270083665 + ], + [ + 870.049962413283, + 45.60836804130986 + ], + [ + 873.6949072656944, + 51.42074209724427 + ], + [ + 889.7380924524574, + 46.24621042622556 + ], + [ + 885.9615696441792, + 40.466185183895675 + ], + [ + 870.7914573966692, + 41.76023514171567 + ], + [ + 874.4541389859567, + 47.56089937003799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.79649938376906, + "ymin": 47.24134731253088, + "xmax": 237.92094747749923, + "ymax": 58.23875923614753 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 221.65342997692431, + 52.37334218376401 + ], + [ + 220.1603742410902, + 58.23875923614753 + ], + [ + 236.55921992053806, + 56.90942035846729 + ], + [ + 237.92094747749923, + 51.06480357339859 + ], + [ + 220.30512357983213, + 48.54731070738717 + ], + [ + 218.79649938376906, + 54.40136741543421 + ], + [ + 235.25096038579915, + 53.074577044112175 + ], + [ + 236.6273684397308, + 47.24134731253088 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00006/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d58fae5f9af215bc456ef95f200e4bc3e1b5ec24 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00006/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 6, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.0, + "sim_timestamp": 11843.87326492765 + }, + "drone_pose": { + "x": -51.03306726430555, + "y": 68.32417771528694, + "z": 20.5691134691839, + "pitch": -47.51392664891811, + "yaw": -80.95943665771463, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10612988471984863, + 0.6670205593109131, + 0.7374415397644043, + 35.82124328613281 + ], + [ + -0.9875773191452026, + 0.15713375806808472, + 5.960464477539063e-08, + 39.663063049316406 + ], + [ + -0.11587691307067871, + -0.7282805442810059, + 0.6754109859466553, + -69.5653305053711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.008381730890235, + "y": 67.8107218619805, + "z": 20.547199990024353 + }, + "t1_image_uv": [ + 490.3863440339375, + -601.9514995592675 + ], + "t1_depth": 0.36126540250943384 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 50.31223678588867, + "z": 0.6555551742017269 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.003575931220215, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 50.31223678588867, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.25929197669029236, + "y": 0.27421629428863525, + "z": 0.5476340055465698 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.8163548335294, + "ymin": 338.84949097345464, + "xmax": 651.3052649510552, + "ymax": 380.8367477775379 + }, + "corners_3d": [ + [ + -48.44139862060547, + 50.571529388427734, + 0.10792118310928345 + ], + [ + -47.892967224121094, + 50.571529388427734, + 0.10792118310928345 + ], + [ + -47.892967224121094, + 50.05294418334961, + 0.10792118310928345 + ], + [ + -48.44139862060547, + 50.05294418334961, + 0.10792118310928345 + ], + [ + -48.44139862060547, + 50.571529388427734, + 1.2031891345977783 + ], + [ + -47.892967224121094, + 50.571529388427734, + 1.2031891345977783 + ], + [ + -47.892967224121094, + 50.05294418334961, + 1.2031891345977783 + ], + [ + -48.44139862060547, + 50.05294418334961, + 1.2031891345977783 + ] + ], + "corners_2d": [ + [ + 631.8816394255034, + 380.8367477775379 + ], + [ + 650.9703412009002, + 378.554533767294 + ], + [ + 647.9995344929845, + 365.1900430524071 + ], + [ + 629.1442157496155, + 367.4153699344551 + ], + [ + 631.633239947013, + 354.57170427970027 + ], + [ + 651.3052649510552, + 352.27759950654183 + ], + [ + 648.240607722168, + 338.84949097345464 + ], + [ + 628.8163548335294, + 341.0846982862091 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 6, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359352, + "2": 432272, + "3": 82721, + "6": 3922, + "9": 14908, + "10": 790, + "12": 1969, + "14": 9249, + "20": 9022, + "24": 7395 + }, + "instance_pixel_counts": { + "2189": 11036, + "4960": 72964, + "6215": 56122, + "7314": 3112, + "7751": 85032, + "7776": 32974, + "7826": 15737, + "9362": 10386, + "9874": 37692, + "17558": 9033, + "18512": 3539, + "22676": 16504, + "23188": 70110, + "24724": 14617, + "25236": 56922, + "28755": 2096, + "28802": 1826, + "30809": 5213, + "31833": 606, + "32914": 31745, + "35986": 51531, + "36500": 410, + "36698": 1978, + "37012": 1803, + "38548": 140, + "39060": 536, + "39564": 1185, + "39770": 19183, + "40076": 5642, + "40538": 53935, + "41612": 1714, + "42074": 1806, + "42124": 6367, + "48274": 122262, + "50322": 78937, + "53908": 3578, + "55444": 928, + "56576": 200, + "56832": 228, + "57088": 595, + "57173": 20391, + "57344": 522, + "57600": 424, + "60672": 9249 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 50.31223678588867, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.26384031772613525, + "y": 0.2873803675174713, + "z": 0.5623712539672852 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3199852656201, + "ymin": 338.31449689639976, + "xmax": 651.8085376223507, + "ymax": 381.35361797542936 + }, + "corners_3d": [ + [ + -48.45456314086914, + 50.57607650756836, + 0.09318393468856812 + ], + [ + -47.87980270385742, + 50.57607650756836, + 0.09318393468856812 + ], + [ + -47.87980270385742, + 50.048397064208984, + 0.09318393468856812 + ], + [ + -48.45456314086914, + 50.048397064208984, + 0.09318393468856812 + ], + [ + -48.45456314086914, + 50.57607650756836, + 1.2179265022277832 + ], + [ + -47.87980270385742, + 50.57607650756836, + 1.2179265022277832 + ], + [ + -47.87980270385742, + 50.048397064208984, + 1.2179265022277832 + ], + [ + -48.45456314086914, + 50.048397064208984, + 1.2179265022277832 + ] + ], + "corners_2d": [ + [ + 631.4501078321106, + 381.35361797542936 + ], + [ + 651.4494114686596, + 378.961493240612 + ], + [ + 648.422076902436, + 365.3649799710036 + ], + [ + 628.6714529158791, + 367.69646933032385 + ], + [ + 631.1813089302333, + 354.3823691200006 + ], + [ + 651.8085376223507, + 351.9774290949755 + ], + [ + 648.682776616266, + 338.31449689639976 + ], + [ + 628.3199852656201, + 340.6566000688195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 228, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 53.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22188478708267212, + "y": 0.3088696599006653, + "z": 0.5267003774642944 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 795.0099908224863, + "ymin": 402.6860390335854, + "xmax": 828.6577115165987, + "ymax": 445.6819522922662 + }, + "corners_3d": [ + [ + -44.31155014038086, + 53.57741165161133, + 0.12884992361068726 + ], + [ + -43.701416015625, + 53.48077392578125, + 0.12884992361068726 + ], + [ + -43.77083969116211, + 53.0424690246582, + 0.12884992361068726 + ], + [ + -44.38097381591797, + 53.13910675048828, + 0.12884992361068726 + ], + [ + -44.31155014038086, + 53.57741165161133, + 1.182250738143921 + ], + [ + -43.701416015625, + 53.48077392578125, + 1.182250738143921 + ], + [ + -43.77083969116211, + 53.0424690246582, + 1.182250738143921 + ], + [ + -44.38097381591797, + 53.13910675048828, + 1.182250738143921 + ] + ], + "corners_2d": [ + [ + 801.8831523781337, + 445.6819522922662 + ], + [ + 822.9668626568184, + 439.992871570726 + ], + [ + 815.8970399152352, + 427.6446985590379 + ], + [ + 795.0099908224863, + 433.20961509621986 + ], + [ + 806.9444157877024, + 420.8711518104125 + ], + [ + 828.6577115165987, + 415.13348262472175 + ], + [ + 821.306271577313, + 402.6860390335854 + ], + [ + 799.8014074785712, + 408.2946446820568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 595, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.41520309448242, + "y": 57.35563659667969, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3198949992656708, + "y": 0.34711912274360657, + "z": 0.8654255270957947 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 572.4365678084337, + "ymin": 560.128915480359, + "xmax": 609.8864529239899, + "ymax": 627.6934640831435 + }, + "corners_3d": [ + [ + -50.7451057434082, + 57.693260192871094, + -0.209875226020813 + ], + [ + -50.05181884765625, + 57.656925201416016, + -0.209875226020813 + ], + [ + -50.08530044555664, + 57.01801300048828, + -0.209875226020813 + ], + [ + -50.778587341308594, + 57.05434799194336, + -0.209875226020813 + ], + [ + -50.7451057434082, + 57.693260192871094, + 1.5209758281707764 + ], + [ + -50.05181884765625, + 57.656925201416016, + 1.5209758281707764 + ], + [ + -50.08530044555664, + 57.01801300048828, + 1.5209758281707764 + ], + [ + -50.778587341308594, + 57.05434799194336, + 1.5209758281707764 + ] + ], + "corners_2d": [ + [ + 580.714918196343, + 627.6934640831435 + ], + [ + 609.8864529239899, + 621.9838385855167 + ], + [ + 604.8616823367105, + 597.8740693306961 + ], + [ + 576.2077733170802, + 603.3750469705467 + ], + [ + 577.1401915724225, + 590.8183701275166 + ], + [ + 608.0790408654599, + 584.935660868949 + ], + [ + 602.7937784316587, + 560.128915480359 + ], + [ + 572.4365678084337, + 565.784096859193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 522, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 50.31223678588867, + "z": 0.8078011870384216 + }, + "extent": { + "x": 0.29899168014526367, + "y": 0.44890379905700684, + "z": 0.8953720927238464 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 263.6481628963053, + "ymin": 365.24797475785215, + "xmax": 318.5057515473569, + "ymax": 427.7510922936018 + }, + "corners_3d": [ + [ + -58.13111877441406, + 50.58732604980469, + -0.0875709056854248 + ], + [ + -57.23454284667969, + 50.63431167602539, + -0.0875709056854248 + ], + [ + -57.2032470703125, + 50.037147521972656, + -0.0875709056854248 + ], + [ + -58.099822998046875, + 49.99016189575195, + -0.0875709056854248 + ], + [ + -58.13111877441406, + 50.58732604980469, + 1.703173279762268 + ], + [ + -57.23454284667969, + 50.63431167602539, + 1.703173279762268 + ], + [ + -57.2032470703125, + 50.037147521972656, + 1.703173279762268 + ], + [ + -58.099822998046875, + 49.99016189575195, + 1.703173279762268 + ] + ], + "corners_2d": [ + [ + 282.5378159046863, + 427.7510922936018 + ], + [ + 315.90038203508783, + 425.05112319687345 + ], + [ + 318.5057515473569, + 408.352803314973 + ], + [ + 285.6510445858003, + 410.9722853426247 + ], + [ + 263.6481628963053, + 384.86848862663516 + ], + [ + 298.81735528137506, + 382.135429791945 + ], + [ + 301.8274243499626, + 365.24797475785215 + ], + [ + 267.2220978437127, + 367.89536182674345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 424, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 42.14202117919922, + "z": 0.789495587348938 + }, + "extent": { + "x": 0.3656054735183716, + "y": 0.5060400366783142, + "z": 0.9321718215942383 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 899.3492672542193, + "ymin": 120.9773943815947, + "xmax": 944.0117212849179, + "ymax": 177.98095688466503 + }, + "corners_3d": [ + [ + -37.478851318359375, + 42.4239616394043, + -0.1426762342453003 + ], + [ + -36.47923278808594, + 42.5822868347168, + -0.1426762342453003 + ], + [ + -36.364845275878906, + 41.86008071899414, + -0.1426762342453003 + ], + [ + -37.364463806152344, + 41.70175552368164, + -0.1426762342453003 + ], + [ + -37.478851318359375, + 42.4239616394043, + 1.7216674089431763 + ], + [ + -36.47923278808594, + 42.5822868347168, + 1.7216674089431763 + ], + [ + -36.364845275878906, + 41.86008071899414, + 1.7216674089431763 + ], + [ + -37.364463806152344, + 41.70175552368164, + 1.7216674089431763 + ] + ], + "corners_2d": [ + [ + 903.1323307352638, + 177.98095688466503 + ], + [ + 931.7144338507908, + 177.96864433151373 + ], + [ + 927.5220647382982, + 165.56366740428803 + ], + [ + 899.3492672542193, + 165.57562979488873 + ], + [ + 914.224897528593, + 133.24231209295039 + ], + [ + 944.0117212849179, + 133.2301432838015 + ], + [ + 939.46182015564, + 120.9773943815947 + ], + [ + 910.1192650701083, + 120.98920285282526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 9249, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 518.5113167671858, + "ymin": 384.6579656198238, + "xmax": 610.8687735736218, + "ymax": 559.0128940915307 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 591.852860385412, + 423.49974054293307 + ], + [ + 524.0735279045718, + 431.5338270101788 + ], + [ + 535.5258004031921, + 559.0128940915307 + ], + [ + 610.8687735736218, + 549.0533981984444 + ], + [ + 589.5599023419926, + 384.6579656198238 + ], + [ + 518.5113167671858, + 392.78347046199116 + ], + [ + 529.9116333938172, + 522.4632039540376 + ], + [ + 609.3160604930997, + 512.2806052656751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.919205758438, + "ymin": 41.955483372082824, + "xmax": 1032.2640849369895, + "ymax": 290.5107124366681 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 957.5143139118843, + 277.2402471451887 + ], + [ + 952.2572609303646, + 267.9053342119852 + ], + [ + 834.919205758438, + 280.9186757411897 + ], + [ + 839.087107374238, + 290.5107124366681 + ], + [ + 1032.2640849369895, + 50.76253529639882 + ], + [ + 1024.893241575508, + 41.955483372082824 + ], + [ + 881.0236245843347, + 54.24398284117336 + ], + [ + 886.755063851909, + 63.351836767197995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.9009081329657, + "ymin": 59.96427113017171, + "xmax": 904.1001579346394, + "ymax": 71.24796891008879 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 903.2293110692681, + 69.89026146027646 + ], + [ + 899.3114766173497, + 63.82172761285773 + ], + [ + 883.9009081329657, + 65.15776501336973 + ], + [ + 887.7011739351784, + 71.24796891008879 + ], + [ + 904.1001579346394, + 66.0216490709991 + ], + [ + 900.1624718026508, + 59.96427113017171 + ], + [ + 884.7027564610837, + 61.29782492385965 + ], + [ + 888.5221213215099, + 67.37690454236179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.76318758090162, + "ymin": 66.11455612109307, + "xmax": 232.77290813786755, + "ymax": 77.67299918775728 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 215.83760793405548, + 71.40516878329368 + ], + [ + 214.20367238774315, + 77.67299918775728 + ], + [ + 231.2814455665242, + 76.27552978320091 + ], + [ + 232.77290813786755, + 70.03045972110726 + ], + [ + 214.41443424413086, + 67.48675383310058 + ], + [ + 212.76318758090162, + 73.74334523779214 + ], + [ + 229.90126712498346, + 72.34835165811228 + ], + [ + 231.4090378934111, + 66.11455612109307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 68.60642333721353, + "ymin": 58.40220285286625, + "xmax": 312.0304716265889, + "ymax": 309.0443083655304 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 183.5026990124623, + 299.07866021359973 + ], + [ + 181.1775080732644, + 309.0443083655304 + ], + [ + 311.01689870782525, + 295.2583564313326 + ], + [ + 312.0304716265889, + 285.56500463014 + ], + [ + 72.89257747749696, + 71.27374736455317 + ], + [ + 68.60642333721353, + 80.82070373501585 + ], + [ + 231.68654316935942, + 67.62631930596285 + ], + [ + 233.90973470093286, + 58.40220285286625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.7936716913049, + "ymin": 59.9037353526129, + "xmax": 904.2101460263241, + "ymax": 71.30887981607486 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 903.3295560690663, + 69.93643251863608 + ], + [ + 899.3691416149131, + 63.80258896497941 + ], + [ + 883.7936716913049, + 65.15289730026745 + ], + [ + 887.6339763583944, + 71.30887981607486 + ], + [ + 904.2101460263241, + 66.02618142937803 + ], + [ + 900.2294467045529, + 59.9037353526129 + ], + [ + 884.6037711893789, + 61.25150620113476 + ], + [ + 888.4635835418073, + 67.39612390050456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.87140833605145, + "ymin": 66.17595920752598, + "xmax": 232.66795152722108, + "ymax": 77.6113233601497 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 215.91202092745078, + 71.410452677369 + ], + [ + 214.29615956291855, + 77.6113233601497 + ], + [ + 231.191548576502, + 76.22887608040048 + ], + [ + 232.66795152722108, + 70.05028351690083 + ], + [ + 214.50420892743728, + 67.53367038259307 + ], + [ + 212.87140833605145, + 73.72353990316691 + ], + [ + 229.82582130967762, + 72.34351620635681 + ], + [ + 231.31819226653005, + 66.17595920752598 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00007/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e2cf3bb639e73d4bae8b6a00421e11ae8605562 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00007/meta.json @@ -0,0 +1,1518 @@ +{ + "frame_id": 7, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.5, + "sim_timestamp": 11853.339661298553 + }, + "drone_pose": { + "x": -51.008381730890235, + "y": 67.8107218619805, + "z": 20.547199990024353, + "pitch": -47.50937303632798, + "yaw": -81.02944585009634, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10532379150390625, + 0.6672077178955078, + 0.7373877763748169, + 35.46497344970703 + ], + [ + -0.9877686500549316, + 0.15592670440673828, + -2.9802322387695312e-08, + 39.810970306396484 + ], + [ + -0.11497846245765686, + -0.7283685207366943, + 0.6754696369171143, + -69.13507080078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.98376134222591, + "y": 67.29802763604877, + "z": 20.52635012787676 + }, + "t1_image_uv": [ + 491.68745996293717, + -605.6971295765984 + ], + "t1_depth": 0.36004105980684237 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 49.81223678588867, + "z": 0.6555454064905644 + }, + "image_uv": [ + 640.0000000000002, + 359.99999999999994 + ], + "depth": 26.975837295151678, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 49.81223678588867, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2827709913253784, + "y": 0.22941893339157104, + "z": 0.5546059012413025 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.2782008087653, + "ymin": 338.24167323682997, + "xmax": 649.8429457220957, + "ymax": 381.44422105925014 + }, + "corners_3d": [ + [ + -48.396602630615234, + 50.095008850097656, + 0.10093951225280762 + ], + [ + -47.93776321411133, + 50.095008850097656, + 0.10093951225280762 + ], + [ + -47.93776321411133, + 49.52946472167969, + 0.10093951225280762 + ], + [ + -48.396602630615234, + 49.52946472167969, + 0.10093951225280762 + ], + [ + -48.396602630615234, + 50.095008850097656, + 1.2101513147354126 + ], + [ + -47.93776321411133, + 50.095008850097656, + 1.2101513147354126 + ], + [ + -47.93776321411133, + 49.52946472167969, + 1.2101513147354126 + ], + [ + -48.396602630615234, + 49.52946472167969, + 1.2101513147354126 + ] + ], + "corners_2d": [ + [ + 633.5514067254285, + 381.44422105925014 + ], + [ + 649.5471834606353, + 379.54553622568227 + ], + [ + 646.3491310397138, + 364.949252613138 + ], + [ + 630.5668341625368, + 366.7963270052166 + ], + [ + 633.3512693803732, + 354.817204216508 + ], + [ + 649.8429457220957, + 352.90843792849796 + ], + [ + 646.5430493864087, + 338.24167323682997 + ], + [ + 630.2782008087653, + 340.096980193315 + ] + ], + "center_offset_px": [ + 2.2737367544323206e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 7, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359244, + "2": 431485, + "3": 82336, + "6": 4020, + "9": 15379, + "10": 793, + "12": 1992, + "14": 9604, + "20": 9335, + "24": 7412 + }, + "instance_pixel_counts": { + "2189": 10732, + "4960": 74751, + "6215": 58820, + "7314": 3446, + "7751": 82327, + "7776": 30251, + "7826": 16265, + "9362": 11129, + "9874": 38895, + "17558": 8711, + "18512": 3627, + "22676": 17965, + "23188": 72440, + "24724": 15743, + "25236": 58864, + "28755": 2149, + "28802": 1871, + "30809": 5015, + "31833": 826, + "32914": 30920, + "35986": 49671, + "36500": 449, + "36698": 944, + "37012": 1867, + "38548": 145, + "39060": 554, + "39564": 1304, + "39770": 21337, + "40076": 5841, + "40538": 52068, + "41612": 1838, + "42074": 2146, + "42124": 6584, + "48274": 118594, + "50322": 75638, + "53908": 3570, + "55444": 827, + "56576": 196, + "56832": 236, + "57088": 632, + "57173": 21087, + "57344": 513, + "57600": 415, + "60672": 9604 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 196, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 49.81223678588867, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2853149473667145, + "y": 0.1947973519563675, + "z": 0.5600636005401611 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 631.4925458944265, + "ymin": 338.1809191365897, + "xmax": 648.6169511790226, + "ymax": 381.4945748093812 + }, + "corners_3d": [ + [ + -48.36198043823242, + 50.09755325317383, + 0.09548181295394897 + ], + [ + -47.97238540649414, + 50.09755325317383, + 0.09548181295394897 + ], + [ + -47.97238540649414, + 49.526920318603516, + 0.09548181295394897 + ], + [ + -48.36198043823242, + 49.526920318603516, + 0.09548181295394897 + ], + [ + -48.36198043823242, + 50.09755325317383, + 1.215609073638916 + ], + [ + -47.97238540649414, + 50.09755325317383, + 1.215609073638916 + ], + [ + -47.97238540649414, + 49.526920318603516, + 1.215609073638916 + ], + [ + -48.36198043823242, + 49.526920318603516, + 1.215609073638916 + ] + ], + "corners_2d": [ + [ + 634.7748312309327, + 381.4945748093812 + ], + [ + 648.3554671054578, + 379.88227026850217 + ], + [ + 645.1453204592113, + 365.15111064567964 + ], + [ + 631.747525065399, + 366.719206704901 + ], + [ + 634.611055117379, + 354.60498896150995 + ], + [ + 648.6169511790226, + 352.98403309044795 + ], + [ + 645.30405330613, + 338.1809191365897 + ], + [ + 631.4925458944265, + 339.7560669429439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 236, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 52.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.19688478112220764, + "y": 0.2760840058326721, + "z": 0.5265477895736694 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 796.5977636431014, + "ymin": 403.89248392730843, + "xmax": 827.2175396793642, + "ymax": 444.9119067368306 + }, + "corners_3d": [ + [ + -44.2830810546875, + 53.04758834838867, + 0.12900251150131226 + ], + [ + -43.737709045410156, + 52.961212158203125, + 0.12900251150131226 + ], + [ + -43.79930877685547, + 52.57229232788086, + 0.12900251150131226 + ], + [ + -44.34468078613281, + 52.658668518066406, + 0.12900251150131226 + ], + [ + -44.2830810546875, + 53.04758834838867, + 1.182098150253296 + ], + [ + -43.737709045410156, + 52.961212158203125, + 1.182098150253296 + ], + [ + -43.79930877685547, + 52.57229232788086, + 1.182098150253296 + ], + [ + -44.34468078613281, + 52.658668518066406, + 1.182098150253296 + ] + ], + "corners_2d": [ + [ + 802.697789239569, + 444.9119067368306 + ], + [ + 821.5671671710377, + 439.84514009562844 + ], + [ + 815.3104191647147, + 428.8628902451534 + ], + [ + 796.5977636431014, + 433.83124598487166 + ], + [ + 807.784403481742, + 420.07322387489506 + ], + [ + 827.2175396793642, + 414.96332341313627 + ], + [ + 820.711321166521, + 403.89248392730843 + ], + [ + 801.4442982519918, + 408.90008655262784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 632, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.3687744140625, + "y": 57.35172653198242, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3371264636516571, + "y": 0.37862059473991394, + "z": 0.8880093097686768 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 574.9086844351136, + "ymin": 577.9559872763331, + "xmax": 615.8365632962949, + "ymax": 648.7740486470432 + }, + "corners_3d": [ + [ + -50.72923278808594, + 57.70820617675781, + -0.23245900869369507 + ], + [ + -49.97303009033203, + 57.668575286865234, + -0.23245900869369507 + ], + [ + -50.00831604003906, + 56.99524688720703, + -0.23245900869369507 + ], + [ + -50.76451873779297, + 57.03487777709961, + -0.23245900869369507 + ], + [ + -50.72923278808594, + 57.70820617675781, + 1.5435595512390137 + ], + [ + -49.97303009033203, + 57.668575286865234, + 1.5435595512390137 + ], + [ + -50.00831604003906, + 56.99524688720703, + 1.5435595512390137 + ], + [ + -50.76451873779297, + 57.03487777709961, + 1.5435595512390137 + ] + ], + "corners_2d": [ + [ + 583.5312641201127, + 648.7740486470432 + ], + [ + 615.8365632962949, + 642.3855474817707 + ], + [ + 610.3832852923017, + 616.2096515498188 + ], + [ + 578.6909293072802, + 622.3486529802283 + ], + [ + 579.9729461024288, + 611.5570648746171 + ], + [ + 614.3216626758586, + 604.9570558912278 + ], + [ + 608.5652729337198, + 577.9559872763331 + ], + [ + 574.9086844351136, + 584.2825417363106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 513, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 49.81223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.3135302662849426, + "y": 0.3195287883281708, + "z": 0.8862220644950867 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 268.3605726534545, + "ymin": 365.1464324503033, + "xmax": 313.46481482386224, + "ymax": 427.2980684678514 + }, + "corners_3d": [ + [ + -58.002681732177734, + 50.10861587524414, + -0.0784306526184082 + ], + [ + -57.364501953125, + 50.142059326171875, + -0.0784306526184082 + ], + [ + -57.33168411254883, + 49.5158576965332, + -0.0784306526184082 + ], + [ + -57.96986389160156, + 49.48241424560547, + -0.0784306526184082 + ], + [ + -58.002681732177734, + 50.10861587524414, + 1.6940134763717651 + ], + [ + -57.364501953125, + 50.142059326171875, + 1.6940134763717651 + ], + [ + -57.33168411254883, + 49.5158576965332, + 1.6940134763717651 + ], + [ + -57.96986389160156, + 49.48241424560547, + 1.6940134763717651 + ] + ], + "corners_2d": [ + [ + 286.84085964070636, + 427.2980684678514 + ], + [ + 310.6184107511811, + 425.3959739069195 + ], + [ + 313.46481482386224, + 407.86175896909725 + ], + [ + 290.067137835615, + 409.70436579004456 + ], + [ + 268.3605726534545, + 384.8025676617224 + ], + [ + 293.41329807658326, + 382.8773779268581 + ], + [ + 296.69079299407775, + 365.1464324503033 + ], + [ + 272.0594032612031, + 367.0083422923003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 415, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 41.64202117919922, + "z": 0.7900034189224243 + }, + "extent": { + "x": 0.3430566191673279, + "y": 0.5008007884025574, + "z": 0.9157435894012451 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 900.3142731050107, + "ymin": 121.7651849685817, + "xmax": 944.2793052481995, + "ymax": 177.27682516963029 + }, + "corners_3d": [ + [ + -37.470149993896484, + 41.90251159667969, + -0.1257401704788208 + ], + [ + -36.48088073730469, + 42.05919647216797, + -0.1257401704788208 + ], + [ + -36.3735466003418, + 41.38153076171875, + -0.1257401704788208 + ], + [ + -37.362815856933594, + 41.22484588623047, + -0.1257401704788208 + ], + [ + -37.470149993896484, + 41.90251159667969, + 1.7057470083236694 + ], + [ + -36.48088073730469, + 42.05919647216797, + 1.7057470083236694 + ], + [ + -36.3735466003418, + 41.38153076171875, + 1.7057470083236694 + ], + [ + -37.362815856933594, + 41.22484588623047, + 1.7057470083236694 + ] + ], + "corners_2d": [ + [ + 903.8571334005829, + 177.2679647332004 + ], + [ + 932.1772308458603, + 177.27682516963029 + ], + [ + 928.2530087613688, + 165.62599431151403 + ], + [ + 900.3142731050107, + 165.61737087645636 + ], + [ + 914.7860637550577, + 133.27503833645588 + ], + [ + 944.2793052481995, + 133.28379662336164 + ], + [ + 940.0252109909172, + 121.77369948647899 + ], + [ + 910.9453504958071, + 121.7651849685817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 9604, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 519.687717704842, + "ymin": 399.12864508840227, + "xmax": 613.3497400485448, + "ymax": 577.1957852335403 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 593.9931740887155, + 437.84816385056513 + ], + [ + 525.2726214431615, + 446.03292772091737 + ], + [ + 536.8379544727469, + 577.1957852335403 + ], + [ + 613.3497400485448, + 567.0166889322343 + ], + [ + 591.7703070127712, + 399.12864508840227 + ], + [ + 519.687717704842, + 407.4167743316418 + ], + [ + 531.2034157329732, + 541.0322894949282 + ], + [ + 611.9060266700722, + 530.6088283093777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 840.021051176981, + "ymin": 51.89489492034568, + "xmax": 1041.6363504431679, + "ymax": 301.78851692419266 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 964.1524034271117, + 288.3033237747877 + ], + [ + 958.7816233913379, + 278.74390121326456 + ], + [ + 840.021051176981, + 291.96452017247265 + ], + [ + 844.2754586247023, + 301.78851692419266 + ], + [ + 1041.6363504431679, + 60.96002535418643 + ], + [ + 1034.0594656109497, + 51.89489492034568 + ], + [ + 888.0555488881561, + 64.44315932796667 + ], + [ + 893.9429926572562, + 73.8203260176964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.9275163589987, + "ymin": 70.21102085319035, + "xmax": 911.4998469636004, + "ymax": 81.72654902529746 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 910.590900110907, + 80.33985683276637 + ], + [ + 906.5669881380072, + 74.09345789593038 + ], + [ + 890.9275163589987, + 75.45767485264827 + ], + [ + 894.8302724702646, + 81.72654902529746 + ], + [ + 911.4998469636004, + 76.44647341716791 + ], + [ + 907.4551143350222, + 70.21102085319035 + ], + [ + 891.7650377831814, + 71.57281804920376 + ], + [ + 895.6878276175121, + 77.83078172440429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 209.69910513404852, + "ymin": 76.10836413285341, + "xmax": 230.05898645284395, + "ymax": 87.8971154455881 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 212.87025734296463, + 81.45106100299125 + ], + [ + 211.17149824474706, + 87.8971154455881 + ], + [ + 228.507082941389, + 86.4710647529339 + ], + [ + 230.05898645284395, + 80.04858535430412 + ], + [ + 211.41592244044466, + 77.5083956373615 + ], + [ + 209.69910513404852, + 83.94343980297685 + ], + [ + 227.09681765083377, + 82.51979327199945 + ], + [ + 228.6657302695446, + 76.10836413285341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.29877978010586, + "ymin": 68.30948190167635, + "xmax": 310.7807204792452, + "ymax": 320.20293220409195 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 180.69450373712306, + 310.00294095338955 + ], + [ + 178.29319140926748, + 320.20293220409195 + ], + [ + 309.7238239149992, + 306.20301011033456 + ], + [ + 310.7807204792452, + 296.28293286277784 + ], + [ + 67.74013930734088, + 81.44434773231427 + ], + [ + 63.29877978010586, + 91.26702381120799 + ], + [ + 228.88585245602292, + 77.79759514879407 + ], + [ + 231.19979811155451, + 68.30948190167635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.8183167974765, + "ymin": 70.14924897515351, + "xmax": 911.6118852182518, + "ymax": 81.78872013428605 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 910.6927721886279, + 80.38697216113479 + ], + [ + 906.6251256391932, + 74.0733531729013 + ], + [ + 890.8183167974765, + 75.45213959067604 + ], + [ + 894.7621888778184, + 81.78872013428605 + ], + [ + 911.6118852182518, + 76.45168453146499 + ], + [ + 907.5229636851566, + 70.14924897515351 + ], + [ + 891.6644599935698, + 71.52556311015013 + ], + [ + 895.6287944448707, + 77.85099726791697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 209.80923969791206, + "ymin": 76.17098358214099, + "xmax": 229.95221262675994, + "ymax": 87.83420251123897 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 212.94552102567252, + 81.45700985584898 + ], + [ + 211.26554617047947, + 87.83420251123897 + ], + [ + 228.41598614307532, + 86.42348242458746 + ], + [ + 229.95221262675994, + 80.06936534493718 + ], + [ + 211.50688480576156, + 77.55623591317806 + ], + [ + 209.80923969791206, + 83.92265126173834 + ], + [ + 227.02048626715543, + 82.51428463618186 + ], + [ + 228.57336706135652, + 76.17098358214099 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00009/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7807df03ac0f071ba6545be06ba63e603fd61436 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00009/meta.json @@ -0,0 +1,1623 @@ +{ + "frame_id": 9, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.5, + "sim_timestamp": 11876.744251797209 + }, + "drone_pose": { + "x": -50.958673939770215, + "y": 66.7859736233115, + "z": 20.418569979530268, + "pitch": -47.37457891588534, + "yaw": -81.17195413469432, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10392999649047852, + 0.6691799163818359, + 0.7357967495918274, + 34.96404266357422 + ], + [ + -0.988153338432312, + 0.15346968173980713, + 0.0, + 40.10536575317383 + ], + [ + -0.11292248964309692, + -0.7270800471305847, + 0.6772024631500244, + -68.140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.93380371519439, + "y": 66.27448638729423, + "z": 20.38760281872611 + }, + "t1_image_uv": [ + 499.1986523032559, + -563.6578925218388 + ], + "t1_depth": 0.36764729072768176 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 48.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.85934819083057, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 48.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.265625, + "y": 0.23920409381389618, + "z": 0.5526058673858643 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.0002172122581, + "ymin": 338.59366394676454, + "xmax": 650.1160473908723, + "ymax": 381.083629836672 + }, + "corners_3d": [ + [ + -48.40638732910156, + 49.07786178588867, + 0.10294443368911743 + ], + [ + -47.927978515625, + 49.07786178588867, + 0.10294443368911743 + ], + [ + -47.927978515625, + 48.54661178588867, + 0.10294443368911743 + ], + [ + -48.40638732910156, + 48.54661178588867, + 0.10294443368911743 + ], + [ + -48.40638732910156, + 49.07786178588867, + 1.2081561088562012 + ], + [ + -47.927978515625, + 49.07786178588867, + 1.2081561088562012 + ], + [ + -47.927978515625, + 48.54661178588867, + 1.2081561088562012 + ], + [ + -48.40638732910156, + 48.54661178588867, + 1.2081561088562012 + ] + ], + "corners_2d": [ + [ + 633.0614231015126, + 381.083629836672 + ], + [ + 649.812633426658, + 379.13215569924427 + ], + [ + 646.8362173510736, + 365.38508482722233 + ], + [ + 630.296799165664, + 367.28632814972974 + ], + [ + 632.8464707378446, + 354.3649604080922 + ], + [ + 650.1160473908723, + 352.40365803235903 + ], + [ + 647.0447791213578, + 338.59366394676454 + ], + [ + 630.0002172122581, + 340.502951268178 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 9, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 359865, + "2": 428885, + "3": 81686, + "6": 4340, + "9": 16586, + "10": 790, + "12": 1967, + "14": 10453, + "20": 9646, + "24": 7382 + }, + "instance_pixel_counts": { + "2189": 10136, + "4960": 77934, + "6215": 64569, + "7314": 4159, + "7751": 76039, + "7776": 24306, + "7826": 17415, + "9362": 12727, + "9874": 41740, + "17558": 8035, + "18512": 3547, + "22676": 21127, + "23188": 77614, + "24724": 18117, + "25236": 63104, + "28243": 80, + "28755": 2270, + "28802": 1990, + "30809": 4401, + "31833": 1378, + "32914": 29256, + "35986": 45576, + "36500": 503, + "36698": 4, + "37012": 1991, + "38548": 181, + "39060": 597, + "39564": 1563, + "39770": 26000, + "40076": 6251, + "40538": 46904, + "41612": 2107, + "42074": 2999, + "42124": 7072, + "48274": 111210, + "50322": 68693, + "53908": 3293, + "55444": 817, + "56576": 201, + "56832": 220, + "57088": 625, + "57173": 22685, + "57344": 510, + "57600": 411, + "60672": 10453 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 201, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 48.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2541186511516571, + "y": 0.2791845500469208, + "z": 0.5614351034164429 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.630528109719, + "ymin": 338.508893824813, + "xmax": 651.4913873602991, + "ymax": 381.15129921171354 + }, + "corners_3d": [ + [ + -48.44636917114258, + 49.06635665893555, + 0.09411519765853882 + ], + [ + -47.887996673583984, + 49.06635665893555, + 0.09411519765853882 + ], + [ + -47.887996673583984, + 48.5581169128418, + 0.09411519765853882 + ], + [ + -48.44636917114258, + 48.5581169128418, + 0.09411519765853882 + ], + [ + -48.44636917114258, + 49.06635665893555, + 1.2169854640960693 + ], + [ + -47.887996673583984, + 49.06635665893555, + 1.2169854640960693 + ], + [ + -47.887996673583984, + 48.5581169128418, + 1.2169854640960693 + ], + [ + -48.44636917114258, + 48.5581169128418, + 1.2169854640960693 + ] + ], + "corners_2d": [ + [ + 631.6004582997124, + 381.15129921171354 + ], + [ + 651.1414523062381, + 378.87504154879196 + ], + [ + 648.2778099672928, + 365.7280000841144 + ], + [ + 628.9731881303219, + 367.94818650449804 + ], + [ + 631.336058948644, + 354.0048065989166 + ], + [ + 651.4913873602991, + 351.7169429291407 + ], + [ + 648.5344840562319, + 338.508893824813 + ], + [ + 628.630528109719, + 340.7386622046869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 220, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 51.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.21248537302017212, + "y": 0.244990274310112, + "z": 0.5140601396560669 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 798.0530852395354, + "ymin": 404.4386950117775, + "xmax": 827.0448946666195, + "ymax": 445.392589841005 + }, + "corners_3d": [ + [ + -44.24992752075195, + 52.058135986328125, + 0.1414901614189148 + ], + [ + -43.7659797668457, + 51.981483459472656, + 0.1414901614189148 + ], + [ + -43.832462310791016, + 51.561744689941406, + 0.1414901614189148 + ], + [ + -44.316410064697266, + 51.638397216796875, + 0.1414901614189148 + ], + [ + -44.24992752075195, + 52.058135986328125, + 1.1696105003356934 + ], + [ + -43.7659797668457, + 51.981483459472656, + 1.1696105003356934 + ], + [ + -43.832462310791016, + 51.561744689941406, + 1.1696105003356934 + ], + [ + -44.316410064697266, + 51.638397216796875, + 1.1696105003356934 + ] + ], + "corners_2d": [ + [ + 804.6566295815888, + 445.392589841005 + ], + [ + 821.5120895454914, + 440.90991297477126 + ], + [ + 814.7558439345255, + 428.99664923355425 + ], + [ + 798.0530852395354, + 433.38461823066865 + ], + [ + 809.6962806199895, + 420.9633080359912 + ], + [ + 827.0448946666195, + 416.44399227677656 + ], + [ + 820.0245439479008, + 404.4386950117775 + ], + [ + 802.8375865521723, + 408.8596601359103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.203636169433594, + "y": 57.33275604248047, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3495458960533142, + "y": 0.5805273056030273, + "z": 0.885391116142273 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 576.8686716970989, + "ymin": 615.5831511561048, + "xmax": 637.0976594593191, + "ymax": 692.1275153077839 + }, + "corners_3d": [ + [ + -50.76507568359375, + 57.71220397949219, + -0.22984081506729126 + ], + [ + -49.60560989379883, + 57.65143966674805, + -0.22984081506729126 + ], + [ + -49.64219665527344, + 56.95330810546875, + -0.22984081506729126 + ], + [ + -50.80166244506836, + 57.01407241821289, + -0.22984081506729126 + ], + [ + -50.76507568359375, + 57.71220397949219, + 1.5409414768218994 + ], + [ + -49.60560989379883, + 57.65143966674805, + 1.5409414768218994 + ], + [ + -49.64219665527344, + 56.95330810546875, + 1.5409414768218994 + ], + [ + -50.80166244506836, + 57.01407241821289, + 1.5409414768218994 + ] + ], + "corners_2d": [ + [ + 585.8216867558695, + 692.1275153077839 + ], + [ + 637.0976594593191, + 681.7931818299658 + ], + [ + 630.8803795791121, + 652.9275016133181 + ], + [ + 580.6508187074802, + 662.8277453951487 + ], + [ + 582.2889999132925, + 656.1720062328285 + ], + [ + 636.9099270308673, + 645.4568930600421 + ], + [ + 630.3037585687862, + 615.5831511561048 + ], + [ + 576.8686716970989, + 625.8199352882907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 510, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 48.81223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.3096093535423279, + "y": 0.33143553137779236, + "z": 0.8662528991699219 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 266.4423981489504, + "ymin": 364.98441695049735, + "xmax": 312.32386082667233, + "ymax": 426.32197650222355 + }, + "corners_3d": [ + [ + -58.014366149902344, + 49.10407638549805, + -0.05846148729324341 + ], + [ + -57.3524055480957, + 49.13876724243164, + -0.05846148729324341 + ], + [ + -57.31999969482422, + 48.5203971862793, + -0.05846148729324341 + ], + [ + -57.98196029663086, + 48.4857063293457, + -0.05846148729324341 + ], + [ + -58.014366149902344, + 49.10407638549805, + 1.6740443706512451 + ], + [ + -57.3524055480957, + 49.13876724243164, + 1.6740443706512451 + ], + [ + -57.31999969482422, + 48.5203971862793, + 1.6740443706512451 + ], + [ + -57.98196029663086, + 48.4857063293457, + 1.6740443706512451 + ] + ], + "corners_2d": [ + [ + 284.6416151081248, + 426.32197650222355 + ], + [ + 309.4116987406537, + 424.3927069254575 + ], + [ + 312.32386082667233, + 407.04319586106004 + ], + [ + 287.9474867953327, + 408.9124396570827 + ], + [ + 266.4423981489504, + 384.4686222149988 + ], + [ + 292.5119976471942, + 382.51723382529394 + ], + [ + 295.8486441104037, + 364.98441695049735 + ], + [ + 270.2147701721833, + 366.87206134294166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 411, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 40.64202117919922, + "z": 0.7909897565841675 + }, + "extent": { + "x": 0.33436888456344604, + "y": 0.47163206338882446, + "z": 0.9160439372062683 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 902.7652327189501, + "ymin": 121.97823773070499, + "xmax": 945.1517430000617, + "ymax": 177.47237277885554 + }, + "corners_3d": [ + [ + -37.439979553222656, + 40.898494720458984, + -0.12505418062210083 + ], + [ + -36.508331298828125, + 41.04605484008789, + -0.12505418062210083 + ], + [ + -36.403717041015625, + 40.38554763793945, + -0.12505418062210083 + ], + [ + -37.335365295410156, + 40.23798751831055, + -0.12505418062210083 + ], + [ + -37.439979553222656, + 40.898494720458984, + 1.707033634185791 + ], + [ + -36.508331298828125, + 41.04605484008789, + 1.707033634185791 + ], + [ + -36.403717041015625, + 40.38554763793945, + 1.707033634185791 + ], + [ + -37.335365295410156, + 40.23798751831055, + 1.707033634185791 + ] + ], + "corners_2d": [ + [ + 906.224360098871, + 177.42360250427618 + ], + [ + 932.9966319742157, + 177.47237277885554 + ], + [ + 929.1837818857118, + 166.10895915395716 + ], + [ + 902.7652327189501, + 166.0614683676225 + ], + [ + 917.2681582056234, + 133.19736017684767 + ], + [ + 945.1517430000617, + 133.2455430861824 + ], + [ + 941.0158130027264, + 122.02510520050964 + ], + [ + 913.5157160254969, + 121.97823773070499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 10453, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 521.6683035620913, + "ymin": 429.31376547018374, + "xmax": 618.3114138298772, + "ymax": 615.7458078161276 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 598.2018797619129, + 467.92986153597485 + ], + [ + 527.3223908278644, + 476.4411066659111 + ], + [ + 539.0829440458004, + 615.7458078161276 + ], + [ + 618.3114138298772, + 605.0759785931426 + ], + [ + 596.12040582834, + 429.31376547018374 + ], + [ + 521.6683035620913, + 437.95234094068695 + ], + [ + 533.3761208235873, + 580.2480367673704 + ], + [ + 617.0950599586834, + 569.2882257455376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.9263246171425, + "ymin": 71.85695026294968, + "xmax": 1061.9867154156266, + "ymax": 325.2743867159974 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 978.5064330753274, + 311.34348347308475 + ], + [ + 972.8699281274914, + 301.3110414579444 + ], + [ + 850.9263246171425, + 314.9603392236326 + ], + [ + 855.3815696352785, + 325.2743867159974 + ], + [ + 1061.9867154156266, + 81.4482895359883 + ], + [ + 1053.930291102755, + 71.85695026294968 + ], + [ + 903.1796877659851, + 84.91783608893638 + ], + [ + 909.4284305112521, + 94.84610858677291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.044736708438, + "ymin": 90.80717513867313, + "xmax": 927.4570301755507, + "ymax": 102.81022117475248 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 926.4641958317188, + 101.36583585817186 + ], + [ + 922.1943893624746, + 94.75503173120785 + ], + [ + 906.044736708438, + 96.1751523686828 + ], + [ + 910.1848939462457, + 102.81022117475248 + ], + [ + 927.4570301755507, + 97.40722136684343 + ], + [ + 923.1641545493412, + 90.80717513867313 + ], + [ + 906.9606783675843, + 92.22495226922774 + ], + [ + 911.1230373272344, + 98.84930752764296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.21631968132976, + "ymin": 96.11159434644355, + "xmax": 223.37895279047683, + "ymax": 108.38387614473152 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 205.61965535921087, + 101.5736781366723 + ], + [ + 203.76039838536826, + 108.38387614473152 + ], + [ + 221.67703071149344, + 106.90119580680263 + ], + [ + 223.37895279047683, + 100.11638069930262 + ], + [ + 204.0954337313509, + 97.56652734007417 + ], + [ + 202.21631968132976, + 104.36592729344812 + ], + [ + 220.19915192460292, + 102.88556258114806 + ], + [ + 221.91977245114168, + 96.11159434644355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.3278074340592, + "ymin": 0.0, + "xmax": 343.4560516619834, + "ymax": 8.676428226499297 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 253.44492440281812, + 3.8024481310860097 + ], + [ + 252.26423260743792, + 8.676428226499297 + ], + [ + 342.9192401862646, + 2.086026673211336 + ], + [ + 343.4560516619834, + -2.695845189495742 + ], + [ + 192.20110610453895, + -192.61710624459374 + ], + [ + 190.3278074340592, + -188.58099306166628 + ], + [ + 295.98747708534154, + -194.03630453697565 + ], + [ + 296.9872868715241, + -197.98420862890657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 50.745720248895054, + "ymin": 88.11430999224012, + "xmax": 307.39276651745456, + "ymax": 343.3959018364194 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 173.77142700910434, + 332.7003382903638 + ], + [ + 171.18049231536628, + 343.3959018364194 + ], + [ + 306.22547000736193, + 328.951071650447 + ], + [ + 307.39276651745456, + 318.5528916756745 + ], + [ + 55.56662264339582, + 101.76854011834916 + ], + [ + 50.745720248895054, + 112.15540902221124 + ], + [ + 221.9934484861227, + 98.14059983271164 + ], + [ + 224.53261419739067, + 88.11430999224012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.9311200126466, + "ymin": 90.74280700913829, + "xmax": 927.5736871130508, + "ymax": 102.87504532850164 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 926.569754338334, + 101.41497406215001 + ], + [ + 922.2535357616212, + 94.73303546816948 + ], + [ + 905.9311200126466, + 96.1683170458233 + ], + [ + 910.1148873211164, + 102.87504532850164 + ], + [ + 927.5736871130508, + 97.4137546783117 + ], + [ + 923.2338959885825, + 90.74280700913829 + ], + [ + 906.856497462647, + 92.17569416137212 + ], + [ + 911.0629415766092, + 98.87147731763548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 202.33084510017272, + "ymin": 96.1767643881019, + "xmax": 223.2680162042812, + "ymax": 108.31836297530432 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 205.69675980166892, + 101.58091512367537 + ], + [ + 203.85804343217944, + 108.31836297530432 + ], + [ + 221.58330596309276, + 106.85162577683079 + ], + [ + 223.2680162042812, + 100.13902308425298 + ], + [ + 204.18899191595557, + 97.61634230524493 + ], + [ + 202.33084510017272, + 104.34322053116318 + ], + [ + 220.12089950780586, + 102.87875017985783 + ], + [ + 221.8239181873596, + 96.1767643881019 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00010/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94ea48d4aafce3f5d4d38095a0234ea1edc46f8e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00010/meta.json @@ -0,0 +1,1622 @@ +{ + "frame_id": 10, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.0, + "sim_timestamp": 11888.4159949983 + }, + "drone_pose": { + "x": -50.93380371519439, + "y": 66.27448638729423, + "z": 20.38760281872611, + "pitch": -47.353603102398594, + "yaw": -81.24387361424505, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10313087701797485, + 0.6695760488510132, + 0.735548734664917, + 34.63257598876953 + ], + [ + -0.9883452653884888, + 0.15222907066345215, + 2.9802322387695312e-08, + 40.25127410888672 + ], + [ + -0.11197194457054138, + -0.7269761562347412, + 0.6774717569351196, + -67.69514465332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.910465932758036, + "y": 65.76350683937555, + "z": 20.357468978615135 + }, + "t1_image_uv": [ + 496.750174414522, + -565.854791387975 + ], + "t1_depth": 0.36671142220145414 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 48.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 26.82630236050555, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 48.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2695043981075287, + "y": 0.29134032130241394, + "z": 0.5567033290863037 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1127238539074, + "ymin": 338.1627221557259, + "xmax": 652.0234148163336, + "ymax": 381.5157106114838 + }, + "corners_3d": [ + [ + -48.45852279663086, + 48.58174133300781, + 0.09884697198867798 + ], + [ + -47.8758430480957, + 48.58174133300781, + 0.09884697198867798 + ], + [ + -47.8758430480957, + 48.04273223876953, + 0.09884697198867798 + ], + [ + -48.45852279663086, + 48.04273223876953, + 0.09884697198867798 + ], + [ + -48.45852279663086, + 48.58174133300781, + 1.2122535705566406 + ], + [ + -47.8758430480957, + 48.58174133300781, + 1.2122535705566406 + ], + [ + -47.8758430480957, + 48.04273223876953, + 1.2122535705566406 + ], + [ + -48.45852279663086, + 48.04273223876953, + 1.2122535705566406 + ] + ], + "corners_2d": [ + [ + 631.2289089521929, + 381.5157106114838 + ], + [ + 651.6598698110012, + 379.1555096108059 + ], + [ + 648.6365508640899, + 365.1978383594882 + ], + [ + 628.4682044787257, + 367.49630887866545 + ], + [ + 630.9548065653765, + 354.55622435772784 + ], + [ + 652.0234148163336, + 352.1841121635389 + ], + [ + 648.9021814728507, + 338.1627221557259 + ], + [ + 628.1127238539074, + 340.4708950215388 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 10, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359697, + "2": 427627, + "3": 81816, + "6": 4494, + "9": 16899, + "10": 790, + "12": 2121, + "14": 10900, + "20": 9918, + "24": 7338 + }, + "instance_pixel_counts": { + "2189": 9806, + "4960": 79604, + "6215": 67669, + "7314": 4525, + "7751": 72367, + "7776": 21754, + "7826": 18028, + "9362": 13550, + "9874": 43271, + "17558": 7663, + "18512": 3634, + "22676": 22740, + "23188": 80348, + "24724": 19341, + "25236": 65362, + "28243": 129, + "28755": 2331, + "28802": 2034, + "30809": 4077, + "31833": 1731, + "32914": 28329, + "35986": 43325, + "36500": 545, + "37012": 2059, + "38548": 196, + "39060": 608, + "39564": 1693, + "39770": 28525, + "40076": 6469, + "40538": 44012, + "41612": 2248, + "42074": 3471, + "42124": 7326, + "48274": 106965, + "50322": 64941, + "53908": 3084, + "55444": 846, + "56576": 208, + "56832": 220, + "57088": 760, + "57173": 23183, + "57344": 518, + "57600": 415, + "60672": 10900 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 48.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2822363078594208, + "y": 0.19516845047473907, + "z": 0.5536822080612183 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 631.4839652756135, + "ymin": 338.2916875084121, + "xmax": 648.625591991239, + "ymax": 381.38996483128375 + }, + "corners_3d": [ + [ + -48.36235046386719, + 48.59447479248047, + 0.10186809301376343 + ], + [ + -47.972015380859375, + 48.59447479248047, + 0.10186809301376343 + ], + [ + -47.972015380859375, + 48.029998779296875, + 0.10186809301376343 + ], + [ + -48.36235046386719, + 48.029998779296875, + 0.10186809301376343 + ], + [ + -48.36235046386719, + 48.59447479248047, + 1.2092325687408447 + ], + [ + -47.972015380859375, + 48.59447479248047, + 1.2092325687408447 + ], + [ + -47.972015380859375, + 48.029998779296875, + 1.2092325687408447 + ], + [ + -48.36235046386719, + 48.029998779296875, + 1.2092325687408447 + ] + ], + "corners_2d": [ + [ + 634.6740476731252, + 381.38996483128375 + ], + [ + 648.3660022301561, + 379.8078543242931 + ], + [ + 645.2447869607538, + 365.17980596869575 + ], + [ + 631.7370993593807, + 366.7186051504613 + ], + [ + 634.5085341913025, + 354.57656943257945 + ], + [ + 648.625591991239, + 352.9864867201234 + ], + [ + 645.4052181849879, + 338.2916875084121 + ], + [ + 631.4839652756135, + 339.836917659184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 220, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 51.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23078370094299316, + "y": 0.30321046710014343, + "z": 0.5425082445144653 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 795.7753178137968, + "ymin": 402.91178002381713, + "xmax": 829.7325074577132, + "ymax": 447.36591664947645 + }, + "corners_3d": [ + [ + -44.304569244384766, + 51.5853157043457, + 0.11304205656051636 + ], + [ + -43.70561599731445, + 51.49045181274414, + 0.11304205656051636 + ], + [ + -43.7778205871582, + 51.03456497192383, + 0.11304205656051636 + ], + [ + -44.376773834228516, + 51.12942886352539, + 0.11304205656051636 + ], + [ + -44.304569244384766, + 51.5853157043457, + 1.1980586051940918 + ], + [ + -43.70561599731445, + 51.49045181274414, + 1.1980586051940918 + ], + [ + -43.7778205871582, + 51.03456497192383, + 1.1980586051940918 + ], + [ + -44.376773834228516, + 51.12942886352539, + 1.1980586051940918 + ] + ], + "corners_2d": [ + [ + 802.9128411247602, + 447.36591664947645 + ], + [ + 823.8077213575257, + 441.8280114655402 + ], + [ + 816.4641145859473, + 428.88016691440646 + ], + [ + 795.7753178137968, + 434.2909268795134 + ], + [ + 808.1908178875149, + 421.55041156841986 + ], + [ + 829.7325074577132, + 415.9646334412198 + ], + [ + 822.0845868898758, + 402.91178002381713 + ], + [ + 800.7617743398248, + 408.36524341399826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 760, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.03520584106445, + "y": 57.30513381958008, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.359619140625, + "y": 0.5927075147628784, + "z": 0.8997584581375122 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 586.0098689348615, + "ymin": 634.1809946390582, + "xmax": 648.5494371779952, + "ymax": 712.9676212649483 + }, + "corners_3d": [ + [ + -50.608280181884766, + 57.695281982421875, + -0.24420815706253052 + ], + [ + -49.42448806762695, + 57.63323974609375, + -0.24420815706253052 + ], + [ + -49.46213150024414, + 56.91498565673828, + -0.24420815706253052 + ], + [ + -50.64592361450195, + 56.977027893066406, + -0.24420815706253052 + ], + [ + -50.608280181884766, + 57.695281982421875, + 1.5553088188171387 + ], + [ + -49.42448806762695, + 57.63323974609375, + 1.5553088188171387 + ], + [ + -49.46213150024414, + 56.91498565673828, + 1.5553088188171387 + ], + [ + -50.64592361450195, + 56.977027893066406, + 1.5553088188171387 + ] + ], + "corners_2d": [ + [ + 594.9051721596385, + 712.9676212649483 + ], + [ + 648.0135592242822, + 702.1564204463291 + ], + [ + 641.3217739222159, + 671.5723209782424 + ], + [ + 589.3444744558161, + 681.9093519269429 + ], + [ + 591.8644814027452, + 677.1471817385284 + ], + [ + 648.5494371779952, + 665.9091357203547 + ], + [ + 641.4080826912617, + 634.1809946390582 + ], + [ + 586.0098689348615, + 644.8942197073557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 518, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 48.31223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.31416502594947815, + "y": 0.5257592797279358, + "z": 0.9034566283226013 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.8618791943243, + "ymin": 363.02680362160845, + "xmax": 319.4423173775394, + "ymax": 427.5946155264452 + }, + "corners_3d": [ + [ + -58.20866394042969, + 48.598453521728516, + -0.09566521644592285 + ], + [ + -57.15858459472656, + 48.65348815917969, + -0.09566521644592285 + ], + [ + -57.125701904296875, + 48.02602005004883, + -0.09566521644592285 + ], + [ + -58.17578125, + 47.970985412597656, + -0.09566521644592285 + ], + [ + -58.20866394042969, + 48.598453521728516, + 1.7112480401992798 + ], + [ + -57.15858459472656, + 48.65348815917969, + 1.7112480401992798 + ], + [ + -57.125701904296875, + 48.02602005004883, + 1.7112480401992798 + ], + [ + -58.17578125, + 47.970985412597656, + 1.7112480401992798 + ] + ], + "corners_2d": [ + [ + 277.28282608656804, + 427.5946155264452 + ], + [ + 316.5720676778111, + 424.5706740301141 + ], + [ + 319.4423173775394, + 406.97779885447954 + ], + [ + 280.78694578620315, + 409.9062503107241 + ], + [ + 257.8618791943243, + 383.87109982295516 + ], + [ + 299.3044832083772, + 380.8111987147768 + ], + [ + 302.6142738560012, + 363.02680362160845 + ], + [ + 261.87627848879987, + 365.9850423885755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 415, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 40.14202117919922, + "z": 0.7914878129959106 + }, + "extent": { + "x": 0.3453698754310608, + "y": 0.5859826803207397, + "z": 0.9052447080612183 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 900.217736822678, + "ymin": 122.08931217925706, + "xmax": 949.2527869574634, + "ymax": 177.53849569089013 + }, + "corners_3d": [ + [ + -37.55464553833008, + 40.39147186279297, + -0.11375689506530762 + ], + [ + -36.3971061706543, + 40.574806213378906, + -0.11375689506530762 + ], + [ + -36.2890510559082, + 39.89257049560547, + -0.11375689506530762 + ], + [ + -37.446590423583984, + 39.70923614501953, + -0.11375689506530762 + ], + [ + -37.55464553833008, + 40.39147186279297, + 1.696732521057129 + ], + [ + -36.3971061706543, + 40.574806213378906, + 1.696732521057129 + ], + [ + -36.2890510559082, + 39.89257049560547, + 1.696732521057129 + ], + [ + -37.446590423583984, + 39.70923614501953, + 1.696732521057129 + ] + ], + "corners_2d": [ + [ + 903.737913638138, + 177.45253276460528 + ], + [ + 937.0636287315604, + 177.53849569089013 + ], + [ + 933.0878440659956, + 165.7923335622235 + ], + [ + 900.217736822678, + 165.70870314844998 + ], + [ + 914.5585199497696, + 133.6861076124158 + ], + [ + 949.2527869574634, + 133.77104219330877 + ], + [ + 944.9429352712065, + 122.17184960345213 + ], + [ + 910.7421872853773, + 122.08931217925706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 10900, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 522.7597227827891, + "ymin": 445.13999587449405, + "xmax": 620.8675321614849, + "ymax": 635.8397597854681 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 600.3759944833455, + 483.58738514623747 + ], + [ + 528.4434087953733, + 492.26699019683707 + ], + [ + 540.3134965074083, + 635.8397597854681 + ], + [ + 620.8675321614849, + 624.9183984531232 + ], + [ + 598.3726195045001, + 445.13999587449405 + ], + [ + 522.7597227827891, + 453.96113377230347 + ], + [ + 534.5779579850855, + 600.8416522394599 + ], + [ + 619.7758344098044, + 589.6041411767483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 856.3705921563592, + "ymin": 82.65695616245893, + "xmax": 1072.2597934768773, + "ymax": 337.46714143551577 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 985.646913116658, + 323.3020244394512 + ], + [ + 979.8798695459266, + 313.01800383590523 + ], + [ + 856.3705921563592, + 326.89287699073884 + ], + [ + 860.9247447103899, + 337.46714143551577 + ], + [ + 1072.2597934768773, + 92.54134512860986 + ], + [ + 1063.9611721291308, + 82.65695616245893 + ], + [ + 910.8314969772127, + 96.00460241672096 + ], + [ + 917.2631723037995, + 106.23925296666718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 913.6880854521703, + "ymin": 101.94587868767161, + "xmax": 935.5242404032675, + "ymax": 114.20947793777958 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 934.4871669479551, + 112.7330003705313 + ], + [ + 930.0930501139173, + 105.92000642315492 + ], + [ + 913.6880854521703, + 107.37126402641326 + ], + [ + 917.9483022474842, + 114.20947793777958 + ], + [ + 935.5242404032675, + 108.74839389631214 + ], + [ + 931.1058639971502, + 101.94587868767161 + ], + [ + 914.64538948512, + 103.39486976766085 + ], + [ + 918.9289562508607, + 110.22265469554583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 198.5881815168991, + "ymin": 106.92815453217213, + "xmax": 220.14947849945383, + "ymax": 119.45807780093344 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 202.10704160223776, + 112.44634470536295 + ], + [ + 200.16927592790734, + 119.45807780093344 + ], + [ + 218.3742536021499, + 117.94396129330951 + ], + [ + 220.14947849945383, + 110.95857117617726 + ], + [ + 200.54672859647957, + 108.41364324171994 + ], + [ + 198.5881815168991, + 115.41487500056007 + ], + [ + 216.86147465126749, + 113.90298889007735 + ], + [ + 218.65626537630067, + 106.92815453217213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 188.70913608161914, + "ymin": 0.0, + "xmax": 343.3496808541324, + "ymax": 13.95909236289674 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 252.58540061741633, + 9.009100311645568 + ], + [ + 251.37417580730505, + 13.95909236289674 + ], + [ + 342.793711637235, + 7.320921057765531 + ], + [ + 343.3496808541324, + 2.4645372786490043 + ], + [ + 190.63081674919187, + -188.5203755928319 + ], + [ + 188.70913608161914, + -184.41465399272647 + ], + [ + 295.399638250213, + -189.91846969695916 + ], + [ + 296.43008608678946, + -193.93428608729312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.599729231128435, + "ymin": 98.83609192066314, + "xmax": 305.8423246464802, + "ymax": 355.4192940046239 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 170.50272275128873, + 344.4617756456296 + ], + [ + 167.82150266926675, + 355.4192940046239 + ], + [ + 304.6229362870398, + 340.7421404581459 + ], + [ + 305.8423246464802, + 330.0907992161302 + ], + [ + 49.60753284582131, + 112.77960239528858 + ], + [ + 44.599729231128435, + 123.47890734063134 + ], + [ + 218.65664543218332, + 109.16097660072234 + ], + [ + 221.30598346145098, + 98.83609192066314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 913.5722406380539, + "ymin": 101.88012250275744, + "xmax": 935.6432289156535, + "ymax": 114.2757196765312 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 934.5945654268273, + 112.78320603364114 + ], + [ + 930.1526833673279, + 105.8969064420977 + ], + [ + 913.5722406380539, + 107.36365446168384 + ], + [ + 917.8773288287994, + 114.2757196765312 + ], + [ + 935.6432289156535, + 108.75571634129685 + ], + [ + 931.1765579203745, + 101.88012250275744 + ], + [ + 914.5394098517579, + 103.34455471638546 + ], + [ + 918.8683476934623, + 110.24596555708538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 198.70488826028668, + "ymin": 106.99468416963077, + "xmax": 220.03647531185197, + "ymax": 119.39117953138629 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 202.1850581368098, + 112.45434746391814 + ], + [ + 200.2686924000052, + 119.39117953138629 + ], + [ + 218.27921153665056, + 117.89334577217417 + ], + [ + 220.03647531185197, + 110.98229862092438 + ], + [ + 200.64158889646666, + 108.46449685679272 + ], + [ + 198.70488826028668, + 115.39104970287934 + ], + [ + 216.7822697129775, + 113.89539939714527 + ], + [ + 218.55869123075303, + 106.99468416963077 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00011/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98788393c01bc6fd66e7219949ea48b27873fac9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00011/meta.json @@ -0,0 +1,1622 @@ +{ + "frame_id": 11, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.5, + "sim_timestamp": 11898.14743803651 + }, + "drone_pose": { + "x": -50.910465932758036, + "y": 65.76350683937555, + "z": 20.357468978615135, + "pitch": -47.33258514750722, + "yaw": -81.311375270248, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10238265991210938, + 0.6699638366699219, + 0.7353001832962036, + 34.302669525146484 + ], + [ + -0.9885239601135254, + 0.1510644555091858, + 2.9802322387695312e-08, + 40.39167785644531 + ], + [ + -0.11107772588729858, + -0.726861834526062, + 0.6777415871620178, + -67.25309753417969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.89044338424008, + "y": 65.25295574933044, + "z": 20.32808149914041 + }, + "t1_image_uv": [ + 489.49775030252454, + -567.7060290710424 + ], + "t1_depth": 0.36570931437690557 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 47.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.794389304619322, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 47.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2538208067417145, + "y": 0.2787817418575287, + "z": 0.5601983070373535 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.63786572562, + "ymin": 338.50633165796313, + "xmax": 651.4846791348317, + "ymax": 381.154134935194 + }, + "corners_3d": [ + [ + -48.44596481323242, + 48.06605911254883, + 0.09535199403762817 + ], + [ + -47.88840103149414, + 48.06605911254883, + 0.09535199403762817 + ], + [ + -47.88840103149414, + 47.558414459228516, + 0.09535199403762817 + ], + [ + -48.44596481323242, + 47.558414459228516, + 0.09535199403762817 + ], + [ + -48.44596481323242, + 48.06605911254883, + 1.2157485485076904 + ], + [ + -47.88840103149414, + 48.06605911254883, + 1.2157485485076904 + ], + [ + -47.88840103149414, + 47.558414459228516, + 1.2157485485076904 + ], + [ + -48.44596481323242, + 47.558414459228516, + 1.2157485485076904 + ] + ], + "corners_2d": [ + [ + 631.567243190608, + 381.154134935194 + ], + [ + 651.135095924856, + 378.91272783331357 + ], + [ + 648.3105380170485, + 365.7522961193339 + ], + [ + 628.9801395972354, + 367.9383579357028 + ], + [ + 631.3019219754726, + 353.97946168034207 + ], + [ + 651.4846791348317, + 351.72680233742847 + ], + [ + 648.5681067318205, + 338.50633165796313 + ], + [ + 628.63786572562, + 340.7016532082454 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 11, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359692, + "2": 426544, + "3": 81812, + "6": 4652, + "9": 17121, + "10": 800, + "12": 2037, + "14": 11373, + "20": 10231, + "24": 7338 + }, + "instance_pixel_counts": { + "2189": 9459, + "4960": 81230, + "6215": 70901, + "7314": 4902, + "7751": 68668, + "7776": 19336, + "7826": 18664, + "9362": 14395, + "9874": 44878, + "17558": 7274, + "18512": 3730, + "22676": 24400, + "23188": 83196, + "24724": 20605, + "25236": 67712, + "28243": 173, + "28755": 2396, + "28802": 2083, + "30809": 3708, + "31833": 2112, + "32914": 27361, + "35986": 40963, + "36500": 591, + "37012": 2135, + "38548": 210, + "39060": 640, + "39564": 1827, + "39770": 31255, + "40076": 6699, + "40538": 40758, + "41612": 2388, + "42074": 3979, + "42124": 7599, + "48274": 102388, + "50322": 61391, + "53908": 2929, + "55444": 833, + "56576": 202, + "56832": 218, + "57088": 671, + "57173": 23622, + "57344": 526, + "57600": 420, + "60672": 11373 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 202, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 47.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2814965844154358, + "y": 0.2925707995891571, + "z": 0.5503447651863098 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0041836208218, + "ymin": 337.9881988711921, + "xmax": 652.1409118512477, + "ymax": 381.7081106653794 + }, + "corners_3d": [ + [ + -48.459754943847656, + 48.09373474121094, + 0.10520553588867188 + ], + [ + -47.874610900878906, + 48.09373474121094, + 0.10520553588867188 + ], + [ + -47.874610900878906, + 47.530738830566406, + 0.10520553588867188 + ], + [ + -48.459754943847656, + 47.530738830566406, + 0.10520553588867188 + ], + [ + -48.459754943847656, + 48.09373474121094, + 1.2058950662612915 + ], + [ + -47.874610900878906, + 48.09373474121094, + 1.2058950662612915 + ], + [ + -47.874610900878906, + 47.530738830566406, + 1.2058950662612915 + ], + [ + -48.459754943847656, + 47.530738830566406, + 1.2058950662612915 + ] + ], + "corners_2d": [ + [ + 631.2224615160103, + 381.7081106653794 + ], + [ + 651.777526524033, + 379.35248311210347 + ], + [ + 648.6376056708406, + 364.75781324830064 + ], + [ + 628.3590621863827, + 367.0490034059085 + ], + [ + 630.9510182640397, + 355.01558980168915 + ], + [ + 652.1409118512477, + 352.6482439339329 + ], + [ + 648.9003336072311, + 337.9881988711921 + ], + [ + 628.0041836208218, + 340.28882893078605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 218, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 50.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.18302735686302185, + "y": 0.27924564480781555, + "z": 0.5543199777603149 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 797.3968268242198, + "ymin": 404.36747873387264, + "xmax": 828.3175570831662, + "ymax": 446.29688863386104 + }, + "corners_3d": [ + [ + -44.28837203979492, + 51.03439712524414, + 0.10123032331466675 + ], + [ + -43.73675537109375, + 50.94702911376953, + 0.10123032331466675 + ], + [ + -43.79401779174805, + 50.58548355102539, + 0.10123032331466675 + ], + [ + -44.34563446044922, + 50.6728515625, + 0.10123032331466675 + ], + [ + -44.28837203979492, + 51.03439712524414, + 1.2098703384399414 + ], + [ + -43.73675537109375, + 50.94702911376953, + 1.2098703384399414 + ], + [ + -43.79401779174805, + 50.58548355102539, + 1.2098703384399414 + ], + [ + -44.34563446044922, + 50.6728515625, + 1.2098703384399414 + ] + ], + "corners_2d": [ + [ + 803.0561536758353, + 446.29688863386104 + ], + [ + 822.3104741396623, + 441.22121762141865 + ], + [ + 816.4999333754872, + 430.9321427685554 + ], + [ + 797.3968268242198, + 435.9150050539967 + ], + [ + 808.4539041919226, + 419.86181053524524 + ], + [ + 828.3175570831662, + 414.74178586304237 + ], + [ + 822.2605256970037, + 404.36747873387264 + ], + [ + 802.5576975410055, + 409.3908356257169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 671, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -49.69317626953125, + "y": 57.22242736816406, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3624633848667145, + "y": 0.5573779344558716, + "z": 0.9115445017814636 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 605.8080242730704, + "ymin": 650.5681040383565, + "xmax": 666.2072464763837, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -50.23081970214844, + 57.613563537597656, + -0.2559990882873535 + ], + [ + -49.117591857910156, + 57.55522155761719, + -0.2559990882873535 + ], + [ + -49.15553283691406, + 56.83129119873047, + -0.2559990882873535 + ], + [ + -50.268760681152344, + 56.88963317871094, + -0.2559990882873535 + ], + [ + -50.23081970214844, + 57.613563537597656, + 1.5670899152755737 + ], + [ + -49.117591857910156, + 57.55522155761719, + 1.5670899152755737 + ], + [ + -49.15553283691406, + 56.83129119873047, + 1.5670899152755737 + ], + [ + -50.268760681152344, + 56.88963317871094, + 1.5670899152755737 + ] + ], + "corners_2d": [ + [ + 614.0439653705755, + 729.9154086902785 + ], + [ + 664.5214765374492, + 719.5487986623593 + ], + [ + 657.3553568908703, + 687.9325540679965 + ], + [ + 607.9733225335112, + 697.8349310432623 + ], + [ + 612.2454567634107, + 694.2351438819526 + ], + [ + 666.2072464763837, + 683.4359396757657 + ], + [ + 658.5197500136634, + 650.5681040383565 + ], + [ + 605.8080242730704, + 660.8515297191796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 526, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 47.81223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.3050317168235779, + "y": 0.47078612446784973, + "z": 0.8880672454833984 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 259.8129214810534, + "ymin": 363.5174986585751, + "xmax": 316.8952879996753, + "ymax": 426.56268391797875 + }, + "corners_3d": [ + [ + -58.153289794921875, + 48.09221267700195, + -0.08027583360671997 + ], + [ + -57.21300506591797, + 48.1414909362793, + -0.08027583360671997 + ], + [ + -57.18107604980469, + 47.53226089477539, + -0.08027583360671997 + ], + [ + -58.121360778808594, + 47.48298263549805, + -0.08027583360671997 + ], + [ + -58.153289794921875, + 48.09221267700195, + 1.6958587169647217 + ], + [ + -57.21300506591797, + 48.1414909362793, + 1.6958587169647217 + ], + [ + -57.18107604980469, + 47.53226089477539, + 1.6958587169647217 + ], + [ + -58.121360778808594, + 47.48298263549805, + 1.6958587169647217 + ] + ], + "corners_2d": [ + [ + 278.8181837464662, + 426.56268391797875 + ], + [ + 314.0359021714752, + 423.88627957064017 + ], + [ + 316.8952879996753, + 406.78853590457794 + ], + [ + 282.2304048214128, + 409.38269018889224 + ], + [ + 259.8129214810534, + 383.504574391665 + ], + [ + 296.9273864019887, + 380.7971544301861 + ], + [ + 300.2126931029083, + 363.5174986585751 + ], + [ + 263.71167640513954, + 366.13744934499755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 420, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 39.64202117919922, + "z": 0.7919809818267822 + }, + "extent": { + "x": 0.38246580958366394, + "y": 0.4302917420864105, + "z": 0.9391226768493652 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 904.8253850280896, + "ymin": 120.66368358386089, + "xmax": 945.7928398246736, + "ymax": 179.0656361333791 + }, + "corners_3d": [ + [ + -37.406673431396484, + 39.95246505737305, + -0.147141695022583 + ], + [ + -36.55668640136719, + 40.08708953857422, + -0.147141695022583 + ], + [ + -36.4370231628418, + 39.33157730102539, + -0.147141695022583 + ], + [ + -37.287010192871094, + 39.19695281982422, + -0.147141695022583 + ], + [ + -37.406673431396484, + 39.95246505737305, + 1.7311036586761475 + ], + [ + -36.55668640136719, + 40.08708953857422, + 1.7311036586761475 + ], + [ + -36.4370231628418, + 39.33157730102539, + 1.7311036586761475 + ], + [ + -37.287010192871094, + 39.19695281982422, + 1.7311036586761475 + ] + ], + "corners_2d": [ + [ + 908.774701289073, + 178.98482099321518 + ], + [ + 933.2791676192651, + 179.0656361333791 + ], + [ + 928.9587671852321, + 166.0460086764708 + ], + [ + 904.8253850280896, + 165.96762017227124 + ], + [ + 920.241690989059, + 133.51071275171208 + ], + [ + 945.7928398246736, + 133.5905232042864 + ], + [ + 941.0937369657909, + 120.74099773139304 + ], + [ + 915.9457894348672, + 120.66368358386089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 11373, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 523.8518732826909, + "ymin": 461.46304101057933, + "xmax": 623.4844468516626, + "ymax": 656.6133680546734 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 602.5809721684678, + 499.7118382935239 + ], + [ + 529.5659102735875, + 508.5709627629104 + ], + [ + 541.5629902612723, + 656.6133680546734 + ], + [ + 623.4844468516626, + 645.4234254606258 + ], + [ + 600.6597423694683, + 461.46304101057933 + ], + [ + 523.8518732826909, + 470.478977232171 + ], + [ + 535.7989404349099, + 622.1730315859477 + ], + [ + 622.5253590293502, + 610.6385788375637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.9051580954286, + "ymin": 93.79862449797878, + "xmax": 1082.7924622326202, + "ymax": 349.9720916854866 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 992.9159654375892, + 335.55812098339834 + ], + [ + 987.0126858660446, + 325.0132489810974 + ], + [ + 861.9051580954286, + 339.127815505579 + ], + [ + 866.5628563067811, + 349.9720916854866 + ], + [ + 1082.7924622326202, + 103.98978385639322 + ], + [ + 1074.2392713342456, + 93.79862449797878 + ], + [ + 918.6664358870519, + 107.45194161447048 + ], + [ + 925.2908716215159, + 118.00763146366529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.5130635941063, + "ymin": 113.44410493105553, + "xmax": 943.7887771938689, + "ymax": 125.9793697205076 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 942.7053607249954, + 124.46867351196181 + ], + [ + 938.1803502409849, + 117.44393239670487 + ], + [ + 921.5130635941063, + 118.92838593785396 + ], + [ + 925.8997385265159, + 125.9793697205076 + ], + [ + 943.7887771938689, + 120.45869521631403 + ], + [ + 939.2382367454268, + 113.44410493105553 + ], + [ + 922.5136800039177, + 114.92637695302255 + ], + [ + 926.9249305906656, + 121.96726562850023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 194.7910073225467, + "ymin": 118.11420637632409, + "xmax": 216.76500649978846, + "ymax": 130.91314058518793 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 198.43017843341113, + 123.69009349418329 + ], + [ + 196.4109025834927, + 130.91314058518793 + ], + [ + 214.91373263340097, + 129.3654032984563 + ], + [ + 216.76500649978846, + 122.16972852280858 + ], + [ + 196.83204519844952, + 119.63237423607481 + ], + [ + 194.7910073225467, + 126.84526660526544 + ], + [ + 213.3643738898599, + 125.29966582178835 + ], + [ + 215.23613347831565, + 118.11420637632409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.9811677420239, + "ymin": 0.0, + "xmax": 343.17598973065725, + "ymax": 19.351702713003192 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 251.6446304181294, + 14.323635724771066 + ], + [ + 250.40257419385676, + 19.351702713003192 + ], + [ + 342.6008596054865, + 12.66126354213469 + ], + [ + 343.17598973065725, + 7.728393903982806 + ], + [ + 188.95215762109223, + -184.3214260158759 + ], + [ + 186.9811677420239, + -180.1438734843091 + ], + [ + 294.72466946707607, + -185.7004594349071 + ], + [ + 295.78614317407454, + -189.7863073020112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.197710519318434, + "ymin": 109.92527032232351, + "xmax": 304.20960455156103, + "ymax": 367.7810659193077 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 167.10600076197255, + 356.55121342836543 + ], + [ + 164.3319509697397, + 367.7810659193077 + ], + [ + 302.9370882188499, + 352.85595174361873 + ], + [ + 304.20960455156103, + 341.94162660751243 + ], + [ + 43.40045963698026, + 124.17831355396288 + ], + [ + 38.197710519318434, + 135.2056445303496 + ], + [ + 215.1595539435341, + 120.5633278020218 + ], + [ + 217.9232442901943, + 109.92527032232351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.3949087077388, + "ymin": 113.37690182111211, + "xmax": 943.9101842535986, + "ymax": 126.04708986981467 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 942.8146626693117, + 124.519984253427 + ], + [ + 938.2404624297462, + 117.41966398690221 + ], + [ + 921.3949087077388, + 118.91995917043602 + ], + [ + 925.8277837873366, + 126.04708986981467 + ], + [ + 943.9101842535986, + 120.46685130697242 + ], + [ + 939.3098969691873, + 113.37690182111211 + ], + [ + 922.4058398387324, + 114.87496800902312 + ], + [ + 926.863816510933, + 121.99178546889866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 194.9099731815636, + "ymin": 118.18215527312569, + "xmax": 216.64986488526614, + "ymax": 130.84479572275174 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 198.50913195001522, + 123.69890483723518 + ], + [ + 196.51214841969136, + 130.84479572275174 + ], + [ + 214.8173290816523, + 129.3137043947053 + ], + [ + 216.64986488526614, + 122.19460597656717 + ], + [ + 196.92825114384408, + 119.68430386007606 + ], + [ + 194.9099731815636, + 126.82025476563746 + ], + [ + 213.28418985852028, + 125.29125501860622 + ], + [ + 215.13678413032073, + 118.18215527312569 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00012/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7e9c9dfe940edce9268fb3d90a3f3c494df6884 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00012/meta.json @@ -0,0 +1,1726 @@ +{ + "frame_id": 12, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.0, + "sim_timestamp": 11907.50084587955 + }, + "drone_pose": { + "x": -50.89044338424008, + "y": 65.25295574933044, + "z": 20.32808149914041, + "pitch": -47.311111632018125, + "yaw": -81.36883728373955, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10175222158432007, + 0.67033851146698, + 0.7350461483001709, + 33.977699279785156 + ], + [ + -0.9886748790740967, + 0.15007323026657104, + 0.0, + 40.52138900756836 + ], + [ + -0.11031070351600647, + -0.7267216444015503, + 0.6780171394348145, + -66.81727600097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.87599520138767, + "y": 64.74264220805998, + "z": 20.2993874177697 + }, + "t1_image_uv": [ + 475.9832701838691, + -569.3294678052991 + ], + "t1_depth": 0.3646444312615361 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 47.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.763669939479616, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 195, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 47.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2543920874595642, + "y": 0.2729150354862213, + "z": 0.5574278831481934 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.8408244057127, + "ymin": 338.5628049356679, + "xmax": 651.2807316872891, + "ymax": 381.10113585306505 + }, + "corners_3d": [ + [ + -48.44009780883789, + 47.566627502441406, + 0.09812241792678833 + ], + [ + -47.89426803588867, + 47.566627502441406, + 0.09812241792678833 + ], + [ + -47.89426803588867, + 47.05784606933594, + 0.09812241792678833 + ], + [ + -48.44009780883789, + 47.05784606933594, + 0.09812241792678833 + ], + [ + -48.44009780883789, + 47.566627502441406, + 1.2129781246185303 + ], + [ + -47.89426803588867, + 47.566627502441406, + 1.2129781246185303 + ], + [ + -47.89426803588867, + 47.05784606933594, + 1.2129781246185303 + ], + [ + -48.44009780883789, + 47.05784606933594, + 1.2129781246185303 + ] + ], + "corners_2d": [ + [ + 631.7560654806944, + 381.10113585306505 + ], + [ + 650.9387411660433, + 378.91937732607124 + ], + [ + 648.1244861833187, + 365.7157654852992 + ], + [ + 629.1755937249815, + 367.84343803790085 + ], + [ + 631.497778528588, + 354.0184898804043 + ], + [ + 651.2807316872891, + 351.8259064276134 + ], + [ + 648.3752287709855, + 338.5628049356679 + ], + [ + 628.8408244057127, + 340.6993656526921 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 12, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359674, + "2": 427218, + "3": 81674, + "6": 4785, + "9": 17196, + "10": 787, + "12": 1991, + "14": 11868, + "20": 9161, + "24": 7246 + }, + "instance_pixel_counts": { + "2189": 9095, + "4960": 82990, + "6215": 74341, + "7314": 5291, + "7751": 65204, + "7776": 18081, + "7826": 19334, + "9362": 15266, + "9874": 46557, + "17558": 6862, + "18512": 3537, + "22676": 26116, + "23188": 86066, + "24724": 21927, + "25236": 70192, + "28243": 192, + "28755": 2458, + "28802": 2135, + "30809": 3264, + "31833": 2555, + "32914": 26358, + "35986": 38521, + "36500": 630, + "37012": 2217, + "38548": 213, + "39060": 667, + "39564": 1965, + "39770": 34142, + "40076": 6941, + "40538": 37123, + "41612": 2537, + "42074": 4590, + "42124": 7875, + "48274": 98087, + "50322": 57286, + "53908": 2786, + "55444": 733, + "56576": 195, + "56832": 223, + "57088": 659, + "57173": 22820, + "57344": 514, + "57600": 400, + "60672": 11868 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 195, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 47.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25944089889526367, + "y": 0.2988305687904358, + "z": 0.542992115020752 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8901893001384, + "ymin": 338.6939582323135, + "xmax": 652.2423637782854, + "ymax": 380.9981246950418 + }, + "corners_3d": [ + [ + -48.46601486206055, + 47.571678161621094, + 0.11255818605422974 + ], + [ + -47.868350982666016, + 47.571678161621094, + 0.11255818605422974 + ], + [ + -47.868350982666016, + 47.05279541015625, + 0.11255818605422974 + ], + [ + -48.46601486206055, + 47.05279541015625, + 0.11255818605422974 + ], + [ + -48.46601486206055, + 47.571678161621094, + 1.1985423564910889 + ], + [ + -47.868350982666016, + 47.571678161621094, + 1.1985423564910889 + ], + [ + -47.868350982666016, + 47.05279541015625, + 1.1985423564910889 + ], + [ + -48.46601486206055, + 47.05279541015625, + 1.1985423564910889 + ] + ], + "corners_2d": [ + [ + 630.8655077802998, + 380.9981246950418 + ], + [ + 651.8806796410588, + 378.6084054268358 + ], + [ + 648.9980976785213, + 365.1443445811949 + ], + [ + 628.2441968748851, + 367.4736379874236 + ], + [ + 630.5867795219551, + 354.61832456731855 + ], + [ + 652.2423637782854, + 352.2170367363709 + ], + [ + 649.2684410690283, + 338.6939582323135 + ], + [ + 627.8901893001384, + 341.0327133779438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 50.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.19011476635932922, + "y": 0.24872806668281555, + "z": 0.5396293997764587 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 798.5312280638198, + "ymin": 404.9742218304908, + "xmax": 827.4397670084255, + "ymax": 446.1006957071186 + }, + "corners_3d": [ + [ + -44.25712203979492, + 50.536624908447266, + 0.11592090129852295 + ], + [ + -43.76578903198242, + 50.458805084228516, + 0.11592090129852295 + ], + [ + -43.82526779174805, + 50.083255767822266, + 0.11592090129852295 + ], + [ + -44.31660079956055, + 50.161075592041016, + 0.11592090129852295 + ], + [ + -44.25712203979492, + 50.536624908447266, + 1.1951797008514404 + ], + [ + -43.76578903198242, + 50.458805084228516, + 1.1951797008514404 + ], + [ + -43.82526779174805, + 50.083255767822266, + 1.1951797008514404 + ], + [ + -44.31660079956055, + 50.161075592041016, + 1.1951797008514404 + ] + ], + "corners_2d": [ + [ + 804.418140558992, + 446.1006957071186 + ], + [ + 821.6082662689032, + 441.5860498921923 + ], + [ + 815.5806606172227, + 430.87508740517876 + ], + [ + 798.5312280638198, + 435.3038035259743 + ], + [ + 809.7195826702673, + 420.3245630742791 + ], + [ + 827.4397670084255, + 415.77153704856306 + ], + [ + 821.1630965796171, + 404.9742218304908 + ], + [ + 803.5923139466186, + 409.4378403757967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 659, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -48.72244644165039, + "y": 56.763450622558594, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3142724633216858, + "y": 0.4132006764411926, + "z": 0.8758313059806824 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 658.2008482269099, + "ymin": 650.4204894789517, + "xmax": 705.5903499022975, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.11863327026367, + 57.09891891479492, + -0.22028589248657227 + ], + [ + -48.293365478515625, + 57.055667877197266, + -0.22028589248657227 + ], + [ + -48.32625961303711, + 56.427982330322266, + -0.22028589248657227 + ], + [ + -49.151527404785156, + 56.47123336791992, + -0.22028589248657227 + ], + [ + -49.11863327026367, + 57.09891891479492, + 1.5313767194747925 + ], + [ + -48.293365478515625, + 57.055667877197266, + 1.5313767194747925 + ], + [ + -48.32625961303711, + 56.427982330322266, + 1.5313767194747925 + ], + [ + -49.151527404785156, + 56.47123336791992, + 1.5313767194747925 + ] + ], + "corners_2d": [ + [ + 664.4296321468852, + 721.3711751712801 + ], + [ + 701.5425057224921, + 713.7792907209392 + ], + [ + 694.6188258327447, + 686.4259710501665 + ], + [ + 658.2008482269099, + 693.7221710544196 + ], + [ + 666.0457721816496, + 686.6963004144143 + ], + [ + 705.5903499022975, + 678.8051727262607 + ], + [ + 698.1362747168026, + 650.4204894789517 + ], + [ + 659.3796421503743, + 657.9846388058102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 514, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 47.31223678588867, + "z": 0.8077914118766785 + }, + "extent": { + "x": 0.30833983421325684, + "y": 0.4194091558456421, + "z": 0.8732412457466125 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 261.5484449082432, + "ymin": 363.6781502568571, + "xmax": 314.5439671721449, + "ymax": 425.9574778186351 + }, + "corners_3d": [ + [ + -58.10215377807617, + 47.59820556640625, + -0.06544983386993408 + ], + [ + -57.26448440551758, + 47.64210510253906, + -0.06544983386993408 + ], + [ + -57.23221206665039, + 47.026268005371094, + -0.06544983386993408 + ], + [ + -58.069881439208984, + 46.98236846923828, + -0.06544983386993408 + ], + [ + -58.10215377807617, + 47.59820556640625, + 1.681032657623291 + ], + [ + -57.26448440551758, + 47.64210510253906, + 1.681032657623291 + ], + [ + -57.23221206665039, + 47.026268005371094, + 1.681032657623291 + ], + [ + -58.069881439208984, + 46.98236846923828, + 1.681032657623291 + ] + ], + "corners_2d": [ + [ + 280.1692198882416, + 425.9574778186351 + ], + [ + 311.586436855802, + 423.59535889285706 + ], + [ + 314.5439671721449, + 406.2960643108086 + ], + [ + 283.626157244256, + 408.584681971983 + ], + [ + 261.5484449082432, + 383.5462939261873 + ], + [ + 294.62960849855364, + 381.15740787237223 + ], + [ + 298.0164444457279, + 363.6781502568571 + ], + [ + 265.48850471781265, + 365.98895445782614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 400, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 39.14202117919922, + "z": 0.7924887537956238 + }, + "extent": { + "x": 0.378326416015625, + "y": 0.34638547897338867, + "z": 0.9323463439941406 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 907.7969477142553, + "ymin": 120.92102991077678, + "xmax": 943.8386042234431, + "ymax": 178.91642368651787 + }, + "corners_3d": [ + [ + -37.32315444946289, + 39.46150207519531, + -0.13985759019851685 + ], + [ + -36.638912200927734, + 39.56987762451172, + -0.13985759019851685 + ], + [ + -36.52054214477539, + 38.822540283203125, + -0.13985759019851685 + ], + [ + -37.20478439331055, + 38.71416473388672, + -0.13985759019851685 + ], + [ + -37.32315444946289, + 39.46150207519531, + 1.7248351573944092 + ], + [ + -36.638912200927734, + 39.56987762451172, + 1.7248351573944092 + ], + [ + -36.52054214477539, + 38.822540283203125, + 1.7248351573944092 + ], + [ + -37.20478439331055, + 38.71416473388672, + 1.7248351573944092 + ] + ], + "corners_2d": [ + [ + 911.7330754653982, + 178.83928592251874 + ], + [ + 931.485146036086, + 178.91642368651787 + ], + [ + 927.2525925512655, + 166.03031926382093 + ], + [ + 907.7969477142553, + 165.95547661236813 + ], + [ + 923.2483422187904, + 133.6365138490251 + ], + [ + 943.8386042234431, + 133.71269246246038 + ], + [ + 939.2365714272588, + 120.99484813790053 + ], + [ + 918.9682219254041, + 120.92102991077678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 11868, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 524.9697541284138, + "ymin": 478.30627684012836, + "xmax": 626.2086343339801, + "ymax": 678.1065802041792 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 604.841238736209, + 516.3245144785332 + ], + [ + 530.7136736439545, + 525.3812253345686 + ], + [ + 542.8768627047015, + 678.1065802041792 + ], + [ + 626.2086343339801, + 666.621937806791 + ], + [ + 603.0076715110607, + 478.30627684012836 + ], + [ + 524.9697541284138, + 487.5363720299488 + ], + [ + 537.08723214285, + 644.2868835950653 + ], + [ + 625.3932800194689, + 632.426699861059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.5302574666357, + "ymin": 105.27224092731487, + "xmax": 1093.5807146904006, + "ymax": 362.7833069495122 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1000.3088089085034, + 348.0962129100319 + ], + [ + 994.2621669756545, + 337.2815708645792 + ], + [ + 867.5302574666357, + 351.65936467936655 + ], + [ + 872.2977099222473, + 362.7833069495122 + ], + [ + 1093.5807146904006, + 115.78374961299465 + ], + [ + 1084.7585821962628, + 105.27224092731487 + ], + [ + 926.6872564965981, + 119.25956653640128 + ], + [ + 933.5164853545792, + 130.15110344845877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.5224240874134, + "ymin": 125.30011451275539, + "xmax": 952.2541360673204, + "ymax": 138.11916783141584 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 951.1221988683756, + 136.57106507508743 + ], + [ + 946.4582791644548, + 129.32495876992732 + ], + [ + 929.5224240874134, + 130.84570760355555 + ], + [ + 934.0433993971915, + 138.11916783141584 + ], + [ + 952.2541360673204, + 132.53645060876062 + ], + [ + 947.5633272685671, + 125.30011451275539 + ], + [ + 930.5683706779623, + 126.81877415645673 + ], + [ + 935.1152335488143, + 134.08252651954376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.1064207464799, + "ymin": 0.0, + "xmax": 827.9575092243258, + "ymax": 0.7593278609029994 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 802.5918303921253, + -5.535627439843438 + ], + [ + 799.9780423457296, + -10.210430187157328 + ], + [ + 715.1064207464799, + -4.002739651062768 + ], + [ + 717.1473581375856, + 0.7593278609029994 + ], + [ + 827.9575092243258, + -200.71038368349286 + ], + [ + 824.736411297548, + -204.548251540112 + ], + [ + 726.8544092090397, + -199.4501247890455 + ], + [ + 729.3128898279687, + -195.52930323514101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.80888694281185, + "ymin": 129.71043045958288, + "xmax": 213.21009251526885, + "ymax": 142.7917813826196 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 194.5723906903895, + 135.3467765309581 + ], + [ + 192.4695452485122, + 142.7917813826196 + ], + [ + 211.28099330620933, + 141.2069871068087 + ], + [ + 213.21009251526885, + 133.79047956835106 + ], + [ + 192.93453263221818, + 131.26462578293942 + ], + [ + 190.80888694281185, + 138.69987837276088 + ], + [ + 209.69321166954165, + 137.11711823816395 + ], + [ + 211.64376985513758, + 129.71043045958288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 185.0789188224943, + "ymin": 0.0, + "xmax": 342.883793538326, + "ymax": 24.879584245838316 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 250.5679438683842, + 19.771170802864106 + ], + [ + 249.2953544031413, + 24.879584245838316 + ], + [ + 342.29013771834036, + 18.127589174994 + ], + [ + 342.883793538326, + 13.116123548444193 + ], + [ + 187.09957591047623, + -179.99703116524927 + ], + [ + 185.0789188224943, + -175.7452095252803 + ], + [ + 293.9026955455026, + -181.3628647405253 + ], + [ + 294.9949362090481, + -185.52100716463235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 31.510891280933038, + "ymin": 121.42210472391272, + "xmax": 302.48613174950196, + "ymax": 380.5292609964248 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 163.56542171428083, + 369.0156568554329 + ], + [ + 160.6971943281527, + 380.5292609964248 + ], + [ + 301.1608190152482, + 365.3290483116259 + ], + [ + 302.48613174950196, + 354.141152920822 + ], + [ + 36.91565823867177, + 136.01662346729327 + ], + [ + 31.510891280933038, + 147.3892137234925 + ], + [ + 211.4878343056339, + 132.38917026064323 + ], + [ + 214.3686098340376, + 121.42210472391272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.4018731106702, + "ymin": 125.23140030970538, + "xmax": 952.3780525923169, + "ymax": 138.18843280554236 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 951.2334708903052, + 136.6235125620604 + ], + [ + 946.5188501664309, + 129.29945074020466 + ], + [ + 929.4018731106702, + 130.83642527593972 + ], + [ + 933.9704603142516, + 138.18843280554236 + ], + [ + 952.3780525923169, + 132.54548017247023 + ], + [ + 947.6359560432461, + 125.23140030970538 + ], + [ + 930.4586048096683, + 126.76624014024051 + ], + [ + 935.0536336214685, + 134.1083300895515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.93019258836654, + "ymin": 129.77986889829754, + "xmax": 213.09273855530483, + "ymax": 142.7219173548227 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 194.65231688895187, + 135.35643751673067 + ], + [ + 192.5726793037644, + 142.7219173548227 + ], + [ + 211.18317152700274, + 141.15416932564597 + ], + [ + 213.09273855530483, + 133.81658314299554 + ], + [ + 193.0321404965335, + 131.31766648392986 + ], + [ + 190.93019258836654, + 138.67360024205584 + ], + [ + 209.61201107514808, + 137.107843636383 + ], + [ + 211.54258954905276, + 129.77986889829754 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00013/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca50e045148ece9c602da90368fdfd13e688c392 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00013/meta.json @@ -0,0 +1,1726 @@ +{ + "frame_id": 13, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.5, + "sim_timestamp": 11918.702273460338 + }, + "drone_pose": { + "x": -50.87599520138767, + "y": 64.74264220805998, + "z": 20.2993874177697, + "pitch": -47.288888080415546, + "yaw": -81.40908039894867, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10132384300231934, + 0.670691728591919, + 0.7347829937934875, + 33.66166305541992 + ], + [ + -0.9887800216674805, + 0.14937859773635864, + -2.9802322387695312e-08, + 40.634002685546875 + ], + [ + -0.10976088047027588, + -0.7265387773513794, + 0.6783022284507751, + -66.391357421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.86979625683362, + "y": 64.23218819837473, + "z": 20.271358118396627 + }, + "t1_image_uv": [ + 454.8508682041253, + -570.8286095733063 + ], + "t1_depth": 0.36358081333015246 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 46.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.734199813257312, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 46.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2942431569099426, + "y": 0.1965991109609604, + "z": 0.551759660243988 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 631.367605278621, + "ymin": 337.95404950486983, + "xmax": 648.7495292238824, + "ymax": 381.7377966162296 + }, + "corners_3d": [ + [ + -48.3637809753418, + 47.10647964477539, + 0.10379064083099365 + ], + [ + -47.970584869384766, + 47.10647964477539, + 0.10379064083099365 + ], + [ + -47.970584869384766, + 46.51799392700195, + 0.10379064083099365 + ], + [ + -48.3637809753418, + 46.51799392700195, + 0.10379064083099365 + ], + [ + -48.3637809753418, + 47.10647964477539, + 1.2073099613189697 + ], + [ + -47.970584869384766, + 47.10647964477539, + 1.2073099613189697 + ], + [ + -47.970584869384766, + 46.51799392700195, + 1.2073099613189697 + ], + [ + -48.3637809753418, + 46.51799392700195, + 1.2073099613189697 + ] + ], + "corners_2d": [ + [ + 634.635644586736, + 381.7377966162296 + ], + [ + 648.48640036643, + 380.1690338548116 + ], + [ + 645.2791488183831, + 364.87431312328476 + ], + [ + 631.6238391717253, + 366.398103137242 + ], + [ + 634.4690639048172, + 354.8932075709138 + ], + [ + 648.7495292238824, + 353.316700096886 + ], + [ + 645.440400107859, + 337.95404950486983 + ], + [ + 631.367605278621, + 339.48399105162775 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 13, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 359706, + "2": 428557, + "3": 81417, + "6": 4951, + "9": 16099, + "10": 795, + "12": 1953, + "14": 12398, + "20": 8636, + "24": 7088 + }, + "instance_pixel_counts": { + "2189": 8720, + "4960": 84690, + "6215": 77862, + "7314": 5689, + "7751": 61409, + "7776": 17656, + "7826": 20030, + "9362": 16158, + "9874": 48344, + "17558": 6433, + "18512": 3638, + "22676": 27890, + "23188": 89143, + "24724": 23291, + "25236": 72806, + "28243": 217, + "28755": 2524, + "28802": 2210, + "30809": 2743, + "31833": 3056, + "32914": 25310, + "35986": 36086, + "36500": 668, + "37012": 2288, + "38548": 218, + "39060": 681, + "39564": 2109, + "39770": 37166, + "40076": 7193, + "40538": 33120, + "41612": 2692, + "42074": 5332, + "42124": 8176, + "48274": 93593, + "50322": 52983, + "53908": 2608, + "55444": 625, + "56576": 205, + "56832": 240, + "57088": 583, + "57173": 21097, + "57344": 514, + "57600": 411, + "60672": 12398 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 46.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2660449147224426, + "y": 0.2373950183391571, + "z": 0.5526986718177795 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.0502056888673, + "ymin": 338.4974315103989, + "xmax": 650.0671677787894, + "ymax": 381.1774876978161 + }, + "corners_3d": [ + [ + -48.404579162597656, + 47.07828140258789, + 0.10285162925720215 + ], + [ + -47.929786682128906, + 47.07828140258789, + 0.10285162925720215 + ], + [ + -47.929786682128906, + 46.54619216918945, + 0.10285162925720215 + ], + [ + -48.404579162597656, + 46.54619216918945, + 0.10285162925720215 + ], + [ + -48.404579162597656, + 47.07828140258789, + 1.2082489728927612 + ], + [ + -47.929786682128906, + 47.07828140258789, + 1.2082489728927612 + ], + [ + -47.929786682128906, + 46.54619216918945, + 1.2082489728927612 + ], + [ + -48.404579162597656, + 46.54619216918945, + 1.2082489728927612 + ] + ], + "corners_2d": [ + [ + 633.0509745499994, + 381.1774876978161 + ], + [ + 649.7641644402611, + 379.28583906844545 + ], + [ + 646.8461030783835, + 365.4612624202085 + ], + [ + 630.3462886623014, + 367.30381218046836 + ], + [ + 632.834934033132, + 354.28429447868143 + ], + [ + 650.0671677787894, + 352.383374100699 + ], + [ + 647.0556949033312, + 338.4974315103989 + ], + [ + 630.0502056888673, + 340.347510718977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 240, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 49.809940338134766, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.23262695968151093, + "y": 0.21957765519618988, + "z": 0.5231202840805054 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 799.099479644876, + "ymin": 404.57223480507616, + "xmax": 827.1989375598004, + "ymax": 446.8487952295605 + }, + "corners_3d": [ + [ + -44.2216796875, + 50.07405090332031, + 0.1324349045753479 + ], + [ + -43.78792953491211, + 50.00535202026367, + 0.1324349045753479 + ], + [ + -43.86071014404297, + 49.54582977294922, + 0.1324349045753479 + ], + [ + -44.29446029663086, + 49.61452865600586, + 0.1324349045753479 + ], + [ + -44.2216796875, + 50.07405090332031, + 1.1786754131317139 + ], + [ + -43.78792953491211, + 50.00535202026367, + 1.1786754131317139 + ], + [ + -43.86071014404297, + 49.54582977294922, + 1.1786754131317139 + ], + [ + -44.29446029663086, + 49.61452865600586, + 1.1786754131317139 + ] + ], + "corners_2d": [ + [ + 806.3177383299768, + 446.8487952295605 + ], + [ + 821.5377637837132, + 442.85838921369634 + ], + [ + 814.1667647455099, + 429.72685355853247 + ], + [ + 799.099479644876, + 433.62430466649647 + ], + [ + 811.5232922977209, + 421.82979370789724 + ], + [ + 827.1989375598004, + 417.8063141163915 + ], + [ + 819.5325988892357, + 404.57223480507616 + ], + [ + 804.0188600555227, + 408.49911384112664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 583, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -47.47254943847656, + "y": 52.48418426513672, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.33354490995407104, + "y": 0.27760985493659973, + "z": 0.8792635202407837 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 688.1461020686688, + "ymin": 494.45232920765454, + "xmax": 721.1051478196504, + "ymax": 562.0451502851927 + }, + "corners_3d": [ + [ + -47.732322692871094, + 52.83180236816406, + -0.22371810674667358 + ], + [ + -47.17786407470703, + 52.80274200439453, + -0.22371810674667358 + ], + [ + -47.21277618408203, + 52.136566162109375, + -0.22371810674667358 + ], + [ + -47.767234802246094, + 52.165626525878906, + -0.22371810674667358 + ], + [ + -47.732322692871094, + 52.83180236816406, + 1.534808874130249 + ], + [ + -47.17786407470703, + 52.80274200439453, + 1.534808874130249 + ], + [ + -47.21277618408203, + 52.136566162109375, + 1.534808874130249 + ], + [ + -47.767234802246094, + 52.165626525878906, + 1.534808874130249 + ] + ], + "corners_2d": [ + [ + 694.5604534327946, + 562.0451502851927 + ], + [ + 716.638537848162, + 558.0395915720089 + ], + [ + 709.8351216555205, + 535.0852178771048 + ], + [ + 688.1461020686688, + 538.9433813505988 + ], + [ + 697.7512095972518, + 522.0345857549286 + ], + [ + 721.1051478196504, + 517.9321370264416 + ], + [ + 713.8254390174546, + 494.45232920765454 + ], + [ + 690.9063643313513, + 498.39526272899144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 514, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 46.81223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3045922815799713, + "y": 0.4754565358161926, + "z": 0.8894304633140564 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.7418255418647, + "ymin": 363.0188811351602, + "xmax": 316.392299681606, + "ymax": 426.2506417444271 + }, + "corners_3d": [ + [ + -58.157928466796875, + 47.091529846191406, + -0.08164381980895996 + ], + [ + -57.20832061767578, + 47.14129638671875, + -0.08164381980895996 + ], + [ + -57.17643737792969, + 46.53294372558594, + -0.08164381980895996 + ], + [ + -58.12604522705078, + 46.483177185058594, + -0.08164381980895996 + ], + [ + -58.157928466796875, + 47.091529846191406, + 1.6972171068191528 + ], + [ + -57.20832061767578, + 47.14129638671875, + 1.6972171068191528 + ], + [ + -57.17643737792969, + 46.53294372558594, + 1.6972171068191528 + ], + [ + -58.12604522705078, + 46.483177185058594, + 1.6972171068191528 + ] + ], + "corners_2d": [ + [ + 277.85245710840985, + 426.2506417444271 + ], + [ + 313.4806656556436, + 423.59130090207447 + ], + [ + 316.392299681606, + 406.4983594618978 + ], + [ + 281.3241658693853, + 409.07585919648494 + ], + [ + 258.7418255418647, + 382.98129039384895 + ], + [ + 296.2937486224537, + 380.29146793759287 + ], + [ + 299.63614335681655, + 363.0188811351602 + ], + [ + 262.70586079170084, + 365.62166809172123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 411, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 38.64202117919922, + "z": 0.7929819226264954 + }, + "extent": { + "x": 0.3295922875404358, + "y": 0.5677490234375, + "z": 0.913144052028656 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 902.3746906075763, + "ymin": 122.1619660996069, + "xmax": 950.4776986976356, + "ymax": 177.69881886992772 + }, + "corners_3d": [ + [ + -37.5341682434082, + 38.87873840332031, + -0.12016212940216064 + ], + [ + -36.41264724731445, + 39.05636978149414, + -0.12016212940216064 + ], + [ + -36.30952835083008, + 38.405303955078125, + -0.12016212940216064 + ], + [ + -37.43104934692383, + 38.2276725769043, + -0.12016212940216064 + ], + [ + -37.5341682434082, + 38.87873840332031, + 1.7061259746551514 + ], + [ + -36.41264724731445, + 39.05636978149414, + 1.7061259746551514 + ], + [ + -36.30952835083008, + 38.405303955078125, + 1.7061259746551514 + ], + [ + -37.43104934692383, + 38.2276725769043, + 1.7061259746551514 + ] + ], + "corners_2d": [ + [ + 905.7214099710734, + 177.55888302402755 + ], + [ + 938.1134503478917, + 177.69881886992772 + ], + [ + 934.3420221925869, + 166.4681794157372 + ], + [ + 902.3746906075763, + 166.33188416842756 + ], + [ + 916.7403264368413, + 133.24424743119914 + ], + [ + 950.4776986976356, + 133.382455416556 + ], + [ + 946.3834508177101, + 122.29643236338202 + ], + [ + 913.1065478186745, + 122.1619660996069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 12398, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 526.154626531661, + "ymin": 495.6943636096073, + "xmax": 629.1101728520514, + "ymax": 700.3640547620978 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 607.1964036856841, + 533.4477192632767 + ], + [ + 531.925863137842, + 542.7295725731535 + ], + [ + 544.3245163851009, + 700.3640547620978 + ], + [ + 629.1101728520514, + 688.5460890720144 + ], + [ + 605.4583782436584, + 495.6943636096073 + ], + [ + 526.154626531661, + 505.16778895498805 + ], + [ + 538.5165959564929, + 667.2333559780789 + ], + [ + 628.4544890174276, + 655.0054592870827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.2512703450757, + "ymin": 117.05765688056283, + "xmax": 1104.6227976954951, + "ymax": 375.8875306315978 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1007.8234146838593, + 360.88991545885256 + ], + [ + 1001.6244266242289, + 349.79721048057894 + ], + [ + 873.2512703450757, + 364.4745984251686 + ], + [ + 878.1367690498535, + 375.8875306315978 + ], + [ + 1104.6227976954951, + 127.90264075250988 + ], + [ + 1095.5148348102039, + 117.05765688056283 + ], + [ + 934.9028510554836, + 131.42028881361804 + ], + [ + 941.9517895973648, + 142.66242595582662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.7250275279666, + "ymin": 137.50472674741326, + "xmax": 960.9299663783736, + "ymax": 150.6209457655762 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 959.7472409287079, + 149.0307881945392 + ], + [ + 954.9345296380166, + 141.5537825426164 + ], + [ + 937.7250275279666, + 143.11535711770782 + ], + [ + 942.3900337044445, + 150.6209457655762 + ], + [ + 960.9299663783736, + 144.9723995761732 + ], + [ + 956.08890744215, + 137.50472674741326 + ], + [ + 938.8184067742009, + 139.06431099434855 + ], + [ + 943.5107094510756, + 146.5606365629635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.8281737250302, + "ymin": 0.0, + "xmax": 832.2260145294373, + "ymax": 6.2215445040814075 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 806.0693539977613, + -0.1442774658106032 + ], + [ + 803.4151853270516, + -4.893693297159359 + ], + [ + 717.8281737250302, + 1.3830783299408722 + ], + [ + 719.8993920653301, + 6.2215445040814075 + ], + [ + 832.2260145294373, + -196.45018152897262 + ], + [ + 828.9458837219643, + -200.3558324300741 + ], + [ + 730.118347713682, + -195.192343269581 + ], + [ + 732.6205095460533, + -191.2017881118436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.62927318456667, + "ymin": 141.76719783436135, + "xmax": 209.47260829788416, + "ymax": 155.1471082015755 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 190.5199424359144, + 147.4684003962637 + ], + [ + 188.33285543030928, + 155.1471082015755 + ], + [ + 207.46532928169398, + 153.52008792863424 + ], + [ + 209.47260829788416, + 145.8711352617652 + ], + [ + 188.84025642694274, + 143.36246444251233 + ], + [ + 186.62927318456667, + 151.03188581846095 + ], + [ + 205.83710073624286, + 149.40678880390365 + ], + [ + 207.8668649259639, + 141.76719783436135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.92086427561168, + "ymin": 0.0, + "xmax": 342.40983180356454, + "ymax": 30.573091342502323 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 249.28736095344476, + 25.381758288827996 + ], + [ + 247.98534306210257, + 30.573091342502323 + ], + [ + 341.7991464529478, + 23.74381223573812 + ], + [ + 342.40983180356454, + 18.651437986457495 + ], + [ + 184.9907696234713, + -175.52016299960337 + ], + [ + 182.92086427561168, + -171.1913164011504 + ], + [ + 292.8591753551383, + -176.88380576809607 + ], + [ + 293.98104445566327, + -181.11672418968237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 24.509847437890585, + "ymin": 133.37638476724405, + "xmax": 300.66726563022894, + "ymax": 393.72496219602704 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 159.8666977299548, + 381.9148349541822 + ], + [ + 156.90464601627662, + 393.72496219602704 + ], + [ + 299.2914030841188, + 378.20677341182756 + ], + [ + 300.66726563022894, + 366.7337505314106 + ], + [ + 30.122182458055363, + 148.3605194922347 + ], + [ + 24.509847437890585, + 160.09774090022927 + ], + [ + 207.63107628559283, + 144.68988800725492 + ], + [ + 210.6295441131163, + 133.37638476724405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.6019900428531, + "ymin": 137.43443070951344, + "xmax": 961.0564873991448, + "ymax": 150.6918289150443 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 959.8605527601133, + 149.08439515326458 + ], + [ + 954.9955225110684, + 141.5269558300251 + ], + [ + 937.6019900428531, + 143.10518824486795 + ], + [ + 942.316123257378, + 150.6918289150443 + ], + [ + 961.0564873991448, + 144.98233488453997 + ], + [ + 956.1624909605493, + 137.43443070951344 + ], + [ + 938.7066465133773, + 139.01062937921054 + ], + [ + 943.448660470098, + 146.58780692096792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.75300201951762, + "ymin": 141.8382103702967, + "xmax": 209.3529663299725, + "ymax": 155.07563754402486 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 190.6008921340046, + 147.47894908577058 + ], + [ + 188.4379370808523, + 155.07563754402486 + ], + [ + 207.3660154659152, + 153.466119542505 + ], + [ + 209.3529663299725, + 145.8985559442587 + ], + [ + 188.93933980533222, + 143.41664769250804 + ], + [ + 186.75300201951762, + 151.0042459964262 + ], + [ + 205.75483087176826, + 149.39661092527555 + ], + [ + 207.76379800485256, + 141.8382103702967 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00014/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..204b1a1e19d93810cdd98641355b3782171e1888 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00014/meta.json @@ -0,0 +1,1727 @@ +{ + "frame_id": 14, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.0, + "sim_timestamp": 11930.777653189609 + }, + "drone_pose": { + "x": -50.86979625683362, + "y": 64.23218819837473, + "z": 20.271358118396627, + "pitch": -47.26585235877267, + "yaw": -81.42352175198127, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10119885206222534, + 0.6710092425346375, + 0.7345103621482849, + 33.35883331298828 + ], + [ + -0.9888177514076233, + 0.14912939071655273, + 2.9802322387695312e-08, + 40.72205352783203 + ], + [ + -0.10953706502914429, + -0.7262967824935913, + 0.6785975098609924, + -65.97985076904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.87472943176328, + "y": 63.721075696547295, + "z": 20.243982710854056 + }, + "t1_image_uv": [ + 425.26621708685906, + -572.2847464821226 + ], + "t1_depth": 0.36256950841989455 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 46.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.705967389490393, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 46.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25681638717651367, + "y": 0.27842041850090027, + "z": 0.5503286123275757 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.6159702931761, + "ymin": 338.61105005808486, + "xmax": 651.509501223475, + "ymax": 381.0650978324988 + }, + "corners_3d": [ + [ + -48.44560241699219, + 46.569053649902344, + 0.105221688747406 + ], + [ + -47.888763427734375, + 46.569053649902344, + 0.105221688747406 + ], + [ + -47.888763427734375, + 46.055419921875, + 0.105221688747406 + ], + [ + -48.44560241699219, + 46.055419921875, + 0.105221688747406 + ], + [ + -48.44560241699219, + 46.569053649902344, + 1.2058789730072021 + ], + [ + -47.888763427734375, + 46.569053649902344, + 1.2058789730072021 + ], + [ + -47.888763427734375, + 46.055419921875, + 1.2058789730072021 + ], + [ + -48.44560241699219, + 46.055419921875, + 1.2058789730072021 + ] + ], + "corners_2d": [ + [ + 631.5447963553786, + 381.0650978324988 + ], + [ + 651.164445411624, + 378.8496522756338 + ], + [ + 648.3310554032048, + 365.49865083419036 + ], + [ + 628.9536541847784, + 367.65847558142644 + ], + [ + 631.2829099969408, + 354.24655715840214 + ], + [ + 651.509501223475, + 352.0204149091667 + ], + [ + 648.5851920600469, + 338.61105005808486 + ], + [ + 628.6159702931761, + 340.77960741880116 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 14, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 359550, + "2": 430503, + "3": 81016, + "6": 5148, + "9": 14378, + "10": 795, + "12": 1968, + "14": 12970, + "20": 8201, + "24": 7071 + }, + "instance_pixel_counts": { + "2189": 8332, + "4960": 86187, + "6215": 81499, + "7314": 6097, + "7751": 57580, + "7776": 17941, + "7826": 20757, + "9362": 17144, + "9874": 50235, + "17558": 5976, + "18512": 3748, + "22676": 29722, + "23188": 92281, + "24724": 24691, + "25236": 75553, + "28243": 240, + "28755": 2602, + "28802": 2263, + "30809": 2207, + "31833": 3546, + "32914": 24226, + "35986": 33479, + "36500": 709, + "37012": 2378, + "38548": 242, + "39060": 712, + "39564": 2255, + "39770": 40439, + "40076": 7452, + "40538": 28699, + "41612": 2850, + "42074": 6125, + "42124": 8493, + "48274": 88921, + "50322": 48382, + "53908": 2447, + "55444": 583, + "56576": 211, + "56832": 215, + "57088": 581, + "57173": 18831, + "57344": 533, + "57600": 428, + "60672": 12970, + "61569": 43 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 46.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25666746497154236, + "y": 0.2823217809200287, + "z": 0.5638322830200195 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4721601379928, + "ymin": 338.25965398911507, + "xmax": 651.6545059668657, + "ymax": 381.3957499602449 + }, + "corners_3d": [ + [ + -48.44950485229492, + 46.568904876708984, + 0.09171801805496216 + ], + [ + -47.88486099243164, + 46.568904876708984, + 0.09171801805496216 + ], + [ + -47.88486099243164, + 46.05556869506836, + 0.09171801805496216 + ], + [ + -48.44950485229492, + 46.05556869506836, + 0.09171801805496216 + ], + [ + -48.44950485229492, + 46.568904876708984, + 1.2193825244903564 + ], + [ + -47.88486099243164, + 46.568904876708984, + 1.2193825244903564 + ], + [ + -47.88486099243164, + 46.05556869506836, + 1.2193825244903564 + ], + [ + -48.44950485229492, + 46.05556869506836, + 1.2193825244903564 + ] + ], + "corners_2d": [ + [ + 631.409414895074, + 381.3957499602449 + ], + [ + 651.2966676569763, + 379.14941866058734 + ], + [ + 648.464310630332, + 365.80736031457843 + ], + [ + 628.8223793092201, + 367.9973479992149 + ], + [ + 631.1366997079305, + 353.918893982236 + ], + [ + 651.6545059668657, + 351.66145175871594 + ], + [ + 648.728943880085, + 338.25965398911507 + ], + [ + 628.4721601379928, + 340.45871332561546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 215, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 49.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22267824411392212, + "y": 0.29381105303764343, + "z": 0.5284968018531799 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 796.8311040574027, + "ymin": 404.11574705509213, + "xmax": 829.9052296090313, + "ymax": 447.4765985862514 + }, + "corners_3d": [ + [ + -44.29655456542969, + 49.57583999633789, + 0.12705349922180176 + ], + [ + -43.71616744995117, + 49.48391342163086, + 0.12705349922180176 + ], + [ + -43.78583526611328, + 49.04404067993164, + 0.12705349922180176 + ], + [ + -44.3662223815918, + 49.13596725463867, + 0.12705349922180176 + ], + [ + -44.29655456542969, + 49.57583999633789, + 1.1840471029281616 + ], + [ + -43.71616744995117, + 49.48391342163086, + 1.1840471029281616 + ], + [ + -43.78583526611328, + 49.04404067993164, + 1.1840471029281616 + ], + [ + -44.3662223815918, + 49.13596725463867, + 1.1840471029281616 + ] + ], + "corners_2d": [ + [ + 803.7212041248642, + 447.4765985862514 + ], + [ + 824.1043521047227, + 442.13909071174925 + ], + [ + 817.0180658502774, + 429.5717063375679 + ], + [ + 796.8311040574027, + 434.7899555193501 + ], + [ + 808.9051709446385, + 422.1634409495672 + ], + [ + 829.9052296090313, + 416.78146337868395 + ], + [ + 822.531200619563, + 404.11574705509213 + ], + [ + 801.739235795194, + 409.37373988845974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 581, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -49.3089599609375, + "y": 50.65196990966797, + "z": 0.6555405259132385 + }, + "extent": { + "x": 0.31838133931159973, + "y": 0.3366723656654358, + "z": 0.8720965385437012 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 603.7763545809887, + "ymin": 459.1709822277306, + "xmax": 636.4978882909206, + "ymax": 525.4773216326503 + }, + "corners_3d": [ + [ + -49.628509521484375, + 50.98753356933594, + -0.21655601263046265 + ], + [ + -48.956085205078125, + 50.952293395996094, + -0.21655601263046265 + ], + [ + -48.989410400390625, + 50.31640625, + -0.21655601263046265 + ], + [ + -49.661834716796875, + 50.351646423339844, + -0.21655601263046265 + ], + [ + -49.628509521484375, + 50.98753356933594, + 1.527637004852295 + ], + [ + -48.956085205078125, + 50.952293395996094, + 1.527637004852295 + ], + [ + -48.989410400390625, + 50.31640625, + 1.527637004852295 + ], + [ + -49.661834716796875, + 50.351646423339844, + 1.527637004852295 + ] + ], + "corners_2d": [ + [ + 610.165980225663, + 525.4773216326503 + ], + [ + 636.4978882909206, + 520.9042731765426 + ], + [ + 631.5668252191646, + 500.2350234272493 + ], + [ + 605.6716984657035, + 504.65160329983644 + ], + [ + 608.4881668890519, + 484.90450481139493 + ], + [ + 636.3017252166949, + 480.23796529718976 + ], + [ + 631.1030431398019, + 459.1709822277306 + ], + [ + 603.7763545809887, + 463.66913683510126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 533, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 46.31223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.30446287989616394, + "y": 0.5038549900054932, + "z": 0.8945991396903992 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.12819409270827, + "ymin": 362.7293496118876, + "xmax": 317.14193488120475, + "ymax": 426.43843499446325 + }, + "corners_3d": [ + [ + -58.186283111572266, + 46.58991241455078, + -0.08681249618530273 + ], + [ + -57.179954528808594, + 46.64265060424805, + -0.08681249618530273 + ], + [ + -57.1480827331543, + 46.03456115722656, + -0.08681249618530273 + ], + [ + -58.15441131591797, + 45.9818229675293, + -0.08681249618530273 + ], + [ + -58.186283111572266, + 46.58991241455078, + 1.7023857831954956 + ], + [ + -57.179954528808594, + 46.64265060424805, + 1.7023857831954956 + ], + [ + -57.1480827331543, + 46.03456115722656, + 1.7023857831954956 + ], + [ + -58.15441131591797, + 45.9818229675293, + 1.7023857831954956 + ] + ], + "corners_2d": [ + [ + 276.442780306598, + 426.43843499446325 + ], + [ + 314.2329057966211, + 423.6255800655758 + ], + [ + 317.14193488120475, + 406.53068880380476 + ], + [ + 279.9464238682035, + 409.2568998336691 + ], + [ + 257.12819409270827, + 382.8488487025456 + ], + [ + 296.97235101293154, + 380.003739241668 + ], + [ + 300.3145257348549, + 362.7293496118876 + ], + [ + 261.1307917326493, + 365.4822855656616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 428, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 38.14202117919922, + "z": 0.7934799790382385 + }, + "extent": { + "x": 0.39665159583091736, + "y": 0.5166980028152466, + "z": 0.9384806752204895 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 903.6139458647403, + "ymin": 120.33571264886771, + "xmax": 949.892086563039, + "ymax": 179.41752525272088 + }, + "corners_3d": [ + [ + -37.49423599243164, + 38.45296096801758, + -0.14500069618225098 + ], + [ + -36.47356033325195, + 38.614620208740234, + -0.14500069618225098 + ], + [ + -36.34946060180664, + 37.83108139038086, + -0.14500069618225098 + ], + [ + -37.37013626098633, + 37.6694221496582, + -0.14500069618225098 + ], + [ + -37.49423599243164, + 38.45296096801758, + 1.731960654258728 + ], + [ + -36.47356033325195, + 38.614620208740234, + 1.731960654258728 + ], + [ + -36.34946060180664, + 37.83108139038086, + 1.731960654258728 + ], + [ + -37.37013626098633, + 37.6694221496582, + 1.731960654258728 + ] + ], + "corners_2d": [ + [ + 907.664146756844, + 179.28526550815974 + ], + [ + 937.192926249844, + 179.41752525272088 + ], + [ + 932.6770569561263, + 165.89659438424997 + ], + [ + 903.6139458647403, + 165.76846748958752 + ], + [ + 919.0996944544811, + 133.67207512966573 + ], + [ + 949.892086563039, + 133.80265799149174 + ], + [ + 944.9780120295244, + 120.46204499402387 + ], + [ + 914.6916537806123, + 120.33571264886771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 12970, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 527.4674418443374, + "ymin": 513.6538214933647, + "xmax": 632.2867336211867, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 609.7045427393042, + 551.1052424603911 + ], + [ + 533.2602324910883, + 560.6520763837714 + ], + [ + 546.0032557772612, + 723.4364798733507 + ], + [ + 632.2867336211867, + 711.2302780695858 + ], + [ + 608.0734339621202, + 513.6538214933647 + ], + [ + 527.4674418443374, + 523.4124888173865 + ], + [ + 540.1907055343972, + 691.069623583286 + ], + [ + 631.8135086711692, + 678.414782780832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 879.0818088091094, + "ymin": 129.12317097821395, + "xmax": 1115.923538787305, + "ymax": 389.2637457921983 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1015.463665681817, + 373.9014013729166 + ], + [ + 1009.1010438354663, + 362.52322783949046 + ], + [ + 879.0818088091094, + 377.5530015635552 + ], + [ + 884.0962681852577, + 389.2637457921983 + ], + [ + 1115.923538787305, + 140.31400140619195 + ], + [ + 1106.5097758930315, + 129.12317097821395 + ], + [ + 943.3325045334163, + 143.91920608075932 + ], + [ + 950.6196981905957, + 155.52646799969278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.1400533113947, + "ymin": 150.04048237309638, + "xmax": 969.8363526725564, + "ymax": 163.46880378984355 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 968.6004437773537, + 161.83004810377662 + ], + [ + 963.6267160905978, + 154.1128210924315 + ], + [ + 946.1400533113947, + 155.72160820732748 + ], + [ + 950.9611959844731, + 163.46880378984355 + ], + [ + 969.8363526725564, + 157.74887490837483 + ], + [ + 964.8327062278317, + 150.04048237309638 + ], + [ + 947.283090622501, + 151.64738388989798 + ], + [ + 952.1330491541619, + 159.3858230870602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.3559499391644, + "ymin": 0.0, + "xmax": 836.2857179339801, + "ymax": 11.771230458241234 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 809.355864525185, + 5.314294620982423 + ], + [ + 806.6577233234347, + 0.4893078925521195 + ], + [ + 720.3559499391644, + 6.855100820947712 + ], + [ + 722.4610341157494, + 11.771230458241234 + ], + [ + 836.2857179339801, + -192.11804755812273 + ], + [ + 832.9422448708135, + -196.0926297583801 + ], + [ + 733.1669757752227, + -190.84693077231975 + ], + [ + 735.7170365954353, + -186.78518469161656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.24515856305806, + "ymin": 154.34509654504654, + "xmax": 205.54597986033292, + "ymax": 168.04327399029154 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 186.26419335267184, + 160.11770370681077 + ], + [ + 183.9940490515836, + 168.04327399029154 + ], + [ + 203.4620656858953, + 166.36659254228232 + ], + [ + 205.54597986033292, + 158.47221794511668 + ], + [ + 184.54035182094407, + 155.98869495024016 + ], + [ + 182.24515856305806, + 163.9055177067002 + ], + [ + 201.7911659847614, + 162.23063944666242 + ], + [ + 203.89864269321265, + 154.34509654504654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.4104338310196, + "ymin": 0.0, + "xmax": 341.68064568442907, + "ymax": 36.466251745697946 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 247.72328417116972, + 31.189006938187674 + ], + [ + 246.39395623643992, + 36.466251745697946 + ], + [ + 341.0555091765093, + 29.535836765047918 + ], + [ + 341.68064568442907, + 24.359949935643783 + ], + [ + 182.52819111840677, + -170.86186747583065 + ], + [ + 180.4104338310196, + -166.45279236787962 + ], + [ + 291.5067264411537, + -172.24083252961225 + ], + [ + 292.65597540194295, + -176.55132675043205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.16587072163111, + "ymin": 145.8479248998583, + "xmax": 298.75438444810726, + "ymax": 407.44294701463167 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 155.99893138893776, + 395.3217779392168 + ], + [ + 152.94563194173344, + 407.44294701463167 + ], + [ + 297.332705404181, + 391.54362438072684 + ], + [ + 298.75438444810726, + 379.7726755625495 + ], + [ + 22.98924386512317, + 161.29102146593934 + ], + [ + 17.16587072163111, + 173.41502156935 + ], + [ + 203.58508479003876, + 157.52733881756404 + ], + [ + 206.69900946315857, + 145.8479248998583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 946.0144337851193, + "ymin": 149.9685255814761, + "xmax": 969.9655778752299, + "ymax": 163.54138708655202 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 968.7158684086112, + 161.88482527698685 + ], + [ + 963.6880721603163, + 154.08458714897085 + ], + [ + 946.0144337851193, + 155.71053208751914 + ], + [ + 950.8863477346031, + 163.54138708655202 + ], + [ + 969.9655778752299, + 157.75973764729267 + ], + [ + 964.9072100645362, + 149.9685255814761 + ], + [ + 947.1692634593498, + 151.59254372507021 + ], + [ + 952.0706100806777, + 159.41445330088158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.37139692253157, + "ymin": 154.41778632535753, + "xmax": 205.4239725193184, + "ymax": 167.97008984335523 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 186.3462373428237, + 160.12917405101499 + ], + [ + 184.10113810969665, + 167.97008984335523 + ], + [ + 203.36116387785341, + 166.3114468348915 + ], + [ + 205.4239725193184, + 158.50106596258908 + ], + [ + 184.64100679772764, + 156.04404745533873 + ], + [ + 182.37139692253157, + 163.87640053525953 + ], + [ + 201.70775399803256, + 162.21952297707685 + ], + [ + 203.79363384035332, + 154.41778632535753 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00015/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f38326a066096905faa76cfe9e442f88f713d2e5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00015/meta.json @@ -0,0 +1,1728 @@ +{ + "frame_id": 15, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.5, + "sim_timestamp": 11941.044084495166 + }, + "drone_pose": { + "x": -50.87472943176328, + "y": 63.721075696547295, + "z": 20.243982710854056, + "pitch": -47.24212744895981, + "yaw": -81.40284856539782, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10148656368255615, + 0.6712733507156372, + 0.7342292070388794, + 33.073638916015625 + ], + [ + -0.988763689994812, + 0.14948630332946777, + -2.9802322387695312e-08, + 40.77766418457031 + ], + [ + -0.10975715517997742, + -0.725979208946228, + 0.6789016723632812, + -65.58772277832031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.893615628577116, + "y": 63.20877666221315, + "z": 20.21726332335282 + }, + "t1_image_uv": [ + 387.10490067188516, + -573.7471858803999 + ], + "t1_depth": 0.36159416302026665 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 45.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.67890559826789, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 45.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2562573254108429, + "y": 0.2819164991378784, + "z": 0.5624784231185913 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4747383404384, + "ymin": 338.27851095061925, + "xmax": 651.6518041906772, + "ymax": 381.3784193383221 + }, + "corners_3d": [ + [ + -48.449100494384766, + 46.0684928894043, + 0.09307187795639038 + ], + [ + -47.8852653503418, + 46.0684928894043, + 0.09307187795639038 + ], + [ + -47.8852653503418, + 45.55598068237305, + 0.09307187795639038 + ], + [ + -48.449100494384766, + 45.55598068237305, + 0.09307187795639038 + ], + [ + -48.449100494384766, + 46.0684928894043, + 1.2180287837982178 + ], + [ + -47.8852653503418, + 46.0684928894043, + 1.2180287837982178 + ], + [ + -47.8852653503418, + 45.55598068237305, + 1.2180287837982178 + ], + [ + -48.449100494384766, + 45.55598068237305, + 1.2180287837982178 + ] + ], + "corners_2d": [ + [ + 631.4163420483784, + 381.3784193383221 + ], + [ + 651.2946741728571, + 379.12846604244174 + ], + [ + 648.4574601503983, + 365.7998629200956 + ], + [ + 628.824269724298, + 367.9933913360042 + ], + [ + 631.144336713912, + 353.927059737204 + ], + [ + 651.6518041906772, + 351.66609689286616 + ], + [ + 648.7214032110887, + 338.27851095061925 + ], + [ + 628.4747383404384, + 340.48101295298625 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 15, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 360254, + "2": 431594, + "3": 80473, + "6": 5348, + "9": 13471, + "10": 804, + "12": 2019, + "14": 12551, + "20": 7987, + "24": 7099 + }, + "instance_pixel_counts": { + "2189": 7932, + "4960": 87708, + "6215": 85294, + "7314": 6512, + "7751": 53992, + "7776": 17073, + "7826": 21507, + "9362": 18146, + "9874": 52290, + "17558": 5497, + "18512": 3571, + "22676": 31615, + "23188": 95639, + "24724": 26157, + "25236": 78389, + "28243": 263, + "28755": 2666, + "28802": 2326, + "30809": 1682, + "31833": 3986, + "32914": 23109, + "35986": 30564, + "36500": 746, + "37012": 2457, + "38548": 260, + "39060": 733, + "39564": 2404, + "39770": 43620, + "40076": 7724, + "40538": 24283, + "41612": 3014, + "41818": 5, + "42074": 6897, + "42124": 8828, + "48274": 83998, + "50322": 44456, + "53908": 2290, + "55444": 613, + "56576": 206, + "56832": 237, + "57088": 641, + "57173": 17887, + "57344": 519, + "57600": 416, + "60672": 12551, + "61569": 93 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 45.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2636425793170929, + "y": 0.29878172278404236, + "z": 0.5451869368553162 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8357904482227, + "ymin": 338.45846540309526, + "xmax": 652.3007411162729, + "ymax": 381.2321107863565 + }, + "corners_3d": [ + [ + -48.465965270996094, + 46.07587814331055, + 0.11036336421966553 + ], + [ + -47.86840057373047, + 46.07587814331055, + 0.11036336421966553 + ], + [ + -47.86840057373047, + 45.5485954284668, + 0.11036336421966553 + ], + [ + -48.465965270996094, + 45.5485954284668, + 0.11036336421966553 + ], + [ + -48.465965270996094, + 46.07587814331055, + 1.2007372379302979 + ], + [ + -47.86840057373047, + 46.07587814331055, + 1.2007372379302979 + ], + [ + -47.86840057373047, + 45.5485954284668, + 1.2007372379302979 + ], + [ + -48.465965270996094, + 45.5485954284668, + 1.2007372379302979 + ] + ], + "corners_2d": [ + [ + 630.853871277056, + 381.2321107863565 + ], + [ + 651.9350949719943, + 378.84647953959603 + ], + [ + 649.0071609241284, + 365.13437758037924 + ], + [ + 628.1934827070636, + 367.45845106323105 + ], + [ + 630.5730167224882, + 354.62630935209023 + ], + [ + 652.3007411162729, + 352.22933573895375 + ], + [ + 649.279418587546, + 338.45846540309526 + ], + [ + 627.8357904482227, + 340.7917294929589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 237, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 48.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.1882299929857254, + "y": 0.25849369168281555, + "z": 0.5425572395324707 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 798.711164678488, + "ymin": 405.0214912785692, + "xmax": 828.3888855730115, + "ymax": 446.5166354953933 + }, + "corners_3d": [ + [ + -44.267059326171875, + 49.03628921508789, + 0.11299306154251099 + ], + [ + -43.756439208984375, + 48.955413818359375, + 0.11299306154251099 + ], + [ + -43.815330505371094, + 48.58359146118164, + 0.11299306154251099 + ], + [ + -44.325950622558594, + 48.664466857910156, + 0.11299306154251099 + ], + [ + -44.267059326171875, + 49.03628921508789, + 1.1981074810028076 + ], + [ + -43.756439208984375, + 48.955413818359375, + 1.1981074810028076 + ], + [ + -43.815330505371094, + 48.58359146118164, + 1.1981074810028076 + ], + [ + -44.325950622558594, + 48.664466857910156, + 1.1981074810028076 + ] + ], + "corners_2d": [ + [ + 804.5559280628216, + 446.5166354953933 + ], + [ + 822.4831643516541, + 441.8206598981254 + ], + [ + 816.4923600681566, + 431.1861800266973 + ], + [ + 798.711164678488, + 435.7932228180323 + ], + [ + 809.9045220279323, + 420.4769293638234 + ], + [ + 828.3888855730115, + 415.74121477814776 + ], + [ + 822.1482307857152, + 405.0214912785692 + ], + [ + 803.8190198991515, + 409.6646544584835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -49.88277053833008, + "y": 50.4631233215332, + "z": 0.6555258631706238 + }, + "extent": { + "x": 0.3600805699825287, + "y": 0.5941308736801147, + "z": 0.8940768241882324 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 570.5545679181068, + "ymin": 468.76295222945623, + "xmax": 626.0637221158064, + "ymax": 542.8807754171561 + }, + "corners_3d": [ + [ + -50.45724105834961, + 50.85380554199219, + -0.23855096101760864 + ], + [ + -49.270606994628906, + 50.7916145324707, + -0.23855096101760864 + ], + [ + -49.30830001831055, + 50.07244110107422, + -0.23855096101760864 + ], + [ + -50.49493408203125, + 50.1346321105957, + -0.23855096101760864 + ], + [ + -50.45724105834961, + 50.85380554199219, + 1.549602746963501 + ], + [ + -49.270606994628906, + 50.7916145324707, + 1.549602746963501 + ], + [ + -49.30830001831055, + 50.07244110107422, + 1.549602746963501 + ], + [ + -50.49493408203125, + 50.1346321105957, + 1.549602746963501 + ] + ], + "corners_2d": [ + [ + 578.8560733798125, + 542.8807754171561 + ], + [ + 626.0637221158064, + 534.5882032820252 + ], + [ + 620.6322203903388, + 510.74294813623726 + ], + [ + 574.3225362948908, + 518.7115751349392 + ], + [ + 575.2732147585343, + 501.58276352052883 + ], + [ + 625.2529645394183, + 493.1045317369084 + ], + [ + 619.5288942644723, + 468.76295222945623 + ], + [ + 570.5545679181068, + 476.8912511170131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 519, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 45.81223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3142431676387787, + "y": 0.5274560451507568, + "z": 0.9037510752677917 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 255.5852412136984, + "ymin": 362.2252322666163, + "xmax": 317.79040869552034, + "ymax": 427.1610590028139 + }, + "corners_3d": [ + [ + -58.21036148071289, + 46.098445892333984, + -0.09596443176269531 + ], + [ + -57.15689468383789, + 46.153656005859375, + -0.09596443176269531 + ], + [ + -57.12400436401367, + 45.52602767944336, + -0.09596443176269531 + ], + [ + -58.17747116088867, + 45.47081756591797, + -0.09596443176269531 + ], + [ + -58.21036148071289, + 46.098445892333984, + 1.7115377187728882 + ], + [ + -57.15689468383789, + 46.153656005859375, + 1.7115377187728882 + ], + [ + -57.12400436401367, + 45.52602767944336, + 1.7115377187728882 + ], + [ + -58.17747116088867, + 45.47081756591797, + 1.7115377187728882 + ] + ], + "corners_2d": [ + [ + 275.19239809191123, + 427.1610590028139 + ], + [ + 314.8015545247875, + 424.20145449202477 + ], + [ + 317.79040869552034, + 406.54470167395147 + ], + [ + 278.8252074247333, + 409.4101394910664 + ], + [ + 255.5852412136984, + 383.0620818929907 + ], + [ + 297.3725585953396, + 380.0682567179762 + ], + [ + 300.8127526415993, + 362.2252322666163 + ], + [ + 259.74149680982725, + 365.11881858110206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 416, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 37.64202117919922, + "z": 0.7939731478691101 + }, + "extent": { + "x": 0.3392651379108429, + "y": 0.5814245343208313, + "z": 0.9070068001747131 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 902.32685043217, + "ymin": 121.90497450640365, + "xmax": 951.3431720593784, + "ymax": 177.57233096574376 + }, + "corners_3d": [ + [ + -37.54918670654297, + 37.88615417480469, + -0.11303365230560303 + ], + [ + -36.40065383911133, + 38.06806564331055, + -0.11303365230560303 + ], + [ + -36.29450988769531, + 37.39788818359375, + -0.11303365230560303 + ], + [ + -37.44304275512695, + 37.21597671508789, + -0.11303365230560303 + ], + [ + -37.54918670654297, + 37.88615417480469, + 1.7009799480438232 + ], + [ + -36.40065383911133, + 38.06806564331055, + 1.7009799480438232 + ], + [ + -36.29450988769531, + 37.39788818359375, + 1.7009799480438232 + ], + [ + -37.44304275512695, + 37.21597671508789, + 1.7009799480438232 + ] + ], + "corners_2d": [ + [ + 905.7827481201697, + 177.43109680949541 + ], + [ + 939.0146924107969, + 177.57233096574376 + ], + [ + 935.1092672688521, + 166.01033133433782 + ], + [ + 902.32685043217, + 165.87288725030237 + ], + [ + 916.7391801579821, + 133.31278931758268 + ], + [ + 951.3431720593784, + 133.4522643133478 + ], + [ + 947.1056598288035, + 122.04055557724135 + ], + [ + 912.9888088051641, + 121.90497450640365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 12551, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 528.9901127046343, + "ymin": 532.212642801757, + "xmax": 635.8632691674067, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 612.4431987172546, + 569.3219439975667 + ], + [ + 534.7942271088605, + 579.1882260039436 + ], + [ + 548.0380991178527, + 747.3795535557265 + ], + [ + 635.8632691674067, + 734.7106072321604 + ], + [ + 610.9351649217134, + 532.212642801757 + ], + [ + 528.9901127046343, + 542.3137060183574 + ], + [ + 542.2431542698097, + 715.8589375854174 + ], + [ + 635.6043566149696, + 702.6970605186078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.0462073652247, + "ymin": 141.42753962039873, + "xmax": 1127.498005496301, + "ymax": 402.88461789482943 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1023.2421321528197, + 387.08364894962386 + ], + [ + 1016.7019515376242, + 375.41372568749915 + ], + [ + 885.0462073652247, + 390.86789990847575 + ], + [ + 890.203583391261, + 402.88461789482943 + ], + [ + 1127.498005496301, + 152.97554413619523 + ], + [ + 1117.754949761065, + 141.42753962039873 + ], + [ + 952.0092411500024, + 156.73505220514897 + ], + [ + 959.5574843783213, + 168.7215644537104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.800294403743, + "ymin": 162.8830852841456, + "xmax": 979.0070761716366, + "ymax": 176.64024430984045 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 977.7154076460296, + 174.9440891383215 + ], + [ + 972.5657037651338, + 166.97765575307506 + ], + [ + 954.800294403743, + 168.6422527443 + ], + [ + 959.7924580164012, + 176.64024430984045 + ], + [ + 979.0070761716366, + 170.8412477208596 + ], + [ + 973.8257542498391, + 162.8830852841456 + ], + [ + 955.9953918869151, + 164.54590707392606 + ], + [ + 961.0180171159213, + 172.53571529777852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.6206294246726, + "ymin": 0.0, + "xmax": 840.0513752455337, + "ymax": 17.399808034180296 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 812.3790205301094, + 10.823687003861039 + ], + [ + 809.6322007365321, + 5.922475585379459 + ], + [ + 722.6206294246726, + 12.404938705875338 + ], + [ + 724.7643766477958, + 17.399808034180296 + ], + [ + 840.0513752455337, + -187.72808484605105 + ], + [ + 836.6390709253632, + -191.77248492737556 + ], + [ + 735.9192226103362, + -186.42129029849457 + ], + [ + 738.5227167525776, + -182.2870443199805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.65998077605485, + "ymin": 167.513666504191, + "xmax": 201.43406143783807, + "ymax": 181.55412192153454 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 181.80655154113776, + 173.3668142610268 + ], + [ + 179.45678839014948, + 181.55412192153454 + ], + [ + 199.277361832947, + 179.81760879295652 + ], + [ + 201.43406143783807, + 171.66318262437707 + ], + [ + 180.0360000110436, + 169.2155314258196 + ], + [ + 177.65998077605485, + 177.39471569788654 + ], + [ + 197.56137045309617, + 175.65987474495574 + ], + [ + 199.74275788511056, + 167.513666504191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.4451367083741, + "ymin": 0.0, + "xmax": 340.61996218184447, + "ymax": 42.595566827649975 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 245.7922839065571, + 37.22890452027218 + ], + [ + 244.43892694463165, + 42.595566827649975 + ], + [ + 339.9841951550898, + 35.530802666031775 + ], + [ + 340.61996218184447, + 30.26843661608217 + ], + [ + 179.60822609463622, + -165.99190193941388 + ], + [ + 177.4451367083741, + -161.4988381733383 + ], + [ + 289.75370785226164, + -167.41122662769862 + ], + [ + 290.92680701055696, + -171.8024982412661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.456626415063283, + "ymin": 158.90533816893821, + "xmax": 296.75849521326455, + "ymax": 421.7690408282152 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 151.95884886024186, + 409.3202102157062 + ], + [ + 148.81952117157624, + 421.7690408282152 + ], + [ + 295.29868211022114, + 405.40139499961583 + ], + [ + 296.75849521326455, + 393.31824096763995 + ], + [ + 15.491970948188623, + 174.90237829963655 + ], + [ + 9.456626415063283, + 187.43870158326595 + ], + [ + 199.3567042599724, + 170.9726116176948 + ], + [ + 202.58039652303285, + 158.90533816893821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.6719916617744, + "ymin": 162.80937939310215, + "xmax": 979.1391102696258, + "ymax": 176.7146196712964 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 977.8330211277282, + 175.00003265737726 + ], + [ + 972.6273382699994, + 166.9479153071894 + ], + [ + 954.6719916617744, + 168.63026148137902 + ], + [ + 959.7167299763488, + 176.7146196712964 + ], + [ + 979.1391102696258, + 170.8530463516733 + ], + [ + 973.9011195236392, + 162.80937939310215 + ], + [ + 955.879421543943, + 164.48991150541517 + ], + [ + 960.9552735842849, + 172.5659097693659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.788817947437, + "ymin": 167.5881591114298, + "xmax": 201.30960985212937, + "ymax": 181.47909400558527 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 181.8897847666209, + 173.37923533828032 + ], + [ + 179.5659450907399, + 181.47909400558527 + ], + [ + 199.1747497680617, + 179.76126509492713 + ], + [ + 201.30960985212937, + 171.69359147452118 + ], + [ + 180.13834939524378, + 169.27207415610513 + ], + [ + 177.788817947437, + 177.36398097608225 + ], + [ + 197.47671910840626, + 175.64778933330695 + ], + [ + 199.63575227571573, + 167.5881591114298 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00016/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e1950208efe26cfb35dbd89cd2ce8d3a5d740c2b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00016/meta.json @@ -0,0 +1,1728 @@ +{ + "frame_id": 16, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.0, + "sim_timestamp": 11955.829039708013 + }, + "drone_pose": { + "x": -50.893615628577116, + "y": 63.20877666221315, + "z": 20.21726332335282, + "pitch": -47.21785217109646, + "yaw": -81.33792675375176, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10229378938674927, + 0.6714653968811035, + 0.7339415550231934, + 32.81031799316406 + ], + [ + -0.9885938167572021, + 0.15060639381408691, + 0.0, + 40.7934684753418 + ], + [ + -0.11053630709648132, + -0.7255700826644897, + 0.6792126297950745, + -65.21981048583984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.92901043626715, + "y": 62.69476125600757, + "z": 20.1912116465374 + }, + "t1_image_uv": [ + 340.7876784087662, + -575.2544368713297 + ], + "t1_depth": 0.3606433077123896 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 45.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 26.65295840300074, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 45.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2938769459724426, + "y": 0.2393237203359604, + "z": 0.5457995533943176 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.7969245614161, + "ymin": 337.8659804528643, + "xmax": 650.3383208937751, + "ymax": 381.83906787808434 + }, + "corners_3d": [ + [ + -48.4065055847168, + 45.60611343383789, + 0.10975074768066406 + ], + [ + -47.927860260009766, + 45.60611343383789, + 0.10975074768066406 + ], + [ + -47.927860260009766, + 45.01836013793945, + 0.10975074768066406 + ], + [ + -48.4065055847168, + 45.01836013793945, + 0.10975074768066406 + ], + [ + -48.4065055847168, + 45.60611343383789, + 1.2013498544692993 + ], + [ + -47.927860260009766, + 45.60611343383789, + 1.2013498544692993 + ], + [ + -47.927860260009766, + 45.01836013793945, + 1.2013498544692993 + ], + [ + -48.4065055847168, + 45.01836013793945, + 1.2013498544692993 + ] + ], + "corners_2d": [ + [ + 633.1186016241281, + 381.83906787808434 + ], + [ + 650.0301907948988, + 379.90977689608695 + ], + [ + 646.7694762515621, + 364.6118830069432 + ], + [ + 630.097162568121, + 366.4856973460309 + ], + [ + 632.9068056244963, + 355.1675750045868 + ], + [ + 650.3383208937751, + 353.2290895253839 + ], + [ + 646.9743362389228, + 337.8659804528643 + ], + [ + 629.7969245614161, + 339.74704917376573 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 16, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 361972, + "2": 430702, + "3": 79921, + "6": 5554, + "9": 13909, + "10": 804, + "12": 2040, + "14": 11142, + "20": 8351, + "24": 7205 + }, + "instance_pixel_counts": { + "2189": 7521, + "4960": 89088, + "6215": 89161, + "7314": 6941, + "7751": 50050, + "7776": 14695, + "7826": 22289, + "9362": 19191, + "9874": 54429, + "17558": 4986, + "18512": 3616, + "22676": 33571, + "23188": 99424, + "24724": 27684, + "25236": 81292, + "28243": 289, + "28755": 2748, + "28802": 2389, + "30809": 1179, + "31833": 4352, + "32914": 21954, + "35986": 27456, + "36500": 783, + "37012": 2552, + "38548": 281, + "39060": 763, + "39564": 2559, + "39770": 46078, + "40076": 8011, + "40538": 20559, + "41612": 3189, + "41818": 56, + "42074": 7697, + "42124": 9182, + "48274": 79091, + "50322": 40910, + "53908": 2185, + "55444": 641, + "56576": 204, + "56832": 238, + "57088": 650, + "57173": 18644, + "57344": 523, + "57600": 425, + "60672": 11142, + "61569": 128 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 45.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2658935487270355, + "y": 0.2380712777376175, + "z": 0.5526646971702576 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.9859940778441, + "ymin": 338.41866889953076, + "xmax": 650.132351167409, + "ymax": 381.2554965741115 + }, + "corners_3d": [ + [ + -48.40525436401367, + 45.578128814697266, + 0.10288560390472412 + ], + [ + -47.92911148071289, + 45.578128814697266, + 0.10288560390472412 + ], + [ + -47.92911148071289, + 45.04634475708008, + 0.10288560390472412 + ], + [ + -48.40525436401367, + 45.04634475708008, + 0.10288560390472412 + ], + [ + -48.40525436401367, + 45.578128814697266, + 1.2082149982452393 + ], + [ + -47.92911148071289, + 45.578128814697266, + 1.2082149982452393 + ], + [ + -47.92911148071289, + 45.04634475708008, + 1.2082149982452393 + ], + [ + -48.40525436401367, + 45.04634475708008, + 1.2082149982452393 + ] + ], + "corners_2d": [ + [ + 633.0182971166646, + 381.2554965741115 + ], + [ + 649.8268308212397, + 379.33903944854217 + ], + [ + 646.8777817578951, + 365.49832714633544 + ], + [ + 630.284524323068, + 367.3648646711733 + ], + [ + 632.8008270692442, + 354.2447415395644 + ], + [ + 650.132351167409, + 352.3191202531163 + ], + [ + 647.0887281956409, + 338.41866889953076 + ], + [ + 629.9859940778441, + 340.2926025392025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 238, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 48.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23151856660842896, + "y": 0.2003125101327896, + "z": 0.5212666392326355 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 800.3908630876543, + "ymin": 404.7140363973549, + "xmax": 827.2062668483551, + "ymax": 446.6551551628411 + }, + "corners_3d": [ + [ + -44.202823638916016, + 48.569942474365234, + 0.1342836618423462 + ], + [ + -43.807132720947266, + 48.50727081298828, + 0.1342836618423462 + ], + [ + -43.87956619262695, + 48.0499382019043, + 0.1342836618423462 + ], + [ + -44.2752571105957, + 48.11260986328125, + 0.1342836618423462 + ], + [ + -44.202823638916016, + 48.569942474365234, + 1.1768169403076172 + ], + [ + -43.807132720947266, + 48.50727081298828, + 1.1768169403076172 + ], + [ + -43.87956619262695, + 48.0499382019043, + 1.1768169403076172 + ], + [ + -44.2752571105957, + 48.11260986328125, + 1.1768169403076172 + ] + ], + "corners_2d": [ + [ + 807.6345757265801, + 446.6551551628411 + ], + [ + 821.5525964880617, + 442.99254456459096 + ], + [ + 814.1695153433951, + 429.89611883881173 + ], + [ + 800.3908630876543, + 433.47346414735046 + ], + [ + 812.8724286985691, + 421.6036614223113 + ], + [ + 827.2062668483551, + 417.91116759934494 + ], + [ + 819.5279193350142, + 404.7140363973549 + ], + [ + 805.3417952804768, + 408.3179362922452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 650, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.12376403808594, + "y": 50.41518020629883, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3319165110588074, + "y": 0.5338916182518005, + "z": 0.901030421257019 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 565.1323126083827, + "ymin": 486.6366643329139, + "xmax": 616.5195078843683, + "ymax": 558.9712001102624 + }, + "corners_3d": [ + [ + -50.63955307006836, + 50.77458190917969, + -0.24548012018203735 + ], + [ + -49.57323455810547, + 50.71870040893555, + -0.24548012018203735 + ], + [ + -49.607975006103516, + 50.05577850341797, + -0.24548012018203735 + ], + [ + -50.674293518066406, + 50.11166000366211, + -0.24548012018203735 + ], + [ + -50.63955307006836, + 50.77458190917969, + 1.5565807819366455 + ], + [ + -49.57323455810547, + 50.71870040893555, + 1.5565807819366455 + ], + [ + -49.607975006103516, + 50.05577850341797, + 1.5565807819366455 + ], + [ + -50.674293518066406, + 50.11166000366211, + 1.5565807819366455 + ] + ], + "corners_2d": [ + [ + 573.4584418297898, + 558.9712001102624 + ], + [ + 616.5195078843683, + 551.2717852236875 + ], + [ + 611.58038941698, + 528.6491335229197 + ], + [ + 569.2867038396554, + 536.0667646433571 + ], + [ + 569.4709256459367, + 517.6561843819145 + ], + [ + 615.1217191202991, + 509.7710376831427 + ], + [ + 609.9215455772576, + 486.6366643329139 + ], + [ + 565.1323126083827, + 494.21649716770156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 523, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 45.31223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3098681569099426, + "y": 0.5709472298622131, + "z": 0.8877328038215637 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 253.6201964507875, + "ymin": 362.90205930073057, + "xmax": 318.86997169667194, + "ymax": 427.1698448819945 + }, + "corners_3d": [ + [ + -58.25356674194336, + 45.591800689697266, + -0.07994616031646729 + ], + [ + -57.11323547363281, + 45.65156173706055, + -0.07994616031646729 + ], + [ + -57.0807991027832, + 45.03267288208008, + -0.07994616031646729 + ], + [ + -58.22113037109375, + 44.9729118347168, + -0.07994616031646729 + ], + [ + -58.25356674194336, + 45.591800689697266, + 1.6955194473266602 + ], + [ + -57.11323547363281, + 45.65156173706055, + 1.6955194473266602 + ], + [ + -57.0807991027832, + 45.03267288208008, + 1.6955194473266602 + ], + [ + -58.22113037109375, + 44.9729118347168, + 1.6955194473266602 + ] + ], + "corners_2d": [ + [ + 273.0049991632629, + 427.1698448819945 + ], + [ + 315.9594488158622, + 423.92530351666954 + ], + [ + 318.86997169667194, + 406.4969928586358 + ], + [ + 276.60570806735996, + 409.63950721053834 + ], + [ + 253.6201964507875, + 383.7914290369893 + ], + [ + 298.89644056835834, + 380.51017380051513 + ], + [ + 302.2416851499908, + 362.90205930073057 + ], + [ + 257.731564226689, + 366.0748270320986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 425, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 37.14202117919922, + "z": 0.7944809794425964 + }, + "extent": { + "x": 0.39188840985298157, + "y": 0.3657543957233429, + "z": 0.9096320867538452 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 907.9227905836586, + "ymin": 120.71323863376239, + "xmax": 945.0970513485202, + "ymax": 178.26251598213685 + }, + "corners_3d": [ + [ + -37.34440612792969, + 37.471866607666016, + -0.11515110731124878 + ], + [ + -36.62190246582031, + 37.586299896240234, + -0.11515110731124878 + ], + [ + -36.499290466308594, + 36.81217575073242, + -0.11515110731124878 + ], + [ + -37.22179412841797, + 36.6977424621582, + -0.11515110731124878 + ], + [ + -37.34440612792969, + 37.471866607666016, + 1.7041130065917969 + ], + [ + -36.62190246582031, + 37.586299896240234, + 1.7041130065917969 + ], + [ + -36.499290466308594, + 36.81217575073242, + 1.7041130065917969 + ], + [ + -37.22179412841797, + 36.6977424621582, + 1.7041130065917969 + ] + ], + "corners_2d": [ + [ + 912.0366534550835, + 178.18787381264306 + ], + [ + 932.968193822194, + 178.26251598213685 + ], + [ + 928.5274005934441, + 164.91306066624537 + ], + [ + 907.9227905836586, + 164.84072938508595 + ], + [ + 923.2979238758048, + 133.88461888660854 + ], + [ + 945.0970513485202, + 133.9583259541416 + ], + [ + 940.2784515125525, + 120.78457158982891 + ], + [ + 918.8336883518832, + 120.71323863376239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 11142, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 530.824320173095, + "ymin": 551.398715913328, + "xmax": 639.9878162274463, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 615.5078422055486, + 588.122274439347 + ], + [ + 536.6237118584245, + 598.3785696360258 + ], + [ + 550.5778840196779, + 772.2506933470851 + ], + [ + 639.9878162274463, + 759.0226346873113 + ], + [ + 614.145145398364, + 551.398715913328 + ], + [ + 530.824320173095, + 561.9161937128644 + ], + [ + 544.833569590595, + 741.6671431479226 + ], + [ + 639.9862947416555, + 727.8947040852116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.1803925647628, + "ymin": 153.92367784252926, + "xmax": 1139.3729455358696, + "ymax": 416.7188370094679 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1031.18129596787, + 400.3842411154635 + ], + [ + 1024.4468595108697, + 388.4176252079965 + ], + [ + 891.1803925647628, + 404.38880629717147 + ], + [ + 896.4978870423114, + 416.7188370094679 + ], + [ + 1139.3729455358696, + 165.83884745522843 + ], + [ + 1129.2733828954833, + 153.92367784252926 + ], + [ + 960.9809135446019, + 169.84255591294527 + ], + [ + 968.8176079934738, + 182.22184149370943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.7532032074882, + "ymin": 176.003932154124, + "xmax": 988.4905312908444, + "ymax": 190.10853271708635 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 987.14028978479, + 188.34370286823983 + ], + [ + 981.7966945014085, + 180.11955857721958 + ], + [ + 963.7532032074882, + 181.85098233180383 + ], + [ + 968.9342816789887, + 190.10853271708635 + ], + [ + 988.4905312908444, + 184.22043811626503 + ], + [ + 983.1134729628563, + 176.003932154124 + ], + [ + 965.002996985641, + 177.7336973554947 + ], + [ + 970.2163272867828, + 185.98370798029214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5596099349534, + "ymin": 0.0, + "xmax": 843.4443907157053, + "ymax": 23.098106385536767 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 815.0726678697995, + 16.36658473735463 + ], + [ + 812.2713105197047, + 11.388828494329232 + ], + [ + 724.5596099349534, + 18.023631374937167 + ], + [ + 726.7480794652489, + 23.098106385536767 + ], + [ + 843.4443907157053, + -183.29517150511015 + ], + [ + 839.956538649087, + -187.4099866020806 + ], + [ + 738.3011247583105, + -181.9232656993113 + ], + [ + 740.9649682708337, + -177.71537786680494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.89333134292616, + "ymin": 181.34859191985097, + "xmax": 197.15672535403456, + "ymax": 195.76012843452472 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 177.16426440748108, + 187.2942823652625 + ], + [ + 174.74084906174545, + 195.76012843452472 + ], + [ + 194.93367492493775, + 193.95054876900556 + ], + [ + 197.15672535403456, + 185.51958882718426 + ], + [ + 175.34426051356178, + 183.12165173801998 + ], + [ + 172.89333134292616, + 191.58009837694323 + ], + [ + 193.17001918911456, + 189.77204561126953 + ], + [ + 195.41892582606835, + 181.34859191985097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.92924643193442, + "ymin": 0.0, + "xmax": 339.15835539510203, + "ymax": 48.99920694349896 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 243.41754111509897, + 43.53907112265409 + ], + [ + 242.04466146313115, + 48.99920694349896 + ], + [ + 338.51708724637047, + 41.75699667459406 + ], + [ + 339.15835539510203, + 36.404799064847225 + ], + [ + 176.13395485844694, + -160.8782565666238 + ], + [ + 173.92924643193442, + -156.29683763879348 + ], + [ + 287.5157802732569, + -162.37098863617086 + ], + [ + 288.7078371095272, + -166.84667436988798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1.373788157182048, + "ymin": 172.62331523911206, + "xmax": 294.7038133058045, + "ymax": 436.7951763181 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 147.75568709557672, + 423.999743747332 + ], + [ + 144.53844313115536, + 436.7951763181 + ], + [ + 293.21677192909993, + 419.8456945796227 + ], + [ + 294.7038133058045, + 407.43444459358227 + ], + [ + 7.619196479926359, + 189.2980725887657 + ], + [ + 1.373788157182048, + 202.27612971313135 + ], + [ + 194.96930229384913, + 185.10317416816173 + ], + [ + 198.29319544389546, + 172.62331523911206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.6221106151265, + "ymin": 175.92837903992248, + "xmax": 988.6254837114957, + "ymax": 190.18480241169942 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 987.2601703174166, + 188.40079230426437 + ], + [ + 981.8584933721384, + 180.08820126304025 + ], + [ + 963.6221106151265, + 181.838082673013 + ], + [ + 968.8577590254736, + 190.18480241169942 + ], + [ + 988.6254837114957, + 184.23316593951975 + ], + [ + 983.1896136717597, + 175.92837903992248 + ], + [ + 964.8848042208733, + 177.67656550015008 + ], + [ + 970.1533949846806, + 186.01558288212055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.0248589137118, + "ymin": 181.42503789892453, + "xmax": 197.0297499349025, + "ymax": 195.68310036515442 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 177.24880860896025, + 187.307677988679 + ], + [ + 174.85213382879846, + 195.68310036515442 + ], + [ + 194.82920181729708, + 193.89299332966704 + ], + [ + 197.0297499349025, + 185.5517182087666 + ], + [ + 175.4484560973093, + 183.1793991008145 + ], + [ + 173.0248589137118, + 191.54757819030849 + ], + [ + 193.08400415835024, + 189.75896628912906 + ], + [ + 195.3098694550592, + 181.42503789892453 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00017/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e52029db7d8764d801b1629417fffa300b67228e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00017/meta.json @@ -0,0 +1,1728 @@ +{ + "frame_id": 17, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.5, + "sim_timestamp": 11966.673672413686 + }, + "drone_pose": { + "x": -50.92901043626715, + "y": 62.69476125600757, + "z": 20.1912116465374, + "pitch": -47.19318114576063, + "yaw": -81.22044470263107, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10371863842010498, + 0.6715666055679321, + 0.7336490154266357, + 32.572731018066406 + ], + [ + -0.9882829189300537, + 0.15263324975967407, + 0.0, + 40.762969970703125 + ], + [ + -0.11197924613952637, + -0.7250527739524841, + 0.6795286536216736, + -64.88050079345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.98323506574566, + "y": 62.17834709059335, + "z": 20.1711113034809 + }, + "t1_image_uv": [ + 282.8647645345191, + -596.6764757586076 + ], + "t1_depth": 0.3559289575567791 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 44.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 26.628076108963295, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 44.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25440672039985657, + "y": 0.2928466796875, + "z": 0.5454009771347046 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0494804428456, + "ymin": 338.64664214630193, + "xmax": 652.0792228729244, + "ymax": 381.03670688854544 + }, + "corners_3d": [ + [ + -48.46002960205078, + 45.06664276123047, + 0.1101493239402771 + ], + [ + -47.87433624267578, + 45.06664276123047, + 0.1101493239402771 + ], + [ + -47.87433624267578, + 44.557830810546875, + 0.1101493239402771 + ], + [ + -48.46002960205078, + 44.557830810546875, + 0.1101493239402771 + ], + [ + -48.46002960205078, + 45.06664276123047, + 1.200951337814331 + ], + [ + -47.87433624267578, + 45.06664276123047, + 1.200951337814331 + ], + [ + -47.87433624267578, + 44.557830810546875, + 1.200951337814331 + ], + [ + -48.46002960205078, + 44.557830810546875, + 1.200951337814331 + ] + ], + "corners_2d": [ + [ + 631.0328652556008, + 381.03670688854544 + ], + [ + 651.7197061619644, + 378.64751412870055 + ], + [ + 648.8346013617868, + 365.40703407025114 + ], + [ + 628.4014883462186, + 367.7365731058436 + ], + [ + 630.7571450887821, + 354.34310080163266 + ], + [ + 652.0792228729244, + 351.9427753216474 + ], + [ + 649.1021099543798, + 338.64664214630193 + ], + [ + 628.0494804428456, + 340.98523096816353 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 17, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 363846, + "2": 429498, + "3": 79425, + "6": 5783, + "9": 14429, + "10": 804, + "12": 1990, + "14": 9671, + "20": 8827, + "24": 7327 + }, + "instance_pixel_counts": { + "2189": 7095, + "4960": 90441, + "6215": 92995, + "7314": 7382, + "7751": 45931, + "7776": 12222, + "7826": 23101, + "9362": 20301, + "9874": 56740, + "17558": 4440, + "18512": 3722, + "22676": 35562, + "23188": 103261, + "24724": 29293, + "25236": 84543, + "28243": 312, + "28755": 2842, + "28802": 2461, + "30809": 720, + "31833": 4610, + "32914": 20779, + "35986": 24131, + "36500": 846, + "37012": 2648, + "38548": 298, + "39060": 791, + "39564": 2714, + "39770": 48090, + "40076": 8298, + "40538": 17299, + "41612": 3370, + "41818": 155, + "42074": 8551, + "42124": 9558, + "48274": 73737, + "50322": 37450, + "53908": 2149, + "55444": 595, + "56576": 209, + "56832": 231, + "57088": 585, + "57173": 19534, + "57344": 528, + "57600": 437, + "60672": 9671, + "61569": 168 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 44.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2706616222858429, + "y": 0.28627440333366394, + "z": 0.5576561689376831 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1968128211771, + "ymin": 337.9438368658226, + "xmax": 651.9409070907969, + "ymax": 381.73111943940194 + }, + "corners_3d": [ + [ + -48.45345687866211, + 45.0828971862793, + 0.09789413213729858 + ], + [ + -47.88090896606445, + 45.0828971862793, + 0.09789413213729858 + ], + [ + -47.88090896606445, + 44.54157638549805, + 0.09789413213729858 + ], + [ + -48.45345687866211, + 44.54157638549805, + 0.09789413213729858 + ], + [ + -48.45345687866211, + 45.0828971862793, + 1.2132065296173096 + ], + [ + -47.88090896606445, + 45.0828971862793, + 1.2132065296173096 + ], + [ + -47.88090896606445, + 44.54157638549805, + 1.2132065296173096 + ], + [ + -48.45345687866211, + 44.54157638549805, + 1.2132065296173096 + ] + ], + "corners_2d": [ + [ + 631.3536936686022, + 381.73111943940194 + ], + [ + 651.5774860146496, + 379.39379005070185 + ], + [ + 648.5121100619277, + 365.30733583171303 + ], + [ + 628.5520239250112, + 367.5826479512278 + ], + [ + 631.0816635608065, + 354.4393783085226 + ], + [ + 651.9409070907969, + 352.09085367415423 + ], + [ + 648.7756328515898, + 337.9438368658226 + ], + [ + 628.1968128211771, + 340.2281292327659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 47.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22531740367412567, + "y": 0.29889407753944397, + "z": 0.5323039293289185 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 797.3254845529805, + "ymin": 403.45781141977255, + "xmax": 831.0193305353514, + "ymax": 447.437141363856 + }, + "corners_3d": [ + [ + -44.30116271972656, + 48.07924270629883, + 0.12324637174606323 + ], + [ + -43.710731506347656, + 47.98572540283203, + 0.12324637174606323 + ], + [ + -43.781227111816406, + 47.5406379699707, + 0.12324637174606323 + ], + [ + -44.37165832519531, + 47.6341552734375, + 0.12324637174606323 + ], + [ + -44.30116271972656, + 48.07924270629883, + 1.187854290008545 + ], + [ + -43.710731506347656, + 47.98572540283203, + 1.187854290008545 + ], + [ + -43.781227111816406, + 47.5406379699707, + 1.187854290008545 + ], + [ + -44.37165832519531, + 47.6341552734375, + 1.187854290008545 + ] + ], + "corners_2d": [ + [ + 804.3808549291672, + 447.437141363856 + ], + [ + 825.133820829277, + 441.93764770394273 + ], + [ + 817.8765768581092, + 429.21914701028174 + ], + [ + 797.3254845529805, + 434.59396983537545 + ], + [ + 809.6331337362211, + 421.8198790316215 + ], + [ + 831.0193305353514, + 416.2748898288261 + ], + [ + 823.4650473881665, + 403.45781141977255 + ], + [ + 802.2930735053565, + 408.8731626384782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 585, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.25433349609375, + "y": 50.39646530151367, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.36252927780151367, + "y": 0.5576879978179932, + "z": 0.9115217328071594 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 560.6960302345698, + "ymin": 502.8209240106247, + "xmax": 615.5340066235884, + "ymax": 578.8476871249802 + }, + "corners_3d": [ + [ + -50.79228210449219, + 50.78768539428711, + -0.25597143173217773 + ], + [ + -49.678436279296875, + 50.72930908203125, + -0.25597143173217773 + ], + [ + -49.71638488769531, + 50.005245208740234, + -0.25597143173217773 + ], + [ + -50.830230712890625, + 50.063621520996094, + -0.25597143173217773 + ], + [ + -50.79228210449219, + 50.78768539428711, + 1.5670720338821411 + ], + [ + -49.678436279296875, + 50.72930908203125, + 1.5670720338821411 + ], + [ + -49.71638488769531, + 50.005245208740234, + 1.5670720338821411 + ], + [ + -50.830230712890625, + 50.063621520996094, + 1.5670720338821411 + ] + ], + "corners_2d": [ + [ + 569.8182159086437, + 578.8476871249802 + ], + [ + 615.5340066235884, + 570.4633895567081 + ], + [ + 610.0242331878865, + 545.0320948559465 + ], + [ + 565.2106815771325, + 553.076776874043 + ], + [ + 565.4874215931239, + 537.4825375937953 + ], + [ + 614.0349548691128, + 528.877736571445 + ], + [ + 608.2272973070293, + 502.8209240106247 + ], + [ + 560.6960302345698, + 511.0564401949607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 528, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 44.81223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3038647472858429, + "y": 0.5470727682113647, + "z": 0.8859089612960815 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 254.16551424239663, + "ymin": 363.6734627689963, + "xmax": 317.56451051880236, + "ymax": 427.5293920979818 + }, + "corners_3d": [ + [ + -58.229408264160156, + 45.08705520629883, + -0.07812231779098511 + ], + [ + -57.13676452636719, + 45.144317626953125, + -0.07812231779098511 + ], + [ + -57.104957580566406, + 44.537418365478516, + -0.07812231779098511 + ], + [ + -58.197601318359375, + 44.48015594482422, + -0.07812231779098511 + ], + [ + -58.229408264160156, + 45.08705520629883, + 1.6936955451965332 + ], + [ + -57.13676452636719, + 45.144317626953125, + 1.6936955451965332 + ], + [ + -57.104957580566406, + 44.537418365478516, + 1.6936955451965332 + ], + [ + -58.197601318359375, + 44.48015594482422, + 1.6936955451965332 + ] + ], + "corners_2d": [ + [ + 273.5016504462947, + 427.5293920979818 + ], + [ + 314.73019722872357, + 424.3518377315432 + ], + [ + 317.56451051880236, + 407.2350378166898 + ], + [ + 276.9869132795795, + 410.3144048971611 + ], + [ + 254.16551424239663, + 384.1797110240757 + ], + [ + 297.6212351356618, + 380.9663537193157 + ], + [ + 300.8819894671878, + 363.6734627689963 + ], + [ + 258.14880454938316, + 366.78242388085175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 437, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 36.64202117919922, + "z": 0.794974148273468 + }, + "extent": { + "x": 0.3777478039264679, + "y": 0.4838818311691284, + "z": 0.9336276054382324 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 904.0163835504231, + "ymin": 119.91932668640126, + "xmax": 948.1948404168595, + "ymax": 178.17810853216537 + }, + "corners_3d": [ + [ + -37.458866119384766, + 36.939422607421875, + -0.1386534571647644 + ], + [ + -36.50301742553711, + 37.09081268310547, + -0.1386534571647644 + ], + [ + -36.384830474853516, + 36.34461975097656, + -0.1386534571647644 + ], + [ + -37.34067916870117, + 36.19322967529297, + -0.1386534571647644 + ], + [ + -37.458866119384766, + 36.939422607421875, + 1.7286016941070557 + ], + [ + -36.50301742553711, + 37.09081268310547, + 1.7286016941070557 + ], + [ + -36.384830474853516, + 36.34461975097656, + 1.7286016941070557 + ], + [ + -37.34067916870117, + 36.19322967529297, + 1.7286016941070557 + ] + ], + "corners_2d": [ + [ + 907.9662095671447, + 178.11379330332485 + ], + [ + 935.6316268774481, + 178.17810853216537 + ], + [ + 931.2652408345696, + 165.3188371719892 + ], + [ + 904.0163835504231, + 165.25644274775533 + ], + [ + 919.3528552951384, + 132.60106190734038 + ], + [ + 948.1948404168595, + 132.66453942998157 + ], + [ + 943.4488690001907, + 119.9808297514517 + ], + [ + 915.0593388907917, + 119.91932668640126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 9671, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 533.0892273478997, + "ymin": 571.2390307779197, + "xmax": 645.139187280181, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 619.009451222869, + 607.5294906019283 + ], + [ + 538.8606904063251, + 618.2632575519519 + ], + [ + 553.790914588731, + 798.107258871551 + ], + [ + 644.8269452788581, + 784.2004007798859 + ], + [ + 617.8217505951959, + 571.2390307779197 + ], + [ + 533.0892273478997, + 582.264761528224 + ], + [ + 548.1432039670248, + 768.5609007216797 + ], + [ + 645.139187280181, + 754.0491593840785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.5317994186407, + "ymin": 166.56134703722654, + "xmax": 1151.5878518520656, + "ymax": 430.7329489961505 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1039.3139890095345, + 413.7483645256335 + ], + [ + 1032.3658497929, + 401.4816007347945 + ], + [ + 897.5317994186407, + 418.083211749401 + ], + [ + 903.0298932131774, + 430.7329489961505 + ], + [ + 1151.5878518520656, + 178.85210997509412 + ], + [ + 1141.1008297686635, + 166.56134703722654 + ], + [ + 970.3104847021928, + 183.21405523750627 + ], + [ + 978.4677962999467, + 195.99887079657742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.0611404612896, + "ymin": 189.3718847915134, + "xmax": 998.3499307952546, + "ymax": 203.84438707537518 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 996.9380018293098, + 201.99703458694518 + ], + [ + 991.3795560776017, + 193.50726990423718 + ], + [ + 973.0611404612896, + 195.31905091765657 + ], + [ + 978.4521348417768, + 203.84438707537518 + ], + [ + 998.3499307952546, + 197.85471641047084 + ], + [ + 992.7560120596345, + 189.3718847915134 + ], + [ + 974.3685656934329, + 191.1821318001859 + ], + [ + 979.7937664252026, + 199.70064620163342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.1222315590826, + "ymin": 0.0, + "xmax": 846.3994769249782, + "ymax": 28.857025138541076 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 817.3824705589213, + 21.925918860215404 + ], + [ + 814.5195944961804, + 16.871641378233107 + ], + [ + 726.1222315590826, + 23.702297820707543 + ], + [ + 728.3627204558111, + 28.857025138541076 + ], + [ + 846.3994769249782, + -178.83403870362645 + ], + [ + 842.8281553757072, + -183.0195665933917 + ], + [ + 740.252199331228, + -177.36063631924026 + ], + [ + 742.9846785115534, + -173.0781390928296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.98306982065026, + "ymin": 195.9292614405353, + "xmax": 192.75194506033318, + "ymax": 210.74583422291406 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 172.37261299691232, + 201.98253995864297 + ], + [ + 169.88421616941423, + 210.74583422291406 + ], + [ + 190.47174328785275, + 208.84665205139902 + ], + [ + 192.75194506033318, + 200.12065119831482 + ], + [ + 170.50028354259518, + 197.78966667646029 + ], + [ + 167.98306982065026, + 206.54640255939586 + ], + [ + 188.65775996377704, + 204.64858234528785 + ], + [ + 190.9650229373865, + 195.9292614405353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.78115196207307, + "ymin": 0.0, + "xmax": 337.2390635521941, + "ymax": 55.71509182777709 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 240.5350575937582, + 50.156863276081424 + ], + [ + 239.1483843452346, + 55.71509182777709 + ], + [ + 336.5987285132847, + 48.242431144853526 + ], + [ + 337.2390635521941, + 42.79665776072551 + ], + [ + 172.02256627557313, + -155.48871395000708 + ], + [ + 169.78115196207307, + -150.81393914700197 + ], + [ + 284.72272368842505, + -157.09601751467972 + ], + [ + 285.92747174651885, + -161.66020682928115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 187.08022784129543, + "xmax": 292.6289730937206, + "ymax": 452.6155894164427 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 143.41322462179215, + 439.45213928472356 + ], + [ + 140.12919195092235, + 452.6155894164427 + ], + [ + 291.1289639777191, + 434.94317129501314 + ], + [ + 292.6289730937206, + 422.1862405892008 + ], + [ + -0.6232321667700944, + 204.58761086950494 + ], + [ + -7.073776984805818, + 218.04110056990717 + ], + [ + 190.4647447455169, + 200.0004371481058 + ], + [ + 193.87511973209945, + 187.08022784129543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.9271463585518, + "ymin": 189.29437663809972, + "xmax": 998.4879151474413, + "ymax": 203.9226636743786 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 997.0602285495745, + 202.05523181688577 + ], + [ + 991.4413738278264, + 193.47417438501003 + ], + [ + 972.9271463585518, + 195.30526535730536 + ], + [ + 978.3749314447147, + 203.9226636743786 + ], + [ + 998.4879151474413, + 197.86835038621243 + ], + [ + 992.8328136175012, + 189.29437663809972 + ], + [ + 974.2480694393856, + 191.12389983436898 + ], + [ + 979.7307933664647, + 199.73432940739593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.1173808368098, + "ymin": 196.00783814390795, + "xmax": 192.62236643373694, + "ymax": 210.66662152010656 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 172.45861832748034, + 201.99692867221611 + ], + [ + 169.99768938838434, + 210.66662152010656 + ], + [ + 190.36522883215815, + 208.7878786148842 + ], + [ + 192.62236643373694, + 200.15468935762735 + ], + [ + 170.6065071329727, + 197.84862597017445 + ], + [ + 168.1173808368098, + 206.51189868930325 + ], + [ + 188.57022814901705, + 204.6344895478888 + ], + [ + 190.8538629070871, + 196.00783814390795 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00018/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..018dd4e6b4a5f1e2e62e37a2e39eeb32d0f0a342 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00018/meta.json @@ -0,0 +1,1728 @@ +{ + "frame_id": 18, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.0, + "sim_timestamp": 11978.583676714683 + }, + "drone_pose": { + "x": -50.98323506574566, + "y": 62.17834709059335, + "z": 20.1711113034809, + "pitch": -47.17618389985934, + "yaw": -81.04274542719521, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1058347225189209, + 0.6714565753936768, + 0.7334473729133606, + 32.351409912109375 + ], + [ + -0.9878047704696655, + 0.15569746494293213, + -2.9802322387695312e-08, + 40.68046569824219 + ], + [ + -0.11419588327407837, + -0.7245028018951416, + 0.6797462701797485, + -64.58170318603516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.05828231820882, + "y": 61.658699659889535, + "z": 20.152388311059035 + }, + "t1_image_uv": [ + 220.39494980489724, + -601.2954390696584 + ], + "t1_depth": 0.3547104007210513 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 44.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.607990693615108, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 44.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2694726586341858, + "y": 0.23218749463558197, + "z": 0.5572800636291504 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.1174227368133, + "ymin": 338.165444092074, + "xmax": 650.0012509721704, + "ymax": 381.50355673144213 + }, + "corners_3d": [ + [ + -48.39937210083008, + 44.58171081542969, + 0.0982702374458313 + ], + [ + -47.934993743896484, + 44.58171081542969, + 0.0982702374458313 + ], + [ + -47.934993743896484, + 44.042762756347656, + 0.0982702374458313 + ], + [ + -48.39937210083008, + 44.042762756347656, + 0.0982702374458313 + ], + [ + -48.39937210083008, + 44.58171081542969, + 1.2128303050994873 + ], + [ + -47.934993743896484, + 44.58171081542969, + 1.2128303050994873 + ], + [ + -47.934993743896484, + 44.042762756347656, + 1.2128303050994873 + ], + [ + -48.39937210083008, + 44.042762756347656, + 1.2128303050994873 + ] + ], + "corners_2d": [ + [ + 633.2899310182116, + 381.50355673144213 + ], + [ + 649.6968717953964, + 379.56889264578103 + ], + [ + 646.6087538921157, + 365.5387390845729 + ], + [ + 630.4147286778273, + 367.4222620542242 + ], + [ + 633.0789076105499, + 354.1994936984701 + ], + [ + 650.0012509721704, + 352.25562908670787 + ], + [ + 646.8133557850259, + 338.165444092074 + ], + [ + 630.1174227368133, + 340.0563430713818 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 18, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 365847, + "2": 428297, + "3": 78986, + "6": 6010, + "9": 15057, + "10": 800, + "12": 1983, + "14": 8076, + "20": 9159, + "24": 7385 + }, + "instance_pixel_counts": { + "2189": 6661, + "4960": 91692, + "6215": 96808, + "7314": 7821, + "7751": 41892, + "7776": 9746, + "7826": 23922, + "9362": 21466, + "9874": 59281, + "17558": 3857, + "18512": 3713, + "22676": 37602, + "23188": 107236, + "24724": 30991, + "25236": 87978, + "28243": 348, + "28755": 2952, + "28802": 2522, + "30809": 343, + "31833": 4725, + "32914": 19568, + "35986": 20567, + "36500": 922, + "37012": 2739, + "38548": 301, + "39060": 822, + "39564": 2882, + "39770": 49971, + "40076": 8613, + "40538": 14166, + "41612": 3563, + "41818": 295, + "42074": 9486, + "42124": 9958, + "48274": 68103, + "50322": 33937, + "53908": 2118, + "55444": 483, + "56576": 202, + "56832": 233, + "57088": 584, + "57173": 20503, + "57344": 535, + "57600": 429, + "60672": 8076, + "61569": 188 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 202, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 44.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25401854515075684, + "y": 0.28483885526657104, + "z": 0.5482248663902283 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3065559920237, + "ymin": 338.57927553909747, + "xmax": 651.8194297127345, + "ymax": 381.0989072972055 + }, + "corners_3d": [ + [ + -48.452022552490234, + 44.566253662109375, + 0.10732543468475342 + ], + [ + -47.88234329223633, + 44.566253662109375, + 0.10732543468475342 + ], + [ + -47.88234329223633, + 44.05821990966797, + 0.10732543468475342 + ], + [ + -48.452022552490234, + 44.05821990966797, + 0.10732543468475342 + ], + [ + -48.452022552490234, + 44.566253662109375, + 1.20377516746521 + ], + [ + -47.88234329223633, + 44.566253662109375, + 1.20377516746521 + ], + [ + -47.88234329223633, + 44.05821990966797, + 1.20377516746521 + ], + [ + -48.452022552490234, + 44.05821990966797, + 1.20377516746521 + ] + ], + "corners_2d": [ + [ + 631.3409592155735, + 381.0989072972055 + ], + [ + 651.465683429543, + 378.7272754483796 + ], + [ + 648.5313023263029, + 365.5068845102403 + ], + [ + 628.6529116551898, + 367.8193609179083 + ], + [ + 631.0731858041265, + 354.2378153376285 + ], + [ + 651.8194297127345, + 351.8551446807383 + ], + [ + 648.7911150816777, + 338.57927553909747 + ], + [ + 628.3065559920237, + 340.9007152240904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 233, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 47.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.20677247643470764, + "y": 0.1913427859544754, + "z": 0.531998336315155 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 801.656567363404, + "ymin": 404.54699707198154, + "xmax": 827.2511862025146, + "ymax": 445.544209968588 + }, + "corners_3d": [ + [ + -44.19783401489258, + 47.544097900390625, + 0.12355196475982666 + ], + [ + -43.819862365722656, + 47.48423385620117, + 0.12355196475982666 + ], + [ + -43.88455581665039, + 47.075782775878906, + 0.12355196475982666 + ], + [ + -44.26252746582031, + 47.13564682006836, + 0.12355196475982666 + ], + [ + -44.19783401489258, + 47.544097900390625, + 1.1875486373901367 + ], + [ + -43.819862365722656, + 47.48423385620117, + 1.1875486373901367 + ], + [ + -43.88455581665039, + 47.075782775878906, + 1.1875486373901367 + ], + [ + -44.26252746582031, + 47.13564682006836, + 1.1875486373901367 + ] + ], + "corners_2d": [ + [ + 808.2165534189116, + 445.544209968588 + ], + [ + 821.481852555486, + 441.9935089338825 + ], + [ + 814.8038326005206, + 430.3150186561478 + ], + [ + 801.656567363404, + 433.79180055863355 + ], + [ + 813.5817093537206, + 419.8958329749587 + ], + [ + 827.2511862025146, + 416.3160481447228 + ], + [ + 820.300988613218, + 404.54699707198154 + ], + [ + 806.7567566269327, + 408.049922610121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 584, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.33589172363281, + "y": 50.38730239868164, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3305078148841858, + "y": 0.32435789704322815, + "z": 0.8796712160110474 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 570.4160496524013, + "ymin": 524.8788644094146, + "xmax": 605.8253668349944, + "ymax": 594.2299260458306 + }, + "corners_3d": [ + [ + -50.64250946044922, + 50.73433303833008, + -0.2241160273551941 + ], + [ + -49.99468231201172, + 50.700382232666016, + -0.2241160273551941 + ], + [ + -50.029273986816406, + 50.0402717590332, + -0.2241160273551941 + ], + [ + -50.677101135253906, + 50.074222564697266, + -0.2241160273551941 + ], + [ + -50.64250946044922, + 50.73433303833008, + 1.5352263450622559 + ], + [ + -49.99468231201172, + 50.700382232666016, + 1.5352263450622559 + ], + [ + -50.029273986816406, + 50.0402717590332, + 1.5352263450622559 + ], + [ + -50.677101135253906, + 50.074222564697266, + 1.5352263450622559 + ] + ], + "corners_2d": [ + [ + 578.8234702909486, + 594.2299260458306 + ], + [ + 605.8253668349944, + 589.1341586277783 + ], + [ + 600.8082482432109, + 565.1767416564853 + ], + [ + 574.2999359159935, + 570.0809449061413 + ], + [ + 575.1326696951929, + 554.6845173702336 + ], + [ + 603.7723688731119, + 549.4508233301556 + ], + [ + 598.5010681415465, + 524.8788644094146 + ], + [ + 570.4160496524013, + 529.904320252512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 535, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 44.31223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.3016284108161926, + "y": 0.4920996129512787, + "z": 0.8945297002792358 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 255.8512082746547, + "ymin": 364.4349987742332, + "xmax": 315.24109490993817, + "ymax": 428.43538398176815 + }, + "corners_3d": [ + [ + -58.17439270019531, + 44.58769607543945, + -0.0867430567741394 + ], + [ + -57.19154357910156, + 44.63920593261719, + -0.0867430567741394 + ], + [ + -57.15997314453125, + 44.03677749633789, + -0.0867430567741394 + ], + [ + -58.142822265625, + 43.985267639160156, + -0.0867430567741394 + ], + [ + -58.17439270019531, + 44.58769607543945, + 1.7023162841796875 + ], + [ + -57.19154357910156, + 44.63920593261719, + 1.7023162841796875 + ], + [ + -57.15997314453125, + 44.03677749633789, + 1.7023162841796875 + ], + [ + -58.142822265625, + 43.985267639160156, + 1.7023162841796875 + ] + ], + "corners_2d": [ + [ + 275.3071995796207, + 428.43538398176815 + ], + [ + 312.4562237402828, + 425.4838888852912 + ], + [ + 315.24109490993817, + 408.4605715136657 + ], + [ + 278.6751501996612, + 411.32141007483705 + ], + [ + 255.8512082746547, + 384.6211487387777 + ], + [ + 295.03128444143573, + 381.63597354270746 + ], + [ + 298.2453323758818, + 364.4349987742332 + ], + [ + 259.7132556547017, + 367.3237171932408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 429, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 36.14202117919922, + "z": 0.7954720854759216 + }, + "extent": { + "x": 0.3950207531452179, + "y": 0.38777220249176025, + "z": 0.9125010967254639 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 905.8511343937403, + "ymin": 119.60140192500808, + "xmax": 944.3916258463476, + "ymax": 177.37599362420244 + }, + "corners_3d": [ + [ + -37.366641998291016, + 36.47151565551758, + -0.11702901124954224 + ], + [ + -36.60064697265625, + 36.592838287353516, + -0.11702901124954224 + ], + [ + -36.477054595947266, + 35.81252670288086, + -0.11702901124954224 + ], + [ + -37.24304962158203, + 35.69120407104492, + -0.11702901124954224 + ], + [ + -37.366641998291016, + 36.47151565551758, + 1.7079732418060303 + ], + [ + -36.60064697265625, + 36.592838287353516, + 1.7079732418060303 + ], + [ + -36.477054595947266, + 35.81252670288086, + 1.7079732418060303 + ], + [ + -37.24304962158203, + 35.69120407104492, + 1.7079732418060303 + ] + ], + "corners_2d": [ + [ + 910.0854954758787, + 177.36598526276597 + ], + [ + 932.2589038252522, + 177.37599362420244 + ], + [ + 927.6754896456407, + 163.946548976555 + ], + [ + 905.8511343937403, + 163.93685319234444 + ], + [ + 921.2975822995722, + 132.84960641929464 + ], + [ + 944.3916258463476, + 132.85948639656166 + ], + [ + 939.4222907615399, + 119.6109608388966 + ], + [ + 916.7066399436609, + 119.60140192500808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 8076, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 535.945453546291, + "ymin": 591.747293995159, + "xmax": 651.2621975586399, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 623.078726652641, + 627.5375298865756 + ], + [ + 541.6553519145821, + 638.852304613901 + ], + [ + 557.888737249918, + 824.9354597460788 + ], + [ + 650.5644496937384, + 810.2088933123641 + ], + [ + 622.104809346204, + 591.747293995159 + ], + [ + 535.945453546291, + 603.3904032165133 + ], + [ + 552.4013342753123, + 796.5525654207546 + ], + [ + 651.2621975586399, + 781.1493908643049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.1165802664598, + "ymin": 179.35732447454583, + "xmax": 1164.1064487415276, + "ymax": 444.8842970742033 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1047.6179609009412, + 427.11264508096644 + ], + [ + 1040.4364706408437, + 414.5445588009734 + ], + [ + 904.1165802664598, + 431.9103164966906 + ], + [ + 909.8172070210435, + 444.8842970742033 + ], + [ + 1164.1064487415276, + 192.0315715694688 + ], + [ + 1153.20143937025, + 179.35732447454583 + ], + [ + 980.0181184970795, + 196.89156486837823 + ], + [ + 988.5300604289738, + 210.09487489854246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.7429225657833, + "ymin": 203.02311696490636, + "xmax": 1008.5994847723819, + "ymax": 217.88527599771 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1007.1227041043952, + 215.9387079026878 + ], + [ + 1001.3274255993665, + 207.17542703139333 + ], + [ + 982.7429225657833, + 209.08388538037806 + ], + [ + 988.3660111323819, + 217.88527599771 + ], + [ + 1008.5994847723819, + 211.78027451980287 + ], + [ + 1002.766554567926, + 203.02311696490636 + ], + [ + 984.1109935981774, + 204.9301828173457 + ], + [ + 989.7704126303067, + 213.72557642850603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.2639849487223, + "ymin": 0.0, + "xmax": 848.8558421001388, + "ymax": 34.63972427053409 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 819.255846728284, + 27.45576337485096 + ], + [ + 816.3237550309703, + 22.324465775247177 + ], + [ + 727.2639849487223, + 29.403452352636066 + ], + [ + 729.5647801149765, + 34.63972427053409 + ], + [ + 848.8558421001388, + -174.3717221423302 + ], + [ + 845.1923717079837, + -178.62950462172353 + ], + [ + 741.7201487512563, + -172.75290634438647 + ], + [ + 744.5306652006853, + -168.39344159036648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.06915303935085, + "ymin": 211.41169823365345, + "xmax": 188.353259770335, + "ymax": 226.67225940040854 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 167.56624421858743, + 217.5895969522929 + ], + [ + 165.02647486768387, + 226.67225940040854 + ], + [ + 186.0299955244521, + 224.6631671030954 + ], + [ + 188.353259770335, + 215.62069501808566 + ], + [ + 165.63906111012193, + 213.37929784615076 + ], + [ + 163.06915303935085, + 222.45641063055427 + ], + [ + 184.16340890899244, + 220.44848107364277 + ], + [ + 186.51494912692834, + 211.41169823365345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 164.95190482621285, + "ymin": 0.0, + "xmax": 334.83230578230706, + "ymax": 62.75844453416994 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 237.11385811383388, + 57.09605772228139 + ], + [ + 235.72107813150956, + 62.75844453416994 + ], + [ + 334.20116770686366, + 54.99100309786803 + ], + [ + 334.83230578230706, + 49.44663931307673 + ], + [ + 167.22295921276844, + -149.79353045700947 + ], + [ + 164.95190482621285, + -145.01807904872908 + ], + [ + 281.3312456339598, + -151.56559487826905 + ], + [ + 282.5403516019779, + -156.22448291008686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 202.43301780241066, + "xmax": 290.6432517769592, + "ymax": 469.3203913061003 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 139.05286716237373, + 455.76581818052426 + ], + [ + 135.71884235173792, + 469.3203913061003 + ], + [ + 289.14961341891257, + 450.7557584839065 + ], + [ + 290.6432517769592, + 437.63458145127333 + ], + [ + -9.097581861746107, + 220.9638504175583 + ], + [ + -15.740527451798016, + 234.93228026271794 + ], + [ + 185.98334918900537, + 215.8258375985134 + ], + [ + 189.45914389226232, + 202.43301780241066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.6059387939436, + "ymin": 202.9435390431128, + "xmax": 1008.7405886416706, + "ymax": 217.96567913175355 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1007.2473297605272, + 215.99795099874626 + ], + [ + 1001.3890801437917, + 207.1404487588385 + ], + [ + 982.6059387939436, + 209.06924286809593 + ], + [ + 988.2882778985047, + 217.96567913175355 + ], + [ + 1008.7405886416706, + 211.7947847880383 + ], + [ + 1002.8438660794377, + 202.9435390431128 + ], + [ + 983.9881372899911, + 204.87090986445747 + ], + [ + 989.707584989475, + 213.7612200651911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.20630611694122, + "ymin": 211.49260917806967, + "xmax": 188.22103249061155, + "ymax": 226.59065047110192 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 167.65388313674538, + 217.60500246149329 + ], + [ + 165.1421665017126, + 226.59065047110192 + ], + [ + 185.9212416527585, + 224.6031828731078 + ], + [ + 188.22103249061155, + 215.65687409513566 + ], + [ + 165.74751337326813, + 213.43946351291734 + ], + [ + 163.20630611694122, + 222.41967865214443 + ], + [ + 184.07418510485786, + 220.43334991624604 + ], + [ + 186.40166269276637, + 211.49260917806967 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00019/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3fe27ebae8cdfcc67a5fbe805c1248cd6330f0dc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00019/meta.json @@ -0,0 +1,1728 @@ +{ + "frame_id": 19, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.5, + "sim_timestamp": 11990.10927733616 + }, + "drone_pose": { + "x": -51.05828231820882, + "y": 61.658699659889535, + "z": 20.152388311059035, + "pitch": -47.160705075952656, + "yaw": -80.79811314333189, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10873240232467651, + 0.6711941957473755, + 0.7332637310028076, + 32.159637451171875 + ], + [ + -0.9871309995651245, + 0.15991365909576416, + -2.9802322387695312e-08, + 40.5411376953125 + ], + [ + -0.11725890636444092, + -0.7238273620605469, + 0.6799443960189819, + -64.31979370117188 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.155758104469804, + "y": 61.13502495170477, + "z": 20.135039093637136 + }, + "t1_image_uv": [ + 151.42366555495778, + -606.0093028736361 + ], + "t1_depth": 0.3536101751060863 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 43.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 26.58912156570174, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 43.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26774412393569946, + "y": 0.2888842821121216, + "z": 0.5593456029891968 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0404417420161, + "ymin": 337.88271144814996, + "xmax": 652.0958271233943, + "ymax": 381.7886336557642 + }, + "corners_3d": [ + [ + -48.4560661315918, + 44.079978942871094, + 0.09620469808578491 + ], + [ + -47.878299713134766, + 44.07998275756836, + 0.09620469808578491 + ], + [ + -47.878299713134766, + 43.54449462890625, + 0.09620469808578491 + ], + [ + -48.4560661315918, + 43.544490814208984, + 0.09620469808578491 + ], + [ + -48.4560661315918, + 44.079978942871094, + 1.2148959636688232 + ], + [ + -47.878299713134766, + 44.07998275756836, + 1.2148959636688232 + ], + [ + -47.878299713134766, + 43.54449462890625, + 1.2148959636688232 + ], + [ + -48.4560661315918, + 43.544490814208984, + 1.2148959636688232 + ] + ], + "corners_2d": [ + [ + 631.3149686253428, + 381.7886336557642 + ], + [ + 651.7263002566644, + 379.31556002316125 + ], + [ + 648.5502618178075, + 365.3856134382397 + ], + [ + 628.4018138682682, + 367.79371130414495 + ], + [ + 631.0406181335571, + 354.35668920686135 + ], + [ + 652.0958271233943, + 351.8718834919747 + ], + [ + 648.8160336538829, + 337.88271144814996 + ], + [ + 628.0404417420161, + 340.30021542224483 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 19, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 367897, + "2": 427262, + "3": 78546, + "6": 6199, + "9": 15714, + "10": 808, + "12": 2094, + "14": 6418, + "20": 9281, + "24": 7381 + }, + "instance_pixel_counts": { + "2189": 6219, + "4960": 93193, + "6215": 100484, + "7314": 8270, + "7751": 37975, + "7776": 7231, + "7826": 24765, + "9362": 22747, + "9874": 61948, + "17558": 3237, + "18512": 3594, + "22676": 39732, + "23188": 111347, + "24724": 32768, + "25236": 91654, + "28243": 372, + "28755": 3012, + "28802": 2612, + "30809": 83, + "31833": 4641, + "32914": 18345, + "35986": 16718, + "36500": 980, + "37012": 2839, + "38548": 312, + "39060": 868, + "39564": 3045, + "39770": 51569, + "40076": 8932, + "40538": 11265, + "41612": 3770, + "41818": 478, + "42074": 10510, + "42124": 10383, + "48274": 62357, + "50322": 30039, + "53908": 2022, + "55444": 360, + "56576": 201, + "56832": 235, + "57088": 708, + "57173": 21401, + "57344": 533, + "57600": 417, + "60672": 6418, + "61569": 203 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 201, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 43.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.29158446192741394, + "y": 0.18455322086811066, + "z": 0.5585547685623169 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 631.6655538854463, + "ymin": 337.7239353921158, + "xmax": 648.4470354743314, + "ymax": 381.95369971712614 + }, + "corners_3d": [ + [ + -48.35173797607422, + 44.10382080078125, + 0.0969955325126648 + ], + [ + -47.982627868652344, + 44.10382080078125, + 0.0969955325126648 + ], + [ + -47.982627868652344, + 43.520652770996094, + 0.0969955325126648 + ], + [ + -48.35173797607422, + 43.520652770996094, + 0.0969955325126648 + ], + [ + -48.35173797607422, + 44.10382080078125, + 1.2141051292419434 + ], + [ + -47.982627868652344, + 44.10382080078125, + 1.2141051292419434 + ], + [ + -47.982627868652344, + 43.520652770996094, + 1.2141051292419434 + ], + [ + -48.35173797607422, + 43.520652770996094, + 1.2141051292419434 + ] + ], + "corners_2d": [ + [ + 635.1413175953716, + 381.95369971712614 + ], + [ + 648.1890755849678, + 380.37180315729785 + ], + [ + 644.7816358827299, + 365.18861509798273 + ], + [ + 631.9167852427919, + 366.7253017170119 + ], + [ + 634.9880301387066, + 354.5614444772657 + ], + [ + 648.4470354743314, + 352.9719943941401 + ], + [ + 644.9300261372505, + 337.7239353921158 + ], + [ + 631.6655538854463, + 339.2665594119544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 235, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 46.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.1917724758386612, + "y": 0.2874756157398224, + "z": 0.5238229036331177 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 799.0139203444428, + "ymin": 403.71109565579513, + "xmax": 830.8086281713266, + "ymax": 445.3104426104101 + }, + "corners_3d": [ + [ + -44.29513168334961, + 47.0443229675293, + 0.131727397441864 + ], + [ + -43.72726058959961, + 46.95438003540039, + 0.131727397441864 + ], + [ + -43.78725814819336, + 46.575557708740234, + 0.131727397441864 + ], + [ + -44.35512924194336, + 46.66550064086914, + 0.131727397441864 + ], + [ + -44.29513168334961, + 47.0443229675293, + 1.1793732643127441 + ], + [ + -43.72726058959961, + 46.95438003540039, + 1.1793732643127441 + ], + [ + -43.78725814819336, + 46.575557708740234, + 1.1793732643127441 + ], + [ + -44.35512924194336, + 46.66550064086914, + 1.1793732643127441 + ] + ], + "corners_2d": [ + [ + 805.1351068796104, + 445.3104426104101 + ], + [ + 825.0257214070566, + 439.91172997141916 + ], + [ + 818.7412120680243, + 429.11742694859555 + ], + [ + 799.0139203444428, + 434.41188556482507 + ], + [ + 810.3221109058684, + 420.0285285240122 + ], + [ + 830.8086281713266, + 414.586689700833 + ], + [ + 824.2719523709419, + 403.71109565579513 + ], + [ + 803.9585658736481, + 409.0446043054037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 708, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.3915901184082, + "y": 50.38216018676758, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3307836949825287, + "y": 0.3143090605735779, + "z": 0.8791491389274597 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 571.9255663275758, + "ymin": 544.0369438847711, + "xmax": 607.0952175846778, + "ymax": 613.7898056849334 + }, + "corners_3d": [ + [ + -50.68815612792969, + 50.728939056396484, + -0.22359395027160645 + ], + [ + -50.06039810180664, + 50.696041107177734, + -0.22359395027160645 + ], + [ + -50.09502410888672, + 50.03538131713867, + -0.22359395027160645 + ], + [ + -50.722782135009766, + 50.06827926635742, + -0.22359395027160645 + ], + [ + -50.68815612792969, + 50.728939056396484, + 1.534704327583313 + ], + [ + -50.06039810180664, + 50.696041107177734, + 1.534704327583313 + ], + [ + -50.09502410888672, + 50.03538131713867, + 1.534704327583313 + ], + [ + -50.722782135009766, + 50.06827926635742, + 1.534704327583313 + ] + ], + "corners_2d": [ + [ + 580.5321056161087, + 613.7898056849334 + ], + [ + 607.0952175846778, + 608.5927720121671 + ], + [ + 601.8530595432253, + 583.8862327011593 + ], + [ + 575.7823407899962, + 588.884780725203 + ], + [ + 576.8859161355126, + 574.7696179475464 + ], + [ + 605.0863379874766, + 569.4222172017378 + ], + [ + 599.571636909665, + 544.0369438847711 + ], + [ + 571.9255663275758, + 549.168002564707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 533, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 43.81223678588867, + "z": 0.8077866435050964 + }, + "extent": { + "x": 0.29432860016822815, + "y": 0.4066796898841858, + "z": 0.8744546175003052 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 259.10766070203454, + "ymin": 366.484891717056, + "xmax": 311.473593594778, + "ymax": 428.7525345509051 + }, + "corners_3d": [ + [ + -58.08871078491211, + 44.084877014160156, + -0.06666797399520874 + ], + [ + -57.276466369628906, + 44.127445220947266, + -0.06666797399520874 + ], + [ + -57.24565505981445, + 43.53959655761719, + -0.06666797399520874 + ], + [ + -58.057899475097656, + 43.49702835083008, + -0.06666797399520874 + ], + [ + -58.08871078491211, + 44.084877014160156, + 1.6822412014007568 + ], + [ + -57.276466369628906, + 44.127445220947266, + 1.6822412014007568 + ], + [ + -57.24565505981445, + 43.53959655761719, + 1.6822412014007568 + ], + [ + -58.057899475097656, + 43.49702835083008, + 1.6822412014007568 + ] + ], + "corners_2d": [ + [ + 277.9985774510585, + 428.7525345509051 + ], + [ + 308.78506970463695, + 426.20740305497327 + ], + [ + 311.473593594778, + 409.5514611406642 + ], + [ + 281.1598108710369, + 412.0201168870299 + ], + [ + 259.10766070203454, + 385.885927807493 + ], + [ + 291.54265513875725, + 383.3122665962967 + ], + [ + 294.6429987911998, + 366.484891717056 + ], + [ + 262.7322415269277, + 368.97728516776675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 417, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 35.64202117919922, + "z": 0.795965313911438 + }, + "extent": { + "x": 0.3454602062702179, + "y": 0.4435693323612213, + "z": 0.9124447703361511 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 903.2403062825649, + "ymin": 119.6223300329184, + "xmax": 944.4093794876899, + "ymax": 175.7687059262291 + }, + "corners_3d": [ + [ + -37.413997650146484, + 35.91383743286133, + -0.11647945642471313 + ], + [ + -36.53778076171875, + 36.052616119384766, + -0.11647945642471313 + ], + [ + -36.4296989440918, + 35.37020492553711, + -0.11647945642471313 + ], + [ + -37.30591583251953, + 35.23142623901367, + -0.11647945642471313 + ], + [ + -37.413997650146484, + 35.91383743286133, + 1.7084100246429443 + ], + [ + -36.53778076171875, + 36.052616119384766, + 1.7084100246429443 + ], + [ + -36.4296989440918, + 35.37020492553711, + 1.7084100246429443 + ], + [ + -37.30591583251953, + 35.23142623901367, + 1.7084100246429443 + ] + ], + "corners_2d": [ + [ + 906.9875538834866, + 175.7687059262291 + ], + [ + 932.2962967570008, + 175.71490821298516 + ], + [ + 928.2005906771617, + 163.99028849588296 + ], + [ + 903.2403062825649, + 164.04261397570193 + ], + [ + 918.0525426806694, + 131.2404199524202 + ], + [ + 944.4093794876899, + 131.187324234208 + ], + [ + 939.9726715087907, + 119.6223300329184 + ], + [ + 913.9935363608893, + 119.67391380381488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 6418, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 539.5265746413886, + "ymin": 612.9547431794109, + "xmax": 658.5751968228946, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 627.8518028837741, + 648.186055688234 + ], + [ + 545.1326236044447, + 660.2053077424907 + ], + [ + 563.0585300666181, + 852.8411194203135 + ], + [ + 657.4023427702384, + 837.1247401743747 + ], + [ + 627.140315669478, + 612.9547431794109 + ], + [ + 539.5265746413886, + 625.3455230079829 + ], + [ + 557.8110531186505, + 825.745811373627 + ], + [ + 658.5751968228946, + 809.2671537346075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.0364983925405, + "ymin": 192.19627383982117, + "xmax": 1177.06224772228, + "ymax": 459.13927913165287 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1056.196368694436, + 440.42139966742513 + ], + [ + 1048.7573045131421, + 427.5521568439242 + ], + [ + 911.0364983925405, + 445.8371795193447 + ], + [ + 916.9663040681621, + 459.13927913165287 + ], + [ + 1177.06224772228, + 205.25881214083407 + ], + [ + 1165.7018743668461, + 192.19627383982117 + ], + [ + 990.2408202045901, + 210.78213675533453 + ], + [ + 999.1487508599023, + 224.41480442283859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9349274480667, + "ymin": 216.86272282017012, + "xmax": 1019.3804302757687, + "ymax": 232.13851834726103 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1017.8349428381198, + 230.07341823299873 + ], + [ + 1011.776075411852, + 221.03016990748978 + ], + [ + 992.9349274480667, + 223.0541748942757 + ], + [ + 998.817085353346, + 232.13851834726103 + ], + [ + 1019.3804302757687, + 225.90074236240838 + ], + [ + 1013.2815285298848, + 216.86272282017012 + ], + [ + 994.3673264330998, + 218.88549338458458 + ], + [ + 1000.2881441028196, + 227.9647520240027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.9607627627495, + "ymin": 0.0, + "xmax": 850.7812936195037, + "ymax": 40.45843516647426 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 820.6689338446213, + 32.961694648100604 + ], + [ + 817.658549720683, + 27.753925441391857 + ], + [ + 727.9607627627495, + 35.14024797687671 + ], + [ + 730.3315370444444, + 40.45843516647426 + ], + [ + 850.7812936195037, + -169.9161374135772 + ], + [ + 847.01545640245, + -174.2461705224879 + ], + [ + 742.6739528893041, + -168.10161507526107 + ], + [ + 745.5734831207233, + -163.66425563404027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 158.1575713365612, + "ymin": 227.82588944409224, + "xmax": 183.97131565889543, + "ymax": 243.57595553201298 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 162.74986698434293, + 234.15002912496476 + ], + [ + 160.17396506746417, + 243.57595553201298 + ], + [ + 181.62086156189957, + 241.43281792747663 + ], + [ + 183.97131565889543, + 232.05058575265076 + ], + [ + 160.76495741786528, + 229.9242484761075 + ], + [ + 158.1575713365612, + 239.34580308232393 + ], + [ + 179.6991067063508, + 237.20358812910922 + ], + [ + 182.0790638938671, + 227.82588944409224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.36538876447452, + "ymin": 0.0, + "xmax": 331.8902789857354, + "ymax": 70.18513318802911 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 233.0937042558519, + 64.4125977222987 + ], + [ + 231.70316445034655, + 70.18513318802911 + ], + [ + 331.2775051619133, + 62.04925256450491 + ], + [ + 331.8902789857354, + 56.40155309014648 + ], + [ + 161.6585350833504, + -143.75930626328034 + ], + [ + 159.36538876447452, + -138.87644180815892 + ], + [ + 277.2826221939862, + -145.75455145279636 + ], + [ + 278.4868729592154, + -150.51355193939816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 218.70900924799764, + "xmax": 288.76716142533235, + "ymax": 487.0151226795968 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 134.65921486709266, + 473.042813698887 + ], + [ + 131.29344051579767, + 487.0151226795968 + ], + [ + 287.301718465044, + 467.3570802770294 + ], + [ + 288.76716142533235, + 453.8506589601054 + ], + [ + -17.85797647859704, + 238.4905249829408 + ], + [ + -24.680484807786115, + 253.01789427514404 + ], + [ + 181.53875694166453, + 232.60941930888688 + ], + [ + 185.05621391607622, + 218.70900924799764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.7948397572751, + "ymin": 216.78094894751624, + "xmax": 1019.524767479618, + "ymax": 232.2211801386145 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1017.9620388589746, + 230.13362912185002 + ], + [ + 1011.8373522446805, + 220.99316401424952 + ], + [ + 992.7948397572751, + 223.03873109295654 + ], + [ + 998.7389986933835, + 232.2211801386145 + ], + [ + 1019.524767479618, + 225.91607135510242 + ], + [ + 1013.3591734728836, + 216.78094894751624 + ], + [ + 994.2420344678421, + 218.8252541364514 + ], + [ + 1000.2256813842023, + 228.00250914992841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 158.2976517018954, + "ymin": 227.90937209662636, + "xmax": 183.83637123159787, + "ymax": 243.49170279523537 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 162.83935106641889, + 234.16646081991206 + ], + [ + 160.2919276192211, + 243.49170279523537 + ], + [ + 181.5096273529682, + 241.37163549356984 + ], + [ + 183.83637123159787, + 232.0891624648248 + ], + [ + 160.87588209317005, + 229.98560989759974 + ], + [ + 158.2976517018954, + 239.3065718020037 + ], + [ + 179.60797563497732, + 237.18740847617045 + ], + [ + 181.96360800048592, + 227.90937209662636 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..249090651e7c66b9c6d1e261869dc4a38b772fab --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00020/meta.json @@ -0,0 +1,1727 @@ +{ + "frame_id": 20, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 12002.72485293285 + }, + "drone_pose": { + "x": -51.155758104469804, + "y": 61.13502495170477, + "z": 20.135039093637136, + "pitch": -47.14713564359108, + "yaw": -80.48104001311904, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.11247384548187256, + 0.6707534193992615, + 0.7331026792526245, + 31.99915313720703 + ], + [ + -0.9862309098243713, + 0.16537398099899292, + 5.960464477539063e-08, + 40.34124755859375 + ], + [ + -0.12123605608940125, + -0.7230085134506226, + 0.6801179647445679, + -64.0972671508789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.27682106555304, + "y": 60.606652045921905, + "z": 20.119061531600206 + }, + "t1_image_uv": [ + 76.87515741802872, + -610.8106222631201 + ], + "t1_depth": 0.35250470549069823 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 43.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.5712973650177, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 218, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 43.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26824951171875, + "y": 0.2929003834724426, + "z": 0.5559266805648804 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8414834310418, + "ymin": 337.8875967368362, + "xmax": 652.2958993824903, + "ymax": 381.79073849642924 + }, + "corners_3d": [ + [ + -48.4600830078125, + 43.58048629760742, + 0.09962362051010132 + ], + [ + -47.87428283691406, + 43.58048629760742, + 0.09962362051010132 + ], + [ + -47.87428283691406, + 43.04398727416992, + 0.09962362051010132 + ], + [ + -48.4600830078125, + 43.04398727416992, + 0.09962362051010132 + ], + [ + -48.4600830078125, + 43.58048629760742, + 1.2114770412445068 + ], + [ + -47.87428283691406, + 43.58048629760742, + 1.2114770412445068 + ], + [ + -47.87428283691406, + 43.04398727416992, + 1.2114770412445068 + ], + [ + -48.4600830078125, + 43.04398727416992, + 1.2114770412445068 + ] + ], + "corners_2d": [ + [ + 631.2304556873106, + 381.79073849642924 + ], + [ + 651.9223725498239, + 379.19624653093155 + ], + [ + 648.6322379635149, + 365.2476790267294 + ], + [ + 628.2068340250422, + 367.77387145680655 + ], + [ + 630.9550091069483, + 354.50139965876235 + ], + [ + 652.2958993824903, + 351.8947324713765 + ], + [ + 648.8989954476026, + 337.8875967368362 + ], + [ + 627.8414834310418, + 340.42353528915453 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 370257, + "2": 425955, + "3": 78094, + "6": 6332, + "9": 16437, + "10": 810, + "12": 2028, + "14": 4701, + "20": 9602, + "24": 7384 + }, + "instance_pixel_counts": { + "2189": 5770, + "4960": 94774, + "6215": 103868, + "7314": 8722, + "7751": 33967, + "7776": 4653, + "7826": 25632, + "9362": 24102, + "9874": 64903, + "17558": 2571, + "18512": 3728, + "22676": 41934, + "23188": 115635, + "24724": 34633, + "25236": 95580, + "28243": 408, + "28755": 3022, + "28802": 2679, + "31833": 4258, + "32914": 17100, + "35986": 12589, + "36500": 1035, + "37012": 2947, + "38548": 336, + "39060": 889, + "39564": 3217, + "39770": 52675, + "40076": 9261, + "40538": 8851, + "41612": 3984, + "41818": 704, + "42074": 11606, + "42124": 10842, + "48274": 56453, + "50322": 26022, + "53908": 1852, + "55444": 325, + "56576": 218, + "56832": 220, + "57088": 647, + "57173": 22311, + "57344": 529, + "57600": 414, + "60672": 4701, + "61569": 223 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 218, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 43.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2830566465854645, + "y": 0.22639891505241394, + "z": 0.5547266006469727 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.152010246789, + "ymin": 337.8238634197202, + "xmax": 649.9725265913664, + "ymax": 381.85903118529376 + }, + "corners_3d": [ + [ + -48.39358139038086, + 43.59529495239258, + 0.10082370042800903 + ], + [ + -47.9407844543457, + 43.59529495239258, + 0.10082370042800903 + ], + [ + -47.9407844543457, + 43.029178619384766, + 0.10082370042800903 + ], + [ + -48.39358139038086, + 43.029178619384766, + 0.10082370042800903 + ], + [ + -48.39358139038086, + 43.59529495239258, + 1.2102768421173096 + ], + [ + -47.9407844543457, + 43.59529495239258, + 1.2102768421173096 + ], + [ + -47.9407844543457, + 43.029178619384766, + 1.2102768421173096 + ], + [ + -48.39358139038086, + 43.029178619384766, + 1.2102768421173096 + ] + ], + "corners_2d": [ + [ + 633.6698370541139, + 381.85903118529376 + ], + [ + 649.6700273335686, + 379.85210886257323 + ], + [ + 646.2299140075784, + 365.125207048319 + ], + [ + 630.4471132478284, + 367.0764199272112 + ], + [ + 633.4714273053258, + 354.62909427483174 + ], + [ + 649.9725265913664, + 352.61272758952674 + ], + [ + 646.4219938592005, + 337.8238634197202 + ], + [ + 630.152010246789, + 339.782543650942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 220, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 46.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23159180581569672, + "y": 0.30192387104034424, + "z": 0.5434683561325073 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 798.2639479740697, + "ymin": 401.2057728009751, + "xmax": 832.6394672692509, + "ymax": 446.37316919004456 + }, + "corners_3d": [ + [ + -44.30317306518555, + 46.58591079711914, + 0.11208194494247437 + ], + [ + -43.70676040649414, + 46.491451263427734, + 0.11208194494247437 + ], + [ + -43.77921676635742, + 46.03396987915039, + 0.11208194494247437 + ], + [ + -44.37562942504883, + 46.1284294128418, + 0.11208194494247437 + ], + [ + -44.30317306518555, + 46.58591079711914, + 1.1990187168121338 + ], + [ + -43.70676040649414, + 46.491451263427734, + 1.1990187168121338 + ], + [ + -43.77921676635742, + 46.03396987915039, + 1.1990187168121338 + ], + [ + -44.37562942504883, + 46.1284294128418, + 1.1990187168121338 + ] + ], + "corners_2d": [ + [ + 805.7417594661737, + 446.37316919004456 + ], + [ + 826.5815111780419, + 440.60164527992646 + ], + [ + 818.8989385716995, + 427.6060704643479 + ], + [ + 798.2639479740697, + 433.24354827936406 + ], + [ + 811.1518417064785, + 420.12135307009044 + ], + [ + 832.6394672692509, + 414.30196542378405 + ], + [ + 824.6376090074614, + 401.2057728009751 + ], + [ + 803.3674938048234, + 406.8856820301034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 647, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 50.25494384765625, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3278491199016571, + "y": 0.5123730301856995, + "z": 0.8857528567314148 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 565.2152233394983, + "ymin": 557.1249323111354, + "xmax": 618.1147020766639, + "ymax": 630.8435130245264 + }, + "corners_3d": [ + [ + -50.917518615722656, + 50.60915756225586, + -0.23019766807556152 + ], + [ + -49.89418029785156, + 50.55552673339844, + -0.23019766807556152 + ], + [ + -49.928497314453125, + 49.90073013305664, + -0.23019766807556152 + ], + [ + -50.95183563232422, + 49.95436096191406, + -0.23019766807556152 + ], + [ + -50.917518615722656, + 50.60915756225586, + 1.541308045387268 + ], + [ + -49.89418029785156, + 50.55552673339844, + 1.541308045387268 + ], + [ + -49.928497314453125, + 49.90073013305664, + 1.541308045387268 + ], + [ + -50.95183563232422, + 49.95436096191406, + 1.541308045387268 + ] + ], + "corners_2d": [ + [ + 574.3450826903834, + 630.8435130245264 + ], + [ + 618.1147020766639, + 621.9457855507344 + ], + [ + 612.4996829299363, + 596.9702162146784 + ], + [ + 569.5409730595119, + 605.5273667430929 + ], + [ + 570.2295770341749, + 591.9937351549322 + ], + [ + 616.7527772771219, + 582.8235333833175 + ], + [ + 610.8233052279534, + 557.1249323111354 + ], + [ + 565.2152233394983, + 565.9228765237146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 529, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 43.31223678588867, + "z": 0.8077817559242249 + }, + "extent": { + "x": 0.3015478551387787, + "y": 0.4840746819972992, + "z": 0.8948384523391724 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 255.28343771098935, + "ymin": 366.9065183366532, + "xmax": 314.1678727105795, + "ymax": 431.30335923730945 + }, + "corners_3d": [ + [ + -58.16637420654297, + 43.588035583496094, + -0.08705669641494751 + ], + [ + -57.199554443359375, + 43.63870620727539, + -0.08705669641494751 + ], + [ + -57.167991638183594, + 43.03643798828125, + -0.08705669641494751 + ], + [ + -58.13481140136719, + 42.98576736450195, + -0.08705669641494751 + ], + [ + -58.16637420654297, + 43.588035583496094, + 1.702620267868042 + ], + [ + -57.199554443359375, + 43.63870620727539, + 1.702620267868042 + ], + [ + -57.167991638183594, + 43.03643798828125, + 1.702620267868042 + ], + [ + -58.13481140136719, + 42.98576736450195, + 1.702620267868042 + ] + ], + "corners_2d": [ + [ + 274.8429738647276, + 431.30335923730945 + ], + [ + 311.5770810506525, + 428.10851137454836 + ], + [ + 314.1678727105795, + 411.0113299529146 + ], + [ + 278.01223205215024, + 414.1077530900013 + ], + [ + 255.28343771098935, + 387.41707875916734 + ], + [ + 294.0387233451215, + 384.18515129555226 + ], + [ + 297.0517730609545, + 366.9065183366532 + ], + [ + 258.9397772202017, + 370.03368372267147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 414, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 35.14202117919922, + "z": 0.7964731454849243 + }, + "extent": { + "x": 0.3830273449420929, + "y": 0.3365844786167145, + "z": 0.9349344372749329 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 904.1740206015861, + "ymin": 117.43333063177832, + "xmax": 939.8595967558144, + "ymax": 175.98384063171062 + }, + "corners_3d": [ + [ + -37.314208984375, + 35.46767807006836, + -0.13846129179000854 + ], + [ + -36.64932632446289, + 35.5729866027832, + -0.13846129179000854 + ], + [ + -36.52948760986328, + 34.81636428833008, + -0.13846129179000854 + ], + [ + -37.19437026977539, + 34.711055755615234, + -0.13846129179000854 + ], + [ + -37.314208984375, + 35.46767807006836, + 1.731407642364502 + ], + [ + -36.64932632446289, + 35.5729866027832, + 1.731407642364502 + ], + [ + -36.52948760986328, + 34.81636428833008, + 1.731407642364502 + ], + [ + -37.19437026977539, + 34.711055755615234, + 1.731407642364502 + ] + ], + "corners_2d": [ + [ + 908.4638033873055, + 175.98384063171062 + ], + [ + 927.6405240245126, + 175.87899033957206 + ], + [ + 923.0587994289882, + 162.90553155157477 + ], + [ + 904.1740206015861, + 163.0072079151691 + ], + [ + 919.869707532504, + 130.32719651965775 + ], + [ + 939.8595967558144, + 130.2237579588382 + ], + [ + 934.8921887925444, + 117.43333063177832 + ], + [ + 915.219320545796, + 117.5335081375498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 4701, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 544.0007230087753, + "ymin": 634.8813969557982, + "xmax": 667.3127264079199, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 633.4804514878649, + 669.4902616413019 + ], + [ + 549.4489270698634, + 682.3563072154315 + ], + [ + 569.5220958918053, + 881.8719693633712 + ], + [ + 665.5550532081509, + 864.9684644265799 + ], + [ + 633.0916352423044, + 634.8813969557982 + ], + [ + 544.0007230087753, + 648.1705149829472 + ], + [ + 564.6146396144031, + 856.2005076935776 + ], + [ + 667.3127264079199, + 838.4320018530334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3668703652684, + "ymin": 205.02104915233267, + "xmax": 1190.5260266927498, + "ymax": 473.4587115988633 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1065.1060960413802, + 453.61534164668734 + ], + [ + 1057.3829186132089, + 440.4470382095128 + ], + [ + 918.3668703652684, + 459.82599549076605 + ], + [ + 924.5555456828581, + 473.4587115988633 + ], + [ + 1190.5260266927498, + 218.47446173582063 + ], + [ + 1178.669636163477, + 205.02104915233267 + ], + [ + 1001.0803586445128, + 224.85178532687473 + ], + [ + 1010.4304383027322, + 238.92335708217763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.7376016533435, + "ymin": 230.8530047522604, + "xmax": 1030.793444914054, + "ymax": 246.56804092055202 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1029.1748953125348, + 244.36238836100756 + ], + [ + 1022.8226696574893, + 235.03369404954702 + ], + [ + 1003.7376016533435, + 237.19474974601195 + ], + [ + 1009.908915782109, + 246.56804092055202 + ], + [ + 1030.793444914054, + 240.17745222832536 + ], + [ + 1024.3985753695708, + 230.8530047522604 + ], + [ + 1005.2385141104185, + 233.01300658770023 + ], + [ + 1011.451046687801, + 242.3822157387257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.1987452315944, + "ymin": 0.0, + "xmax": 852.1532254064988, + "ymax": 46.30437464789634 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 821.6043504373903, + 38.42794326057236 + ], + [ + 818.5056362647208, + 33.14457945463505 + ], + [ + 728.1987452315944, + 40.90411430108361 + ], + [ + 730.6502696651164, + 46.30437464789634 + ], + [ + 852.1532254064988, + -165.48234023036582 + ], + [ + 848.2737230496504, + -169.8843473767381 + ], + [ + 743.0954522999427, + -163.41545947644545 + ], + [ + 746.0962496969241, + -158.89942737423803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.344721096184, + "ymin": 245.26415471944136, + "xmax": 179.70163114191212, + "ymax": 261.55571390972034 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 158.01634758442015, + 251.75988103095574 + ], + [ + 155.42298264401745, + 261.55571390972034 + ], + [ + 177.34335256221323, + 259.2501467312914 + ], + [ + 179.70163114191212, + 249.50224403439609 + ], + [ + 155.9709262339424, + 247.52097685830208 + ], + [ + 153.344721096184, + 257.3138147167846 + ], + [ + 175.3640101738643, + 255.0088733774137 + ], + [ + 177.75301666592298, + 245.26415471944136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.98212721164293, + "ymin": 0.0, + "xmax": 328.394713497233, + "ymax": 78.03171598097356 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 228.44961298235472, + 72.14242392342362 + ], + [ + 227.0708811183041, + 78.03171598097356 + ], + [ + 327.8107523992628, + 69.44362765893055 + ], + [ + 328.394713497233, + 63.68742415714593 + ], + [ + 155.2885833142169, + -137.35409117241653 + ], + [ + 152.98212721164293, + -132.35630580258595 + ], + [ + 272.549102470584, + -139.63967203604875 + ], + [ + 273.7378798722072, + -144.50474752702377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 235.99947452417206, + "xmax": 287.0833545286793, + "ymax": 505.7997756971517 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 130.30257948127843, + 491.3802466946877 + ], + [ + 126.92684876423698, + 505.7997756971517 + ], + [ + 285.67174284250433, + 484.81498581186236 + ], + [ + 287.0833545286793, + 470.90049020699314 + ], + [ + -26.842461191565917, + 257.29979736555526 + ], + [ + -33.82774347094846, + 272.4359803352097 + ], + [ + 177.231872791301, + 250.4464091319581 + ], + [ + 180.76196999458682, + 235.99947452417206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.5942939298693, + "ymin": 230.7689003299695, + "xmax": 1030.9411299318665, + "ymax": 246.65310257472723 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1029.3045284324123, + 244.42346861092113 + ], + [ + 1022.8833177605533, + 234.9945061484714 + ], + [ + 1003.5942939298693, + 237.17857874398135 + ], + [ + 1009.8306841877024, + 246.65310257472723 + ], + [ + 1030.9411299318665, + 240.19352317663476 + ], + [ + 1024.4763455735476, + 230.7689003299695 + ], + [ + 1005.1107144432073, + 232.95189539031873 + ], + [ + 1011.3892064287306, + 242.4222497954584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.48781021759248, + "ymin": 245.35048010465593, + "xmax": 179.56390662183577, + "ymax": 261.4685343682447 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 158.10792166552005, + 251.77734266792518 + ], + [ + 155.54326575100254, + 261.4685343682447 + ], + [ + 177.22936518931084, + 259.18778912628454 + ], + [ + 179.56390662183577, + 249.54351267749865 + ], + [ + 156.08459969398547, + 247.5835134553407 + ], + [ + 153.48781021759248, + 257.2717725611077 + ], + [ + 175.27072279423714, + 254.99164091481134 + ], + [ + 177.6353522677806, + 245.35048010465593 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00022/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb2dd14823ba392e910e86798b9630521b0788f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00022/meta.json @@ -0,0 +1,1726 @@ +{ + "frame_id": 22, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.0, + "sim_timestamp": 12022.707094889367 + }, + "drone_pose": { + "x": -51.42191829952824, + "y": 60.072906809288874, + "z": 20.10445289093521, + "pitch": -47.12626782396605, + "yaw": -79.61547263174704, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.12264180183410645, + 0.669240415096283, + 0.7328549027442932, + 31.776046752929688 + ], + [ + -0.9836202263832092, + 0.1802535057067871, + 0.0, + 39.75128173828125 + ], + [ + -0.1320996880531311, + -0.7208508849143982, + 0.6803849935531616, + -63.77519607543945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.59037862379779, + "y": 59.53314327013411, + "z": 20.09120834822708 + }, + "t1_image_uv": [ + -80.78671864564456, + -620.6824881201625 + ], + "t1_depth": 0.35027760626192267 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 42.31223678588867, + "z": 0.6555454064905644 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.538551286646424, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 42.31223678588867, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2542749047279358, + "y": 0.29276609420776367, + "z": 0.545341968536377 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8030249626015, + "ymin": 338.39087946730643, + "xmax": 652.3229253535046, + "ymax": 381.2961563150941 + }, + "corners_3d": [ + [ + -48.4599494934082, + 42.56651306152344, + 0.11020344495773315 + ], + [ + -47.87441635131836, + 42.56651306152344, + 0.11020344495773315 + ], + [ + -47.87441635131836, + 42.057960510253906, + 0.11020344495773315 + ], + [ + -48.4599494934082, + 42.057960510253906, + 0.11020344495773315 + ], + [ + -48.4599494934082, + 42.56651306152344, + 1.2008874416351318 + ], + [ + -47.87441635131836, + 42.56651306152344, + 1.2008874416351318 + ], + [ + -47.87441635131836, + 42.057960510253906, + 1.2008874416351318 + ], + [ + -48.4599494934082, + 42.057960510253906, + 1.2008874416351318 + ] + ], + "corners_2d": [ + [ + 631.3044178477527, + 381.2961563150941 + ], + [ + 651.9554467141126, + 378.4688076920889 + ], + [ + 648.5635497445243, + 365.27219286718145 + ], + [ + 628.16313988991, + 368.028992684223 + ], + [ + 631.0363986509482, + 354.4815114778467 + ], + [ + 652.3229253535046, + 351.64130533968256 + ], + [ + 648.8233700100511, + 338.39087946730643 + ], + [ + 627.8030249626015, + 341.15807684509485 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 22, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 375284, + "2": 423434, + "3": 77106, + "6": 6614, + "9": 17723, + "10": 813, + "12": 2063, + "14": 910, + "20": 10077, + "24": 7576 + }, + "instance_pixel_counts": { + "2189": 4853, + "4960": 97612, + "6215": 110017, + "7314": 9648, + "7751": 26474, + "7826": 27418, + "9362": 27100, + "9874": 71542, + "17558": 1089, + "18512": 3715, + "22676": 46574, + "23188": 124760, + "24724": 38683, + "25236": 104104, + "28243": 480, + "28755": 3074, + "28802": 2808, + "31833": 2989, + "32914": 14590, + "35986": 3256, + "36500": 1138, + "37012": 3176, + "38548": 396, + "39060": 978, + "39564": 3570, + "39770": 53645, + "40076": 9941, + "40538": 5247, + "41612": 4452, + "41818": 1181, + "42074": 14044, + "42124": 11872, + "48274": 44069, + "50322": 17094, + "53908": 1530, + "55444": 358, + "56576": 214, + "56832": 233, + "57088": 658, + "57173": 24085, + "57344": 538, + "57600": 420, + "60672": 910, + "61569": 252 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 42.31223678588867, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2739941477775574, + "y": 0.27967527508735657, + "z": 0.5545610189437866 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1473214066287, + "ymin": 337.7114783830294, + "xmax": 651.9886794094382, + "ymax": 381.97372524630464 + }, + "corners_3d": [ + [ + -48.44685745239258, + 42.58623123168945, + 0.10098439455032349 + ], + [ + -47.887508392333984, + 42.58623123168945, + 0.10098439455032349 + ], + [ + -47.887508392333984, + 42.03824234008789, + 0.10098439455032349 + ], + [ + -48.44685745239258, + 42.03824234008789, + 0.10098439455032349 + ], + [ + -48.44685745239258, + 42.58623123168945, + 1.210106372833252 + ], + [ + -47.887508392333984, + 42.58623123168945, + 1.210106372833252 + ], + [ + -47.887508392333984, + 42.03824234008789, + 1.210106372833252 + ], + [ + -48.44685745239258, + 42.03824234008789, + 1.210106372833252 + ] + ], + "corners_2d": [ + [ + 631.8930502868423, + 381.97372524630464 + ], + [ + 651.6250153529598, + 379.27026542594297 + ], + [ + 647.9770195233774, + 365.0490865674064 + ], + [ + 628.5029037373758, + 367.6799465053923 + ], + [ + 631.6387701434146, + 354.70772710730506 + ], + [ + 651.9886794094382, + 351.99168196446044 + ], + [ + 648.2230905805562, + 337.7114783830294 + ], + [ + 628.1473214066287, + 340.3523485867429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 233, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 45.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22751954197883606, + "y": 0.3039795160293579, + "z": 0.5313321352005005 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 799.4590669566601, + "ymin": 399.5030865265878, + "xmax": 833.8243018071939, + "ymax": 444.09297912426086 + }, + "corners_3d": [ + [ + -44.30583953857422, + 45.582210540771484, + 0.1242181658744812 + ], + [ + -43.70536422729492, + 45.48710632324219, + 0.1242181658744812 + ], + [ + -43.77655029296875, + 45.03767013549805, + 0.1242181658744812 + ], + [ + -44.37702560424805, + 45.132774353027344, + 0.1242181658744812 + ], + [ + -44.30583953857422, + 45.582210540771484, + 1.186882495880127 + ], + [ + -43.70536422729492, + 45.48710632324219, + 1.186882495880127 + ], + [ + -43.77655029296875, + 45.03767013549805, + 1.186882495880127 + ], + [ + -44.37702560424805, + 45.132774353027344, + 1.186882495880127 + ] + ], + "corners_2d": [ + [ + 807.0567561303199, + 444.09297912426086 + ], + [ + 827.869906581743, + 438.0375058678304 + ], + [ + 820.0758478059998, + 425.3717547192101 + ], + [ + 799.4590669566601, + 431.28971078563166 + ], + [ + 812.3812441643379, + 418.3664553190725 + ], + [ + 833.8243018071939, + 412.2628022723685 + ], + [ + 825.716177029444, + 399.5030865265878 + ], + [ + 804.4813700174033, + 405.4638003632575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 658, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 49.25494384765625, + "z": 0.65557461977005 + }, + "extent": { + "x": 0.3110986351966858, + "y": 0.37708738446235657, + "z": 0.8713758587837219 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 576.0883182134415, + "ymin": 559.9332629537047, + "xmax": 617.047491624331, + "ymax": 629.8653043868994 + }, + "corners_3d": [ + [ + -50.78329849243164, + 49.585350036621094, + -0.21580123901367188 + ], + [ + -50.030155181884766, + 49.54587936401367, + -0.21580123901367188 + ], + [ + -50.06271743774414, + 48.924537658691406, + -0.21580123901367188 + ], + [ + -50.815860748291016, + 48.96400833129883, + -0.21580123901367188 + ], + [ + -50.78329849243164, + 49.585350036621094, + 1.526950478553772 + ], + [ + -50.030155181884766, + 49.54587936401367, + 1.526950478553772 + ], + [ + -50.06271743774414, + 48.924537658691406, + 1.526950478553772 + ], + [ + -50.815860748291016, + 48.96400833129883, + 1.526950478553772 + ] + ], + "corners_2d": [ + [ + 584.8915583610619, + 629.8653043868994 + ], + [ + 617.047491624331, + 622.8595700304928 + ], + [ + 611.3273562005195, + 599.1421024526003 + ], + [ + 579.7322744938986, + 605.8932723551109 + ], + [ + 581.4932926422969, + 591.5465136261738 + ], + [ + 615.6401945854584, + 584.3297406308045 + ], + [ + 609.6034215598895, + 559.9332629537047 + ], + [ + 576.0883182134415, + 566.8721470654641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 538, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 42.31223678588867, + "z": 0.8077817559242249 + }, + "extent": { + "x": 0.3040502965450287, + "y": 0.508251965045929, + "z": 0.9038253426551819 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 253.2645224973109, + "ymin": 370.3369900029289, + "xmax": 314.32176465075423, + "ymax": 436.0968584803783 + }, + "corners_3d": [ + [ + -58.190650939941406, + 42.589271545410156, + -0.09604358673095703 + ], + [ + -57.175540924072266, + 42.64247131347656, + -0.09604358673095703 + ], + [ + -57.143714904785156, + 42.03520202636719, + -0.09604358673095703 + ], + [ + -58.1588249206543, + 41.98200225830078, + -0.09604358673095703 + ], + [ + -58.190650939941406, + 42.589271545410156, + 1.7116070985794067 + ], + [ + -57.175540924072266, + 42.64247131347656, + 1.7116070985794067 + ], + [ + -57.143714904785156, + 42.03520202636719, + 1.7116070985794067 + ], + [ + -58.1588249206543, + 41.98200225830078, + 1.7116070985794067 + ] + ], + "corners_2d": [ + [ + 273.2190686558806, + 436.0968584803783 + ], + [ + 312.0472959543786, + 432.26659792373067 + ], + [ + 314.32176465075423, + 414.9237812397939 + ], + [ + 276.11204988506285, + 418.6346921627493 + ], + [ + 253.2645224973109, + 391.7478934299836 + ], + [ + 294.27007874051026, + 387.8713181599323 + ], + [ + 296.95934302998944, + 370.3369900029289 + ], + [ + 256.6429621877172, + 374.0863750341371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 420, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 34.14202117919922, + "z": 0.7974643707275391 + }, + "extent": { + "x": 0.33745115995407104, + "y": 0.5836657881736755, + "z": 0.9042268991470337 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 892.8063324102753, + "ymin": 116.20588541706991, + "xmax": 941.6418308679149, + "ymax": 172.0510431996828 + }, + "corners_3d": [ + [ + -37.551116943359375, + 34.384010314941406, + -0.10676252841949463 + ], + [ + -36.39815902709961, + 34.56662368774414, + -0.10676252841949463 + ], + [ + -36.292579650878906, + 33.90003204345703, + -0.10676252841949463 + ], + [ + -37.44553756713867, + 33.7174186706543, + -0.10676252841949463 + ], + [ + -37.551116943359375, + 34.384010314941406, + 1.7016912698745728 + ], + [ + -36.39815902709961, + 34.56662368774414, + 1.7016912698745728 + ], + [ + -36.292579650878906, + 33.90003204345703, + 1.7016912698745728 + ], + [ + -37.44553756713867, + 33.7174186706543, + 1.7016912698745728 + ] + ], + "corners_2d": [ + [ + 896.7139386698184, + 172.0510431996828 + ], + [ + 929.7875691686717, + 171.56963444664032 + ], + [ + 925.4380003254093, + 160.21376893250937 + ], + [ + 892.8063324102753, + 160.68233094716416 + ], + [ + 907.2214895114776, + 127.87767669721475 + ], + [ + 941.6418308679149, + 127.40273718844333 + ], + [ + 936.9512054755536, + 116.20588541706991 + ], + [ + 903.0092903625566, + 116.66764305908757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 237, + "instance_id": 60672, + "pixel_count": 910, + "type_id": "vehicle.citroen.c3", + "bbox_3d": { + "center_world": { + "x": -50.68773651123047, + "y": 53.8679313659668, + "z": 0.8567148447036743 + }, + "extent": { + "x": 1.9938424825668335, + "y": 0.9254241585731506, + "z": 0.8085547685623169 + }, + "yaw": 90.3792495727539 + }, + "bbox_2d": { + "xmin": 556.3482402085128, + "ymin": 680.9335897123347, + "xmax": 690.030979528822, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.74913024902344, + 51.8802604675293, + 0.04817007854580879 + ], + [ + -51.599937438964844, + 51.86800765991211, + 0.0481552928686142 + ], + [ + -51.6263313293457, + 55.85560607910156, + 0.048150062561035156 + ], + [ + -49.7755241394043, + 55.867855072021484, + 0.04816485196352005 + ], + [ + -49.749141693115234, + 51.8802604675293, + 1.6652796268463135 + ], + [ + -51.599952697753906, + 51.868011474609375, + 1.6652648448944092 + ], + [ + -51.626346588134766, + 55.85560607910156, + 1.665259599685669 + ], + [ + -49.77553939819336, + 55.86785888671875, + 1.6652743816375732 + ] + ], + "corners_2d": [ + [ + 647.9410642766316, + 714.0883395639551 + ], + [ + 561.2645667990508, + 729.1475496292301 + ], + [ + 587.2556493950296, + 943.4381467682501 + ], + [ + 686.6846436941282, + 923.4607936372522 + ], + [ + 648.4306270692465, + 680.9335897123347 + ], + [ + 556.3482402085128, + 696.5510774577365 + ], + [ + 583.4224179840563, + 921.0718365204634 + ], + [ + 690.030979528822, + 899.9584400117391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.5773498282899, + "ymin": 230.40562025279738, + "xmax": 1219.2723776934954, + "ymax": 502.13227847468147 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1084.1579072957534, + 479.4330206515132 + ], + [ + 1075.7798427715368, + 465.6813477987083 + ], + [ + 934.5773498282899, + 487.8373908605373 + ], + [ + 941.3830257376657, + 502.13227847468147 + ], + [ + 1219.2723776934954, + 244.6382144820463 + ], + [ + 1206.2918880317393, + 230.40562025279738 + ], + [ + 1025.0423043562691, + 253.38743987550797 + ], + [ + 1035.4320960983152, + 268.35851128702785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.6008641292988, + "ymin": 259.13096012411546, + "xmax": 1055.9396173017024, + "ymax": 275.8056577633319 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1054.1597425001244, + 273.2431013166132 + ], + [ + 1047.1210241959432, + 263.33205676170394 + ], + [ + 1027.6008641292988, + 265.84120032095257 + ], + [ + 1034.4516726339752, + 275.8056577633319 + ], + [ + 1055.9396173017024, + 269.03998760370615 + ], + [ + 1048.852266104188, + 259.13096012411546 + ], + [ + 1029.2535292992736, + 261.63950878914386 + ], + [ + 1036.1514564254371, + 271.60216751047057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.3212264392863, + "ymin": 0.0, + "xmax": 853.2356650481954, + "ymax": 58.06302698741763 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 822.0500180362121, + 49.20395006728904 + ], + [ + 818.7414981904185, + 43.773436302825814 + ], + [ + 727.3212264392863, + 52.49917126213228 + ], + [ + 729.9701677562307, + 58.06302698741763 + ], + [ + 853.2356650481954, + -156.71265121483566 + ], + [ + 849.0914439406444, + -161.2565726820983 + ], + [ + 742.3594728771304, + -153.9497089090081 + ], + [ + 745.6038849187338, + -149.27477634984785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.51824179764452, + "ymin": 283.5788548275062, + "xmax": 171.9948418418693, + "ymax": 301.135851198912 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 149.285128172121, + 290.5091876922298 + ], + [ + 146.72748166578253, + 301.135851198912 + ], + [ + 169.69386366606028, + 298.40219535234905 + ], + [ + 171.9948418418693, + 287.8347041939502 + ], + [ + 147.11139924507916, + 286.25329968591774 + ], + [ + 144.51824179764452, + 296.88045882877697 + ], + [ + 167.59341538254813, + 294.14657638149595 + ], + [ + 169.92748433329842, + 283.5788548275062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.7845042236175, + "ymin": 0.0, + "xmax": 319.76412001386615, + "ymax": 95.13071277701869 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 217.28998112785, + 88.98599162516877 + ], + [ + 215.96810905207843, + 95.13071277701869 + ], + [ + 319.2738048043276, + 85.34932334814653 + ], + [ + 319.76412001386615, + 79.35928365359973 + ], + [ + 140.086473580262, + -123.2923646125792 + ], + [ + 137.7845042236175, + -118.03938628189456 + ], + [ + 261.02645424676035, + -126.39399464313362 + ], + [ + 262.14711040353825, + -131.49101557116558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 273.98610038560946, + "xmax": 284.6989007316133, + "ymax": 547.0143115065372 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 122.07322379576033, + 531.6010021945754 + ], + [ + 118.75746337779924, + 547.0143115065372 + ], + [ + 283.4869929902176, + 522.5464959782125 + ], + [ + 284.6989007316133, + 507.74096815475264 + ], + [ + -45.104821460826315, + 299.304859400991 + ], + [ + -52.34788842299031, + 315.8331740330355 + ], + [ + 169.55103573048314, + 289.6587970700028 + ], + [ + 172.9969121121324, + 273.98610038560946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.4507758158484, + "ymin": 259.0417685312123, + "xmax": 1056.0943281526722, + "ymax": 275.8959675480162 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1054.294614053731, + 273.3055437267577 + ], + [ + 1047.1795158919754, + 263.28801536862886 + ], + [ + 1027.4507758158484, + 265.8238712295074 + ], + [ + 1034.37390416042, + 275.8959675480162 + ], + [ + 1056.0943281526722, + 269.0572349960538 + ], + [ + 1048.9295372636848, + 259.0417685312123 + ], + [ + 1029.1205293895073, + 261.5770154628842 + ], + [ + 1036.0917867716275, + 271.64727536800535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.66755767054968, + "ymin": 283.6718156659062, + "xmax": 171.85140990401607, + "ymax": 301.04182365810414 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 149.3817475073347, + 290.52869560327446 + ], + [ + 146.85253120501073, + 301.04182365810414 + ], + [ + 169.573434172019, + 298.33760632323674 + ], + [ + 171.85140990401607, + 287.8823977880013 + ], + [ + 147.23152007895357, + 286.31807700752546 + ], + [ + 144.66755767054968, + 296.83168878967405 + ], + [ + 167.49493548429342, + 294.127251071768 + ], + [ + 169.80531365222424, + 283.6718156659062 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c9904f408171eb59e37d03447e8377ed604bebb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00023/meta.json @@ -0,0 +1,1620 @@ +{ + "frame_id": 23, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 12031.852213386679 + }, + "drone_pose": { + "x": -51.59037862379779, + "y": 59.53314327013411, + "z": 20.09120834822708, + "pitch": -47.1193305725216, + "yaw": -79.06668576393017, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.1290629506111145, + 0.6681221723556519, + 0.7327724695205688, + 31.711528778076172 + ], + [ + -0.9818485975265503, + 0.18966633081436157, + -2.9802322387695312e-08, + 39.36250305175781 + ], + [ + -0.13898226618766785, + -0.7194716930389404, + 0.6804736852645874, + -63.674095153808594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.77994418367879, + "y": 58.987036780406946, + "z": 20.079319931332968 + }, + "t1_image_uv": [ + -156.63559677535636, + -625.7403927582768 + ], + "t1_depth": 0.3491114435219283 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 41.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 26.523453764104026, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 217, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 41.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2927172780036926, + "y": 0.18755614757537842, + "z": 0.5580272674560547 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 631.2468505607322, + "ymin": 337.52986252057946, + "xmax": 648.8687848047308, + "ymax": 382.1519536108027 + }, + "corners_3d": [ + [ + -48.354740142822266, + 42.10495376586914, + 0.097523033618927 + ], + [ + -47.9796257019043, + 42.10495376586914, + 0.097523033618927 + ], + [ + -47.9796257019043, + 41.5195198059082, + 0.097523033618927 + ], + [ + -48.354740142822266, + 41.5195198059082, + 0.097523033618927 + ], + [ + -48.354740142822266, + 42.10495376586914, + 1.2135775089263916 + ], + [ + -47.9796257019043, + 42.10495376586914, + 1.2135775089263916 + ], + [ + -47.9796257019043, + 41.5195198059082, + 1.2135775089263916 + ], + [ + -48.354740142822266, + 41.5195198059082, + 1.2135775089263916 + ] + ], + "corners_2d": [ + [ + 635.3771277885234, + 382.1519536108027 + ], + [ + 648.5977554078164, + 380.24166049573927 + ], + [ + 644.5480344394346, + 365.05787009779505 + ], + [ + 631.5109636540147, + 366.91347355762247 + ], + [ + 635.231127266393, + 354.69653654915527 + ], + [ + 648.8687848047308, + 352.77726015266603 + ], + [ + 644.6892739277658, + 337.52986252057946 + ], + [ + 631.2468505607322, + 339.3924969177225 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 376926, + "2": 422213, + "3": 76500, + "6": 6813, + "9": 18194, + "10": 820, + "12": 2147, + "20": 10329, + "24": 7658 + }, + "instance_pixel_counts": { + "2189": 4387, + "4960": 96879, + "6215": 112701, + "7314": 10121, + "7751": 22932, + "7826": 28318, + "9362": 28719, + "9874": 73193, + "17558": 265, + "18512": 3692, + "22676": 49005, + "23188": 129629, + "24724": 40904, + "25236": 108908, + "28243": 518, + "28755": 3129, + "28802": 2885, + "31833": 2149, + "32914": 13327, + "35986": 156, + "36500": 1213, + "37012": 3274, + "38548": 408, + "39060": 1016, + "39564": 3752, + "39770": 53855, + "40076": 10308, + "40538": 3683, + "41612": 4714, + "41818": 1425, + "42074": 15388, + "42124": 12441, + "48274": 37364, + "50322": 11116, + "53908": 1486, + "55444": 261, + "56576": 217, + "56832": 236, + "57088": 727, + "57173": 24831, + "57344": 546, + "57600": 421, + "61569": 281 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 217, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 41.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2556836009025574, + "y": 0.2847827076911926, + "z": 0.5474730730056763 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0035310655328, + "ymin": 338.26669400182516, + "xmax": 652.1202485442823, + "ymax": 381.41834720873743 + }, + "corners_3d": [ + [ + -48.45196533203125, + 42.06792068481445, + 0.10807722806930542 + ], + [ + -47.88240051269531, + 42.06792068481445, + 0.10807722806930542 + ], + [ + -47.88240051269531, + 41.55655288696289, + 0.10807722806930542 + ], + [ + -48.45196533203125, + 41.55655288696289, + 0.10807722806930542 + ], + [ + -48.45196533203125, + 42.06792068481445, + 1.2030234336853027 + ], + [ + -47.88240051269531, + 42.06792068481445, + 1.2030234336853027 + ], + [ + -47.88240051269531, + 41.55655288696289, + 1.2030234336853027 + ], + [ + -48.45196533203125, + 41.55655288696289, + 1.2030234336853027 + ] + ], + "corners_2d": [ + [ + 631.6954199354371, + 381.41834720873743 + ], + [ + 651.7572609417584, + 378.523016684566 + ], + [ + 648.1775068102643, + 365.2721033871542 + ], + [ + 628.3592512103049, + 368.0948776368441 + ], + [ + 631.4383013386959, + 354.4802030411771 + ], + [ + 652.1202485442823, + 351.5716802770894 + ], + [ + 648.4266989076441, + 338.26669400182516 + ], + [ + 628.0035310655328, + 341.10012025402415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 236, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 44.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22092774510383606, + "y": 0.1687622219324112, + "z": 0.5212675929069519 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 804.8672248618756, + "ymin": 399.952753904979, + "xmax": 829.6490407971046, + "ymax": 441.05800741747896 + }, + "corners_3d": [ + [ + -44.173316955566406, + 45.05455017089844, + 0.13428270816802979 + ], + [ + -43.83995056152344, + 45.001747131347656, + 0.13428270816802979 + ], + [ + -43.90907287597656, + 44.565330505371094, + 0.13428270816802979 + ], + [ + -44.24243927001953, + 44.618133544921875, + 0.13428270816802979 + ], + [ + -44.173316955566406, + 45.05455017089844, + 1.1768178939819336 + ], + [ + -43.83995056152344, + 45.001747131347656, + 1.1768178939819336 + ], + [ + -43.90907287597656, + 44.565330505371094, + 1.1768178939819336 + ], + [ + -44.24243927001953, + 44.618133544921875, + 1.1768178939819336 + ] + ], + "corners_2d": [ + [ + 812.4387760649014, + 441.05800741747896 + ], + [ + 823.9299739997921, + 437.61203362411385 + ], + [ + 816.2547671265406, + 425.3482104198148 + ], + [ + 804.8672248618756, + 428.718438415115 + ], + [ + 817.8176819718852, + 415.7782908335336 + ], + [ + 829.6490407971046, + 412.30573821596806 + ], + [ + 821.6728498620014, + 399.952753904979 + ], + [ + 809.9512729656757, + 403.34663985297874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 727, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 48.75494384765625, + "z": 0.6556528210639954 + }, + "extent": { + "x": 0.32359129190444946, + "y": 0.48451659083366394, + "z": 0.8910105228424072 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 574.1207342682462, + "ymin": 558.3211917305026, + "xmax": 624.8091287979017, + "ymax": 632.4516160403866 + }, + "corners_3d": [ + [ + -50.88992691040039, + 49.103450775146484, + -0.23535770177841187 + ], + [ + -49.922218322753906, + 49.052734375, + -0.23535770177841187 + ], + [ + -49.95608901977539, + 48.406436920166016, + -0.23535770177841187 + ], + [ + -50.923797607421875, + 48.4571533203125, + -0.23535770177841187 + ], + [ + -50.88992691040039, + 49.103450775146484, + 1.5466632843017578 + ], + [ + -49.922218322753906, + 49.052734375, + 1.5466632843017578 + ], + [ + -49.95608901977539, + 48.406436920166016, + 1.5466632843017578 + ], + [ + -50.923797607421875, + 48.4571533203125, + 1.5466632843017578 + ] + ], + "corners_2d": [ + [ + 583.5712019933967, + 632.4516160403866 + ], + [ + 624.8091287979017, + 623.0720173663373 + ], + [ + 618.459870358641, + 598.4789446272943 + ], + [ + 577.9644681214711, + 607.5049358240713 + ], + [ + 580.0024835208583, + 593.3022595711202 + ], + [ + 623.8557461830788, + 583.6327556413747 + ], + [ + 617.13521960335, + 558.3211917305026 + ], + [ + 574.1207342682462, + 567.6038857522907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 546, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 41.81223678588867, + "z": 0.8077817559242249 + }, + "extent": { + "x": 0.3054248094558716, + "y": 0.5672436356544495, + "z": 0.8815093636512756 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 250.66537047926, + "ymin": 373.0791630051887, + "xmax": 315.9178266376462, + "ymax": 438.6698636049618 + }, + "corners_3d": [ + [ + -58.2496337890625, + 42.087554931640625, + -0.07372760772705078 + ], + [ + -57.116703033447266, + 42.14693069458008, + -0.07372760772705078 + ], + [ + -57.08473205566406, + 41.53691864013672, + -0.07372760772705078 + ], + [ + -58.2176628112793, + 41.477542877197266, + -0.07372760772705078 + ], + [ + -58.2496337890625, + 42.087554931640625, + 1.6892911195755005 + ], + [ + -57.116703033447266, + 42.14693069458008, + 1.6892911195755005 + ], + [ + -57.08473205566406, + 41.53691864013672, + 1.6892911195755005 + ], + [ + -58.2176628112793, + 41.477542877197266, + 1.6892911195755005 + ] + ], + "corners_2d": [ + [ + 270.3339825853689, + 438.6698636049618 + ], + [ + 313.87394426425504, + 434.05403003867707 + ], + [ + 315.9178266376462, + 416.57343897317236 + ], + [ + 273.07608178330804, + 421.0444610102411 + ], + [ + 250.66537047926, + 395.422936022616 + ], + [ + 296.5977501206689, + 390.7515311394483 + ], + [ + 299.03491042685425, + 373.0791630051887 + ], + [ + 253.87886287787921, + 377.5964258640872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 421, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 33.64202117919922, + "z": 0.7979624271392822 + }, + "extent": { + "x": 0.3805810511112213, + "y": 0.3351367115974426, + "z": 0.9330695867538452 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 896.1890042402539, + "ymin": 113.23299093664755, + "xmax": 931.5886685989417, + "ymax": 171.78799877020785 + }, + "corners_3d": [ + [ + -37.31239318847656, + 33.96548843383789, + -0.135107159614563 + ], + [ + -36.65037536621094, + 34.070343017578125, + -0.135107159614563 + ], + [ + -36.53130340576172, + 33.31855392456055, + -0.135107159614563 + ], + [ + -37.193321228027344, + 33.21369934082031, + -0.135107159614563 + ], + [ + -37.31239318847656, + 33.96548843383789, + 1.7310320138931274 + ], + [ + -36.65037536621094, + 34.070343017578125, + 1.7310320138931274 + ], + [ + -36.53130340576172, + 33.31855392456055, + 1.7310320138931274 + ], + [ + -37.193321228027344, + 33.21369934082031, + 1.7310320138931274 + ] + ], + "corners_2d": [ + [ + 900.8493218863946, + 171.78799877020785 + ], + [ + 919.7784237855939, + 171.40264514357446 + ], + [ + 914.8343487690347, + 158.6394728069291 + ], + [ + 896.1890042402539, + 159.01327325420317 + ], + [ + 911.8657478204703, + 126.18930863628896 + ], + [ + 931.5886685989417, + 125.80934614431453 + ], + [ + 926.2534155487431, + 113.23299093664755 + ], + [ + 906.8383559013407, + 113.60109221450449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.6138387393037, + "ymin": 242.8791061748374, + "xmax": 1234.7079826870706, + "ymax": 516.421471224765 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1094.4196609980904, + 491.97170435343367 + ], + [ + 1085.6692196039144, + 477.939426980545 + ], + [ + 943.6138387393037, + 501.7981053440393 + ], + [ + 950.7807404467453, + 516.421471224765 + ], + [ + 1234.7079826870706, + 257.49536409774447 + ], + [ + 1221.0967023806495, + 242.8791061748374 + ], + [ + 1038.3821224680773, + 267.79554915949655 + ], + [ + 1049.3755519250421, + 283.223883528055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.8750968984891, + "ymin": 273.35555440657856, + "xmax": 1069.8843328875575, + "ymax": 290.551717223302 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1068.0150402305921, + 287.7692539270928 + ], + [ + 1060.5795436794651, + 277.56366681517767 + ], + [ + 1040.8750968984891, + 280.28729562949223 + ], + [ + 1048.1201180945282, + 290.551717223302 + ], + [ + 1069.8843328875575, + 283.5603731326791 + ], + [ + 1062.3967832778258, + 273.35555440657856 + ], + [ + 1042.6121779026225, + 276.07888561015704 + ], + [ + 1049.9077029843577, + 286.34279106676524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2749509155458, + "ymin": 0.0, + "xmax": 853.0163079548805, + "ymax": 63.9744390242376 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 821.6237145353689, + 54.506307439993236 + ], + [ + 818.1929412530254, + 49.00474991548572 + ], + [ + 726.2749509155458, + 58.32945979824575 + ], + [ + 729.0415883794151, + 63.9744390242376 + ], + [ + 853.0163079548805, + -152.38420678047885 + ], + [ + 848.7200240424161, + -156.99765010607496 + ], + [ + 741.2789650091325, + -149.17112299090002 + ], + [ + 744.667098163916, + -144.41624060414512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 140.7989071530937, + "ymin": 304.6193334382576, + "xmax": 168.8469155711232, + "ymax": 322.9130060866125 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 145.57387282620732, + 311.81989097485837 + ], + [ + 143.07633432784496, + 322.9130060866125 + ], + [ + 166.61806630854517, + 319.9048631826375 + ], + [ + 168.8469155711232, + 308.8782372627246 + ], + [ + 143.33322642611557, + 307.56151110887754 + ], + [ + 140.7989071530937, + 318.6573181184447 + ], + [ + 164.45510995032248, + 315.6483333885403 + ], + [ + 166.71813973113677, + 304.6193334382576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.02968077355695, + "ymin": 0.0, + "xmax": 314.70358956945967, + "ymax": 104.4377948345703 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 210.84296146920087, + 98.15358246307233 + ], + [ + 209.56784049687042, + 104.4377948345703 + ], + [ + 314.2797989834276, + 93.90085920183469 + ], + [ + 314.70358956945967, + 87.78499991699687 + ], + [ + 131.31198352728228, + -115.58046257425951 + ], + [ + 129.02968077355695, + -110.18595461085033 + ], + [ + 254.3114084435482, + -119.22186975717977 + ], + [ + 255.3773646530039, + -124.44558996895927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 294.844924602895, + "xmax": 284.2256268343905, + "ymax": 569.5952353259414 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 118.42275424892068, + 553.6305310765323 + ], + [ + 115.1833778558181, + 569.5952353259414 + ], + [ + 283.1660503191283, + 542.9134492084701 + ], + [ + 284.2256268343905, + 527.622357139775 + ], + [ + -54.13696617515836, + 322.75132068402706 + ], + [ + -61.466612327712255, + 340.0758559475384 + ], + [ + 166.4782265605644, + 311.2047869826089 + ], + [ + 169.81663217619683, + 294.844924602895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.7214579638476, + "ymin": 273.2636010845889, + "xmax": 1070.042709301937, + "ymax": 290.64488142793573 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1068.1525883798954, + 287.8321565466054 + ], + [ + 1060.6364451249224, + 277.5169473296969 + ], + [ + 1040.7214579638476, + 280.2695654656621 + ], + [ + 1048.0430104235356, + 290.64488142793573 + ], + [ + 1070.042709301937, + 283.5780239365223 + ], + [ + 1062.4733789765974, + 273.2636010845889 + ], + [ + 1042.476508141784, + 276.0159138226057 + ], + [ + 1049.849647941472, + 286.3907039002977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 140.9514150879155, + "ymin": 304.7161525727015, + "xmax": 168.70058476282333, + "ymax": 322.8149872011556 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 145.67350418512615, + 311.8404052087485 + ], + [ + 143.20381339176424, + 322.8149872011556 + ], + [ + 166.493901565288, + 319.839243170377 + ], + [ + 168.70058476282333, + 308.9297427220621 + ], + [ + 143.4570939681975, + 307.6273295363518 + ], + [ + 140.9514150879155, + 318.60454472239155 + ], + [ + 164.35353610537624, + 315.6279783946181 + ], + [ + 166.5936893219872, + 304.7161525727015 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00024/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca326002c6625293f11bb9ccc0b0dccea89dd16d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00024/meta.json @@ -0,0 +1,1618 @@ +{ + "frame_id": 24, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 12.0, + "sim_timestamp": 12041.63376804092 + }, + "drone_pose": { + "x": -51.77994418367879, + "y": 58.987036780406946, + "z": 20.079319931332968, + "pitch": -47.114932305194145, + "yaw": -78.44776866993446, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.13628369569778442, + 0.6667441725730896, + 0.7327203154563904, + 31.673500061035156 + ], + [ + -0.9797425866127014, + 0.20026111602783203, + -2.9802322387695312e-08, + 38.9182014465332 + ], + [ + -0.14673542976379395, + -0.7178772687911987, + 0.6805298924446106, + -63.60798263549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.98656946939645, + "y": 58.434928701077666, + "z": 20.068775762423154 + }, + "t1_image_uv": [ + -224.25515790333282, + -630.8416894584404 + ], + "t1_depth": 0.3476810875376011 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 41.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.509119673116395, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 216, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 41.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2723022401332855, + "y": 0.28755614161491394, + "z": 0.5583498477935791 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.6988503379198, + "ymin": 337.4724891694886, + "xmax": 652.4360819912986, + "ymax": 382.20961588042223 + }, + "corners_3d": [ + [ + -48.45473861694336, + 41.584537506103516, + 0.09720045328140259 + ], + [ + -47.8796272277832, + 41.584537506103516, + 0.09720045328140259 + ], + [ + -47.8796272277832, + 41.03993606567383, + 0.09720045328140259 + ], + [ + -48.45473861694336, + 41.03993606567383, + 0.09720045328140259 + ], + [ + -48.45473861694336, + 41.584537506103516, + 1.213900089263916 + ], + [ + -47.8796272277832, + 41.584537506103516, + 1.213900089263916 + ], + [ + -47.8796272277832, + 41.03993606567383, + 1.213900089263916 + ], + [ + -48.45473861694336, + 41.03993606567383, + 1.213900089263916 + ] + ], + "corners_2d": [ + [ + 631.8302686285425, + 382.20961588042223 + ], + [ + 652.0560548601142, + 379.1189825260144 + ], + [ + 648.0368288196037, + 365.03366989620923 + ], + [ + 628.0707988909853, + 368.04203521478416 + ], + [ + 631.571965011678, + 354.7213087129643 + ], + [ + 652.4360819912986, + 351.6162535159841 + ], + [ + 648.2866682917559, + 337.4724891694886 + ], + [ + 627.6988503379198, + 340.4923371103818 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 24, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 378095, + "2": 421484, + "3": 75872, + "6": 6934, + "9": 18795, + "10": 815, + "12": 2056, + "20": 9966, + "24": 7583 + }, + "instance_pixel_counts": { + "2189": 3918, + "4960": 96819, + "6215": 115070, + "7314": 10608, + "7751": 19472, + "7826": 29238, + "9362": 30477, + "9874": 71756, + "18512": 3775, + "22676": 51534, + "23188": 134682, + "24724": 43262, + "25236": 113479, + "28243": 566, + "28755": 3111, + "28802": 2960, + "31833": 1189, + "32914": 12063, + "36500": 1267, + "37012": 3403, + "38548": 416, + "39060": 1067, + "39564": 3942, + "39770": 53721, + "40076": 10679, + "40538": 2405, + "41612": 5001, + "41818": 1674, + "42074": 16883, + "42124": 12441, + "48274": 30454, + "50322": 4684, + "53908": 1305, + "55444": 125, + "56576": 216, + "56832": 218, + "57088": 655, + "57173": 24986, + "57344": 557, + "57600": 410, + "61569": 297 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 216, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 41.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.28470945358276367, + "y": 0.20815184712409973, + "z": 0.5555292963981628 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.4615129357264, + "ymin": 337.64213150567696, + "xmax": 649.6572269156939, + "ymax": 382.0415662148639 + }, + "corners_3d": [ + [ + -48.375335693359375, + 41.596946716308594, + 0.10002100467681885 + ], + [ + -47.95903015136719, + 41.596946716308594, + 0.10002100467681885 + ], + [ + -47.95903015136719, + 41.02752685546875, + 0.10002100467681885 + ], + [ + -48.375335693359375, + 41.02752685546875, + 0.10002100467681885 + ], + [ + -48.375335693359375, + 41.596946716308594, + 1.2110795974731445 + ], + [ + -47.95903015136719, + 41.596946716308594, + 1.2110795974731445 + ], + [ + -47.95903015136719, + 41.02752685546875, + 1.2110795974731445 + ], + [ + -48.375335693359375, + 41.02752685546875, + 1.2110795974731445 + ] + ], + "corners_2d": [ + [ + 634.7170893161556, + 382.0415662148639 + ], + [ + 649.3633757470825, + 379.8029380993869 + ], + [ + 645.1979473750368, + 365.06365953050954 + ], + [ + 630.7482897604136, + 367.24001651991864 + ], + [ + 634.550932125575, + 354.69170707221855 + ], + [ + 649.6572269156939, + 352.4426418904966 + ], + [ + 645.3587217156671, + 337.64213150567696 + ], + [ + 630.4615129357264, + 339.8267121820586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 218, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 44.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23145997524261475, + "y": 0.30225834250450134, + "z": 0.5460309982299805 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 800.7680253803885, + "ymin": 396.1909185210041, + "xmax": 835.4163174060781, + "ymax": 441.91103362546585 + }, + "corners_3d": [ + [ + -44.303524017333984, + 44.58583450317383, + 0.10951930284500122 + ], + [ + -43.706451416015625, + 44.491268157958984, + 0.10951930284500122 + ], + [ + -43.778865814208984, + 44.0340461730957, + 0.10951930284500122 + ], + [ + -44.375938415527344, + 44.12861251831055, + 0.10951930284500122 + ], + [ + -44.303524017333984, + 44.58583450317383, + 1.2015812397003174 + ], + [ + -43.706451416015625, + 44.491268157958984, + 1.2015812397003174 + ], + [ + -43.778865814208984, + 44.0340461730957, + 1.2015812397003174 + ], + [ + -44.375938415527344, + 44.12861251831055, + 1.2015812397003174 + ] + ], + "corners_2d": [ + [ + 808.8238397692764, + 441.91103362546585 + ], + [ + 829.2595210531185, + 435.5675592058339 + ], + [ + 821.0143636571914, + 422.8327067598718 + ], + [ + 800.7680253803885, + 429.03094884180115 + ], + [ + 814.3482801560461, + 415.4148111386085 + ], + [ + 835.4163174060781, + 409.0205493019223 + ], + [ + 826.8331557741511, + 396.1909185210041 + ], + [ + 805.9661483863322, + 402.4340937526636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 655, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 48.25494384765625, + "z": 0.6556528210639954 + }, + "extent": { + "x": 0.35707274079322815, + "y": 0.5310253500938416, + "z": 0.911359965801239 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 575.0787846370281, + "ymin": 556.4118436404576, + "xmax": 630.6126455957506, + "ymax": 635.3772173508335 + }, + "corners_3d": [ + [ + -50.93461608886719, + 48.639320373535156, + -0.25570714473724365 + ], + [ + -49.8740234375, + 48.583736419677734, + -0.25570714473724365 + ], + [ + -49.911399841308594, + 47.870567321777344, + -0.25570714473724365 + ], + [ + -50.97199249267578, + 47.926151275634766, + -0.25570714473724365 + ], + [ + -50.93461608886719, + 48.639320373535156, + 1.5670127868652344 + ], + [ + -49.8740234375, + 48.583736419677734, + 1.5670127868652344 + ], + [ + -49.911399841308594, + 47.870567321777344, + 1.5670127868652344 + ], + [ + -50.97199249267578, + 47.926151275634766, + 1.5670127868652344 + ] + ], + "corners_2d": [ + [ + 585.5024221537068, + 635.3772173508335 + ], + [ + 630.6126455957506, + 624.6188407318616 + ], + [ + 623.1747724996521, + 597.5563352146087 + ], + [ + 578.9521815921578, + 607.8690777326424 + ], + [ + 581.9655875636288, + 595.383659040323 + ], + [ + 630.0087455532143, + 584.2830263572191 + ], + [ + 622.1163671937298, + 556.4118436404576 + ], + [ + 575.0787846370281, + 567.0239418050218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 557, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 41.31223678588867, + "z": 0.8077573180198669 + }, + "extent": { + "x": 0.3007836937904358, + "y": 0.5066235065460205, + "z": 0.8843357563018799 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 252.6949662599249, + "ymin": 376.14120200505425, + "xmax": 313.2402869140175, + "ymax": 441.52864751274484 + }, + "corners_3d": [ + [ + -58.1888542175293, + 41.58609390258789, + -0.07657843828201294 + ], + [ + -57.17699432373047, + 41.639122009277344, + -0.07657843828201294 + ], + [ + -57.145511627197266, + 41.03837966918945, + -0.07657843828201294 + ], + [ + -58.157371520996094, + 40.9853515625, + -0.07657843828201294 + ], + [ + -58.1888542175293, + 41.58609390258789, + 1.6920931339263916 + ], + [ + -57.17699432373047, + 41.639122009277344, + 1.6920931339263916 + ], + [ + -57.145511627197266, + 41.03837966918945, + 1.6920931339263916 + ], + [ + -58.157371520996094, + 40.9853515625, + 1.6920931339263916 + ] + ], + "corners_2d": [ + [ + 272.3804624218236, + 441.52864751274484 + ], + [ + 311.42773672877377, + 437.06172666187024 + ], + [ + 313.2402869140175, + 419.77088175771314 + ], + [ + 274.81047240537674, + 424.09953450915555 + ], + [ + 252.6949662599249, + 398.1493741927775 + ], + [ + 293.9074017707505, + 393.62729358665575 + ], + [ + 296.10207580010484, + 376.14120200505425 + ], + [ + 255.57683502008086, + 380.5160110776492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 410, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 33.14202117919922, + "z": 0.7984653115272522 + }, + "extent": { + "x": 0.3334619104862213, + "y": 0.5854735970497131, + "z": 0.9066191911697388 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 886.086540028212, + "ymin": 112.67296871592967, + "xmax": 934.7252350176685, + "ymax": 168.8084378402531 + }, + "corners_3d": [ + [ + -37.55228042602539, + 33.37978744506836, + -0.10815387964248657 + ], + [ + -36.395748138427734, + 33.562965393066406, + -0.10815387964248657 + ], + [ + -36.29141616821289, + 32.90425491333008, + -0.10815387964248657 + ], + [ + -37.44794845581055, + 32.72107696533203, + -0.10815387964248657 + ], + [ + -37.55228042602539, + 33.37978744506836, + 1.7050845623016357 + ], + [ + -36.395748138427734, + 33.562965393066406, + 1.7050845623016357 + ], + [ + -36.29141616821289, + 32.90425491333008, + 1.7050845623016357 + ], + [ + -37.44794845581055, + 32.72107696533203, + 1.7050845623016357 + ] + ], + "corners_2d": [ + [ + 890.2305732252406, + 168.8084378402531 + ], + [ + 923.1538999108138, + 167.92508044058857 + ], + [ + 918.5788557325934, + 156.7984712334339 + ], + [ + 886.086540028212, + 157.6586123288462 + ], + [ + 900.4676404645606, + 124.5099970666488 + ], + [ + 934.7252350176685, + 123.63888921041294 + ], + [ + 929.8066415435069, + 112.67296871592967 + ], + [ + 896.0154497984153, + 113.52026537687388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.3579091204645, + "ymin": 255.1898478301773, + "xmax": 1250.9490086110438, + "ymax": 530.6612105594835 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1105.2427305933345, + 504.2486336466076 + ], + [ + 1096.0909876279577, + 489.9444838523532 + ], + [ + 953.3579091204645, + 515.7124269224485 + ], + [ + 960.9208555365649, + 530.6612105594835 + ], + [ + 1250.9490086110438, + 270.1840743290883 + ], + [ + 1236.6617971720743, + 255.1898478301773 + ], + [ + 1052.754506001426, + 282.2835007961168 + ], + [ + 1064.4084684982072, + 298.1727371807034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1055.1683710120367, + "ymin": 287.62240078392364, + "xmax": 1084.8654514807083, + "ymax": 305.36737462082704 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1082.900125468058, + 302.33673736057267 + ], + [ + 1075.0316867968645, + 291.8353276835863 + ], + [ + 1055.1683710120367, + 294.80099691600896 + ], + [ + 1062.8445168259584, + 305.36737462082704 + ], + [ + 1084.8654514807083, + 298.12438157650587 + ], + [ + 1076.9412348278659, + 287.62240078392364 + ], + [ + 1056.9963526149368, + 290.5881296891007 + ], + [ + 1064.7267005215026, + 301.1553701333483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.9256629862318, + "ymin": 0.0, + "xmax": 852.4060222518975, + "ymax": 69.91334512966932 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 820.86520748705, + 59.75979657077414 + ], + [ + 817.3009685925579, + 54.18895789320993 + ], + [ + 724.9256629862318, + 64.18778634856506 + ], + [ + 727.822397427158, + 69.91334512966932 + ], + [ + 852.4060222518975, + -148.087094304689 + ], + [ + 847.9447628632622, + -152.7690700969339 + ], + [ + 739.8408471722772, + -144.35676111807555 + ], + [ + 743.3872304759752, + -139.52162494089447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.7499125577072, + "ymin": 326.98916163457153, + "xmax": 166.37283913866406, + "ymax": 346.0953946805905 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 142.50244416821397, + 334.4985862171002 + ], + [ + 140.09645453173027, + 346.0953946805905 + ], + [ + 164.24839491339708, + 342.76786293215565 + ], + [ + 166.37283913866406, + 331.2461885020955 + ], + [ + 140.19387686943685, + 330.2428092529264 + ], + [ + 137.7499125577072, + 341.844867389445 + ], + [ + 162.02254324735918, + 338.51570260648214 + ], + [ + 164.18216237261862, + 326.98916163457153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.6263770041711, + "ymin": 0.0, + "xmax": 309.2583091820675, + "ymax": 114.25986566347689 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 203.93157464799884, + 107.82810594029147 + ], + [ + 202.7157121446084, + 114.25986566347689 + ], + [ + 308.91439170566315, + 102.85839933532475 + ], + [ + 309.2583091820675, + 96.6107028638636 + ], + [ + 121.87694680119705, + -107.39842402213537 + ], + [ + 119.6263770041711, + -101.8525737067448 + ], + [ + 247.08448536732334, + -111.67185363196006 + ], + [ + 248.08153079797933, + -117.02974914960498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 317.0211146399217, + "xmax": 284.38320936188074, + "ymax": 593.5370773426098 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 115.24243514424575, + 576.9824994293529 + ], + [ + 112.11295092678881, + 593.5370773426098 + ], + [ + 283.5132288133052, + 564.3026894971129 + ], + [ + 284.38320936188074, + 548.4983911508823 + ], + [ + -62.90814395136158, + 347.94868637799334 + ], + [ + -70.29206308894493, + 366.1441275200985 + ], + [ + 164.1270969410641, + 334.12229569998556 + ], + [ + 167.30943866060773, + 317.0211146399217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1055.0110847447709, + "ymin": 287.52754271119835, + "xmax": 1085.0275839991677, + "ymax": 305.4635448117326 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1083.0403689482541, + 302.3999440347156 + ], + [ + 1075.0866327443537, + 291.78576421948566 + ], + [ + 1055.0110847447709, + 294.7829921290453 + ], + [ + 1062.7683733675867, + 305.4635448117326 + ], + [ + 1085.0275839991677, + 298.1423044377056 + ], + [ + 1077.016855073428, + 287.52754271119835 + ], + [ + 1056.8579852659134, + 290.5248300223756 + ], + [ + 1064.6706392914743, + 301.2062657569846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.90564305111155, + "ymin": 327.09023306606394, + "xmax": 166.2236020533242, + "ymax": 345.9929696908128 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 142.60543566888902, + 334.52009407147654 + ], + [ + 140.22638122272372, + 345.9929696908128 + ], + [ + 164.12013989063638, + 342.7012817833854 + ], + [ + 166.2236020533242, + 331.30194964605977 + ], + [ + 140.3218531351888, + 330.30960287010447 + ], + [ + 137.90564305111155, + 341.7876149387082 + ], + [ + 161.91752127330557, + 338.49433063187314 + ], + [ + 164.05542779398462, + 327.09023306606394 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00025/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3679e06f24d6e934fb4da43c4288ffc658fd362 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00025/meta.json @@ -0,0 +1,1618 @@ +{ + "frame_id": 25, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 12.5, + "sim_timestamp": 12054.822182093048 + }, + "drone_pose": { + "x": -51.98656946939645, + "y": 58.434928701077666, + "z": 20.068775762423154, + "pitch": -47.11275169378911, + "yaw": -77.77134759937734, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.14415132999420166, + 0.6651161313056946, + 0.7326943874359131, + 31.65566635131836 + ], + [ + -0.9773101210594177, + 0.21181344985961914, + 0.0, + 38.4296875 + ], + [ + -0.15519455075263977, + -0.7160695791244507, + 0.6805578470230103, + -63.56947326660156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.20426382566851, + "y": 57.87753014662954, + "z": 20.05955952920443 + }, + "t1_image_uv": [ + -277.59826982717254, + -635.9821212204753 + ], + "t1_depth": 0.3461064530181702 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 40.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.49566581845086, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 40.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2707153260707855, + "y": 0.2944982945919037, + "z": 0.5523912310600281 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.3667796832624, + "ymin": 337.54496851979934, + "xmax": 652.7671821968795, + "ymax": 382.14826911707024 + }, + "corners_3d": [ + [ + -48.4616813659668, + 41.082950592041016, + 0.10315907001495361 + ], + [ + -47.872684478759766, + 41.082950592041016, + 0.10315907001495361 + ], + [ + -47.872684478759766, + 40.54152297973633, + 0.10315907001495361 + ], + [ + -48.4616813659668, + 40.54152297973633, + 0.10315907001495361 + ], + [ + -48.4616813659668, + 41.082950592041016, + 1.2079415321350098 + ], + [ + -47.872684478759766, + 41.082950592041016, + 1.2079415321350098 + ], + [ + -47.872684478759766, + 40.54152297973633, + 1.2079415321350098 + ], + [ + -48.4616813659668, + 40.54152297973633, + 1.2079415321350098 + ] + ], + "corners_2d": [ + [ + 631.7063748728106, + 382.14826911707024 + ], + [ + 652.3810258257919, + 378.7990949879378 + ], + [ + 648.1575481537918, + 364.827081107666 + ], + [ + 627.744994973901, + 368.08777354958755 + ], + [ + 631.4468529364309, + 354.9388298733695 + ], + [ + 652.7671821968795, + 351.5742111182738 + ], + [ + 648.4084949443691, + 337.54496851979934 + ], + [ + 627.3667796832624, + 340.81797754910025 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 25, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 379345, + "2": 422169, + "3": 75355, + "6": 7060, + "9": 18129, + "10": 823, + "12": 2052, + "20": 9144, + "24": 7523 + }, + "instance_pixel_counts": { + "2189": 3441, + "4960": 97997, + "6215": 117196, + "7314": 11092, + "7751": 16169, + "7826": 30165, + "9362": 32481, + "9874": 70267, + "18512": 3858, + "22676": 54142, + "23188": 139923, + "24724": 45825, + "25236": 115094, + "28243": 611, + "28755": 3115, + "28802": 3020, + "31833": 331, + "32914": 10795, + "33370": 1, + "36500": 1342, + "37012": 3536, + "38548": 439, + "39060": 1099, + "39564": 4137, + "39770": 53157, + "40076": 11061, + "40538": 1441, + "41612": 5183, + "41818": 1935, + "42074": 18490, + "42124": 12185, + "48274": 23322, + "50322": 1039, + "53908": 1107, + "56576": 212, + "56832": 223, + "57088": 651, + "57173": 23415, + "57344": 547, + "57600": 419, + "61569": 314 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 40.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2835009694099426, + "y": 0.2181408703327179, + "z": 0.5639626383781433 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.003273762333, + "ymin": 337.3465017043477, + "xmax": 650.1178928547779, + "ymax": 382.32551101325726 + }, + "corners_3d": [ + [ + -48.38532257080078, + 41.09573745727539, + 0.09158766269683838 + ], + [ + -47.94904327392578, + 41.09573745727539, + 0.09158766269683838 + ], + [ + -47.94904327392578, + 40.52873611450195, + 0.09158766269683838 + ], + [ + -48.38532257080078, + 40.52873611450195, + 0.09158766269683838 + ], + [ + -48.38532257080078, + 41.09573745727539, + 1.219512939453125 + ], + [ + -47.94904327392578, + 41.09573745727539, + 1.219512939453125 + ], + [ + -47.94904327392578, + 40.52873611450195, + 1.219512939453125 + ], + [ + -48.38532257080078, + 40.52873611450195, + 1.219512939453125 + ] + ], + "corners_2d": [ + [ + 634.4915183099365, + 382.32551101325726 + ], + [ + 649.8053274783072, + 379.84328497317216 + ], + [ + 645.4191378859164, + 365.20002623420913 + ], + [ + 630.3085106465886, + 367.61364147074636 + ], + [ + 634.3154969074172, + 354.54533751130316 + ], + [ + 650.1178928547779, + 352.05137507072243 + ], + [ + 645.5894074526399, + 337.3465017043477 + ], + [ + 630.003273762333, + 339.76937606516657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 43.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23111817240715027, + "y": 0.2986084222793579, + "z": 0.5422446727752686 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 801.6572677559375, + "ymin": 394.6767996047124, + "xmax": 836.0580206258362, + "ymax": 440.2351160145794 + }, + "corners_3d": [ + [ + -44.29997253417969, + 44.08492660522461, + 0.11330562829971313 + ], + [ + -43.71010971069336, + 43.99150085449219, + 0.11330562829971313 + ], + [ + -43.78241729736328, + 43.53495407104492, + 0.11330562829971313 + ], + [ + -44.37228012084961, + 43.628379821777344, + 0.11330562829971313 + ], + [ + -44.29997253417969, + 44.08492660522461, + 1.1977949142456055 + ], + [ + -43.71010971069336, + 43.99150085449219, + 1.1977949142456055 + ], + [ + -43.78241729736328, + 43.53495407104492, + 1.1977949142456055 + ], + [ + -44.37228012084961, + 43.628379821777344, + 1.1977949142456055 + ] + ], + "corners_2d": [ + [ + 809.8902591858945, + 440.2351160145794 + ], + [ + 829.9296901878636, + 433.7871394171014 + ], + [ + 821.5152967214786, + 421.1595801337733 + ], + [ + 801.6572677559375, + 427.4609165745052 + ], + [ + 815.4049473026812, + 413.89508332750944 + ], + [ + 836.0580206258362, + 407.3964643257366 + ], + [ + 827.3032071403386, + 394.6767996047124 + ], + [ + 806.8425958966951, + 401.02292816734575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 651, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 47.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.32652342319488525, + "y": 0.3369848430156708, + "z": 0.8716171979904175 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 587.8268620042832, + "ymin": 560.830778862291, + "xmax": 625.9222323883589, + "ymax": 632.0301665088227 + }, + "corners_3d": [ + [ + -50.7424430847168, + 48.098655700683594, + -0.2160668969154358 + ], + [ + -50.06939697265625, + 48.063385009765625, + -0.2160668969154358 + ], + [ + -50.103572845458984, + 47.411231994628906, + -0.2160668969154358 + ], + [ + -50.77661895751953, + 47.446502685546875, + -0.2160668969154358 + ], + [ + -50.7424430847168, + 48.098655700683594, + 1.527167558670044 + ], + [ + -50.06939697265625, + 48.063385009765625, + 1.527167558670044 + ], + [ + -50.103572845458984, + 47.411231994628906, + 1.527167558670044 + ], + [ + -50.77661895751953, + 47.446502685546875, + 1.527167558670044 + ] + ], + "corners_2d": [ + [ + 597.3601612698476, + 632.0301665088227 + ], + [ + 625.9222323883589, + 624.8924687961675 + ], + [ + 618.8610542448009, + 600.1079847990377 + ], + [ + 590.8090423383514, + 606.9750746544692 + ], + [ + 594.7214301506125, + 593.6830938475231 + ], + [ + 625.0560973137966, + 586.328794653584 + ], + [ + 617.5868017235813, + 560.830778862291 + ], + [ + 587.8268620042832, + 567.8895756004338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 547, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 40.81223678588867, + "z": 0.8076938390731812 + }, + "extent": { + "x": 0.3085302710533142, + "y": 0.5682373046875, + "z": 0.8875422477722168 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 249.71388334392236, + "ymin": 378.5843734791715, + "xmax": 315.2519488509279, + "ymax": 445.6105220219889 + }, + "corners_3d": [ + [ + -58.250789642333984, + 41.090606689453125, + -0.07984840869903564 + ], + [ + -57.11587142944336, + 41.15008544921875, + -0.07984840869903564 + ], + [ + -57.08357620239258, + 40.53386688232422, + -0.07984840869903564 + ], + [ + -58.2184944152832, + 40.474388122558594, + -0.07984840869903564 + ], + [ + -58.250789642333984, + 41.090606689453125, + 1.695236086845398 + ], + [ + -57.11587142944336, + 41.15008544921875, + 1.695236086845398 + ], + [ + -57.08357620239258, + 40.53386688232422, + 1.695236086845398 + ], + [ + -58.2184944152832, + 40.474388122558594, + 1.695236086845398 + ] + ], + "corners_2d": [ + [ + 269.7016161783826, + 445.6105220219889 + ], + [ + 313.69984155775, + 440.1708403659734 + ], + [ + 315.2519488509279, + 422.3701645870745 + ], + [ + 271.96779249662063, + 427.6369382112889 + ], + [ + 249.71388334392236, + 402.100526941138 + ], + [ + 296.17722202121547, + 396.59156761009973 + ], + [ + 298.1061298139677, + 378.5843734791715 + ], + [ + 252.43834923449344, + 383.9090327074624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 419, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 32.64202117919922, + "z": 0.7989584803581238 + }, + "extent": { + "x": 0.3409753441810608, + "y": 0.5507043600082397, + "z": 0.9163554310798645 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 883.0382922912635, + "ymin": 110.34214835152935, + "xmax": 929.7546657681962, + "ymax": 167.3029878223034 + }, + "corners_3d": [ + [ + -37.51911163330078, + 32.89265060424805, + -0.11739695072174072 + ], + [ + -36.4312629699707, + 33.06494903564453, + -0.11739695072174072 + ], + [ + -36.3245849609375, + 32.39139175415039, + -0.11739695072174072 + ], + [ + -37.41243362426758, + 32.219093322753906, + -0.11739695072174072 + ], + [ + -37.51911163330078, + 32.89265060424805, + 1.7153139114379883 + ], + [ + -36.4312629699707, + 33.06494903564453, + 1.7153139114379883 + ], + [ + -36.3245849609375, + 32.39139175415039, + 1.7153139114379883 + ], + [ + -37.41243362426758, + 32.219093322753906, + 1.7153139114379883 + ] + ], + "corners_2d": [ + [ + 887.4527141243984, + 167.3029878223034 + ], + [ + 918.279391201979, + 166.256065616905 + ], + [ + 913.4547902221279, + 154.93398441651615 + ], + [ + 883.0382922912635, + 155.95285084231668 + ], + [ + 897.6700496951017, + 122.52863322351627 + ], + [ + 929.7546657681962, + 121.49658608755396 + ], + [ + 924.5729079673193, + 110.34214835152935 + ], + [ + 892.9323838204311, + 111.3454210832688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.845954707036, + "ymin": 267.37420090026995, + "xmax": 1268.0517925739075, + "ymax": 544.8701871486493 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1116.6628664722275, + 516.3013997471518 + ], + [ + 1107.083712113186, + 501.7337367412573 + ], + [ + 963.845954707036, + 529.5990613336819 + ], + [ + 971.837036773713, + 544.8701871486493 + ], + [ + 1268.0517925739075, + 282.7410705294353 + ], + [ + 1253.0464518589588, + 267.37420090026995 + ], + [ + 1068.2199408510328, + 296.87297025955985 + ], + [ + 1080.5888678672668, + 313.2268519015813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1070.5393012206137, + "ymin": 301.95487142142014, + "xmax": 1100.9397790305127, + "ymax": 320.27456203037735 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1098.8713050248075, + 316.9689428898974 + ], + [ + 1090.535480615477, + 306.1703533388486 + ], + [ + 1070.5393012206137, + 309.4041718894545 + ], + [ + 1078.6818075936642, + 320.27456203037735 + ], + [ + 1100.9397790305127, + 312.75546499778284 + ], + [ + 1092.54413926953, + 301.95487142142014 + ], + [ + 1072.4651735039142, + 305.1891787646302 + ], + [ + 1080.6659017303543, + 316.0619098227413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3984127971479, + "ymin": 0.0, + "xmax": 851.5522663655079, + "ymax": 75.895060898081 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 819.9007087830271, + 64.98786813099127 + ], + [ + 816.1929736755785, + 59.34932297410501 + ], + [ + 723.3984127971479, + 70.0893920322132 + ], + [ + 726.4364442434467, + 75.895060898081 + ], + [ + 851.5522663655079, + -143.79918348549143 + ], + [ + 846.9142563841053, + -148.54888612634136 + ], + [ + 738.190783093679, + -139.4908392802069 + ], + [ + 741.9087887504271, + -134.5750566819405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.51531581358176, + "ymin": 350.69752622354616, + "xmax": 164.71319257420777, + "ymax": 370.6941090430175 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 140.21356542490645, + 358.55485566011004 + ], + [ + 137.93104249000896, + 370.6941090430175 + ], + [ + 162.72588079772174, + 367.000899071016 + ], + [ + 164.71319257420777, + 354.94686525495166 + ], + [ + 137.8369092549192, + 354.30769611351633 + ], + [ + 135.51531581358176, + 366.45516381577175 + ], + [ + 160.43761638863606, + 362.75931092088797 + ], + [ + 162.46097897895805, + 350.69752622354616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 109.74679935504969, + "ymin": 0.0, + "xmax": 303.5691962107469, + "ymax": 124.57689277148114 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 196.70471227546955, + 117.98984008372452 + ], + [ + 195.55984883382325, + 124.57689277148114 + ], + [ + 303.3176068532918, + 112.2075911235246 + ], + [ + 303.5691962107469, + 105.82231219265168 + ], + [ + 111.9541754380632, + -98.75419795881197 + ], + [ + 109.74679935504969, + -93.04729136701633 + ], + [ + 239.50897789973595, + -103.74889074856037 + ], + [ + 240.42364292169748, + -109.24831721838228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 340.5245287550606, + "xmax": 285.2665511048764, + "ymax": 618.8073845661329 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 112.64656906199593, + 601.6243051566325 + ], + [ + 109.66006199072149, + 618.8073845661329 + ], + [ + 284.6225390549322, + 586.6840305550329 + ], + [ + 285.2665511048764, + 570.3391556551751 + ], + [ + -71.25997891332372, + 374.92406340511906 + ], + [ + -78.66517470751205, + 394.06931056830064 + ], + [ + 162.640451849212, + 358.423376374911 + ], + [ + 165.6173895246464, + 340.5245287550606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1070.3782806874146, + "ymin": 301.8569733171476, + "xmax": 1101.1057484984597, + "ymax": 320.37388201304094 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1099.0142475441705, + 317.0323055364919 + ], + [ + 1090.5881095848285, + 306.1177872021655 + ], + [ + 1070.3782806874146, + 309.38601056916184 + ], + [ + 1078.606923696353, + 320.37388201304094 + ], + [ + 1101.1057484984597, + 312.7735372374639 + ], + [ + 1092.618493006708, + 301.8569733171476 + ], + [ + 1072.3240960727958, + 305.12569424378114 + ], + [ + 1080.6122111102416, + 316.1159591596981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.67428058689018, + "ymin": 350.80325328568273, + "xmax": 164.5610600361942, + "ymax": 370.586852177779 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 140.32026067115987, + 358.5773498905975 + ], + [ + 138.06342530415748, + 370.586852177779 + ], + [ + 162.5931941531025, + 366.93343079993895 + ], + [ + 164.5610600361942, + 355.00734416305016 + ], + [ + 137.9693430398521, + 354.3753946934552 + ], + [ + 135.67428058689018, + 366.3929348587266 + ], + [ + 160.32879635789465, + 362.73692901150014 + ], + [ + 162.33196508129083, + 350.80325328568273 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6ea031e828e3fa499c7b37dca0725824669b3854 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00026/meta.json @@ -0,0 +1,1618 @@ +{ + "frame_id": 26, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 12064.012925911928 + }, + "drone_pose": { + "x": -52.20426382566851, + "y": 57.87753014662954, + "z": 20.05955952920443, + "pitch": -47.11278615479076, + "yaw": -77.05633328409073, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.15244007110595703, + 0.6632649302482605, + 0.7326947450637817, + 31.648624420166016 + ], + [ + -0.9745907187461853, + 0.22399288415908813, + 2.9802322387695312e-08, + 37.91364288330078 + ], + [ + -0.16411840915679932, + -0.7140775918960571, + 0.6805574297904968, + -63.54840850830078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.42455746336633, + "y": 57.31526274556672, + "z": 20.05133427640719 + }, + "t1_image_uv": [ + -306.8326177940729, + -639.9514564014548 + ], + "t1_depth": 0.3453772782434318 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 40.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.48307247300465, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 40.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.28569090366363525, + "y": 0.19411253929138184, + "z": 0.5599551796913147 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.7350567595225, + "ymin": 337.47341696958495, + "xmax": 649.3792837318573, + "ymax": 382.203647421994 + }, + "corners_3d": [ + [ + -48.36129379272461, + 40.59792709350586, + 0.09559512138366699 + ], + [ + -47.97307205200195, + 40.59792709350586, + 0.09559512138366699 + ], + [ + -47.97307205200195, + 40.026546478271484, + 0.09559512138366699 + ], + [ + -48.36129379272461, + 40.026546478271484, + 0.09559512138366699 + ], + [ + -48.36129379272461, + 40.59792709350586, + 1.2155054807662964 + ], + [ + -47.97307205200195, + 40.59792709350586, + 1.2155054807662964 + ], + [ + -47.97307205200195, + 40.026546478271484, + 1.2155054807662964 + ], + [ + -48.36129379272461, + 40.026546478271484, + 1.2155054807662964 + ] + ], + "corners_2d": [ + [ + 635.4945868620067, + 382.203647421994 + ], + [ + 649.0913974168548, + 379.86650785885655 + ], + [ + 644.4326022645807, + 365.14194553843464 + ], + [ + 631.0160719096265, + 367.4141343365098 + ], + [ + 635.3515928055721, + 354.60771402190477 + ], + [ + 649.3792837318573, + 352.2595913803996 + ], + [ + 644.5709409273211, + 337.47341696958495 + ], + [ + 630.7350567595225, + 339.75425953593106 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 380656, + "2": 423258, + "3": 75401, + "6": 7285, + "9": 16074, + "10": 820, + "12": 2048, + "20": 8624, + "24": 7434 + }, + "instance_pixel_counts": { + "2189": 2952, + "4960": 99504, + "6215": 118983, + "7314": 11595, + "7751": 13113, + "7826": 31116, + "9362": 34524, + "9874": 68709, + "10386": 33, + "18512": 3910, + "22676": 56892, + "23188": 145392, + "24724": 48359, + "25236": 113942, + "28243": 663, + "28755": 3178, + "28802": 3108, + "31833": 1, + "32914": 9511, + "33370": 14, + "36500": 1380, + "37012": 3656, + "38548": 478, + "39060": 1139, + "39564": 4337, + "39770": 52232, + "40076": 11455, + "40538": 778, + "41612": 5559, + "41818": 2188, + "42074": 20188, + "42124": 11867, + "48274": 16071, + "53908": 781, + "56576": 214, + "56832": 216, + "57088": 640, + "57173": 20788, + "57344": 553, + "57600": 425, + "61569": 336 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 40.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25404050946235657, + "y": 0.2904687523841858, + "z": 0.5458679795265198 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.5457416915759, + "ymin": 338.0746256364266, + "xmax": 652.5734484815608, + "ymax": 381.61761638121146 + }, + "corners_3d": [ + [ + -48.4576530456543, + 40.56627655029297, + 0.10968232154846191 + ], + [ + -47.876712799072266, + 40.56627655029297, + 0.10968232154846191 + ], + [ + -47.876712799072266, + 40.058197021484375, + 0.10968232154846191 + ], + [ + -48.4576530456543, + 40.058197021484375, + 0.10968232154846191 + ], + [ + -48.4576530456543, + 40.56627655029297, + 1.2014182806015015 + ], + [ + -47.876712799072266, + 40.56627655029297, + 1.2014182806015015 + ], + [ + -47.876712799072266, + 40.058197021484375, + 1.2014182806015015 + ], + [ + -48.4576530456543, + 40.058197021484375, + 1.2014182806015015 + ] + ], + "corners_2d": [ + [ + 631.8583848141667, + 381.61761638121146 + ], + [ + 652.1975865699488, + 378.12554322335825 + ], + [ + 648.0137480167909, + 365.0458779122614 + ], + [ + 627.914615931897, + 368.45148853526246 + ], + [ + 631.6066466241032, + 354.71510201429754 + ], + [ + 652.5734484815608, + 351.2072002330669 + ], + [ + 648.257522632707, + 338.0746256364266 + ], + [ + 627.5457416915759, + 341.49304352016645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 216, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 43.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.20396241545677185, + "y": 0.19864991307258606, + "z": 0.5323084592819214 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 806.2569482395133, + "ymin": 394.99538910619975, + "xmax": 832.8561823509974, + "ymax": 436.49517193986173 + }, + "corners_3d": [ + [ + -44.20549392700195, + 43.5424690246582, + 0.1232418417930603 + ], + [ + -43.81308364868164, + 43.480316162109375, + 0.1232418417930603 + ], + [ + -43.876895904541016, + 43.07741165161133, + 0.1232418417930603 + ], + [ + -44.26930618286133, + 43.139564514160156, + 0.1232418417930603 + ], + [ + -44.20549392700195, + 43.5424690246582, + 1.1878588199615479 + ], + [ + -43.81308364868164, + 43.480316162109375, + 1.1878588199615479 + ], + [ + -43.876895904541016, + 43.07741165161133, + 1.1878588199615479 + ], + [ + -44.26930618286133, + 43.139564514160156, + 1.1878588199615479 + ] + ], + "corners_2d": [ + [ + 813.7231679549004, + 436.49517193986173 + ], + [ + 826.941807662644, + 432.0855304985747 + ], + [ + 819.3724684204949, + 421.0045074468899 + ], + [ + 806.2569482395133, + 425.32602912644757 + ], + [ + 819.2419547069699, + 410.59836781953385 + ], + [ + 832.8561823509974, + 406.15534615570874 + ], + [ + 824.9887113548384, + 394.99538910619975 + ], + [ + 811.4837365264714, + 399.3468528234884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 640, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 47.25494384765625, + "z": 0.6552622318267822 + }, + "extent": { + "x": 0.3081713914871216, + "y": 0.3433251976966858, + "z": 0.8680636882781982 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 591.7098487838622, + "ymin": 561.8973728493227, + "xmax": 630.0388571976415, + "ymax": 631.9423861028371 + }, + "corners_3d": [ + [ + -50.749732971191406, + 47.58066177368164, + -0.21280145645141602 + ], + [ + -50.06402587890625, + 47.54472351074219, + -0.21280145645141602 + ], + [ + -50.096282958984375, + 46.92922592163086, + -0.21280145645141602 + ], + [ + -50.78199005126953, + 46.96516418457031, + -0.21280145645141602 + ], + [ + -50.749732971191406, + 47.58066177368164, + 1.5233259201049805 + ], + [ + -50.06402587890625, + 47.54472351074219, + 1.5233259201049805 + ], + [ + -50.096282958984375, + 46.92922592163086, + 1.5233259201049805 + ], + [ + -50.78199005126953, + 46.96516418457031, + 1.5233259201049805 + ] + ], + "corners_2d": [ + [ + 601.0449783325547, + 631.9423861028371 + ], + [ + 630.0388571976415, + 624.3365560366574 + ], + [ + 622.9737884658649, + 601.0056199785865 + ], + [ + 594.4634532542666, + 608.3396879652801 + ], + [ + 598.6433132253736, + 593.7336745514901 + ], + [ + 629.4285273905167, + 585.8980721219594 + ], + [ + 621.9504544910446, + 561.8973728493227 + ], + [ + 591.7098487838622, + 569.4362872661221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 553, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 40.31223678588867, + "z": 0.8076352477073669 + }, + "extent": { + "x": 0.3007885813713074, + "y": 0.4351452589035034, + "z": 0.8949589133262634 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 254.82890548325986, + "ymin": 382.4891029070435, + "xmax": 309.9179248498222, + "ymax": 448.5775209967154 + }, + "corners_3d": [ + [ + -58.11747360229492, + 40.589839935302734, + -0.08732366561889648 + ], + [ + -57.248374938964844, + 40.6353874206543, + -0.08732366561889648 + ], + [ + -57.21689224243164, + 40.03463363647461, + -0.08732366561889648 + ], + [ + -58.08599090576172, + 39.98908615112305, + -0.08732366561889648 + ], + [ + -58.11747360229492, + 40.589839935302734, + 1.7025941610336304 + ], + [ + -57.248374938964844, + 40.6353874206543, + 1.7025941610336304 + ], + [ + -57.21689224243164, + 40.03463363647461, + 1.7025941610336304 + ], + [ + -58.08599090576172, + 39.98908615112305, + 1.7025941610336304 + ] + ], + "corners_2d": [ + [ + 274.77399512780903, + 448.5775209967154 + ], + [ + 308.6051681810374, + 444.0642910797178 + ], + [ + 309.9179248498222, + 426.6174823898582 + ], + [ + 276.62220179123324, + 430.9906260135401 + ], + [ + 254.82890548325986, + 404.71944852756803 + ], + [ + 290.5843553247538, + 400.1467866571596 + ], + [ + 292.2636899069271, + 382.4891029070435 + ], + [ + 257.10576236946474, + 386.91228992890507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 425, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 32.14202117919922, + "z": 0.7994565367698669 + }, + "extent": { + "x": 0.35331419110298157, + "y": 0.5696825981140137, + "z": 0.9171778559684753 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 878.2658810550873, + "ymin": 108.03900623390822, + "xmax": 926.071571355274, + "ymax": 165.64382302625256 + }, + "corners_3d": [ + [ + -37.53978729248047, + 32.4018669128418, + -0.1177213191986084 + ], + [ + -36.414451599121094, + 32.58010482788086, + -0.1177213191986084 + ], + [ + -36.30390930175781, + 31.88217544555664, + -0.1177213191986084 + ], + [ + -37.42924499511719, + 31.70393943786621, + -0.1177213191986084 + ], + [ + -37.53978729248047, + 32.4018669128418, + 1.7166343927383423 + ], + [ + -36.414451599121094, + 32.58010482788086, + 1.7166343927383423 + ], + [ + -36.30390930175781, + 31.88217544555664, + 1.7166343927383423 + ], + [ + -37.42924499511719, + 31.70393943786621, + 1.7166343927383423 + ] + ], + "corners_2d": [ + [ + 883.0118013970889, + 165.64382302625256 + ], + [ + 914.7530456650181, + 164.32642262019903 + ], + [ + 909.5724041388967, + 152.65772808193393 + ], + [ + 878.2658810550873, + 153.93869260500568 + ], + [ + 893.0391278419343, + 120.83069677583828 + ], + [ + 926.071571355274, + 119.53227362318552 + ], + [ + 920.5165769000575, + 108.03900623390822 + ], + [ + 887.9546705766969, + 109.30006867591055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 975.0846400758485, + "ymin": 279.52421165754174, + "xmax": 1280.0, + "ymax": 559.1063178750086 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1128.701526479866, + 528.2213092026363 + ], + [ + 1118.6732625248837, + 513.3961651832642 + ], + [ + 975.0846400758485, + 543.5143228558209 + ], + [ + 983.5310847107227, + 559.1063178750086 + ], + [ + 1286.065889558145, + 295.2614067346201 + ], + [ + 1270.304718055323, + 279.52421165754174 + ], + [ + 1084.806252158095, + 311.62680043253977 + ], + [ + 1097.9394744023978, + 328.45137117972246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.014124979333, + "ymin": 316.41991843823615, + "xmax": 1118.132742607948, + "ymax": 335.3385809428669 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1115.9535079772477, + 331.7343172070179 + ], + [ + 1107.1192310458841, + 320.6356225777476 + ], + [ + 1087.014124979333, + 324.1606010555726 + ], + [ + 1095.654824563404, + 335.3385809428669 + ], + [ + 1118.132742607948, + 327.52215219087196 + ], + [ + 1109.2342964558939, + 316.41991843823615 + ], + [ + 1089.0453656780396, + 319.9458993219675 + ], + [ + 1097.7486326278859, + 331.127806690778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8565552837953, + "ymin": 0.0, + "xmax": 850.6536024573377, + "ymax": 81.93608861230257 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 818.898404546361, + 70.2209216088869 + ], + [ + 815.0391143518268, + 64.5156495731843 + ], + [ + 721.8565552837953, + 76.05038318847664 + ], + [ + 725.0449793108154, + 81.93608861230257 + ], + [ + 850.6536024573377, + -139.4942961178225 + ], + [ + 845.8290165852089, + -144.31149053402186 + ], + [ + 736.5207112848257, + -134.55867494209724 + ], + [ + 740.4215785118118, + -129.56146221447648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.19194099632443, + "ymin": 375.7112389133704, + "xmax": 163.96253668230975, + "ymax": 396.67499422101866 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 138.8052726725872, + 383.95353464286063 + ], + [ + 136.67611812228972, + 396.67499422101866 + ], + [ + 162.14302246200492, + 392.57082995973474 + ], + [ + 163.96253668230975, + 379.94617828525077 + ], + [ + 136.36115139129248, + 379.72194974435075 + ], + [ + 134.19194099632443, + 392.4550404495413 + ], + [ + 159.79362732574873, + 388.34696053689794 + ], + [ + 161.64993681958674, + 375.7112389133704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.61996707867706, + "ymin": 0.0, + "xmax": 297.8166067649245, + "ymax": 135.33305168601225 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 189.3556624304436, + 128.5835582271115 + ], + [ + 188.29173459458144, + 135.33305168601225 + ], + [ + 297.66783188862064, + 121.90633699227357 + ], + [ + 297.8166067649245, + 115.37815164375195 + ], + [ + 101.77436356871704, + -89.68821218090005 + ], + [ + 99.61996707867706, + -83.81095239087807 + ], + [ + 231.7970569557848, + -95.48365517078815 + ], + [ + 232.61777680326827, + -101.13167265335551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 365.3233656459264, + "xmax": 286.93007413058876, + "ymax": 645.3117750738169 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 110.71699696921632, + 627.4624673564499 + ], + [ + 107.90339688989002, + 645.3117750738169 + ], + [ + 286.54465416023635, + 609.9871721408427 + ], + [ + 286.93007413058876, + 593.0750894962844 + ], + [ + -79.06253703118932, + 403.64040646547454 + ], + [ + -86.45864489393398, + 423.8172158621367 + ], + [ + 162.1114400371315, + 384.0777735517112 + ], + [ + 164.83666439126716, + 365.3233656459264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.8492882904682, + "ymin": 316.31885377284755, + "xmax": 1118.302626157562, + "ymax": 335.44118550533585 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1116.0991441156461, + 331.79771289052434 + ], + [ + 1107.169208680288, + 320.57990315178483 + ], + [ + 1086.8492882904682, + 324.14237622167457 + ], + [ + 1095.581463795756, + 335.44118550533585 + ], + [ + 1118.302626157562, + 327.54027713929304 + ], + [ + 1109.3071250810353, + 316.31885377284755 + ], + [ + 1088.9015759058884, + 319.882348848059 + ], + [ + 1097.6976629180908, + 331.18517279141923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.35413908391473, + "ymin": 375.8220193368164, + "xmax": 163.80753091161324, + "ymax": 396.56248436238565 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 138.9159899163945, + 383.9770235322978 + ], + [ + 136.8109615097544, + 396.56248436238565 + ], + [ + 162.00559653516063, + 392.50254255789093 + ], + [ + 163.80753091161324, + 380.0118405834289 + ], + [ + 136.4983577578713, + 379.7904885652847 + ], + [ + 134.35413908391473, + 392.3873311935225 + ], + [ + 159.68068444799815, + 388.32355966995294 + ], + [ + 161.51865158186098, + 375.8220193368164 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00027/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0ade53278c54b0ad99336257b72b80574807cad9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00027/meta.json @@ -0,0 +1,1617 @@ +{ + "frame_id": 27, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 13.5, + "sim_timestamp": 12072.6561971365 + }, + "drone_pose": { + "x": -52.42455746336633, + "y": 57.31526274556672, + "z": 20.05133427640719, + "pitch": -47.116354378793034, + "yaw": -76.32905836452838, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.16083580255508423, + 0.6612322330474854, + 0.7327371835708618, + 31.638086318969727 + ], + [ + -0.97166907787323, + 0.2363453507423401, + 0.0, + 37.39312744140625 + ], + [ + -0.173179030418396, + -0.7119780778884888, + 0.6805117130279541, + -63.531211853027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.635286377555, + "y": 56.74834195058016, + "z": 20.04403676135619 + }, + "t1_image_uv": [ + -299.008147334421, + -643.9488656082503 + ], + "t1_depth": 0.346320714300347 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 39.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.470315301512496, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 39.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2781347632408142, + "y": 0.20579954981803894, + "z": 0.5602575540542603 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.2682135525941, + "ymin": 337.53418635682715, + "xmax": 649.8450799334811, + "ymax": 382.13972339278956 + }, + "corners_3d": [ + [ + -48.372982025146484, + 40.090370178222656, + 0.09529274702072144 + ], + [ + -47.96138381958008, + 40.090370178222656, + 0.09529274702072144 + ], + [ + -47.96138381958008, + 39.53410339355469, + 0.09529274702072144 + ], + [ + -48.372982025146484, + 39.53410339355469, + 0.09529274702072144 + ], + [ + -48.372982025146484, + 40.090370178222656, + 1.2158079147338867 + ], + [ + -47.96138381958008, + 40.090370178222656, + 1.2158079147338867 + ], + [ + -47.96138381958008, + 39.53410339355469, + 1.2158079147338867 + ], + [ + -48.372982025146484, + 39.53410339355469, + 1.2158079147338867 + ] + ], + "corners_2d": [ + [ + 635.1670940171946, + 382.13972339278956 + ], + [ + 649.5426771178687, + 379.524887885742 + ], + [ + 644.7554982121579, + 365.22893910002114 + ], + [ + 630.5638010189772, + 367.77318398777317 + ], + [ + 635.0135492471558, + 354.5171134771463 + ], + [ + 649.8450799334811, + 351.889993297244 + ], + [ + 644.9040881630881, + 337.53418635682715 + ], + [ + 630.2682135525941, + 340.0881810997962 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 27, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 382064, + "2": 422417, + "3": 75804, + "6": 7503, + "9": 14591, + "10": 828, + "12": 2039, + "20": 8974, + "24": 7380 + }, + "instance_pixel_counts": { + "2189": 2450, + "4960": 98947, + "6215": 120477, + "7314": 12112, + "7751": 10473, + "7826": 32094, + "9362": 36652, + "9874": 66910, + "10386": 247, + "18512": 3770, + "22676": 59724, + "23188": 149804, + "24724": 51094, + "25236": 111626, + "28243": 718, + "28755": 3245, + "28802": 3193, + "32914": 8198, + "33370": 46, + "36500": 1441, + "37012": 3711, + "38548": 513, + "39060": 1195, + "39564": 4541, + "39770": 50991, + "40076": 11859, + "40538": 337, + "41612": 5892, + "41818": 2434, + "42074": 21996, + "42124": 11565, + "48274": 9816, + "53908": 520, + "56576": 204, + "56832": 230, + "57088": 618, + "57173": 19795, + "57344": 557, + "57600": 430, + "61569": 347 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 39.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2543652355670929, + "y": 0.2931872606277466, + "z": 0.5453266501426697 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.3548914505633, + "ymin": 337.9785580903581, + "xmax": 652.7630713522392, + "ymax": 381.71702300497867 + }, + "corners_3d": [ + [ + -48.46036911010742, + 40.06660079956055, + 0.11022365093231201 + ], + [ + -47.87399673461914, + 40.06660079956055, + 0.11022365093231201 + ], + [ + -47.87399673461914, + 39.5578727722168, + 0.11022365093231201 + ], + [ + -48.46036911010742, + 39.5578727722168, + 0.11022365093231201 + ], + [ + -48.46036911010742, + 40.06660079956055, + 1.2008769512176514 + ], + [ + -47.87399673461914, + 40.06660079956055, + 1.2008769512176514 + ], + [ + -47.87399673461914, + 39.5578727722168, + 1.2008769512176514 + ], + [ + -48.46036911010742, + 39.5578727722168, + 1.2008769512176514 + ] + ], + "corners_2d": [ + [ + 631.9048818389625, + 381.71702300497867 + ], + [ + 652.3817554640257, + 377.99598043606625 + ], + [ + 647.9663933326491, + 364.9346735883131 + ], + [ + 627.7292946665682, + 368.5637030677861 + ], + [ + 631.6546704266323, + 354.8305989886462 + ], + [ + 652.7630713522392, + 351.0926750376416 + ], + [ + 648.208591480382, + 337.9785580903581 + ], + [ + 627.3548914505633, + 341.6212544856334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 42.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.20228028297424316, + "y": 0.20283448696136475, + "z": 0.5314905643463135 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 806.8694945498959, + "ymin": 393.2550749440978, + "xmax": 833.7505442828231, + "ymax": 434.7795872561904 + }, + "corners_3d": [ + [ + -44.20988845825195, + 43.04146194458008, + 0.12405973672866821 + ], + [ + -43.8092155456543, + 42.97800064086914, + 0.12405973672866821 + ], + [ + -43.872501373291016, + 42.57841873168945, + 0.12405973672866821 + ], + [ + -44.27317428588867, + 42.64188003540039, + 0.12405973672866821 + ], + [ + -44.20988845825195, + 43.04146194458008, + 1.1870408058166504 + ], + [ + -43.8092155456543, + 42.97800064086914, + 1.1870408058166504 + ], + [ + -43.872501373291016, + 42.57841873168945, + 1.1870408058166504 + ], + [ + -44.27317428588867, + 42.64188003540039, + 1.1870408058166504 + ] + ], + "corners_2d": [ + [ + 814.4435791669065, + 434.7795872561904 + ], + [ + 827.824940849845, + 430.14835529266395 + ], + [ + 820.1500277790565, + 419.24643410345635 + ], + [ + 806.8694945498959, + 423.7864488497432 + ], + [ + 819.9708421410753, + 408.8992906045527 + ], + [ + 833.7505442828231, + 404.2334918330257 + ], + [ + 825.7756131297319, + 393.2550749440978 + ], + [ + 812.1026906094344, + 397.8261145354005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 618, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 46.75494384765625, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.33317381143569946, + "y": 0.46354246139526367, + "z": 0.8895512223243713 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 590.1207403707464, + "ymin": 559.369665022273, + "xmax": 639.5033946319995, + "ymax": 635.3576722340943 + }, + "corners_3d": [ + [ + -50.86847686767578, + 47.11191940307617, + -0.23400580883026123 + ], + [ + -49.942665100097656, + 47.06340026855469, + -0.23400580883026123 + ], + [ + -49.9775390625, + 46.39796829223633, + -0.23400580883026123 + ], + [ + -50.903350830078125, + 46.44648742675781, + -0.23400580883026123 + ], + [ + -50.86847686767578, + 47.11191940307617, + 1.5450966358184814 + ], + [ + -49.942665100097656, + 47.06340026855469, + 1.5450966358184814 + ], + [ + -49.9775390625, + 46.39796829223633, + 1.5450966358184814 + ], + [ + -50.903350830078125, + 46.44648742675781, + 1.5450966358184814 + ] + ], + "corners_2d": [ + [ + 600.4985216116335, + 635.3576722340943 + ], + [ + 639.5033946319995, + 624.6091864494174 + ], + [ + 631.3483141348688, + 599.5174031593789 + ], + [ + 593.0372029321253, + 609.8527805374871 + ], + [ + 597.9935819226242, + 596.2808788428109 + ], + [ + 639.4721778207313, + 585.1977685691728 + ], + [ + 630.8156237749482, + 559.369665022273 + ], + [ + 590.1207403707464, + 570.0007391670879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 557, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 39.81223678588867, + "z": 0.8075717687606812 + }, + "extent": { + "x": 0.3045996129512787, + "y": 0.5132849216461182, + "z": 0.9053231477737427 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 251.21327681653196, + "ymin": 385.013308835574, + "xmax": 312.72341590375663, + "ymax": 453.1156261401334 + }, + "corners_3d": [ + [ + -58.19570541381836, + 40.08955383300781, + -0.09775137901306152 + ], + [ + -57.1705436706543, + 40.14328384399414, + -0.09775137901306152 + ], + [ + -57.1386604309082, + 39.53491973876953, + -0.09775137901306152 + ], + [ + -58.163822174072266, + 39.4811897277832, + -0.09775137901306152 + ], + [ + -58.19570541381836, + 40.08955383300781, + 1.7128949165344238 + ], + [ + -57.1705436706543, + 40.14328384399414, + 1.7128949165344238 + ], + [ + -57.1386604309082, + 39.53491973876953, + 1.7128949165344238 + ], + [ + -58.163822174072266, + 39.4811897277832, + 1.7128949165344238 + ] + ], + "corners_2d": [ + [ + 271.66101986484693, + 453.1156261401334 + ], + [ + 311.7358569449034, + 447.3671056480523 + ], + [ + 312.72341590375663, + 429.6395523270718 + ], + [ + 273.29048239412714, + 435.2072507927261 + ], + [ + 251.21327681653196, + 408.7903590134538 + ], + [ + 293.61090503321657, + 402.9630557084203 + ], + [ + 294.95426245958305, + 385.013308835574 + ], + [ + 253.27440003720636, + 390.6474173904993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 430, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 31.64202117919922, + "z": 0.7999545931816101 + }, + "extent": { + "x": 0.3423474133014679, + "y": 0.5743908286094666, + "z": 0.9122476577758789 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 873.9881433050596, + "ymin": 106.25207950226354, + "xmax": 921.6624723146856, + "ymax": 163.4328364667756 + }, + "corners_3d": [ + [ + -37.542720794677734, + 31.89029884338379, + -0.1122930645942688 + ], + [ + -36.408084869384766, + 32.07000732421875, + -0.1122930645942688 + ], + [ + -36.30097579956055, + 31.39374351501465, + -0.1122930645942688 + ], + [ + -37.435611724853516, + 31.214033126831055, + -0.1122930645942688 + ], + [ + -37.542720794677734, + 31.89029884338379, + 1.7122023105621338 + ], + [ + -36.408084869384766, + 32.07000732421875, + 1.7122023105621338 + ], + [ + -36.30097579956055, + 31.39374351501465, + 1.7122023105621338 + ], + [ + -37.435611724853516, + 31.214033126831055, + 1.7122023105621338 + ] + ], + "corners_2d": [ + [ + 878.7612623153295, + 163.4328364667756 + ], + [ + 910.601736778108, + 161.8674593965327 + ], + [ + 905.4089488525483, + 150.62309064110107 + ], + [ + 873.9881433050596, + 152.14655020613748 + ], + [ + 888.5395641210044, + 118.86866605034041 + ], + [ + 921.6624723146856, + 117.32604535058971 + ], + [ + 916.1055531342881, + 106.25207950226354 + ], + [ + 883.4365480148322, + 107.75173862690747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.0530595250162, + "ymin": 291.8137345964477, + "xmax": 1280.0, + "ymax": 573.493662044455 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1141.3795679907132, + 540.1807183147889 + ], + [ + 1130.8861389389085, + 525.098306118965 + ], + [ + 987.0530595250162, + 557.5774766776282 + ], + [ + 995.9751636665662, + 573.493662044455 + ], + [ + 1305.0680852217986, + 307.9268824063969 + ], + [ + 1288.5180631698463, + 291.8137345964477 + ], + [ + 1102.5217773836607, + 326.67565827123025 + ], + [ + 1116.4615917075298, + 343.983873913972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.5998859676006, + "ymin": 331.15520607919257, + "xmax": 1136.4544659670657, + "ymax": 350.6968842942767 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1134.1560743897437, + 346.7751297966123 + ], + [ + 1124.7968085761172, + 335.3687691169456 + ], + [ + 1104.5998859676006, + 339.2031758847511 + ], + [ + 1113.76593482642, + 350.6968842942767 + ], + [ + 1136.4544659670657, + 342.566767180206 + ], + [ + 1127.0263486093672, + 331.15520607919257 + ], + [ + 1106.7446989056862, + 334.9912286502794 + ], + [ + 1115.9779970654301, + 346.49058381719937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5070584496779, + "ymin": 0.0, + "xmax": 849.9726959976897, + "ymax": 88.04255773129483 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 818.0776965827638, + 75.48543185992753 + ], + [ + 814.0615850270201, + 69.71305066309588 + ], + [ + 720.5070584496779, + 82.07581660730352 + ], + [ + 723.8518621358513, + 88.04255773129483 + ], + [ + 849.9726959976897, + -135.16096609698604 + ], + [ + 844.9544234202227, + -140.0467185851245 + ], + [ + 735.0762563641172, + -129.56634111451802 + ], + [ + 739.1680500819856, + -124.48587950702711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 133.7654736151594, + "ymin": 401.9575389094612, + "xmax": 164.10901257410916, + "ymax": 423.96174218729846 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 138.26903146578127, + 410.616854557655 + ], + [ + 136.31710913029195, + 423.96174218729846 + ], + [ + 162.48189725868042, + 419.4055634641062 + ], + [ + 164.10901257410916, + 406.1705645771909 + ], + [ + 135.75834109765066, + 406.40864433083095 + ], + [ + 133.7654736151594, + 419.7690817652827 + ], + [ + 160.0729034576192, + 415.2074090430883 + ], + [ + 161.73744081655047, + 401.9575389094612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 89.51627173178201, + "ymin": 0.0, + "xmax": 292.21201369340514, + "ymax": 146.41687111796725 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 182.11158140607756, + 139.49845438892714 + ], + [ + 181.13526306216966, + 146.41687111796725 + ], + [ + 292.17312421865677, + 131.86705981307006 + ], + [ + 292.21201369340514, + 125.19095503019662 + ], + [ + 91.61123227601888, + -80.30063050929044 + ], + [ + 89.51627173178201, + -74.24426572859306 + ], + [ + 224.19738367787954, + -86.95755293212227 + ], + [ + 224.91617125658968, + -92.76098730199743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 391.34673562242955, + "xmax": 289.3494546594735, + "ymax": 672.8940817146645 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 109.4575069642774, + 654.3419654092834 + ], + [ + 106.83945543939217, + 672.8940817146645 + ], + [ + 289.2474807351682, + 634.1084137898079 + ], + [ + 289.3494546594735, + 616.6026848441938 + ], + [ + -86.28756172487181, + 433.9906736775957 + ], + [ + -93.65293879993283, + 455.28339464872465 + ], + [ + 162.52047399105618, + 411.01696430490836 + ], + [ + 164.95674106090502, + 391.34673562242955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.431136516111, + "ymin": 331.05084928502674, + "xmax": 1136.6283590825365, + "ymax": 350.8029069187449 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1134.304408324388, + 346.8384865861631 + ], + [ + 1124.8438582238232, + 335.309746628093 + ], + [ + 1104.431136516111, + 339.18493069955525 + ], + [ + 1113.6942947775092, + 350.8029069187449 + ], + [ + 1136.6283590825365, + 342.58489980921354 + ], + [ + 1127.097459712983, + 331.05084928502674 + ], + [ + 1106.598187325265, + 334.9276817148205 + ], + [ + 1115.9300403194356, + 346.5514294022233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 133.93091655747673, + "ymin": 402.0737515830903, + "xmax": 163.95114212142323, + "ymax": 423.8435771333644 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 138.38404005626649, + 410.6413805752033 + ], + [ + 136.45443275295776, + 423.8435771333644 + ], + [ + 162.33947538670907, + 419.3364986644436 + ], + [ + 163.95114212142323, + 406.24186513203017 + ], + [ + 135.9005831897823, + 406.4779839266323 + ], + [ + 133.93091655747673, + 419.69539733808705 + ], + [ + 159.95556139469636, + 415.18294485969056 + ], + [ + 161.6038757150003, + 402.0737515830903 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00028/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1a25a92096555127829af0588a068bccbb81d392 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00028/meta.json @@ -0,0 +1,1617 @@ +{ + "frame_id": 28, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.0, + "sim_timestamp": 12082.08243747917 + }, + "drone_pose": { + "x": -52.635286377555, + "y": 56.74834195058016, + "z": 20.04403676135619, + "pitch": -47.12760737397363, + "yaw": -75.6269083135454, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.16889113187789917, + 0.6590721607208252, + 0.7328708171844482, + 31.601200103759766 + ], + [ + -0.9686998128890991, + 0.24823498725891113, + 0.0, + 36.90087127685547 + ], + [ + -0.18192419409751892, + -0.7099318504333496, + 0.6803677678108215, + -63.50040054321289 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.81968797000774, + "y": 56.1777132628644, + "z": 20.037601967461878 + }, + "t1_image_uv": [ + -239.3419790653278, + -648.1149541527103 + ], + "t1_depth": 0.3496575947750217 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 39.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 26.455530980061937, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 39.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2771264612674713, + "y": 0.20935668051242828, + "z": 0.5599276423454285 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.0454646917918, + "ymin": 337.4911702969939, + "xmax": 650.0677629737158, + "ymax": 382.1838828650728 + }, + "corners_3d": [ + [ + -48.37654113769531, + 39.58936309814453, + 0.09562265872955322 + ], + [ + -47.95782470703125, + 39.58936309814453, + 0.09562265872955322 + ], + [ + -47.95782470703125, + 39.03511047363281, + 0.09562265872955322 + ], + [ + -48.37654113769531, + 39.03511047363281, + 0.09562265872955322 + ], + [ + -48.37654113769531, + 39.58936309814453, + 1.2154779434204102 + ], + [ + -47.95782470703125, + 39.58936309814453, + 1.2154779434204102 + ], + [ + -47.95782470703125, + 39.03511047363281, + 1.2154779434204102 + ], + [ + -48.37654113769531, + 39.03511047363281, + 1.2154779434204102 + ] + ], + "corners_2d": [ + [ + 635.1721370681322, + 382.1838828650728 + ], + [ + 649.7585137312544, + 379.38821069917583 + ], + [ + 644.7501415873062, + 365.1795913221729 + ], + [ + 630.3479015507013, + 367.90026171982373 + ], + [ + 635.0187222121452, + 354.5683754248666 + ], + [ + 650.0677629737158, + 351.75951550155344 + ], + [ + 644.8985807690867, + 337.4911702969939 + ], + [ + 630.0454646917918, + 340.222333184673 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 28, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 383363, + "2": 419379, + "3": 76469, + "6": 7575, + "9": 15081, + "10": 842, + "12": 2138, + "20": 9384, + "24": 7369 + }, + "instance_pixel_counts": { + "2189": 1922, + "4960": 95956, + "6215": 121656, + "7314": 12635, + "7751": 7852, + "7826": 33134, + "9362": 38909, + "9874": 64915, + "10386": 1062, + "18512": 3830, + "22676": 62654, + "23188": 152362, + "24724": 53956, + "25236": 109125, + "28243": 772, + "28755": 3358, + "28802": 3070, + "32914": 6816, + "33370": 97, + "36500": 1504, + "37012": 3796, + "38548": 533, + "39060": 1229, + "39564": 4764, + "39770": 49710, + "40076": 12279, + "40538": 53, + "41612": 6225, + "41818": 2688, + "42074": 23921, + "42124": 11254, + "48274": 5266, + "53908": 307, + "56576": 201, + "56832": 230, + "57088": 729, + "57173": 20635, + "57344": 558, + "57600": 420, + "61569": 375 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 201, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 39.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2632470726966858, + "y": 0.2968212962150574, + "z": 0.5530312061309814 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.0570587588155, + "ymin": 337.4503641062163, + "xmax": 653.0661154590271, + "ymax": 382.24205227741385 + }, + "corners_3d": [ + [ + -48.46400451660156, + 39.57548522949219, + 0.10251909494400024 + ], + [ + -47.870361328125, + 39.57548522949219, + 0.10251909494400024 + ], + [ + -47.870361328125, + 39.048988342285156, + 0.10251909494400024 + ], + [ + -48.46400451660156, + 39.048988342285156, + 0.10251909494400024 + ], + [ + -48.46400451660156, + 39.57548522949219, + 1.2085814476013184 + ], + [ + -47.870361328125, + 39.57548522949219, + 1.2085814476013184 + ], + [ + -47.870361328125, + 39.048988342285156, + 1.2085814476013184 + ], + [ + -48.46400451660156, + 39.048988342285156, + 1.2085814476013184 + ] + ], + "corners_2d": [ + [ + 631.9925438573352, + 382.24205227741385 + ], + [ + 652.6699894633095, + 378.2810131866756 + ], + [ + 647.8752246454019, + 364.79839955630456 + ], + [ + 627.4458625208143, + 368.6584069575762 + ], + [ + 631.7412196261955, + 354.9678996767518 + ], + [ + 653.0661154590271, + 350.9884901991932 + ], + [ + 648.1181909741962, + 337.4503641062163 + ], + [ + 627.0570587588155, + 341.325156731304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 42.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.19139406085014343, + "y": 0.23905763030052185, + "z": 0.5350250005722046 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 806.5555483228202, + "ymin": 391.345892064327, + "xmax": 835.5108188558492, + "ymax": 433.36023444361285 + }, + "corners_3d": [ + [ + -44.24736785888672, + 42.536373138427734, + 0.1205253005027771 + ], + [ + -43.77513885498047, + 42.46158218383789, + 0.1205253005027771 + ], + [ + -43.83502197265625, + 42.0835075378418, + 0.1205253005027771 + ], + [ + -44.3072509765625, + 42.15829849243164, + 0.1205253005027771 + ], + [ + -44.24736785888672, + 42.536373138427734, + 1.190575361251831 + ], + [ + -43.77513885498047, + 42.46158218383789, + 1.190575361251831 + ], + [ + -43.83502197265625, + 42.0835075378418, + 1.190575361251831 + ], + [ + -44.3072509765625, + 42.15829849243164, + 1.190575361251831 + ] + ], + "corners_2d": [ + [ + 813.8671628713383, + 433.36023444361285 + ], + [ + 829.5014654758548, + 427.7588238725266 + ], + [ + 822.0813555813291, + 417.5303845318596 + ], + [ + 806.5555483228202, + 423.02802203325984 + ], + [ + 819.4096536590808, + 407.28854689676245 + ], + [ + 835.5108188558492, + 401.6455594908768 + ], + [ + 827.8001227438672, + 391.345892064327 + ], + [ + 811.8138617717685, + 396.8810599902268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 729, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 46.25494384765625, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.36885496973991394, + "y": 0.5703710913658142, + "z": 0.9098777770996094 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 588.861834242744, + "ymin": 556.5270185924179, + "xmax": 648.9329145589456, + "ymax": 639.109908592528 + }, + "corners_3d": [ + [ + -50.97329330444336, + 46.65314483642578, + -0.25433236360549927 + ], + [ + -49.83411407470703, + 46.593441009521484, + -0.25433236360549927 + ], + [ + -49.87272262573242, + 45.85674285888672, + -0.25433236360549927 + ], + [ + -51.01190185546875, + 45.916446685791016, + -0.25433236360549927 + ], + [ + -50.97329330444336, + 46.65314483642578, + 1.5654232501983643 + ], + [ + -49.83411407470703, + 46.593441009521484, + 1.5654232501983643 + ], + [ + -49.87272262573242, + 45.85674285888672, + 1.5654232501983643 + ], + [ + -51.01190185546875, + 45.916446685791016, + 1.5654232501983643 + ] + ], + "corners_2d": [ + [ + 600.5612706261327, + 639.109908592528 + ], + [ + 648.3924304788516, + 625.3031963072813 + ], + [ + 638.824319023261, + 597.6655740269107 + ], + [ + 591.9216129478781, + 610.8882129103125 + ], + [ + 597.9926164216273, + 599.2426728071337 + ], + [ + 648.9329145589456, + 584.9929421129218 + ], + [ + 638.750315370571, + 556.5270185924179 + ], + [ + 588.861834242744, + 570.1362176930302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 558, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 39.31223678588867, + "z": 0.8075131773948669 + }, + "extent": { + "x": 0.3102368116378784, + "y": 0.4074487090110779, + "z": 0.8725490570068359 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 255.77994330703712, + "ymin": 389.53283890925286, + "xmax": 308.11419588827493, + "ymax": 455.56311230043127 + }, + "corners_3d": [ + [ + -58.090309143066406, + 39.60072326660156, + -0.065035879611969 + ], + [ + -57.276527404785156, + 39.64337158203125, + -0.065035879611969 + ], + [ + -57.244056701660156, + 39.02375030517578, + -0.065035879611969 + ], + [ + -58.057838439941406, + 38.981101989746094, + -0.065035879611969 + ], + [ + -58.090309143066406, + 39.60072326660156, + 1.6800622940063477 + ], + [ + -57.276527404785156, + 39.64337158203125, + 1.6800622940063477 + ], + [ + -57.244056701660156, + 39.02375030517578, + 1.6800622940063477 + ], + [ + -58.057838439941406, + 38.981101989746094, + 1.6800622940063477 + ] + ], + "corners_2d": [ + [ + 275.34358769147883, + 455.56311230043127 + ], + [ + 307.3257133241273, + 450.6672856158136 + ], + [ + 308.11419588827493, + 432.5130746988373 + ], + [ + 276.6538704389046, + 437.2518000126709 + ], + [ + 255.77994330703712, + 412.8762042279851 + ], + [ + 289.55937739937417, + 407.913800913124 + ], + [ + 290.69106807094937, + 389.53283890925286 + ], + [ + 257.493168347103, + 394.3276979508901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 420, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 31.14202117919922, + "z": 0.8004526495933533 + }, + "extent": { + "x": 0.3327428996562958, + "y": 0.5845922827720642, + "z": 0.9078078866004944 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 869.7099388221147, + "ymin": 104.4703638491186, + "xmax": 917.5868984823437, + "ymax": 161.3172169414278 + }, + "corners_3d": [ + [ + -37.55129623413086, + 31.37921714782715, + -0.10735523700714111 + ], + [ + -36.396507263183594, + 31.562118530273438, + -0.10735523700714111 + ], + [ + -36.29240036010742, + 30.90482521057129, + -0.10735523700714111 + ], + [ + -37.44718933105469, + 30.721923828125, + -0.10735523700714111 + ], + [ + -37.55129623413086, + 31.37921714782715, + 1.7082605361938477 + ], + [ + -36.396507263183594, + 31.562118530273438, + 1.7082605361938477 + ], + [ + -36.29240036010742, + 30.90482521057129, + 1.7082605361938477 + ], + [ + -37.44718933105469, + 30.721923828125, + 1.7082605361938477 + ] + ], + "corners_2d": [ + [ + 874.5099263332878, + 161.3172169414278 + ], + [ + 906.7585467578135, + 159.49292504215333 + ], + [ + 901.5482822028167, + 148.62051993863983 + ], + [ + 869.7099388221147, + 150.39748259536148 + ], + [ + 884.050912070029, + 116.97453629401193 + ], + [ + 917.5868984823437, + 115.17695555948461 + ], + [ + 912.0211155054578, + 104.4703638491186 + ], + [ + 878.9285753604784, + 106.21945161678187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6821390795228, + "ymin": 304.5622272800664, + "xmax": 1280.0, + "ymax": 588.2625172167558 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1154.7078576407089, + 552.479295764558 + ], + [ + 1143.740923044735, + 537.1287970870512 + ], + [ + 999.6821390795228, + 572.0092288819933 + ], + [ + 1009.0899996135706, + 588.2625172167558 + ], + [ + 1325.16566809064, + 321.0728088603191 + ], + [ + 1307.7989680850453, + 304.5622272800664 + ], + [ + 1121.3376283652278, + 342.27755464668695 + ], + [ + 1136.116222338564, + 360.09682466670245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.2667889348486, + "ymin": 346.42930562839035, + "xmax": 1155.883770585524, + "ymax": 366.62029126464876 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1153.4566180425732, + 362.36925547736047 + ], + [ + 1143.5522088212338, + 350.6380475024862 + ], + [ + 1123.2667889348486, + 354.7932031794566 + ], + [ + 1132.9786371418675, + 366.62029126464876 + ], + [ + 1155.883770585524, + 358.1675576844507 + ], + [ + 1145.9054743612733, + 346.42930562839035 + ], + [ + 1125.5344548823073, + 350.586812641077 + ], + [ + 1135.318591925274, + 362.4214560944986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.6193459431955, + "ymin": 0.0, + "xmax": 849.8641322911457, + "ymax": 94.20698827781348 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 817.7311304653276, + 80.80347306945743 + ], + [ + 813.5569989425427, + 74.96096501190584 + ], + [ + 719.6193459431955, + 88.15599419996119 + ], + [ + 723.1218718023654, + 94.20698827781348 + ], + [ + 849.8641322911457, + -130.8036380324844 + ], + [ + 844.6489740316202, + -135.76165552095904 + ], + [ + 734.1800161388788, + -124.54445385795094 + ], + [ + 738.4660292533755, + -119.37666726381389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.05148779901606, + "ymin": 429.3253452572949, + "xmax": 164.97776097274038, + "ymax": 452.4351878199817 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 138.43338977852238, + 438.42339300890984 + ], + [ + 136.67025112847466, + 452.4351878199817 + ], + [ + 163.5553358497914, + 447.3954601996524 + ], + [ + 164.97776097274038, + 433.5079820301909 + ], + [ + 135.85642509938174, + 434.2473531507097 + ], + [ + 134.05148779901606, + 448.2791795282859 + ], + [ + 161.08759962265952, + 443.2320378740295 + ], + [ + 162.5480152514745, + 429.3253452572949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 79.76946174163186, + "ymin": 0.0, + "xmax": 287.0863459191731, + "ymax": 157.63534503089366 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 175.25192018491668, + 150.5421820043709 + ], + [ + 174.36447708369064, + 157.63534503089366 + ], + [ + 287.0863459191731, + 141.9362584032957 + ], + [ + 287.0138420579777, + 135.10724304045192 + ], + [ + 81.80429455568617, + -70.77392691480162 + ], + [ + 79.76946174163186, + -64.5302036407046 + ], + [ + 217.01304757351699, + -78.32031311767315 + ], + [ + 217.62798669160895, + -84.28610642524512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 418.4866917898508, + "xmax": 292.574956295284, + "ymax": 701.3071980955475 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 108.75773343354217, + 682.0175028355445 + ], + [ + 106.34435213675897, + 701.3071980955475 + ], + [ + 292.574956295284, + 658.8991340495331 + ], + [ + 292.38250845520315, + 640.7727993304361 + ], + [ + -93.05840380196946, + 465.7784089657192 + ], + [ + -100.38951322431342, + 488.2733373987053 + ], + [ + 163.6748520483804, + 439.1368473394857 + ], + [ + 165.80341865930092, + 418.4866917898508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.0939873247619, + "ymin": 346.32151879257776, + "xmax": 1156.0618185519556, + "ymax": 366.7298773108348 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1153.6076900240953, + 362.432589943125 + ], + [ + 1143.5961571120765, + 350.57555684532906 + ], + [ + 1123.0939873247619, + 354.7748911884683 + ], + [ + 1132.9087984089217, + 366.7298773108348 + ], + [ + 1156.0618185519556, + 358.18574566656355 + ], + [ + 1145.9747919903398, + 346.32151879257776 + ], + [ + 1125.3851801372907, + 350.5232525863193 + ], + [ + 1135.2738345429357, + 362.48596045777623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.2202375642059, + "ymin": 429.4473270697873, + "xmax": 164.8169829134569, + "ymax": 452.3110094778269 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 138.55287135337483, + 438.44906570929425 + ], + [ + 136.8101177999714, + 452.3110094778269 + ], + [ + 163.40774071317344, + 447.32560140949306 + ], + [ + 164.8169829134569, + 433.58534344920736 + ], + [ + 136.00388434526974, + 434.3175106760365 + ], + [ + 134.2202375642059, + 448.1990573968815 + ], + [ + 160.96566895461712, + 443.20639669221543 + ], + [ + 162.41211660867492, + 429.4473270697873 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00029/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06645e56b7898aa3c9eda14e2cea464905eb5166 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00029/meta.json @@ -0,0 +1,1617 @@ +{ + "frame_id": 29, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.5, + "sim_timestamp": 12091.51143776928 + }, + "drone_pose": { + "x": -52.81968797000774, + "y": 56.1777132628644, + "z": 20.037601967461878, + "pitch": -47.1523844511329, + "yaw": -75.00172499080688, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.17599022388458252, + 0.6568840742111206, + 0.7331650257110596, + 31.507122039794922 + ], + [ + -0.9659336805343628, + 0.25878989696502686, + -2.9802322387695312e-08, + 36.482086181640625 + ], + [ + -0.18973574042320251, + -0.7081887722015381, + 0.6800508499145508, + -63.43278884887695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.957926755377, + "y": 55.60562455923586, + "z": 20.031963215415733 + }, + "t1_image_uv": [ + -120.16893663472717, + -652.5944402569304 + ], + "t1_depth": 0.35560134061728205 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 38.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.436140106020382, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 38.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2930908203125, + "y": 0.2163378894329071, + "z": 0.5575103163719177 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.5566777590125, + "ymin": 337.04941236048734, + "xmax": 650.5680087402723, + "ymax": 382.6433406118205 + }, + "corners_3d": [ + [ + -48.383522033691406, + 39.10532760620117, + 0.09803998470306396 + ], + [ + -47.950843811035156, + 39.10532760620117, + 0.09803998470306396 + ], + [ + -47.950843811035156, + 38.51914596557617, + 0.09803998470306396 + ], + [ + -48.383522033691406, + 38.51914596557617, + 0.09803998470306396 + ], + [ + -48.383522033691406, + 39.10532760620117, + 1.2130606174468994 + ], + [ + -47.950843811035156, + 39.10532760620117, + 1.2130606174468994 + ], + [ + -47.950843811035156, + 38.51914596557617, + 1.2130606174468994 + ], + [ + -48.383522033691406, + 38.51914596557617, + 1.2130606174468994 + ] + ], + "corners_2d": [ + [ + 635.1982389024876, + 382.6433406118205 + ], + [ + 650.2443240688624, + 379.62596869697273 + ], + [ + 644.7199684929709, + 364.6279316975437 + ], + [ + 629.8728837790145, + 367.55997162533794 + ], + [ + 635.0460722666535, + 355.1426705958406 + ], + [ + 650.5680087402723, + 352.1108981122939 + ], + [ + 644.8669159829358, + 337.04941236048734 + ], + [ + 629.5566777590125, + 339.9927921551964 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 29, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 384871, + "2": 416623, + "3": 77265, + "6": 7420, + "9": 15486, + "10": 835, + "12": 2060, + "20": 9687, + "24": 7353 + }, + "instance_pixel_counts": { + "2189": 1342, + "4960": 93060, + "6215": 122520, + "7314": 13196, + "7751": 5471, + "7826": 34249, + "8850": 124, + "9362": 41099, + "9874": 62817, + "10386": 2191, + "18512": 3919, + "22676": 65695, + "23188": 153275, + "24724": 56899, + "25236": 106869, + "28243": 830, + "28755": 3341, + "28802": 2861, + "32914": 5329, + "33370": 169, + "36500": 1570, + "37012": 3915, + "38548": 553, + "39060": 1146, + "39564": 4982, + "39770": 48158, + "40076": 12742, + "41612": 6565, + "41818": 2918, + "42074": 26020, + "42124": 10936, + "48274": 2133, + "53908": 169, + "56576": 208, + "56832": 236, + "57088": 627, + "57173": 21254, + "57344": 574, + "57600": 415, + "61569": 388 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 38.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2804052531719208, + "y": 0.18884886801242828, + "z": 0.5528030395507812 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 630.6506012322496, + "ymin": 337.677277377136, + "xmax": 649.458470019724, + "ymax": 382.00769499654587 + }, + "corners_3d": [ + [ + -48.35603332519531, + 39.09264373779297, + 0.10274726152420044 + ], + [ + -47.97833251953125, + 39.09264373779297, + 0.10274726152420044 + ], + [ + -47.97833251953125, + 38.531829833984375, + 0.10274726152420044 + ], + [ + -48.35603332519531, + 38.531829833984375, + 0.10274726152420044 + ], + [ + -48.35603332519531, + 39.09264373779297, + 1.2083532810211182 + ], + [ + -47.97833251953125, + 39.09264373779297, + 1.2083532810211182 + ], + [ + -47.97833251953125, + 38.531829833984375, + 1.2083532810211182 + ], + [ + -48.35603332519531, + 38.531829833984375, + 1.2083532810211182 + ] + ], + "corners_2d": [ + [ + 636.0390471309881, + 382.00769499654587 + ], + [ + 649.1712156432077, + 379.37530686044283 + ], + [ + 643.8972966436627, + 365.02092730551453 + ], + [ + 630.9313671330665, + 367.582039645548 + ], + [ + 635.9146654760772, + 354.73682252628765 + ], + [ + 649.458470019724, + 352.0920289748942 + ], + [ + 644.0176518253818, + 337.677277377136 + ], + [ + 630.6506012322496, + 340.24826060040556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 236, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 41.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.23054444789886475, + "y": 0.3001440763473511, + "z": 0.5376085638999939 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 804.4414319937327, + "ymin": 388.02589771481775, + "xmax": 839.040042210519, + "ymax": 433.7991388815449 + }, + "corners_3d": [ + [ + -44.301578521728516, + 42.084598541259766, + 0.11794173717498779 + ], + [ + -43.70867919921875, + 41.990692138671875, + 0.11794173717498779 + ], + [ + -43.78081130981445, + 41.535282135009766, + 0.11794173717498779 + ], + [ + -44.37371063232422, + 41.629188537597656, + 0.11794173717498779 + ], + [ + -44.301578521728516, + 42.084598541259766, + 1.1931588649749756 + ], + [ + -43.70867919921875, + 41.990692138671875, + 1.1931588649749756 + ], + [ + -43.78081130981445, + 41.535282135009766, + 1.1931588649749756 + ], + [ + -44.37371063232422, + 41.629188537597656, + 1.1931588649749756 + ] + ], + "corners_2d": [ + [ + 813.3974733591692, + 433.7991388815449 + ], + [ + 832.8934088323915, + 426.58755544626183 + ], + [ + 823.7786222774164, + 414.36329030151427 + ], + [ + 804.4414319937327, + 421.41519325876806 + ], + [ + 818.9601934594314, + 407.6002808419421 + ], + [ + 839.040042210519, + 400.3347264833229 + ], + [ + 829.5677747692732, + 388.02589771481775 + ], + [ + 809.656046175317, + 395.1255212537542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 627, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 45.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33110594749450684, + "y": 0.5369873046875, + "z": 0.8999364972114563 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 594.327093053531, + "ymin": 558.8586953988697, + "xmax": 650.6921777636973, + "ymax": 637.6948825920825 + }, + "corners_3d": [ + [ + -50.94192886352539, + 46.11370086669922, + -0.2443861961364746 + ], + [ + -49.86942672729492, + 46.057491302490234, + -0.2443861961364746 + ], + [ + -49.90408706665039, + 45.39618682861328, + -0.2443861961364746 + ], + [ + -50.97658920288086, + 45.452396392822266, + -0.2443861961364746 + ], + [ + -50.94192886352539, + 46.11370086669922, + 1.555486798286438 + ], + [ + -49.86942672729492, + 46.057491302490234, + 1.555486798286438 + ], + [ + -49.90408706665039, + 45.39618682861328, + 1.555486798286438 + ], + [ + -50.97658920288086, + 45.452396392822266, + 1.555486798286438 + ] + ], + "corners_2d": [ + [ + 605.1994916776657, + 637.6948825920825 + ], + [ + 650.0519185426695, + 624.2522944650229 + ], + [ + 641.1164313943857, + 599.4825592527372 + ], + [ + 597.0371181084249, + 612.414918776177 + ], + [ + 602.9584540598086, + 598.2352990622352 + ], + [ + 650.6921777636973, + 584.3663112753839 + ], + [ + 641.1861024076843, + 558.8586953988697 + ], + [ + 594.327093053531, + 572.1685806831872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 574, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 38.81223678588867, + "z": 0.8074594736099243 + }, + "extent": { + "x": 0.30430662631988525, + "y": 0.48741453886032104, + "z": 0.8956454396247864 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 251.95651602992604, + "ymin": 391.5513832096987, + "xmax": 311.14659723691915, + "ymax": 459.71802190762315 + }, + "corners_3d": [ + [ + -58.169857025146484, + 39.09061813354492, + -0.08818596601486206 + ], + [ + -57.19636154174805, + 39.14163589477539, + -0.08818596601486206 + ], + [ + -57.16450881958008, + 38.53385543823242, + -0.08818596601486206 + ], + [ + -58.138004302978516, + 38.48283767700195, + -0.08818596601486206 + ], + [ + -58.169857025146484, + 39.09061813354492, + 1.7031049728393555 + ], + [ + -57.19636154174805, + 39.14163589477539, + 1.7031049728393555 + ], + [ + -57.16450881958008, + 38.53385543823242, + 1.7031049728393555 + ], + [ + -58.138004302978516, + 38.48283767700195, + 1.7031049728393555 + ] + ], + "corners_2d": [ + [ + 272.3103117756775, + 459.71802190762315 + ], + [ + 310.6828124990695, + 453.50670641623435 + ], + [ + 311.14659723691915, + 435.6470888816476 + ], + [ + 273.38718809215663, + 441.6628333006371 + ], + [ + 251.95651602992604, + 415.9461814866286 + ], + [ + 292.5584421384334, + 409.6458121796853 + ], + [ + 293.3496887358574, + 391.5513832096987 + ], + [ + 253.43349844675657, + 397.6427018407986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 415, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 30.64202117919922, + "z": 0.8009507060050964 + }, + "extent": { + "x": 0.368232399225235, + "y": 0.29734984040260315, + "z": 0.9074925184249878 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 873.6540717000036, + "ymin": 102.49306635245279, + "xmax": 905.9609724867798, + "ymax": 159.65896331526463 + }, + "corners_3d": [ + [ + -37.27313995361328, + 30.959203720092773, + -0.10654181241989136 + ], + [ + -36.68576431274414, + 31.052236557006836, + -0.10654181241989136 + ], + [ + -36.570556640625, + 30.324838638305664, + -0.10654181241989136 + ], + [ + -37.15793228149414, + 30.2318058013916, + -0.10654181241989136 + ], + [ + -37.27313995361328, + 30.959203720092773, + 1.7084431648254395 + ], + [ + -36.68576431274414, + 31.052236557006836, + 1.7084431648254395 + ], + [ + -36.570556640625, + 30.324838638305664, + 1.7084431648254395 + ], + [ + -37.15793228149414, + 30.2318058013916, + 1.7084431648254395 + ] + ], + "corners_2d": [ + [ + 879.2384372536402, + 159.65896331526463 + ], + [ + 895.5863146376244, + 158.62497527615784 + ], + [ + 889.7735032968707, + 146.62847307661062 + ], + [ + 873.6540717000036, + 147.6328968214015 + ], + [ + 888.9620435978743, + 115.32474141691034 + ], + [ + 905.9609724867798, + 114.30593484875575 + ], + [ + 899.7604684255957, + 102.49306635245279 + ], + [ + 883.0083945802407, + 103.48158600679602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8326547358074, + "ymin": 318.28772654085674, + "xmax": 1280.0, + "ymax": 603.7914092110651 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1168.6797254493217, + 565.5928381593208 + ], + [ + 1157.2410291700094, + 549.9455550201427 + ], + [ + 1012.8326547358074, + 587.172151309815 + ], + [ + 1022.7220772688838, + 603.7914092110651 + ], + [ + 1346.4986960657914, + 335.2433670661309 + ], + [ + 1328.292696140578, + 318.28772654085674 + ], + [ + 1141.165309393938, + 358.8644465571853 + ], + [ + 1156.8010917450852, + 377.24653915716067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.9262470972053, + "ymin": 362.689523466774, + "xmax": 1176.3485607124894, + "ymax": 383.561464873484 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1173.7813302762647, + 378.9794537491349 + ], + [ + 1163.320167969826, + 366.89005803352694 + ], + [ + 1142.9262470972053, + 371.3673331413151 + ], + [ + 1153.19521760901, + 383.561464873484 + ], + [ + 1176.3485607124894, + 374.78808774107875 + ], + [ + 1165.8080777998653, + 362.689523466774 + ], + [ + 1145.3275262719974, + 367.17003848901754 + ], + [ + 1155.6742210374337, + 379.3739227026555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.5385501154783, + "ymin": 0.0, + "xmax": 850.7930975617948, + "ymax": 100.42224605225846 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 818.2398817789654, + 86.21032997539851 + ], + [ + 813.912331973848, + 80.29061871466564 + ], + [ + 719.5385501154783, + 94.28031306961958 + ], + [ + 723.1933975066426, + 100.42224605225846 + ], + [ + 850.7930975617948, + -126.42354457572429 + ], + [ + 845.3834592293023, + -131.4616061009341 + ], + [ + 734.2477308608718, + -119.53236266276565 + ], + [ + 738.7242441258003, + -114.26965047847199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.61266724567946, + "ymin": 457.6400492178934, + "xmax": 166.15197898519722, + "ymax": 481.9049890188504 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 138.88480493675235, + 467.1801697697116 + ], + [ + 137.3002663985788, + 481.9049890188504 + ], + [ + 164.92487272837752, + 476.36790874014685 + ], + [ + 166.15197898519722, + 461.78281558124615 + ], + [ + 136.23995716359212, + 463.0461165268729 + ], + [ + 134.61266724567946, + 477.7960780060828 + ], + [ + 162.39718505978158, + 472.2493078158187 + ], + [ + 163.66292569582157, + 457.6400492178934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.8028021169581, + "ymin": 0.0, + "xmax": 282.71769513870464, + "ymax": 168.6997168365166 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 169.12514947589278, + 161.42699816594805 + ], + [ + 168.319387233224, + 168.6997168365166 + ], + [ + 282.71769513870464, + 151.88723031542855 + ], + [ + 282.54087995280435, + 144.90027890618387 + ], + [ + 72.78602398682585, + -61.383360446626966 + ], + [ + 70.8028021169581, + -54.94497978308783 + ], + [ + 210.62113239412105, + -69.79405962541142 + ], + [ + 211.1398962527283, + -75.92927556705268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 446.5736200933295, + "xmax": 296.1873807381938, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 108.33448378544881, + 710.1166561707589 + ], + [ + 106.11211302526442, + 730.175522750289 + ], + [ + 296.1873807381938, + 684.1494243246908 + ], + [ + 295.71224886301667, + 665.3743213382429 + ], + [ + -99.72578348185777, + 498.66324972540724 + ], + [ + -107.05162569532126, + 522.4460455728752 + ], + [ + 165.12484255278974, + 468.2726504754046 + ], + [ + 166.95960645289006, + 446.5736200933295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.749171204236, + "ymin": 362.5781395772153, + "xmax": 1176.531003336004, + "ymax": 383.6747883134846 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1173.9352553349875, + 379.04292067067536 + ], + [ + 1163.361005606927, + 366.8238981017313 + ], + [ + 1142.749171204236, + 371.34876546589464 + ], + [ + 1153.1270762036884, + 383.6747883134846 + ], + [ + 1176.531003336004, + 374.8065259868472 + ], + [ + 1165.8757088065204, + 362.5781395772153 + ], + [ + 1145.1753789704458, + 367.1063137995221 + ], + [ + 1155.6326803157306, + 379.4423034670641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.78489485754613, + "ymin": 457.76805590955394, + "xmax": 165.9881409643893, + "ymax": 481.7745257835244 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 139.00879672199915, + 467.2072110255537 + ], + [ + 137.44282573994786, + 481.7745257835244 + ], + [ + 164.77204726819986, + 476.29713493614435 + ], + [ + 165.9881409643893, + 461.86658961769706 + ], + [ + 136.39268996190032, + 463.1172108582929 + ], + [ + 134.78489485754613, + 477.70913013545754 + ], + [ + 162.27061943335758, + 472.2222598326696 + ], + [ + 163.52455038528552, + 457.76805590955394 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00030/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..159c9e15216df95fba64d5312d3caeeeea267b24 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00030/meta.json @@ -0,0 +1,1724 @@ +{ + "frame_id": 30, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.0, + "sim_timestamp": 12100.946663971292 + }, + "drone_pose": { + "x": -52.957926755377, + "y": 55.60562455923586, + "z": 20.031963215415733, + "pitch": -47.19689387047391, + "yaw": -74.51580557474334, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.18140274286270142, + 0.6548187732696533, + 0.7336930632591248, + 31.32101058959961 + ], + [ + -0.9637042284011841, + 0.26697248220443726, + 2.9802322387695312e-08, + 36.19060134887695 + ], + [ + -0.195875883102417, + -0.7070630788803101, + 0.679481029510498, + -63.30120086669922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -53.031391844762965, + "y": 55.03446368504713, + "z": 20.027052398449968 + }, + "t1_image_uv": [ + 51.57971347536477, + -657.5467547076195 + ], + "t1_depth": 0.36428309713715773 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 38.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.409427577963832, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 38.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26145750284194946, + "y": 0.29740476608276367, + "z": 0.552083432674408 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.9014048884306, + "ymin": 337.3720522548436, + "xmax": 653.2172579930982, + "ymax": 382.3217454399359 + }, + "corners_3d": [ + [ + -48.4645881652832, + 38.573692321777344, + 0.10346686840057373 + ], + [ + -47.86977767944336, + 38.57369613647461, + 0.10346686840057373 + ], + [ + -47.86977767944336, + 38.05078125, + 0.10346686840057373 + ], + [ + -48.4645881652832, + 38.050777435302734, + 0.10346686840057373 + ], + [ + -48.4645881652832, + 38.573692321777344, + 1.2076337337493896 + ], + [ + -47.86977767944336, + 38.57369613647461, + 1.2076337337493896 + ], + [ + -47.86977767944336, + 38.05078125, + 1.2076337337493896 + ], + [ + -48.4645881652832, + 38.050777435302734, + 1.2076337337493896 + ] + ], + "corners_2d": [ + [ + 632.1721669395405, + 382.3217454399359 + ], + [ + 652.8161842012707, + 378.04210465002365 + ], + [ + 647.6974700592419, + 364.6868139442476 + ], + [ + 627.2954167685116, + 368.85853684450456 + ], + [ + 631.9261749155346, + 355.0840315223813 + ], + [ + 653.2172579930982, + 350.7839893957154 + ], + [ + 647.9352124926492, + 337.3720522548436 + ], + [ + 626.9014048884306, + 341.56032818136714 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 30, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 386023, + "2": 414771, + "3": 77831, + "6": 6655, + "9": 16094, + "10": 842, + "12": 2110, + "20": 9857, + "24": 7417 + }, + "instance_pixel_counts": { + "2189": 699, + "4960": 90858, + "6215": 123388, + "7314": 13794, + "7751": 3383, + "7826": 35503, + "8850": 588, + "9362": 42932, + "9874": 60787, + "10386": 3200, + "18512": 4031, + "22676": 68817, + "23188": 152594, + "24212": 59, + "24724": 59807, + "25236": 104378, + "28243": 889, + "28755": 2753, + "28802": 2607, + "32914": 3650, + "33370": 263, + "36500": 1649, + "37012": 4082, + "38036": 18, + "38548": 576, + "39060": 1040, + "39564": 5216, + "39770": 46092, + "40076": 13249, + "41100": 8, + "41612": 6900, + "41818": 3169, + "42074": 28307, + "42124": 10616, + "48274": 368, + "53908": 52, + "56576": 204, + "56832": 232, + "57088": 719, + "57173": 21920, + "57344": 566, + "57600": 389, + "61569": 406 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 38.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2554638683795929, + "y": 0.2812121510505676, + "z": 0.5499740839004517 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.5340335255247, + "ymin": 337.6911664958626, + "xmax": 652.5779345423497, + "ymax": 381.99809273696957 + }, + "corners_3d": [ + [ + -48.448394775390625, + 38.56769943237305, + 0.10557621717453003 + ], + [ + -47.88597106933594, + 38.56769943237305, + 0.10557621717453003 + ], + [ + -47.88597106933594, + 38.0567741394043, + 0.10557621717453003 + ], + [ + -48.448394775390625, + 38.0567741394043, + 0.10557621717453003 + ], + [ + -48.448394775390625, + 38.56769943237305, + 1.2055244445800781 + ], + [ + -47.88597106933594, + 38.56769943237305, + 1.2055244445800781 + ], + [ + -47.88597106933594, + 38.0567741394043, + 1.2055244445800781 + ], + [ + -48.448394775390625, + 38.0567741394043, + 1.2055244445800781 + ] + ], + "corners_2d": [ + [ + 632.679301746271, + 381.99809273696957 + ], + [ + 652.1977111219576, + 377.9525322651349 + ], + [ + 647.2024597013484, + 364.90050587059875 + ], + [ + 627.9076181532271, + 368.8463555536256 + ], + [ + 632.4502002823898, + 354.86316423268653 + ], + [ + 652.5779345423497, + 350.7984293583097 + ], + [ + 647.4241083383079, + 337.6911664958626 + ], + [ + 627.5340335255247, + 341.65264877956326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 232, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 41.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22539064288139343, + "y": 0.17820557951927185, + "z": 0.5239314436912537 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.0827871848287, + "ymin": 388.82672377858347, + "xmax": 835.4117737254859, + "ymax": 430.78381236725403 + }, + "corners_3d": [ + [ + -44.18194580078125, + 41.56043243408203, + 0.13161885738372803 + ], + [ + -43.829925537109375, + 41.504676818847656, + 0.13161885738372803 + ], + [ + -43.90044403076172, + 41.0594482421875, + 0.13161885738372803 + ], + [ + -44.252464294433594, + 41.115203857421875, + 0.13161885738372803 + ], + [ + -44.18194580078125, + 41.56043243408203, + 1.1794817447662354 + ], + [ + -43.829925537109375, + 41.504676818847656, + 1.1794817447662354 + ], + [ + -43.90044403076172, + 41.0594482421875, + 1.1794817447662354 + ], + [ + -44.252464294433594, + 41.115203857421875, + 1.1794817447662354 + ] + ], + "corners_2d": [ + [ + 818.0029875975725, + 430.78381236725403 + ], + [ + 829.517950195116, + 426.4235250136988 + ], + [ + 820.5079314601726, + 414.4917885340391 + ], + [ + 809.0827871848287, + 418.7580700001435 + ], + [ + 823.5612733451939, + 405.23228296418665 + ], + [ + 835.4117737254859, + 400.8401327100579 + ], + [ + 826.0589601629983, + 388.82672377858347 + ], + [ + 814.303425934579, + 393.12127968364723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 719, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 45.25494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3270312547683716, + "y": 0.3963989317417145, + "z": 0.8836972117424011 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 603.3048821885536, + "ymin": 561.5633941528076, + "xmax": 647.3900548012145, + "ymax": 636.0761009564146 + }, + "corners_3d": [ + [ + -50.8017463684082, + 45.602272033691406, + -0.22814691066741943 + ], + [ + -50.01003646850586, + 45.5607795715332, + -0.22814691066741943 + ], + [ + -50.04426956176758, + 44.907615661621094, + -0.22814691066741943 + ], + [ + -50.83597946166992, + 44.9491081237793, + -0.22814691066741943 + ], + [ + -50.8017463684082, + 45.602272033691406, + 1.5392475128173828 + ], + [ + -50.01003646850586, + 45.5607795715332, + 1.5392475128173828 + ], + [ + -50.04426956176758, + 44.907615661621094, + 1.5392475128173828 + ], + [ + -50.83597946166992, + 44.9491081237793, + 1.5392475128173828 + ] + ], + "corners_2d": [ + [ + 613.9068753707965, + 636.0761009564146 + ], + [ + 646.9540141976026, + 625.8750460261741 + ], + [ + 637.9353858492004, + 601.3652646494058 + ], + [ + 605.4456094256557, + 611.1845587853107 + ], + [ + 612.2571222177911, + 597.3194272849198 + ], + [ + 647.3900548012145, + 586.798803671873 + ], + [ + 637.8085132876591, + 561.5633941528076 + ], + [ + 603.3048821885536, + 571.6662498878629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 566, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 38.31223678588867, + "z": 0.8073959946632385 + }, + "extent": { + "x": 0.3059423863887787, + "y": 0.3419519066810608, + "z": 0.8666611909866333 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.0806402195623, + "ymin": 395.53047978039535, + "xmax": 304.9369937748987, + "ymax": 460.77681997064457 + }, + "corners_3d": [ + [ + -58.02467727661133, + 38.5998649597168, + -0.059265196323394775 + ], + [ + -57.341712951660156, + 38.63565444946289, + -0.059265196323394775 + ], + [ + -57.309688568115234, + 38.02460861206055, + -0.059265196323394775 + ], + [ + -57.992652893066406, + 37.98881912231445, + -0.059265196323394775 + ], + [ + -58.02467727661133, + 38.5998649597168, + 1.6740572452545166 + ], + [ + -57.341712951660156, + 38.63565444946289, + 1.6740572452545166 + ], + [ + -57.309688568115234, + 38.02460861206055, + 1.6740572452545166 + ], + [ + -57.992652893066406, + 37.98881912231445, + 1.6740572452545166 + ] + ], + "corners_2d": [ + [ + 277.54171216197244, + 460.77681997064457 + ], + [ + 304.57647907497756, + 456.2171401098401 + ], + [ + 304.9369937748987, + 438.15830616737225 + ], + [ + 278.3363398321275, + 442.57348408356916 + ], + [ + 258.0806402195623, + 418.4520582310081 + ], + [ + 286.6430147506354, + 413.82734500070507 + ], + [ + 287.32339814793534, + 395.53047978039535 + ], + [ + 259.2451255680837, + 400.00097489232337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 389, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 30.14202117919922, + "z": 0.80144864320755 + }, + "extent": { + "x": 0.34250974655151367, + "y": 0.5887426733970642, + "z": 0.9007613658905029 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 863.2532675069556, + "ymin": 100.91299441786884, + "xmax": 911.2229848154566, + "ymax": 158.06094120352444 + }, + "corners_3d": [ + [ + -37.556922912597656, + 30.388214111328125, + -0.09931272268295288 + ], + [ + -36.39393615722656, + 30.57241439819336, + -0.09931272268295288 + ], + [ + -36.286773681640625, + 29.895828247070312, + -0.09931272268295288 + ], + [ + -37.44976043701172, + 29.711627960205078, + -0.09931272268295288 + ], + [ + -37.556922912597656, + 30.388214111328125, + 1.7022099494934082 + ], + [ + -36.39393615722656, + 30.57241439819336, + 1.7022099494934082 + ], + [ + -36.286773681640625, + 29.895828247070312, + 1.7022099494934082 + ], + [ + -37.44976043701172, + 29.711627960205078, + 1.7022099494934082 + ] + ], + "corners_2d": [ + [ + 868.4624747207846, + 158.06094120352444 + ], + [ + 900.7306554354386, + 155.85379111269816 + ], + [ + 895.1040958311901, + 144.73641199819838 + ], + [ + 863.2532675069556, + 146.88492641491655 + ], + [ + 877.6816272798279, + 114.03556683758356 + ], + [ + 911.2229848154566, + 111.86070178631243 + ], + [ + 905.227458601463, + 100.91299441786884 + ], + [ + 872.1367830138878, + 103.02780161459702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1026.2845957899087, + "ymin": 333.7081165454145, + "xmax": 1280.0, + "ymax": 620.6049763658002 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1183.2566532851079, + 580.1655482630069 + ], + [ + 1171.3594668623878, + 564.1685103767968 + ], + [ + 1026.2845957899087, + 603.5688614670735 + ], + [ + 1036.6339798949996, + 620.6049763658002 + ], + [ + 1369.219957510111, + 351.19271178319974 + ], + [ + 1350.155911948621, + 333.7081165454145 + ], + [ + 1161.8409589359796, + 377.0485632313282 + ], + [ + 1178.336223529976, + 396.0795914504351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.4154080987278, + "ymin": 380.5672446495413, + "xmax": 1197.7107489535301, + "ymax": 402.16059379705007 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1194.9899640566905, + 397.25850899878475 + ], + [ + 1183.970267312666, + 384.754872958891 + ], + [ + 1163.4154080987278, + 389.5432107510262 + ], + [ + 1174.242149043578, + 402.16059379705007 + ], + [ + 1197.7107489535301, + 393.0826026632827 + ], + [ + 1186.6058277088002, + 380.5672446495413 + ], + [ + 1165.962876156561, + 385.3599026291472 + ], + [ + 1176.8732345982469, + 397.98967299455654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.647330629871, + "ymin": 0.0, + "xmax": 853.287387939076, + "ymax": 106.69502141438775 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 820.0332133085938, + 91.7659330185046 + ], + [ + 815.5640676370253, + 85.75674331000084 + ], + [ + 720.647330629871, + 100.4509967921461 + ], + [ + 724.4405969021511, + 106.69502141438775 + ], + [ + 853.287387939076, + -122.00058195889898 + ], + [ + 847.6927091060129, + -127.13169174817256 + ], + [ + 735.7437064303075, + -114.55835301130372 + ], + [ + 740.3980517140853, + -109.1885782497942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.72694266482404, + "ymin": 486.6744291684972, + "xmax": 166.94236033635235, + "ymax": 512.1198037820077 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 138.93641361010106, + 496.6331031824228 + ], + [ + 137.48879475434023, + 512.1198037820077 + ], + [ + 165.86988334322933, + 506.09805687775577 + ], + [ + 166.94236033635235, + 490.76685120002645 + ], + [ + 136.2185904898974, + 492.5518234243633 + ], + [ + 134.72694266482404, + 508.06947109585406 + ], + [ + 163.27728947687575, + 502.0354268931327 + ], + [ + 164.3893435879682, + 486.6744291684972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.0906794919681, + "ymin": 0.0, + "xmax": 279.39973827396165, + "ymax": 179.24889236797577 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 164.11261967525968, + 171.79330955235747 + ], + [ + 163.37011576599258, + 179.24889236797577 + ], + [ + 279.39973827396165, + 161.44193036212292 + ], + [ + 279.1369956953074, + 154.29207127941677 + ], + [ + 65.04319039509983, + -52.47158362785291 + ], + [ + 63.0906794919681, + -45.83287951107911 + ], + [ + 205.43439893253247, + -61.648630578289726 + ], + [ + 205.87747693760355, + -67.9602549175296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 475.3872557194299, + "xmax": 299.5435509360226, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 107.70834411764565, + 738.1563176473531 + ], + [ + 105.63139530835508, + 759.0112433362317 + ], + [ + 299.5435509360226, + 709.6036430922034 + ], + [ + 298.82866126304054, + 690.1497713684582 + ], + [ + -106.90425982875149, + 532.1644580142191 + ], + [ + -114.30172002300503, + 557.3164555608118 + ], + [ + 166.13217694287653, + 498.20958413114374 + ], + [ + 167.73431154408723, + 475.3872557194299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.6388593572907, + "ymin": 0.0, + "xmax": 499.597140527041, + "ymax": 4.0923435157355925 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 223.83928441938542, + -0.5273097439858816 + ], + [ + 223.57794081954057, + 4.0923435157355925 + ], + [ + 499.597140527041, + -28.878317122305702 + ], + [ + 498.06277946961075, + -33.062656036139686 + ], + [ + 151.52665042287498, + -217.6583623569668 + ], + [ + 150.6388593572907, + -213.97311144709658 + ], + [ + 476.3927169772262, + -240.08463536356226 + ], + [ + 474.78117116124383, + -243.36709136399065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.2337110073686, + "ymin": 380.4520491353804, + "xmax": 1197.8979674726, + "ymax": 402.2778758924549 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1195.146973483256, + 397.32244709341035 + ], + [ + 1184.008203167578, + 384.684781967503 + ], + [ + 1163.2337110073686, + 389.5240048399315 + ], + [ + 1174.1753560139607, + 402.2778758924549 + ], + [ + 1197.8979674726, + 393.1016863404619 + ], + [ + 1186.6721206706284, + 380.4520491353804 + ], + [ + 1165.8076398438648, + 385.29568206677425 + ], + [ + 1176.8347018811992, + 398.0622122579339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.90299417258518, + "ymin": 486.8085924826678, + "xmax": 166.77513607443956, + "ymax": 511.9829170882417 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 139.0647521226294, + 496.66189343894416 + ], + [ + 137.63433097410314, + 511.9829170882417 + ], + [ + 165.71192809960428, + 506.0260946537987 + ], + [ + 166.77513607443956, + 490.85727593165467 + ], + [ + 136.37648817884912, + 492.62412213785757 + ], + [ + 134.90299417258518, + 507.9754312482709 + ], + [ + 163.1462413402745, + 502.00657815174895 + ], + [ + 164.24821104064904, + 486.8085924826678 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00031/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c232621e8d7e39231d2cf795a331ffe1a1b020d4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00031/meta.json @@ -0,0 +1,1723 @@ +{ + "frame_id": 31, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.5, + "sim_timestamp": 12110.747163214954 + }, + "drone_pose": { + "x": -53.031391844762965, + "y": 55.03446368504713, + "z": 20.027052398449968, + "pitch": -47.26733430207718, + "yaw": -74.22831128037015, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.18444085121154785, + 0.6530317664146423, + 0.7345278263092041, + 31.009979248046875 + ], + [ + -0.962352454662323, + 0.2718047499656677, + 0.0, + 36.076255798339844 + ], + [ + -0.1996481716632843, + -0.706874668598175, + 0.6785785555839539, + -63.08000946044922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -53.02807683288042, + "y": 54.4649163810896, + "z": 20.022800304681255 + }, + "t1_image_uv": [ + 252.5537266284279, + -663.1397623349725 + ], + "t1_depth": 0.3756671544463123 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -48.16718292236328, + "y": 37.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.0000000000001 + ], + "depth": 26.372726854292495, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 37.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2595288157463074, + "y": 0.2834155261516571, + "z": 0.5637925267219543 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.3616012222677, + "ymin": 337.1694858386012, + "xmax": 652.7530450618788, + "ymax": 382.49986650793863 + }, + "corners_3d": [ + [ + -48.450599670410156, + 38.0717658996582, + 0.09175777435302734 + ], + [ + -47.883766174316406, + 38.0717658996582, + 0.09175777435302734 + ], + [ + -47.883766174316406, + 37.55270767211914, + 0.09175777435302734 + ], + [ + -48.450599670410156, + 37.55270767211914, + 0.09175777435302734 + ], + [ + -48.450599670410156, + 38.0717658996582, + 1.219342827796936 + ], + [ + -47.883766174316406, + 38.0717658996582, + 1.219342827796936 + ], + [ + -47.883766174316406, + 37.55270767211914, + 1.219342827796936 + ], + [ + -48.450599670410156, + 37.55270767211914, + 1.219342827796936 + ] + ], + "corners_2d": [ + [ + 632.6927672718842, + 382.49986650793863 + ], + [ + 652.356991160531, + 378.3380979143518 + ], + [ + 647.1872405275265, + 365.0664507230936 + ], + [ + 627.750674926763, + 369.12421292505337 + ], + [ + 632.4576117938318, + 354.6831969880238 + ], + [ + 652.7530450618788, + 350.5005782345028 + ], + [ + 647.4146162742578, + 337.1694858386012 + ], + [ + 627.3616012222677, + 341.2442852891994 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 31, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 386978, + "2": 413232, + "3": 77997, + "6": 6321, + "9": 16706, + "10": 837, + "12": 2034, + "20": 9825, + "24": 7670 + }, + "instance_pixel_counts": { + "2189": 34, + "4960": 88596, + "6215": 124339, + "7314": 14420, + "7751": 1947, + "7826": 36971, + "8850": 1149, + "9362": 44628, + "9874": 58727, + "10386": 3963, + "18512": 3788, + "22676": 72047, + "23188": 150320, + "24212": 212, + "24724": 62459, + "25236": 101940, + "26624": 28, + "28243": 965, + "28755": 2493, + "28802": 2394, + "32914": 1696, + "33370": 386, + "36500": 1746, + "37012": 4171, + "38036": 150, + "38548": 619, + "39060": 984, + "39564": 5470, + "39770": 43304, + "40076": 13731, + "41100": 89, + "41612": 7164, + "41818": 3438, + "42074": 30869, + "42124": 10308, + "56576": 209, + "56832": 230, + "57088": 618, + "57173": 22743, + "57344": 556, + "57600": 421, + "61569": 441 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 37.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2543676793575287, + "y": 0.2925793528556824, + "z": 0.545452356338501 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.0927729751569, + "ymin": 337.70258190283414, + "xmax": 653.0191764178765, + "ymax": 381.9941513833194 + }, + "corners_3d": [ + [ + -48.45976257324219, + 38.06660461425781, + 0.11009794473648071 + ], + [ + -47.874603271484375, + 38.06660461425781, + 0.11009794473648071 + ], + [ + -47.874603271484375, + 37.55786895751953, + 0.11009794473648071 + ], + [ + -48.45976257324219, + 37.55786895751953, + 0.11009794473648071 + ], + [ + -48.45976257324219, + 38.06660461425781, + 1.201002597808838 + ], + [ + -47.874603271484375, + 38.06660461425781, + 1.201002597808838 + ], + [ + -47.874603271484375, + 37.55786895751953, + 1.201002597808838 + ], + [ + -48.45976257324219, + 37.55786895751953, + 1.201002597808838 + ] + ], + "corners_2d": [ + [ + 632.3200027108796, + 381.9941513833194 + ], + [ + 652.6278867474434, + 377.6985240498909 + ], + [ + 647.5547693574405, + 364.6913817317041 + ], + [ + 627.4774617456194, + 368.88171369170414 + ], + [ + 632.0810317623943, + 355.08245799760635 + ], + [ + 653.0191764178765, + 350.7660425496175 + ], + [ + 647.7858933878682, + 337.70258190283414 + ], + [ + 627.0927729751569, + 341.909969541632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -44.041194915771484, + "y": 40.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.18546387553215027, + "y": 0.2699804902076721, + "z": 0.5428856015205383 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 807.266322015228, + "ymin": 387.68603887766545, + "xmax": 838.2210486871211, + "ymax": 430.73836216839675 + }, + "corners_3d": [ + [ + -44.278839111328125, + 41.03535461425781, + 0.11266469955444336 + ], + [ + -43.74552536010742, + 40.95088577270508, + 0.11266469955444336 + ], + [ + -43.803550720214844, + 40.58452606201172, + 0.11266469955444336 + ], + [ + -44.33686447143555, + 40.66899490356445, + 0.11266469955444336 + ], + [ + -44.278839111328125, + 41.03535461425781, + 1.19843590259552 + ], + [ + -43.74552536010742, + 40.95088577270508, + 1.19843590259552 + ], + [ + -43.803550720214844, + 40.58452606201172, + 1.19843590259552 + ], + [ + -44.33686447143555, + 40.66899490356445, + 1.19843590259552 + ] + ], + "corners_2d": [ + [ + 814.6501396800161, + 430.73836216839675 + ], + [ + 832.0306322441229, + 424.0659184224676 + ], + [ + 824.5366469562863, + 414.28043558721237 + ], + [ + 807.266322015228, + 420.8346843274579 + ], + [ + 820.3154244721941, + 404.26455318397694 + ], + [ + 838.2210486871211, + 397.54129836484077 + ], + [ + 830.4310314867143, + 387.68603887766545 + ], + [ + 812.6421204913175, + 394.28640034194837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 618, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -50.42300796508789, + "y": 44.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.32143309712409973, + "y": 0.30623534321784973, + "z": 0.8860992789268494 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 608.9104587606749, + "ymin": 563.481623008141, + "xmax": 645.0970629529003, + "ymax": 635.4546878844874 + }, + "corners_3d": [ + [ + -50.71200180053711, + 45.09196472167969, + -0.23054897785186768 + ], + [ + -50.10036849975586, + 45.05990982055664, + -0.23054897785186768 + ], + [ + -50.13401412963867, + 44.41792297363281, + -0.23054897785186768 + ], + [ + -50.74564743041992, + 44.44997787475586, + -0.23054897785186768 + ], + [ + -50.71200180053711, + 45.09196472167969, + 1.541649580001831 + ], + [ + -50.10036849975586, + 45.05990982055664, + 1.541649580001831 + ], + [ + -50.13401412963867, + 44.41792297363281, + 1.541649580001831 + ], + [ + -50.74564743041992, + 44.44997787475586, + 1.541649580001831 + ] + ], + "corners_2d": [ + [ + 619.2877447254185, + 635.4546878844874 + ], + [ + 644.7945657525465, + 627.438866867099 + ], + [ + 635.8189341104907, + 603.2896847307325 + ], + [ + 610.7323425190383, + 611.011062383297 + ], + [ + 617.9724477547393, + 596.6273791042981 + ], + [ + 645.0970629529003, + 588.3575130046881 + ], + [ + 635.5603207426266, + 563.481623008141 + ], + [ + 608.9104587606749, + 571.4290514470719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 556, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": 37.81223678588867, + "z": 0.8073374032974243 + }, + "extent": { + "x": 0.3145092725753784, + "y": 0.434577614068985, + "z": 0.8830381035804749 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 253.4844354775372, + "ymin": 395.7440567609295, + "xmax": 308.2580715417452, + "ymax": 463.7273095250695 + }, + "corners_3d": [ + [ + -58.11762619018555, + 38.10356903076172, + -0.07570070028305054 + ], + [ + -57.24966049194336, + 38.1490592956543, + -0.07570070028305054 + ], + [ + -57.216739654541016, + 37.520904541015625, + -0.07570070028305054 + ], + [ + -58.0847053527832, + 37.47541427612305, + -0.07570070028305054 + ], + [ + -58.11762619018555, + 38.10356903076172, + 1.690375566482544 + ], + [ + -57.24966049194336, + 38.1490592956543, + 1.690375566482544 + ], + [ + -57.216739654541016, + 37.520904541015625, + 1.690375566482544 + ], + [ + -58.0847053527832, + 37.47541427612305, + 1.690375566482544 + ] + ], + "corners_2d": [ + [ + 273.6336765080922, + 463.7273095250695 + ], + [ + 308.0739932794317, + 457.7703870792095 + ], + [ + 308.2580715417452, + 439.1602268158167 + ], + [ + 274.38535805435293, + 444.92323476982244 + ], + [ + 253.4844354775372, + 420.65604763056166 + ], + [ + 289.91923797295436, + 414.6100852079621 + ], + [ + 290.42635739978584, + 395.7440567609295 + ], + [ + 254.6261775177735, + 401.5826908316261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 421, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.92184829711914, + "y": 29.64202117919922, + "z": 0.801946759223938 + }, + "extent": { + "x": 0.3390783667564392, + "y": 0.5859875082969666, + "z": 0.9072288870811462 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 861.8892599419021, + "ymin": 99.44793352862064, + "xmax": 909.72623604873, + "ymax": 156.92709401751097 + }, + "corners_3d": [ + [ + -37.55366516113281, + 29.885255813598633, + -0.10528212785720825 + ], + [ + -36.3961181640625, + 30.068593978881836, + -0.10528212785720825 + ], + [ + -36.29003143310547, + 29.398786544799805, + -0.10528212785720825 + ], + [ + -37.44757843017578, + 29.2154483795166, + -0.10528212785720825 + ], + [ + -37.55366516113281, + 29.885255813598633, + 1.7091755867004395 + ], + [ + -36.3961181640625, + 30.068593978881836, + 1.7091755867004395 + ], + [ + -36.29003143310547, + 29.398786544799805, + 1.7091755867004395 + ], + [ + -37.44757843017578, + 29.2154483795166, + 1.7091755867004395 + ] + ], + "corners_2d": [ + [ + 867.119230547852, + 156.92709401751097 + ], + [ + 899.2025729555387, + 154.63191912209592 + ], + [ + 893.5632374451544, + 143.6251209175385 + ], + [ + 861.8892599419021, + 145.8600173228121 + ], + [ + 876.3667216938123, + 112.54821614900195 + ], + [ + 909.72623604873, + 110.28663024739234 + ], + [ + 903.7166003524226, + 99.44793352862064 + ], + [ + 870.7994139231942, + 101.64775781897004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.7650117911762, + "ymin": 351.66253848670834, + "xmax": 1280.0, + "ymax": 639.3089991440524 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1198.3679228940232, + 596.9218852289854 + ], + [ + 1186.0358626113111, + 580.4945229181151 + ], + [ + 1039.7650117911762, + 621.7796785332793 + ], + [ + 1050.5357874831523, + 639.3089991440524 + ], + [ + 1393.4828064363048, + 369.8031789997743 + ], + [ + 1373.541666040101, + 351.66253848670834 + ], + [ + 1183.155300034855, + 397.5659604531353 + ], + [ + 1200.498348601628, + 417.3737455808725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1184.5265950694686, + "ymin": 400.81750951648894, + "xmax": 1219.7940786912843, + "ymax": 423.1855241283866 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1216.9036265182663, + 417.986765993656 + ], + [ + 1205.3319231753967, + 404.9853911190556 + ], + [ + 1184.5265950694686, + 410.0613811313108 + ], + [ + 1195.9024432670262, + 423.1855241283866 + ], + [ + 1219.7940786912843, + 413.83379183058446 + ], + [ + 1208.1306661073859, + 400.81750951648894 + ], + [ + 1187.235023138634, + 405.89913576571234 + ], + [ + 1198.7009376636329, + 419.0389434829583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.2723123032503, + "ymin": 0.0, + "xmax": 857.8196260587372, + "ymax": 113.04487482535322 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 823.4884191233523, + 97.54330749049626 + ], + [ + 818.8966388316985, + 91.42671666380835 + ], + [ + 723.2723123032503, + 106.68269344696282 + ], + [ + 727.1815553138944, + 113.04487482535322 + ], + [ + 857.8196260587372, + -117.50019533216454 + ], + [ + 852.0562538552318, + -122.74313617976566 + ], + [ + 739.0709181380674, + -109.63735953246169 + ], + [ + 743.8813936433683, + -104.14330405882754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 133.45304388346364, + "ymin": 516.2302252116576, + "xmax": 166.45008059459076, + "ymax": 542.8541901229132 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 137.68905839242814, + 526.5528268815365 + ], + [ + 136.2999959483776, + 542.8541901229132 + ], + [ + 165.45516238899705, + 536.391290695664 + ], + [ + 166.45008059459076, + 520.2607614132316 + ], + [ + 134.88804173070042, + 522.5361149719222 + ], + [ + 133.45304388346364, + 538.8750011620964 + ], + [ + 162.78726269157528, + 532.3969304820248 + ], + [ + 163.82329969225674, + 516.2302252116576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.02415970409254, + "ymin": 0.0, + "xmax": 277.3925253777002, + "ymax": 188.919954495304 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 160.52152649584644, + 181.2796482433795 + ], + [ + 159.81197951420512, + 188.919954495304 + ], + [ + 277.3925253777002, + 170.32538930496264 + ], + [ + 277.0741007191539, + 163.00751636048938 + ], + [ + 58.980242136495576, + -44.38650607427758 + ], + [ + 57.02415970409254, + -37.54349787025285 + ], + [ + 201.78301834764443, + -54.1528611844401 + ], + [ + 202.1846329369751, + -60.64795795420639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 504.73709567861863, + "xmax": 301.9648313304648, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 106.25118294210483, + 765.6553920292132 + ], + [ + 104.23840866710157, + 787.3286741020148 + ], + [ + 301.9648313304648, + 735.0335803600449 + ], + [ + 301.08735463376877, + 714.8678588751868 + ], + [ + -115.43764858599297, + 565.7836162944271 + ], + [ + -123.04052221363702, + 592.3809241308943 + ], + [ + 165.73918067058355, + 528.7647416258483 + ], + [ + 167.2248942021505, + 504.73709567861863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 145.08324870446182, + "ymin": 0.0, + "xmax": 498.5407820794645, + "ymax": 9.622224064752231 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 219.9652595174253, + 4.910165302119935 + ], + [ + 219.73104906035314, + 9.622224064752231 + ], + [ + 498.5407820794645, + -24.639666057832812 + ], + [ + 496.95028310198546, + -28.89604668961738 + ], + [ + 145.95938346482433, + -213.9117336215453 + ], + [ + 145.08324870446182, + -210.13777202953327 + ], + [ + 474.87386757072954, + -237.37138174308575 + ], + [ + 473.1987505506009, + -240.72135853913107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1184.339770845556, + "ymin": 400.6982190161211, + "xmax": 1219.9866331639546, + "ymax": 423.3070553187803 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1217.0640995811787, + 418.05171866050216 + ], + [ + 1205.3673990492425, + 404.9110167828329 + ], + [ + 1184.339770845556, + 410.0409315788774 + ], + [ + 1195.8363840714446, + 423.3070553187803 + ], + [ + 1219.9866331639546, + 413.8541468846058 + ], + [ + 1208.1962309134794, + 400.6982190161211 + ], + [ + 1187.0763436510028, + 405.8338878917316 + ], + [ + 1198.664962057328, + 419.1160196175796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 133.63349332169014, + "ymin": 516.3705377106502, + "xmax": 166.27891970063138, + "ymax": 542.7108919154106 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 137.821358075158, + 526.5839342857209 + ], + [ + 136.44896196960138, + 542.7108919154106 + ], + [ + 165.292338200266, + 536.317684816416 + ], + [ + 166.27891970063138, + 520.3579469833828 + ], + [ + 135.05082638794943, + 522.6100633463054 + ], + [ + 133.63349332169014, + 538.7737420087983 + ], + [ + 162.65210435825497, + 532.3656921939574 + ], + [ + 163.67895846096684, + 516.3705377106502 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00033/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4916ae85f3f83f337208d91104babcb2dfad577 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00033/meta.json @@ -0,0 +1,1726 @@ +{ + "frame_id": 33, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 16.5, + "sim_timestamp": 12131.369391544955 + }, + "drone_pose": { + "x": -52.94561811269019, + "y": 53.89625872191018, + "z": 20.01913700032928, + "pitch": -47.27974195600455, + "yaw": -72.83046618385828, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2002694010734558, + 0.6481860280036926, + 0.7346748113632202, + 30.830638885498047 + ], + [ + -0.9554354548454285, + 0.295199990272522, + 0.0, + 34.675941467285156 + ], + [ + -0.21687600016593933, + -0.7019343376159668, + 0.6784194707870483, + -62.8956413269043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.7892990662456, + "y": 53.33168321823099, + "z": 20.015992254401027 + }, + "t1_image_uv": [ + 598.4110030134987, + -668.4672363507002 + ], + "t1_depth": 0.3995662475102309 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -47.66718292236328, + "y": 36.81223678588867, + "z": 0.6555600543320179 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.35666510984465, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -47.66718292236328, + "y": 36.81223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.23130856454372406, + "y": 0.29698362946510315, + "z": 0.5517147183418274 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.2662558786195, + "ymin": 337.0327607199854, + "xmax": 653.6865029653455, + "ymax": 382.6685657952832 + }, + "corners_3d": [ + [ + -48.040740966796875, + 36.76579666137695, + 0.10384535789489746 + ], + [ + -47.62074279785156, + 37.185794830322266, + 0.10384535789489746 + ], + [ + -47.29362487792969, + 36.85867691040039, + 0.10384535789489746 + ], + [ + -47.713623046875, + 36.43867874145508, + 0.10384535789489746 + ], + [ + -48.040740966796875, + 36.76579666137695, + 1.2072747945785522 + ], + [ + -47.62074279785156, + 37.185794830322266, + 1.2072747945785522 + ], + [ + -47.29362487792969, + 36.85867691040039, + 1.2072747945785522 + ], + [ + -47.713623046875, + 36.43867874145508, + 1.2072747945785522 + ] + ], + "corners_2d": [ + [ + 626.6829681716442, + 375.1887955002812 + ], + [ + 645.596072124356, + 382.6685657952832 + ], + [ + 653.2726093464754, + 371.670254234272 + ], + [ + 634.500461840763, + 364.3440326211239 + ], + [ + 626.2662558786195, + 347.92428105741465 + ], + [ + 645.7724635079431, + 355.44038514545684 + ], + [ + 653.6865029653455, + 344.38980157513225 + ], + [ + 634.3301961592504, + 337.0327607199854 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 33, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 389628, + "2": 400473, + "3": 85379, + "6": 6193, + "9": 18186, + "10": 844, + "12": 2024, + "20": 10481, + "24": 8392 + }, + "instance_pixel_counts": { + "4960": 69324, + "6215": 130344, + "7314": 15874, + "7751": 68, + "7826": 37629, + "8850": 2852, + "9362": 49121, + "9874": 53338, + "10386": 4664, + "18512": 3977, + "21652": 43, + "22676": 79896, + "23188": 143760, + "24212": 1854, + "24724": 68292, + "25236": 95592, + "25748": 191, + "26624": 182, + "28243": 1304, + "28755": 1974, + "28802": 2245, + "33370": 755, + "35988": 4, + "36500": 1946, + "37012": 4060, + "38036": 589, + "38548": 675, + "39060": 1093, + "39564": 6013, + "39770": 44849, + "40076": 13356, + "40084": 25, + "41100": 367, + "41612": 7840, + "41818": 3974, + "42074": 35801, + "42124": 9505, + "43148": 178, + "56576": 215, + "56832": 235, + "57088": 644, + "57173": 24690, + "57344": 528, + "57600": 402, + "61569": 488 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -47.66718292236328, + "y": 36.81223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.3300463557243347, + "y": 0.22273679077625275, + "z": 0.5634257197380066 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.9450906652255, + "ymin": 335.348697629016, + "xmax": 652.9272517678412, + "ymax": 384.38085041892316 + }, + "corners_3d": [ + [ + -48.05805969238281, + 36.88811492919922, + 0.09213435649871826 + ], + [ + -47.74306106567383, + 37.2031135559082, + 0.09213435649871826 + ], + [ + -47.27630615234375, + 36.736358642578125, + 0.09213435649871826 + ], + [ + -47.591304779052734, + 36.42136001586914, + 0.09213435649871826 + ], + [ + -48.05805969238281, + 36.88811492919922, + 1.2189857959747314 + ], + [ + -47.74306106567383, + 37.2031135559082, + 1.2189857959747314 + ], + [ + -47.27630615234375, + 36.736358642578125, + 1.2189857959747314 + ], + [ + -47.591304779052734, + 36.42136001586914, + 1.2189857959747314 + ] + ], + "corners_2d": [ + [ + 627.350739572723, + 378.746342488196 + ], + [ + 641.5536374841674, + 384.38085041892316 + ], + [ + 652.5293764650261, + 368.7157746051782 + ], + [ + 638.4772244339196, + 363.24553275450694 + ], + [ + 626.9450906652255, + 350.9186493502982 + ], + [ + 641.6037348637591, + 356.58191539310815 + ], + [ + 652.9272517678412, + 340.84167020607896 + ], + [ + 638.4291283918398, + 335.348697629016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 235, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -43.541194915771484, + "y": 39.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2172216773033142, + "y": 0.21097655594348907, + "z": 0.5199988484382629 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 811.3741099536121, + "ymin": 385.1281233213589, + "xmax": 836.1014967186783, + "ymax": 426.5464168684682 + }, + "corners_3d": [ + [ + -43.83955764770508, + 39.86166763305664, + 0.13555145263671875 + ], + [ + -43.498191833496094, + 40.109683990478516, + 0.13555145263671875 + ], + [ + -43.24283218383789, + 39.75821304321289, + 0.13555145263671875 + ], + [ + -43.584197998046875, + 39.510196685791016, + 0.13555145263671875 + ], + [ + -43.83955764770508, + 39.86166763305664, + 1.1755491495132446 + ], + [ + -43.498191833496094, + 40.109683990478516, + 1.1755491495132446 + ], + [ + -43.24283218383789, + 39.75821304321289, + 1.1755491495132446 + ], + [ + -43.584197998046875, + 39.510196685791016, + 1.1755491495132446 + ] + ], + "corners_2d": [ + [ + 811.3741099536121, + 422.5429383475792 + ], + [ + 827.0692981189918, + 426.5464168684682 + ], + [ + 830.2748578593067, + 414.5468707118734 + ], + [ + 814.737845423413, + 410.62962690388645 + ], + [ + 816.6615005589576, + 397.1217350362615 + ], + [ + 832.8625453482458, + 401.15399457096845 + ], + [ + 836.1014967186783, + 389.07088831035026 + ], + [ + 820.0689650043689, + 385.1281233213589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 644, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -49.92300796508789, + "y": 43.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.4324389696121216, + "y": 0.48045653104782104, + "z": 0.8899260759353638 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 606.3212914892445, + "ymin": 556.1501581414396, + "xmax": 663.5320473539849, + "ymax": 643.8438094253893 + }, + "corners_3d": [ + [ + -50.56941604614258, + 43.75482177734375, + -0.23437577486038208 + ], + [ + -49.855316162109375, + 44.397796630859375, + -0.23437577486038208 + ], + [ + -49.2765998840332, + 43.75506591796875, + -0.23437577486038208 + ], + [ + -49.990699768066406, + 43.112091064453125, + -0.23437577486038208 + ], + [ + -50.56941604614258, + 43.75482177734375, + 1.5454764366149902 + ], + [ + -49.855316162109375, + 44.397796630859375, + 1.5454764366149902 + ], + [ + -49.2765998840332, + 43.75506591796875, + 1.5454764366149902 + ], + [ + -49.990699768066406, + 43.112091064453125, + 1.5454764366149902 + ] + ], + "corners_2d": [ + [ + 608.3295168049027, + 627.3224123575401 + ], + [ + 646.5892115049115, + 643.8438094253893 + ], + [ + 662.1452204511311, + 612.0811589617302 + ], + [ + 624.6029732341035, + 596.3385535351274 + ], + [ + 606.3212914892445, + 588.0609224741029 + ], + [ + 647.0126546883172, + 605.1158200739881 + ], + [ + 663.5320473539849, + 572.3517347220984 + ], + [ + 623.6512246869049, + 556.1501581414396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 528, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -57.16718292236328, + "y": 36.81223678588867, + "z": 0.8078891634941101 + }, + "extent": { + "x": 0.383552223443985, + "y": 0.26497313380241394, + "z": 0.8666156530380249 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 253.10640273603622, + "ymin": 401.0565820343811, + "xmax": 309.2005440492159, + "ymax": 472.36031287162155 + }, + "corners_3d": [ + [ + -57.629520416259766, + 36.871971130371094, + -0.058726489543914795 + ], + [ + -57.27491760253906, + 37.26579666137695, + -0.058726489543914795 + ], + [ + -56.7048454284668, + 36.75250244140625, + -0.058726489543914795 + ], + [ + -57.0594482421875, + 36.35867691040039, + -0.058726489543914795 + ], + [ + -57.629520416259766, + 36.871971130371094, + 1.6745047569274902 + ], + [ + -57.27491760253906, + 37.26579666137695, + 1.6745047569274902 + ], + [ + -56.7048454284668, + 36.75250244140625, + 1.6745047569274902 + ], + [ + -57.0594482421875, + 36.35867691040039, + 1.6745047569274902 + ] + ], + "corners_2d": [ + [ + 272.93351148818886, + 463.81796630575207 + ], + [ + 287.9039653258003, + 472.36031287162155 + ], + [ + 309.2005440492159, + 451.85915542959003 + ], + [ + 294.3394401279654, + 443.61706659840627 + ], + [ + 253.10640273603622, + 421.54184731073104 + ], + [ + 268.73566661164415, + 430.2162104725414 + ], + [ + 291.5292624809224, + 409.4099746345555 + ], + [ + 276.0159183871269, + 401.0565820343811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 402, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -36.42184829711914, + "y": 28.64202117919922, + "z": 0.80291348695755 + }, + "extent": { + "x": 0.3753723204135895, + "y": 0.44608762860298157, + "z": 0.9324229955673218 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 855.9167311163037, + "ymin": 92.79062077697824, + "xmax": 898.2818978228922, + "ymax": 156.60317497272644 + }, + "corners_3d": [ + [ + -36.987735748291016, + 28.501766204833984, + -0.12950950860977173 + ], + [ + -36.46332550048828, + 29.223552703857422, + -0.12950950860977173 + ], + [ + -35.855960845947266, + 28.782276153564453, + -0.12950950860977173 + ], + [ + -36.38037109375, + 28.060489654541016, + -0.12950950860977173 + ], + [ + -36.987735748291016, + 28.501766204833984, + 1.7353365421295166 + ], + [ + -36.46332550048828, + 29.223552703857422, + 1.7353365421295166 + ], + [ + -35.855960845947266, + 28.782276153564453, + 1.7353365421295166 + ], + [ + -36.38037109375, + 28.060489654541016, + 1.7353365421295166 + ] + ], + "corners_2d": [ + [ + 855.9167311163037, + 147.7984932602847 + ], + [ + 878.3206933218644, + 156.60317497272644 + ], + [ + 888.026192941195, + 146.7232911801759 + ], + [ + 865.783184159984, + 138.12436719646422 + ], + [ + 864.856830774276, + 102.30678035893425 + ], + [ + 888.2978381379721, + 110.97570503814333 + ], + [ + 898.2818978228922, + 101.24867990271002 + ], + [ + 875.0180310304148, + 92.79062077697824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1051.4397339758916, + "ymin": 386.34325233652316, + "xmax": 1280.0, + "ymax": 677.5828378506492 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1211.9504082652288, + 628.9909407220954 + ], + [ + 1198.7276495293972, + 611.8449609545855 + ], + [ + 1051.4397339758916, + 659.1488262633446 + ], + [ + 1063.125405165465, + 677.5828378506492 + ], + [ + 1418.8492722314336, + 405.6147664668966 + ], + [ + 1397.2540720052732, + 386.34325233652316 + ], + [ + 1204.9851630793635, + 439.9582052285247 + ], + [ + 1224.0329644028152, + 461.2364578398833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.1572635030946, + "ymin": 442.2650656969511, + "xmax": 1243.0612126888618, + "ymax": 466.4134714969608 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1239.9356480891356, + 460.31358365683775 + ], + [ + 1227.2601476633536, + 446.3822934910795 + ], + [ + 1206.1572635030946, + 452.3336059602415 + ], + [ + 1218.6380996140279, + 466.4134714969608 + ], + [ + 1243.0612126888618, + 456.2177296890302 + ], + [ + 1230.282091177181, + 442.2650656969511 + ], + [ + 1209.0860930141275, + 448.2252914805456 + ], + [ + 1221.6689236985912, + 462.32753548519094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 711.0745148955341, + "ymin": 0.0, + "xmax": 845.7550735676461, + "ymax": 128.7943972746968 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 812.7200604302408, + 111.3011811412911 + ], + [ + 807.864722163413, + 105.0053085197116 + ], + [ + 711.0745148955341, + 122.21809881880199 + ], + [ + 715.2434000804874, + 128.7943972746968 + ], + [ + 845.7550735676461, + -105.81902946244844 + ], + [ + 839.6670899791419, + -111.25188040759957 + ], + [ + 724.8925810582796, + -96.35925735757718 + ], + [ + 730.0155005061869, + -90.63652717426817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.70604919054335, + "ymin": 592.7057031963254, + "xmax": 140.07692190296405, + "ymax": 622.657713168931 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 109.2523760946575, + 604.2890063675193 + ], + [ + 107.91409996379582, + 622.657713168931 + ], + [ + 139.1851423933549, + 614.6915461332319 + ], + [ + 140.07692190296405, + 596.5453155049034 + ], + [ + 106.09779881490044, + 600.4719825419224 + ], + [ + 104.70604919054335, + 618.8964983455971 + ], + [ + 136.18421246435418, + 610.9057431675096 + ], + [ + 137.12358230169565, + 592.7057031963254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.17948772933653, + "ymin": 0.0, + "xmax": 254.21516341366134, + "ymax": 217.0473025783867 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 132.92108612332464, + 208.95660579888374 + ], + [ + 132.28488303793915, + 217.0473025783867 + ], + [ + 254.21516341366134, + 195.55814625986392 + ], + [ + 253.76218340180958, + 187.84893867041225 + ], + [ + 21.201289453747336, + -19.633355972288257 + ], + [ + 19.17948772933653, + -12.285350041281333 + ], + [ + 170.77775614890766, + -31.737272424187097 + ], + [ + 171.1201078397607, + -38.66536616008108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 580.6543179064631, + "xmax": 289.71484302416576, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 83.42435579732603, + 838.4144720741743 + ], + [ + 81.55545583640344, + 862.1815729298528 + ], + [ + 289.71484302416576, + 799.7225515668317 + ], + [ + 288.4283810327117, + 777.8284231537159 + ], + [ + -164.8117839218271, + 656.4097742247606 + ], + [ + -173.19272126744704, + 686.8693274932477 + ], + [ + 139.17885512732113, + 607.7225406216241 + ], + [ + 140.51643111404752, + 580.6543179064631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 109.8479157355863, + "ymin": 0.0, + "xmax": 478.14822573385294, + "ymax": 27.450082540013796 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 192.13325199177103, + 22.520142961824376 + ], + [ + 191.96197846130258, + 27.450082540013796 + ], + [ + 478.14822573385294, + -11.639375462557439 + ], + [ + 476.4242485112786, + -16.04097690270561 + ], + [ + 110.7269290187287, + -199.95446682401268 + ], + [ + 109.8479157355863, + -195.96938358742375 + ], + [ + 450.4059106955467, + -227.29010810637044 + ], + [ + 448.6026153590243, + -230.7776090887777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.9617517474678, + "ymin": 442.1363888410826, + "xmax": 1243.2626945828529, + "ymax": 466.54479374795574 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1240.1024399450935, + 460.3785075842199 + ], + [ + 1227.2901282990906, + 446.29803996907737 + ], + [ + 1205.9617517474678, + 452.3125395778407 + ], + [ + 1218.5751923366884, + 466.54479374795574 + ], + [ + 1243.2626945828529, + 456.23868745818174 + ], + [ + 1230.3445117483388, + 442.1363888410826 + ], + [ + 1208.9210163832836, + 448.15998915996914 + ], + [ + 1221.6386485562841, + 462.41511176163334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.89986787785688, + "ymin": 592.8633250599626, + "xmax": 139.8938176452968, + "ymax": 622.4962542823176 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 109.394308480424, + 604.324164052637 + ], + [ + 108.07240220141011, + 622.4962542823176 + ], + [ + 139.00897400744105, + 614.6160253199905 + ], + [ + 139.8938176452968, + 596.6617057374532 + ], + [ + 106.27408381406678, + 600.5479035721464 + ], + [ + 104.89986787785688, + 618.7746100824546 + ], + [ + 136.039142780943, + 610.8703244757598 + ], + [ + 136.97059887683184, + 592.8633250599626 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00034/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d4c4e47de49dce09ae750166831f1076a4144cd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00034/meta.json @@ -0,0 +1,1725 @@ +{ + "frame_id": 34, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 17.0, + "sim_timestamp": 12140.876601650612 + }, + "drone_pose": { + "x": -52.7892990662456, + "y": 53.33168321823099, + "z": 20.015992254401027, + "pitch": -47.206306036025, + "yaw": -71.71981083613541, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.21309107542037964, + 0.6450759768486023, + 0.7338047027587891, + 30.964088439941406 + ], + [ + -0.949533998966217, + 0.31366419792175293, + 0.0, + 33.39699172973633 + ], + [ + -0.23016825318336487, + -0.6967724561691284, + 0.6793605089187622, + -62.90854263305664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.56944217939361, + "y": 52.772746031250314, + "z": 20.013295989899763 + }, + "t1_image_uv": [ + 718.4232524904542, + -667.6277755009487 + ], + "t1_depth": 0.409384991742519 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -47.16718292236328, + "y": 36.31223678588867, + "z": 0.6555600543320179 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.383632838791193, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -47.16718292236328, + "y": 36.31223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.24919430911540985, + "y": 0.34398922324180603, + "z": 0.5511052012443542 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 624.4781049800976, + "ymin": 336.17050578471384, + "xmax": 655.466858713268, + "ymax": 383.56343670503975 + }, + "corners_3d": [ + [ + -47.58662796020508, + 36.24520492553711, + 0.1044548749923706 + ], + [ + -47.10015106201172, + 36.73168182373047, + 0.1044548749923706 + ], + [ + -46.747737884521484, + 36.379268646240234, + 0.1044548749923706 + ], + [ + -47.234214782714844, + 35.892791748046875, + 0.1044548749923706 + ], + [ + -47.58662796020508, + 36.24520492553711, + 1.206665277481079 + ], + [ + -47.10015106201172, + 36.73168182373047, + 1.206665277481079 + ], + [ + -46.747737884521484, + 36.379268646240234, + 1.206665277481079 + ], + [ + -47.234214782714844, + 35.892791748046875, + 1.206665277481079 + ] + ], + "corners_2d": [ + [ + 624.9475637848731, + 375.2295341693029 + ], + [ + 647.0634381260047, + 383.56343670503975 + ], + [ + 655.000673152332, + 371.6113000622279 + ], + [ + 633.0704375403409, + 363.4634685751619 + ], + [ + 624.4781049800976, + 347.9852460414735 + ], + [ + 647.2855340110493, + 356.35861196944427 + ], + [ + 655.466858713268, + 344.3511663876668 + ], + [ + 632.856808097301, + 336.17050578471384 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 34, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 392146, + "2": 392254, + "3": 93075, + "6": 6586, + "9": 16643, + "10": 860, + "12": 1992, + "20": 9181, + "24": 8863 + }, + "instance_pixel_counts": { + "4960": 56162, + "6215": 134968, + "7314": 16711, + "7826": 37064, + "8850": 3733, + "9362": 52018, + "9874": 50503, + "10386": 3862, + "18512": 4033, + "21652": 378, + "22676": 84194, + "23188": 140013, + "24212": 3682, + "24724": 71611, + "25236": 91516, + "25748": 752, + "26624": 302, + "28243": 1549, + "28755": 1907, + "28802": 2314, + "33370": 1034, + "35988": 231, + "36500": 2066, + "37012": 3935, + "38036": 854, + "38548": 709, + "39060": 999, + "39564": 6338, + "39770": 49600, + "40076": 13101, + "40084": 69, + "41100": 695, + "41612": 8281, + "41818": 4247, + "42074": 38194, + "42124": 8541, + "43148": 277, + "56576": 215, + "56832": 235, + "57088": 641, + "57173": 21791, + "57344": 505, + "57600": 396, + "61569": 514 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -47.16718292236328, + "y": 36.31223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.21389402449131012, + "y": 0.2529638409614563, + "z": 0.5567290186882019 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.0706108064414, + "ymin": 337.931373049756, + "xmax": 651.8812412677836, + "ymax": 381.7341491024949 + }, + "corners_3d": [ + [ + -47.4973030090332, + 36.284610748291016, + 0.09883105754852295 + ], + [ + -47.139556884765625, + 36.642356872558594, + 0.09883105754852295 + ], + [ + -46.83706283569336, + 36.33986282348633, + 0.09883105754852295 + ], + [ + -47.19480895996094, + 35.98211669921875, + 0.09883105754852295 + ], + [ + -47.4973030090332, + 36.284610748291016, + 1.2122890949249268 + ], + [ + -47.139556884765625, + 36.642356872558594, + 1.2122890949249268 + ], + [ + -46.83706283569336, + 36.33986282348633, + 1.2122890949249268 + ], + [ + -47.19480895996094, + 35.98211669921875, + 1.2122890949249268 + ] + ], + "corners_2d": [ + [ + 628.4351271334226, + 375.61560577655774 + ], + [ + 644.6863681132377, + 381.7341491024949 + ], + [ + 651.5196168362727, + 371.49673265751153 + ], + [ + 635.3855143772956, + 365.4956154572913 + ], + [ + 628.0706108064414, + 348.09430791214936 + ], + [ + 644.834964885159, + 354.24180395227614 + ], + [ + 651.8812412677836, + 343.95721296639255 + ], + [ + 635.2415112254574, + 337.931373049756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 235, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -43.041194915771484, + "y": 39.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2453051656484604, + "y": 0.26421141624450684, + "z": 0.5423074960708618 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 809.7866453759812, + "ymin": 380.6227035066489, + "xmax": 838.7995373446734, + "ymax": 425.39365788600355 + }, + "corners_3d": [ + [ + -43.399131774902344, + 39.35309600830078, + 0.11324280500411987 + ], + [ + -42.97163009643555, + 39.6636962890625, + 0.11324280500411987 + ], + [ + -42.683258056640625, + 39.26678466796875, + 0.11324280500411987 + ], + [ + -43.11075973510742, + 38.95618438720703, + 0.11324280500411987 + ], + [ + -43.399131774902344, + 39.35309600830078, + 1.1978578567504883 + ], + [ + -42.97163009643555, + 39.6636962890625, + 1.1978578567504883 + ], + [ + -42.683258056640625, + 39.26678466796875, + 1.1978578567504883 + ], + [ + -43.11075973510742, + 38.95618438720703, + 1.1978578567504883 + ] + ], + "corners_2d": [ + [ + 809.7866453759812, + 420.69299627466955 + ], + [ + 829.4533150955083, + 425.39365788600355 + ], + [ + 832.6742358785938, + 411.84507810449225 + ], + [ + 813.2347017232864, + 407.25901651679743 + ], + [ + 815.2295982626324, + 394.14671994824596 + ], + [ + 835.5535815850205, + 398.8813928595185 + ], + [ + 838.7995373446734, + 385.2383088735037 + ], + [ + 818.7180698566478, + 380.6227035066489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -49.42300796508789, + "y": 43.25494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3851977586746216, + "y": 0.35036131739616394, + "z": 0.88582843542099 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 619.5245787013747, + "ymin": 559.7664532043335, + "xmax": 663.4702282535227, + "ymax": 639.1234747945557 + }, + "corners_3d": [ + [ + -49.941123962402344, + 43.3067626953125, + -0.2302781343460083 + ], + [ + -49.420387268066406, + 43.775638580322266, + -0.2302781343460083 + ], + [ + -48.90489196777344, + 43.203125, + -0.2302781343460083 + ], + [ + -49.425628662109375, + 42.734249114990234, + -0.2302781343460083 + ], + [ + -49.941123962402344, + 43.3067626953125, + 1.5413787364959717 + ], + [ + -49.420387268066406, + 43.775638580322266, + 1.5413787364959717 + ], + [ + -48.90489196777344, + 43.203125, + 1.5413787364959717 + ], + [ + -49.425628662109375, + 42.734249114990234, + 1.5413787364959717 + ] + ], + "corners_2d": [ + [ + 620.7383675352029, + 627.6317432035765 + ], + [ + 648.8985993186558, + 639.1234747945557 + ], + [ + 662.0969202601957, + 610.7411384958466 + ], + [ + 634.4260246563954, + 599.7376553348511 + ], + [ + 619.5245787013747, + 588.4899447005762 + ], + [ + 649.4646062182774, + 600.3458973280972 + ], + [ + 663.4702282535227, + 571.0878772738866 + ], + [ + 634.0827485574625, + 559.7664532043335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 505, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -56.66718292236328, + "y": 36.31223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.39571043848991394, + "y": 0.33476683497428894, + "z": 0.8909425735473633 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 253.00521607634334, + "ymin": 408.19073535820627, + "xmax": 314.0513507640916, + "ymax": 483.2099538584876 + }, + "corners_3d": [ + [ + -57.18525695800781, + 36.32823944091797, + -0.23538249731063843 + ], + [ + -56.73725128173828, + 36.82579803466797, + -0.23538249731063843 + ], + [ + -56.14910888671875, + 36.296234130859375, + -0.23538249731063843 + ], + [ + -56.59711456298828, + 35.798675537109375, + -0.23538249731063843 + ], + [ + -57.18525695800781, + 36.32823944091797, + 1.5465025901794434 + ], + [ + -56.73725128173828, + 36.82579803466797, + 1.5465025901794434 + ], + [ + -56.14910888671875, + 36.296234130859375, + 1.5465025901794434 + ], + [ + -56.59711456298828, + 35.798675537109375, + 1.5465025901794434 + ] + ], + "corners_2d": [ + [ + 273.3334562434008, + 472.700321300328 + ], + [ + 292.61125533378953, + 483.2099538584876 + ], + [ + 314.0513507640916, + 461.65670919525417 + ], + [ + 294.93786383815547, + 451.53224271963927 + ], + [ + 253.00521607634334, + 429.6743011493887 + ], + [ + 273.16586945829323, + 440.3568708899028 + ], + [ + 296.1636562812237, + 418.46062653194707 + ], + [ + 276.1787832561506, + 408.19073535820627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 396, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.92184829711914, + "y": 28.14202117919922, + "z": 0.8033823370933533 + }, + "extent": { + "x": 0.40433958172798157, + "y": 0.35661864280700684, + "z": 0.9395667910575867 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 850.8829137442196, + "ymin": 91.17773181058806, + "xmax": 888.8479447373915, + "ymax": 154.09928865398024 + }, + "corners_3d": [ + [ + -36.458580017089844, + 28.091175079345703, + -0.1361844539642334 + ], + [ + -36.03935241699219, + 28.668195724487305, + -0.1361844539642334 + ], + [ + -35.38511657714844, + 28.192867279052734, + -0.1361844539642334 + ], + [ + -35.804344177246094, + 27.615846633911133, + -0.1361844539642334 + ], + [ + -36.458580017089844, + 28.091175079345703, + 1.74294912815094 + ], + [ + -36.03935241699219, + 28.668195724487305, + 1.74294912815094 + ], + [ + -35.38511657714844, + 28.192867279052734, + 1.74294912815094 + ], + [ + -35.804344177246094, + 27.615846633911133, + 1.74294912815094 + ] + ], + "corners_2d": [ + [ + 850.8829137442196, + 147.29489754304782 + ], + [ + 868.8464994049411, + 154.09928865398024 + ], + [ + 878.9628348531, + 143.42112044330105 + ], + [ + 861.1464266543469, + 136.78977097715187 + ], + [ + 859.6493548043259, + 101.5062315252984 + ], + [ + 878.4415185483999, + 108.20206013849406 + ], + [ + 888.8479447373915, + 97.69631220737534 + ], + [ + 870.2175480654887, + 91.17773181058806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.0054737832993, + "ymin": 403.10557839358785, + "xmax": 1280.0, + "ymax": 697.4178913813405 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1210.736194731553, + 644.4670580933495 + ], + [ + 1197.054560125085, + 627.0423151984451 + ], + [ + 1050.0054737832993, + 678.5786449139375 + ], + [ + 1062.1916316949998, + 697.4178913813405 + ], + [ + 1420.0598794289826, + 422.83111896801404 + ], + [ + 1397.6959017829759, + 403.10557839358785 + ], + [ + 1205.7357090090059, + 462.00451205276636 + ], + [ + 1225.6420144302642, + 483.96201119748054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.9190873733185, + "ymin": 463.6104610073438, + "xmax": 1244.471327609051, + "ymax": 488.7752626004997 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1241.284595498861, + 482.0518633263942 + ], + [ + 1228.0568417088912, + 467.69852465058926 + ], + [ + 1206.9190873733185, + 474.2559536291073 + ], + [ + 1219.9569782958004, + 488.7752626004997 + ], + [ + 1244.471327609051, + 477.9883358406439 + ], + [ + 1231.1346688701124, + 463.6104610073438 + ], + [ + 1209.9033698558842, + 470.17886535037826 + ], + [ + 1223.0486026313356, + 484.72387749021726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4149463852922, + "ymin": 0.0, + "xmax": 829.2969846921375, + "ymax": 138.60616236817543 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 798.6746071404248, + 119.66416495806112 + ], + [ + 793.6762203076285, + 113.29834280723898 + ], + [ + 696.4149463852922, + 131.9352678713629 + ], + [ + 700.7300566962159, + 138.60616236817543 + ], + [ + 829.2969846921375, + -98.24097552786213 + ], + [ + 823.0516606403851, + -103.74944025226063 + ], + [ + 707.5030609853426, + -87.57447512217493 + ], + [ + 712.7842671062926, + -81.74915239972051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.65740104792883, + "ymin": 641.6622601389256, + "xmax": 113.72947026675843, + "ymax": 673.9176420758913 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 81.5175492653417, + 654.2245868225598 + ], + [ + 80.16111863492938, + 673.9176420758913 + ], + [ + 112.85552668821583, + 664.7880500558347 + ], + [ + 113.72947026675843, + 645.3583678476792 + ], + [ + 78.07358933120133, + 650.5582179755056 + ], + [ + 76.65740104792883, + 670.319941612466 + ], + [ + 109.57886028798339, + 661.1580669659209 + ], + [ + 110.50589757767352, + 641.6622601389256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 232.99427375411682, + "ymax": 236.28882574075328 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 108.73876232067562, + 227.9248012165778 + ], + [ + 108.1428627941226, + 236.28882574075328 + ], + [ + 232.99427375411682, + 212.58273786456454 + ], + [ + 232.460772871507, + 204.64542842710594 + ], + [ + -10.992283490127761, + -2.1452179287858826 + ], + [ + -13.082990035343983, + 5.513848135245098 + ], + [ + 143.16536769108274, + -16.111546358656426 + ], + [ + 143.49194377883884, + -23.29545766302607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 629.24065174878, + "xmax": 275.1904314721175, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 61.885357686579596, + 885.5575193822472 + ], + [ + 60.096507720787486, + 910.6657537695154 + ], + [ + 275.1904314721175, + 840.367942719624 + ], + [ + 273.6478637524131, + 817.4179575956398 + ], + [ + -207.16690572895288, + 716.518238332658 + ], + [ + -216.1914029370679, + 749.5784592755591 + ], + [ + 112.50949451081897, + 658.2460754690708 + ], + [ + 113.82806282283582, + 629.24065174878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 79.86770981383631, + "ymin": 0.0, + "xmax": 458.86867669917297, + "ymax": 40.3632198782945 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 168.04898684055638, + 35.30539017015383 + ], + [ + 167.9137755865903, + 40.3632198782945 + ], + [ + 458.86867669917297, + -2.3943070354757765 + ], + [ + 457.06577481073015, + -6.869003235143111 + ], + [ + 80.76358110671367, + -189.12056494908688 + ], + [ + 79.86770981383631, + -185.0103794628062 + ], + [ + 427.44991922771135, + -219.41992899857928 + ], + [ + 425.58101445585874, + -222.97729831389984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.7200944762199, + "ymin": 463.47644031496236, + "xmax": 1244.6763077215774, + "ymax": 488.91218936332723 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1241.454196918324, + 482.11559863816285 + ], + [ + 1228.0837394961222, + 467.60864145379185 + ], + [ + 1206.7200944762199, + 474.23567492088154 + ], + [ + 1219.8965856920847, + 488.91218936332723 + ], + [ + 1244.6763077215774, + 478.0084584092396 + ], + [ + 1231.19458127375, + 463.47644031496236 + ], + [ + 1209.735377114029, + 470.1146802723731 + ], + [ + 1223.0215232345045, + 484.81746072340195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.8608184392242, + "ymin": 641.8318268644439, + "xmax": 113.53782336256461, + "ymax": 673.7435774766278 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 81.66543675902983, + 654.2614038270175 + ], + [ + 80.32573282420162, + 673.7435774766278 + ], + [ + 112.6704135095456, + 664.7124998890911 + ], + [ + 113.53782336256461, + 645.4881295978931 + ], + [ + 78.25897887270537, + 650.6342229667703 + ], + [ + 76.8608184392242, + 670.1835969835657 + ], + [ + 109.42770625352944, + 661.1209341713411 + ], + [ + 110.34711931352592, + 641.8318268644439 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00035/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29b2e04d41a7fe3e4c1817ea20b7976fcf487aef --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00035/meta.json @@ -0,0 +1,1933 @@ +{ + "frame_id": 35, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 17.5, + "sim_timestamp": 12151.261018096702 + }, + "drone_pose": { + "x": -52.56944217939361, + "y": 52.772746031250314, + "z": 20.013295989899763, + "pitch": -47.147951018033055, + "yaw": -70.81209724937605, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.22352910041809082, + 0.6423247456550598, + 0.7331123352050781, + 30.97604751586914 + ], + [ + -0.944445788860321, + 0.3286672830581665, + 0.0, + 32.30431365966797 + ], + [ + -0.2409500628709793, + -0.6923848390579224, + 0.680107593536377, + -62.81685256958008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -52.298518621435946, + "y": 52.2200912728, + "z": 20.010997722506524 + }, + "t1_image_uv": [ + 810.8029457793103, + -667.0430735110722 + ], + "t1_depth": 0.41722799569664176 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -46.66718292236328, + "y": 35.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.404883199283134, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": 35.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2577782869338989, + "y": 0.1878710687160492, + "z": 0.5553025603294373 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.5691374601771, + "ymin": 337.74045993194625, + "xmax": 650.3491825723393, + "ymax": 381.9354358446827 + }, + "corners_3d": [ + [ + -46.982303619384766, + 35.86166763305664, + 0.10024774074554443 + ], + [ + -46.71661376953125, + 36.127357482910156, + 0.10024774074554443 + ], + [ + -46.3520622253418, + 35.7628059387207, + 0.10024774074554443 + ], + [ + -46.61775207519531, + 35.49711608886719, + 0.10024774074554443 + ], + [ + -46.982303619384766, + 35.86166763305664, + 1.210852861404419 + ], + [ + -46.71661376953125, + 36.127357482910156, + 1.210852861404419 + ], + [ + -46.3520622253418, + 35.7628059387207, + 1.210852861404419 + ], + [ + -46.61775207519531, + 35.49711608886719, + 1.210852861404419 + ] + ], + "corners_2d": [ + [ + 629.8871028866254, + 377.53312766702254 + ], + [ + 642.0531099467943, + 381.9354358446827 + ], + [ + 650.0361026396472, + 369.5418682152338 + ], + [ + 637.979322817845, + 365.2420046346534 + ], + [ + 629.5691374601771, + 350.08281155249875 + ], + [ + 642.1179415321485, + 354.5056733834493 + ], + [ + 650.3491825723393, + 342.0572143981859 + ], + [ + 637.9165546401266, + 337.74045993194625 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 35, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 394709, + "2": 385300, + "3": 100888, + "6": 6586, + "9": 13351, + "10": 864, + "12": 2018, + "20": 8512, + "24": 9372 + }, + "instance_pixel_counts": { + "4960": 45080, + "6215": 139822, + "7314": 17630, + "7826": 36389, + "8850": 3910, + "9362": 55034, + "9874": 46950, + "10386": 3063, + "18512": 3885, + "21652": 1253, + "22676": 88250, + "23188": 136030, + "24212": 6165, + "24724": 75107, + "25236": 86861, + "25748": 1043, + "26624": 427, + "28243": 1676, + "28755": 1547, + "28802": 2394, + "33370": 1292, + "35988": 463, + "36500": 2168, + "37012": 3801, + "38036": 1249, + "38548": 744, + "39060": 863, + "39564": 6670, + "39770": 53932, + "40076": 12812, + "40084": 84, + "41100": 871, + "41612": 8642, + "41818": 4672, + "42074": 40992, + "42124": 8190, + "43148": 237, + "56576": 215, + "56832": 241, + "57088": 617, + "57173": 17978, + "57344": 556, + "57600": 389, + "61569": 542 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": 35.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3000585734844208, + "y": 0.20563596487045288, + "z": 0.5554417967796326 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.2844653672892, + "ymin": 336.5350997665015, + "xmax": 651.6053637966921, + "ymax": 383.17768550088675 + }, + "corners_3d": [ + [ + -47.02476119995117, + 35.879005432128906, + 0.10010850429534912 + ], + [ + -46.733951568603516, + 36.16981506347656, + 0.10010850429534912 + ], + [ + -46.30960464477539, + 35.74546813964844, + 0.10010850429534912 + ], + [ + -46.60041427612305, + 35.45465850830078, + 0.10010850429534912 + ], + [ + -47.02476119995117, + 35.879005432128906, + 1.2109920978546143 + ], + [ + -46.733951568603516, + 36.16981506347656, + 1.2109920978546143 + ], + [ + -46.30960464477539, + 35.74546813964844, + 1.2109920978546143 + ], + [ + -46.60041427612305, + 35.45465850830078, + 1.2109920978546143 + ] + ], + "corners_2d": [ + [ + 628.6419558874169, + 378.3497845643321 + ], + [ + 641.9680567642615, + 383.17768550088675 + ], + [ + 651.2544645287709, + 368.7454261844949 + ], + [ + 638.0675276833182, + 364.048050486956 + ], + [ + 628.2844653672892, + 350.89629282903644 + ], + [ + 642.0302936131562, + 355.74703760062897 + ], + [ + 651.6053637966921, + 341.25065112962693 + ], + [ + 638.0075553887891, + 336.5350997665015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 241, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": 38.809940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22388671338558197, + "y": 0.1843908578157425, + "z": 0.5282691121101379 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.4897824445242, + "ymin": 380.0375881694844, + "xmax": 835.764162918291, + "ymax": 421.3673108989826 + }, + "corners_3d": [ + [ + -42.82196807861328, + 38.882686614990234, + 0.12728118896484375 + ], + [ + -42.523616790771484, + 39.099449157714844, + 0.12728118896484375 + ], + [ + -42.26042175292969, + 38.7371940612793, + 0.12728118896484375 + ], + [ + -42.558773040771484, + 38.52043151855469, + 0.12728118896484375 + ], + [ + -42.82196807861328, + 38.882686614990234, + 1.1838194131851196 + ], + [ + -42.523616790771484, + 39.099449157714844, + 1.1838194131851196 + ], + [ + -42.26042175292969, + 38.7371940612793, + 1.1838194131851196 + ], + [ + -42.558773040771484, + 38.52043151855469, + 1.1838194131851196 + ] + ], + "corners_2d": [ + [ + 813.4897824445242, + 418.2707018559072 + ], + [ + 827.2159131507099, + 421.3673108989826 + ], + [ + 829.9093167868002, + 409.02845733922777 + ], + [ + 816.3297350123895, + 406.00107160626715 + ], + [ + 818.885447056287, + 392.3849051170832 + ], + [ + 833.0554801043511, + 395.5024832660944 + ], + [ + 835.764162918291, + 383.0833412565331 + ], + [ + 821.7502757196816, + 380.0375881694844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 617, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": 42.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.30186766386032104, + "y": 0.3875707983970642, + "z": 0.8829384446144104 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 625.0272773019451, + "ymin": 561.9644210754769, + "xmax": 668.7632227146529, + "ymax": 635.936959440123 + }, + "corners_3d": [ + [ + -49.41301727294922, + 42.719940185546875, + -0.2273881435394287 + ], + [ + -48.83697509765625, + 43.238609313964844, + -0.2273881435394287 + ], + [ + -48.43299865722656, + 42.789947509765625, + -0.2273881435394287 + ], + [ + -49.00904083251953, + 42.271278381347656, + -0.2273881435394287 + ], + [ + -49.41301727294922, + 42.719940185546875, + 1.538488745689392 + ], + [ + -48.83697509765625, + 43.238609313964844, + 1.538488745689392 + ], + [ + -48.43299865722656, + 42.789947509765625, + 1.538488745689392 + ], + [ + -49.00904083251953, + 42.271278381347656, + 1.538488745689392 + ] + ], + "corners_2d": [ + [ + 625.9082879247428, + 623.7601197357112 + ], + [ + 657.2451156565864, + 635.936959440123 + ], + [ + 667.0840518144702, + 613.5652544924108 + ], + [ + 636.1873326182532, + 601.7986654784769 + ], + [ + 625.0272773019451, + 584.570795395102 + ], + [ + 658.3340246955895, + 597.1258335927537 + ], + [ + 668.7632227146529, + 574.0706056682285 + ], + [ + 635.9532442769528, + 561.9644210754769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 556, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": 35.81223678588867, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.4091772437095642, + "y": 0.3142651319503784, + "z": 0.8802967667579651 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 254.0907943295736, + "ymin": 412.69586982913165, + "xmax": 314.49179868840633, + "ymax": 487.3857591919834 + }, + "corners_3d": [ + [ + -56.68154525756836, + 35.85248565673828, + -0.22474157810211182 + ], + [ + -56.2609748840332, + 36.31957244873047, + -0.22474157810211182 + ], + [ + -55.6528205871582, + 35.77198791503906, + -0.22474157810211182 + ], + [ + -56.07339096069336, + 35.304901123046875, + -0.22474157810211182 + ], + [ + -56.68154525756836, + 35.85248565673828, + 1.5358519554138184 + ], + [ + -56.2609748840332, + 36.31957244873047, + 1.5358519554138184 + ], + [ + -55.6528205871582, + 35.77198791503906, + 1.5358519554138184 + ], + [ + -56.07339096069336, + 35.304901123046875, + 1.5358519554138184 + ] + ], + "corners_2d": [ + [ + 274.1868300041253, + 477.72591957850966 + ], + [ + 292.6300264779577, + 487.3857591919834 + ], + [ + 314.49179868840633, + 464.7760821222131 + ], + [ + 296.2262726480972, + 455.48693223786046 + ], + [ + 254.0907943295736, + 435.2683872956344 + ], + [ + 273.37836881298654, + 445.0880150558472 + ], + [ + 296.8217514226557, + 422.1185180359 + ], + [ + 277.72499289014974, + 412.69586982913165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 389, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": 27.64202117919922, + "z": 0.8038608431816101 + }, + "extent": { + "x": 0.4337560832500458, + "y": 0.39891356229782104, + "z": 0.9154517650604248 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 843.968157379565, + "ymin": 89.53573899019909, + "xmax": 884.0720701902051, + "ymax": 152.61042275291354 + }, + "corners_3d": [ + [ + -36.007240295410156, + 27.574249267578125, + -0.1115909218788147 + ], + [ + -35.53828811645508, + 28.219703674316406, + -0.1115909218788147 + ], + [ + -34.836456298828125, + 27.709793090820312, + -0.1115909218788147 + ], + [ + -35.3054084777832, + 27.06433868408203, + -0.1115909218788147 + ], + [ + -36.007240295410156, + 27.574249267578125, + 1.7193126678466797 + ], + [ + -35.53828811645508, + 28.219703674316406, + 1.7193126678466797 + ], + [ + -34.836456298828125, + 27.709793090820312, + 1.7193126678466797 + ], + [ + -35.3054084777832, + 27.06433868408203, + 1.7193126678466797 + ] + ], + "corners_2d": [ + [ + 843.968157379565, + 145.2115038185496 + ], + [ + 864.1250056100436, + 152.61042275291354 + ], + [ + 874.6624350990218, + 141.0981609405097 + ], + [ + 854.6906349484977, + 133.9028012083523 + ], + [ + 852.1898895511954, + 100.6548711394143 + ], + [ + 873.244068299922, + 107.9364525239356 + ], + [ + 884.0720701902051, + 96.60905102821414 + ], + [ + 863.220493743416, + 89.53573899019909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.5949762875628, + "ymin": 423.07596131485263, + "xmax": 1280.0, + "ymax": 719.8390385309717 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1210.127190913007, + 662.7152501289349 + ], + [ + 1196.005364204525, + 644.918778561611 + ], + [ + 1048.5949762875628, + 700.5009810722534 + ], + [ + 1061.2472178338396, + 719.8390385309717 + ], + [ + 1422.8172035023094, + 443.4040065216697 + ], + [ + 1399.6564307915146, + 423.07596131485263 + ], + [ + 1206.9998428577492, + 487.2410462898721 + ], + [ + 1227.7610781137187, + 510.03929087913036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.1890005275566, + "ymin": 488.1567672228432, + "xmax": 1246.506860468664, + "ymax": 514.4321834857952 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1243.2449543749258, + 507.08507518959556 + ], + [ + 1229.4661153938318, + 492.20565677575655 + ], + [ + 1208.1890005275566, + 499.36837807659055 + ], + [ + 1221.780526333342, + 514.4321834857952 + ], + [ + 1246.506860468664, + 503.0647406151475 + ], + [ + 1232.6131740482263, + 488.1567672228432 + ], + [ + 1211.241182493871, + 495.3329810965671 + ], + [ + 1224.9460305620382, + 510.42669725847924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2653496449461336491, + "instance_id": 43833, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 25.261022567749023, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.3106374559743, + "ymin": 0.0, + "xmax": 116.87864230907758, + "ymax": 11.072375743729083 + }, + "corners_3d": [ + [ + -58.15261459350586, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.1131534576416, + 7.797872066497803 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 100.38437781920959, + 5.973659595256663 + ], + [ + 100.02189866118067, + 11.072375743729083 + ], + [ + 116.6405590811163, + 8.59233580624715 + ], + [ + 116.87864230907758, + 3.530288750934176 + ], + [ + 98.68701783191443, + 2.0587179087885374 + ], + [ + 98.3106374559743, + 7.144179117643034 + ], + [ + 114.98798065659116, + 4.670556517369903 + ], + [ + 115.23908914832987, + -0.37821607466906926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.2386010319989, + "ymin": 0.0, + "xmax": 814.826048451558, + "ymax": 148.85460500668552 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 786.2945503982535, + 128.59007134697836 + ], + [ + 781.1721933431132, + 122.13487976770043 + ], + [ + 683.2386010319989, + 142.0710401647643 + ], + [ + 687.6769060330234, + 148.85460500668552 + ], + [ + 814.826048451558, + -90.23125572890689 + ], + [ + 808.4407428600425, + -95.835537766166 + ], + [ + 691.8409785834413, + -78.47049207437038 + ], + [ + 697.2568855412217, + -72.52327127224856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8601357638730035825, + "instance_id": 29106, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 45.444618225097656, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.19491059467464, + "ymin": 693.4947839245176, + "xmax": 84.2619903656946, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -58.15261459350586, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.688574314117432 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.688574314117432 + ], + [ + -58.15261459350586, + 45.296749114990234, + 7.797872066497803 + ], + [ + -58.15261459350586, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.59248733520508, + 7.797872066497803 + ], + [ + -57.740840911865234, + 45.296749114990234, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 50.54368143730608, + 707.0444877095617 + ], + [ + 49.038647035031886, + 728.2146516787402 + ], + [ + 83.28080455597728, + 717.8764319855038 + ], + [ + 84.2619903656946, + 697.0147829675268 + ], + [ + 46.76795448909047, + 703.5628331818025 + ], + [ + 45.19491059467464, + 724.8170063965891 + ], + [ + 79.6866399326326, + 714.4372405322302 + ], + [ + 80.72824531219726, + 693.4947839245176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 212.787635432934, + "ymax": 255.21370554601108 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 85.57939501088936, + 246.56648737349062 + ], + [ + 84.986223878175, + 255.21370554601108 + ], + [ + 212.787635432934, + 229.43726997611066 + ], + [ + 212.20888369562272, + 221.2606286808624 + ], + [ + -42.22472988676361, + 15.120407218633034 + ], + [ + -44.43535893631804, + 23.105401071737788 + ], + [ + 116.55058930371081, + -0.5954443227496995 + ], + [ + 116.90698234189131, + -8.050217055896837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9607509283889330161, + "instance_id": 61879, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 45.44469451904297, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 680.7059678751885, + "xmax": 259.008191808541, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.47300338745117, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.66429901123047, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 45.22509002685547, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 45.22509002685547, + 7.960820198059082 + ], + [ + -61.47300338745117, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.66429901123047, + 7.960820198059082 + ], + [ + -57.63956832885742, + 45.22509002685547, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 38.42707546710267, + 933.950569214712 + ], + [ + 36.60596365910442, + 960.4986432051878 + ], + [ + 259.008191808541, + 882.4442254383741 + ], + [ + 257.3028681083058, + 858.3513039140475 + ], + [ + -253.98993297878997, + 780.0356449570377 + ], + [ + -263.94724517969655, + 816.0023652594375 + ], + [ + 82.48918324366605, + 711.8765008235094 + ], + [ + 83.97936427759123, + 680.7059678751885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10141269703987107338, + "instance_id": 2582, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 25.261022567749023, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.41118534431985, + "ymin": 0.0, + "xmax": 116.78137481161434, + "ymax": 11.011111216397694 + }, + "corners_3d": [ + [ + -58.15041732788086, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.114728927612305, + 7.797285079956055 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 100.46188612254423, + 5.966983768371961 + ], + [ + 100.1038585615861, + 11.011111216397694 + ], + [ + 116.54511106599057, + 8.557721665114912 + ], + [ + 116.78137481161434, + 3.549486197140425 + ], + [ + 98.78281509266549, + 2.0936482326285386 + ], + [ + 98.41118534431985, + 7.124801353899841 + ], + [ + 114.90987325925641, + 4.67769334371269 + ], + [ + 115.15889092472685, + -0.3175488909647015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 51.908989539765344, + "ymin": 0.0, + "xmax": 441.5137486824235, + "ymax": 52.82969611172604 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 145.83276523029343, + 47.6402581264299 + ], + [ + 145.71089510800215, + 52.82969611172604 + ], + [ + 441.5137486824235, + 6.7360610406646515 + ], + [ + 439.65108691631787, + 2.1812023257963915 + ], + [ + 52.84864390737596, + -178.7108857775096 + ], + [ + 51.908989539765344, + -174.47107333839938 + ], + [ + 406.65188634117567, + -211.73297545346418 + ], + [ + 404.73821964237334, + -215.3671004209915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1207.9859239429852, + "ymin": 488.01690703058375, + "xmax": 1246.7159981466734, + "ymax": 514.5752342916215 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1243.4178653716458, + 507.1481360574128 + ], + [ + 1229.4904350907714, + 492.1095475797201 + ], + [ + 1207.9859239429852, + 499.3482740916687 + ], + [ + 1221.7219925125655, + 514.5752342916215 + ], + [ + 1246.7159981466734, + 503.08466121327746 + ], + [ + 1232.6712279911294, + 488.01690703058375 + ], + [ + 1211.0697966892585, + 495.2694106753706 + ], + [ + 1224.9216301667896, + 510.52693660359375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18063489584786027031, + "instance_id": 6066, + "pixel_count": null, + "type_id": "BP_StreetLight_simple22_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 45.44462203979492, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.40956916359244, + "ymin": 693.6771202948014, + "xmax": 84.06030989285932, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -58.15041732788086, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.689149856567383 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.689149856567383 + ], + [ + -58.15041732788086, + 45.2983283996582, + 7.797285079956055 + ], + [ + -58.15041732788086, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.59091567993164, + 7.797285079956055 + ], + [ + -57.7430305480957, + 45.2983283996582, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 50.69726111033583, + 707.0837086737831 + ], + [ + 49.21071918331063, + 728.027087771984 + ], + [ + 83.08655146264152, + 717.8004557563568 + ], + [ + 84.06030989285932, + 697.1590683332423 + ], + [ + 46.962639646757225, + 703.6393092034969 + ], + [ + 45.40956916359244, + 724.6649010559142 + ], + [ + 79.52964724059336, + 714.3976200285549 + ], + [ + 80.56258422916608, + 693.6771202948014 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00036/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6ab7e6f684b37b8a104cdfbe2751a78266752b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00036/meta.json @@ -0,0 +1,1620 @@ +{ + "frame_id": 36, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.0, + "sim_timestamp": 12159.997294669272 + }, + "drone_pose": { + "x": -52.298518621435946, + "y": 52.2200912728, + "z": 20.010997722506524, + "pitch": -47.101513419274305, + "yaw": -70.06771518660842, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2320573925971985, + 0.6399250030517578, + 0.7325608730316162, + 30.8939208984375 + ], + [ + -0.9400962591171265, + 0.3409091830253601, + 0.0, + 31.363325119018555 + ], + [ + -0.24973677098751068, + -0.6886777281761169, + 0.680701494216919, + -62.64519119262695 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.98994654088619, + "y": 51.67370623065699, + "z": 20.009050094386104 + }, + "t1_image_uv": [ + 875.7982823334996, + -666.6393044187289 + ], + "t1_depth": 0.4226786136527621 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -46.16718292236328, + "y": 35.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.421623078539554, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": 35.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31840819120407104, + "y": 0.22645017504692078, + "z": 0.5571678280830383 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.3881754494471, + "ymin": 335.8554747545389, + "xmax": 652.4854222664404, + "ymax": 383.87820944977926 + }, + "corners_3d": [ + [ + -46.55245590209961, + 35.377262115478516, + 0.09838247299194336 + ], + [ + -46.232208251953125, + 35.697509765625, + 0.09838247299194336 + ], + [ + -45.78190994262695, + 35.24721145629883, + 0.09838247299194336 + ], + [ + -46.10215759277344, + 34.926963806152344, + 0.09838247299194336 + ], + [ + -46.55245590209961, + 35.377262115478516, + 1.21271812915802 + ], + [ + -46.232208251953125, + 35.697509765625, + 1.21271812915802 + ], + [ + -45.78190994262695, + 35.24721145629883, + 1.21271812915802 + ], + [ + -46.10215759277344, + 34.926963806152344, + 1.21271812915802 + ] + ], + "corners_2d": [ + [ + 627.7737838506522, + 378.7069620435372 + ], + [ + 642.5370442374824, + 383.87820944977926 + ], + [ + 652.1073888229791, + 368.4840202304092 + ], + [ + 637.5119587757854, + 363.4619443731277 + ], + [ + 627.3881754494471, + 351.16250557796104 + ], + [ + 642.6174671359128, + 356.35796750890523 + ], + [ + 652.4854222664404, + 340.8964340119604 + ], + [ + 637.4346599389851, + 335.8554747545389 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 36, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 396857, + "2": 377696, + "3": 108832, + "6": 5012, + "9": 11380, + "10": 862, + "12": 2018, + "20": 8748, + "24": 10195 + }, + "instance_pixel_counts": { + "4960": 33559, + "6215": 144593, + "7314": 18630, + "7826": 35620, + "8850": 4090, + "9362": 58120, + "9874": 43129, + "10386": 2243, + "18512": 3871, + "21652": 2575, + "22676": 92003, + "23188": 131449, + "24212": 8913, + "24724": 78572, + "25236": 81888, + "25748": 1457, + "26624": 553, + "28243": 1406, + "28802": 2474, + "33370": 1517, + "35988": 718, + "36500": 2280, + "37012": 3922, + "38036": 1615, + "38548": 779, + "39060": 839, + "39564": 7035, + "39770": 57952, + "40076": 12465, + "40084": 42, + "41100": 923, + "41612": 9257, + "41818": 5217, + "42074": 44146, + "42124": 7849, + "43148": 183, + "56576": 213, + "56832": 231, + "57088": 653, + "57173": 16257, + "57344": 530, + "57600": 391, + "61569": 579 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": 35.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33039790391921997, + "y": 0.22365964949131012, + "z": 0.5627927184104919 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.2874533082512, + "ymin": 335.4588933494656, + "xmax": 652.5771859801184, + "ymax": 384.27494787274753 + }, + "corners_3d": [ + [ + -46.5589599609375, + 35.38771057128906, + 0.09275758266448975 + ], + [ + -46.24265670776367, + 35.70401382446289, + 0.09275758266448975 + ], + [ + -45.77540588378906, + 35.23676300048828, + 0.09275758266448975 + ], + [ + -46.09170913696289, + 34.92045974731445, + 0.09275758266448975 + ], + [ + -46.5589599609375, + 35.38771057128906, + 1.2183430194854736 + ], + [ + -46.24265670776367, + 35.70401382446289, + 1.2183430194854736 + ], + [ + -45.77540588378906, + 35.23676300048828, + 1.2183430194854736 + ], + [ + -46.09170913696289, + 34.92045974731445, + 1.2183430194854736 + ] + ], + "corners_2d": [ + [ + 627.6801252378061, + 379.164696188187 + ], + [ + 642.2624496591318, + 384.27494787274753 + ], + [ + 652.1927052651434, + 368.30250993137133 + ], + [ + 637.7823320017335, + 363.3451131830769 + ], + [ + 627.2874533082512, + 351.34350831298775 + ], + [ + 642.3349222281272, + 356.4780209026291 + ], + [ + 652.5771859801184, + 340.4350320542676 + ], + [ + 637.7127441236946, + 335.4588933494656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": 38.309940338134766, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2317187488079071, + "y": 0.20936645567417145, + "z": 0.518755316734314 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.9600779987059, + "ymin": 378.05722725309136, + "xmax": 836.8589834785348, + "ymax": 419.61113781186674 + }, + "corners_3d": [ + [ + -42.34677505493164, + 38.37434387207031, + 0.1367998719215393 + ], + [ + -42.00801467895508, + 38.62046813964844, + 0.1367998719215393 + ], + [ + -41.73561477661133, + 38.24553680419922, + 0.1367998719215393 + ], + [ + -42.07437515258789, + 37.999412536621094, + 0.1367998719215393 + ], + [ + -42.34677505493164, + 38.37434387207031, + 1.1743104457855225 + ], + [ + -42.00801467895508, + 38.62046813964844, + 1.1743104457855225 + ], + [ + -41.73561477661133, + 38.24553680419922, + 1.1743104457855225 + ], + [ + -42.07437515258789, + 37.999412536621094, + 1.1743104457855225 + ] + ], + "corners_2d": [ + [ + 812.9600779987059, + 416.2605554259238 + ], + [ + 828.5517533381635, + 419.61113781186674 + ], + [ + 831.0939058461183, + 406.84740296081173 + ], + [ + 815.6760915054708, + 403.57451846082733 + ], + [ + 818.2249439578795, + 390.8196228548314 + ], + [ + 834.3094179118618, + 394.1918833094714 + ], + [ + 836.8589834785348, + 381.34894581100787 + ], + [ + 820.9594874145871, + 378.05722725309136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 653, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": 42.25494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.42655515670776367, + "y": 0.4837329089641571, + "z": 0.9026777744293213 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 623.1507462647228, + "ymin": 555.17637470153, + "xmax": 679.1847085176619, + "ymax": 642.0203281535537 + }, + "corners_3d": [ + [ + -49.06791305541992, + 42.24825668334961, + -0.2471274733543396 + ], + [ + -48.34894561767578, + 42.8956184387207, + -0.2471274733543396 + ], + [ + -47.77810287475586, + 42.26163101196289, + -0.2471274733543396 + ], + [ + -48.4970703125, + 41.6142692565918, + -0.2471274733543396 + ], + [ + -49.06791305541992, + 42.24825668334961, + 1.5582280158996582 + ], + [ + -48.34894561767578, + 42.8956184387207, + 1.5582280158996582 + ], + [ + -47.77810287475586, + 42.26163101196289, + 1.5582280158996582 + ], + [ + -48.4970703125, + 41.6142692565918, + 1.5582280158996582 + ] + ], + "corners_2d": [ + [ + 624.1649680187255, + 627.2101415115524 + ], + [ + 663.6059801373206, + 642.0203281535537 + ], + [ + 676.8568347777186, + 610.227002839279 + ], + [ + 638.2131579249009, + 596.1203792486932 + ], + [ + 623.1507462647228, + 587.1902772910213 + ], + [ + 665.1362616759119, + 602.4751990402339 + ], + [ + 679.1847085176619, + 569.6901754082674 + ], + [ + 638.1016191169412, + 555.17637470153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 530, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": 35.31223678588867, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3965185582637787, + "y": 0.3759863078594208, + "z": 0.9026126861572266 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 252.9689952812169, + "ymin": 415.083798168238, + "xmax": 316.9058096211767, + "ymax": 492.0532483726457 + }, + "corners_3d": [ + [ + -56.213436126708984, + 35.29814910888672, + -0.24706727266311646 + ], + [ + -55.710269927978516, + 35.856971740722656, + -0.24706727266311646 + ], + [ + -55.12092971801758, + 35.326324462890625, + -0.24706727266311646 + ], + [ + -55.62409591674805, + 34.76750183105469, + -0.24706727266311646 + ], + [ + -56.213436126708984, + 35.29814910888672, + 1.5581581592559814 + ], + [ + -55.710269927978516, + 35.856971740722656, + 1.5581581592559814 + ], + [ + -55.12092971801758, + 35.326324462890625, + 1.5581581592559814 + ], + [ + -55.62409591674805, + 34.76750183105469, + 1.5581581592559814 + ] + ], + "corners_2d": [ + [ + 273.6399530210501, + 480.7196642154722 + ], + [ + 296.0201776010956, + 492.0532483726457 + ], + [ + 316.9058096211767, + 469.8488761550844 + ], + [ + 294.7486859342584, + 458.94110953237816 + ], + [ + 252.9689952812169, + 437.19983716576326 + ], + [ + 276.4104667428334, + 448.7276940308659 + ], + [ + 298.85736219058896, + 426.15470848519203 + ], + [ + 275.6567436496426, + 415.083798168238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 391, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": 27.14202117919922, + "z": 0.8043246865272522 + }, + "extent": { + "x": 0.42711547017097473, + "y": 0.3365258574485779, + "z": 0.9353387355804443 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 840.9500851488775, + "ymin": 88.45899317574526, + "xmax": 877.4257176736445, + "ymax": 151.03729433629132 + }, + "corners_3d": [ + [ + -35.4651985168457, + 27.120819091796875, + -0.13101404905319214 + ], + [ + -35.06958770751953, + 27.665328979492188, + -0.13101404905319214 + ], + [ + -34.37849807739258, + 27.163223266601562, + -0.13101404905319214 + ], + [ + -34.77410888671875, + 26.61871337890625, + -0.13101404905319214 + ], + [ + -35.4651985168457, + 27.120819091796875, + 1.7396633625030518 + ], + [ + -35.06958770751953, + 27.665328979492188, + 1.7396633625030518 + ], + [ + -34.37849807739258, + 27.163223266601562, + 1.7396633625030518 + ], + [ + -34.77410888671875, + 26.61871337890625, + 1.7396633625030518 + ] + ], + "corners_2d": [ + [ + 840.9500851488775, + 144.9457730441782 + ], + [ + 857.9756070875209, + 151.03729433629132 + ], + [ + 868.115816072427, + 139.6779040654386 + ], + [ + 851.249320452005, + 133.75253769797934 + ], + [ + 849.2066303402395, + 99.45800010490211 + ], + [ + 867.001138188693, + 105.4490174228819 + ], + [ + 877.4257176736445, + 94.2800006991892 + ], + [ + 859.8054677351768, + 88.45899317574526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.157118075795, + "ymin": 446.01855729455394, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1209.9995398856395, + 683.4498245426687 + ], + [ + 1195.4479226179503, + 665.1958384052705 + ], + [ + 1047.157118075795, + 724.7299685564385 + ], + [ + 1060.2514299267914, + 744.6561780179452 + ], + [ + 1426.894193216169, + 467.09153566995235 + ], + [ + 1402.8992622061983, + 446.01855729455394 + ], + [ + 1208.6720246620512, + 515.551756977537 + ], + [ + 1230.2986700033325, + 539.3524525879097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.86314583788, + "ymin": 515.7679388718467, + "xmax": 1249.0601276330058, + "ymax": 543.2596202507964 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1245.7099931056675, + 535.2746509528288 + ], + [ + 1231.3723721761025, + 519.7658252400403 + ], + [ + 1209.86314583788, + 527.5464909296004 + ], + [ + 1224.0140199516145, + 543.2596202507964 + ], + [ + 1249.0601276330058, + 531.3102790697008 + ], + [ + 1234.6009992122586, + 515.7679388718467 + ], + [ + 1212.9947463457097, + 523.5651427342185 + ], + [ + 1227.265618737582, + 539.313364363663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2653496449461336491, + "instance_id": 43833, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 25.261022567749023, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.90306225513257, + "ymin": 14.998982964700645, + "xmax": 91.10301758229105, + "ymax": 26.88315202825379 + }, + "corners_3d": [ + [ + -58.15261459350586, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.1131534576416, + 7.797872066497803 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 74.15018134594754, + 21.58713102566105 + ], + [ + 73.73528291730622, + 26.88315202825379 + ], + [ + 90.81844919380524, + 24.199061489333303 + ], + [ + 91.10301758229105, + 18.943423239294418 + ], + [ + 72.33319916052062, + 17.6360639728955 + ], + [ + 71.90306225513257, + 22.919003719486852 + ], + [ + 89.04833856848836, + 20.241510602721178 + ], + [ + 89.34720075486973, + 14.998982964700645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.1834183861633, + "ymin": 0.0, + "xmax": 801.8675177107353, + "ymax": 159.49753105081703 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 775.1902312025588, + 138.00496638638253 + ], + [ + 769.9594324299961, + 131.44335171217654 + ], + [ + 671.1834183861633, + 152.58506965879107 + ], + [ + 675.725921645393, + 159.49753105081703 + ], + [ + 801.8675177107353, + -81.82916001300589 + ], + [ + 795.3565248270369, + -87.54722823688417 + ], + [ + 677.4697929391024, + -69.05786052497888 + ], + [ + 683.0006040720043, + -62.971132071934505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 7.177133473583922, + "xmax": 193.26771996604583, + "ymax": 273.9514780502725 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 63.09801755315186, + 265.0101208326333 + ], + [ + 62.47395601550579, + 273.9514780502725 + ], + [ + 193.26771996604583, + 246.2183163895379 + ], + [ + 192.67469335153726, + 237.7906133807641 + ], + [ + -72.91793996912395, + 32.29851525270311 + ], + [ + -75.29646997778843, + 40.62581965589402 + ], + [ + 90.5367410863388, + 14.918654448927384 + ], + [ + 90.96473172173933, + 7.177133473583922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10141269703987107338, + "instance_id": 2582, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 25.261022567749023, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 72.00707706322123, + "ymin": 15.06192358599884, + "xmax": 91.00248406735045, + "ymax": 26.819541683845046 + }, + "corners_3d": [ + [ + -58.15041732788086, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.114728927612305, + 7.797285079956055 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 74.22926102360373, + 21.580230528951517 + ], + [ + 73.8193976449046, + 26.819541683845046 + ], + [ + 90.72019318492448, + 24.164296226186536 + ], + [ + 91.00248406735045, + 18.964512047259063 + ], + [ + 72.43185120092062, + 17.671155774770114 + ], + [ + 72.00707706322123, + 22.897662555919965 + ], + [ + 88.9686623232991, + 20.2488749630665 + ], + [ + 89.26494914476575, + 15.06192358599884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 25.469122572557012, + "ymin": 0.0, + "xmax": 425.64579957718263, + "ymax": 64.95117637433805 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 125.04643600780196, + 59.62619222391186 + ], + [ + 124.91809275630851, + 64.95117637433805 + ], + [ + 425.64579957718263, + 15.786966561773 + ], + [ + 423.73957935175713, + 11.145521337430068 + ], + [ + 26.476848895982016, + -168.61908069697972 + ], + [ + 25.469122572557012, + -164.24487816402177 + ], + [ + 387.50679505555877, + -204.1735111072793 + ], + [ + 385.56640568162175, + -207.89073400043992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.6554010401062, + "ymin": 515.6216847069376, + "xmax": 1249.2740592085347, + "ymax": 543.4093790249475 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1245.8867010684671, + 535.3374635590366 + ], + [ + 1231.3945121340234, + 519.6628161799538 + ], + [ + 1209.6554010401062, + 527.5260132443739 + ], + [ + 1223.9568066111938, + 543.4093790249475 + ], + [ + 1249.2740592085347, + 531.3305634551676 + ], + [ + 1234.6577263479699, + 515.6216847069376 + ], + [ + 1212.8194986874873, + 523.5017691898114 + ], + [ + 1227.243489700591, + 539.4209956595793 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00037/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df26e137eebfea7bc6a2c4b97cade2eb14b95e6e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00037/meta.json @@ -0,0 +1,1726 @@ +{ + "frame_id": 37, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.5, + "sim_timestamp": 12170.459707849892 + }, + "drone_pose": { + "x": -51.98994654088619, + "y": 51.67370623065699, + "z": 20.009050094386104, + "pitch": -47.062556600036636, + "yaw": -69.4448110463758, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.23917555809020996, + 0.6378304958343506, + 0.7320979833602905, + 30.745206832885742 + ], + [ + -0.936334490776062, + 0.35110950469970703, + 0.0, + 30.536848068237305 + ], + [ + -0.25704655051231384, + -0.6854885220527649, + 0.6811994314193726, + -62.41572570800781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.65772361922662, + "y": 51.133546370002605, + "z": 20.007409053440124 + }, + "t1_image_uv": [ + 914.1350277413572, + -666.290930936032 + ], + "t1_depth": 0.4251914372525992 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -45.66718292236328, + "y": 34.81223678588867, + "z": 0.6555600543320179 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.435659029860503, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": 34.81223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.24756833910942078, + "y": 0.3231908679008484, + "z": 0.5493053197860718 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.3374914913711, + "ymin": 336.7254584113609, + "xmax": 654.5923640401925, + "ymax": 382.99882291127756 + }, + "corners_3d": [ + [ + -46.070770263671875, + 34.75876235961914, + 0.10625475645065308 + ], + [ + -45.61370849609375, + 35.215824127197266, + 0.10625475645065308 + ], + [ + -45.26359558105469, + 34.8657112121582, + 0.10625475645065308 + ], + [ + -45.72065734863281, + 34.40864944458008, + 0.10625475645065308 + ], + [ + -46.070770263671875, + 34.75876235961914, + 1.2048654556274414 + ], + [ + -45.61370849609375, + 35.215824127197266, + 1.2048654556274414 + ], + [ + -45.26359558105469, + 34.8657112121582, + 1.2048654556274414 + ], + [ + -45.72065734863281, + 34.40864944458008, + 1.2048654556274414 + ] + ], + "corners_2d": [ + [ + 625.7779302708095, + 375.821257081837 + ], + [ + 646.9229173536864, + 382.99882291127756 + ], + [ + 654.1560665439267, + 370.95967736603956 + ], + [ + 633.2021494656117, + 363.94448732316226 + ], + [ + 625.3374914913711, + 348.64823084897114 + ], + [ + 647.1388257780953, + 355.8576574362832 + ], + [ + 654.5923640401925, + 343.7668086175697 + ], + [ + 632.9940888423602, + 336.7254584113609 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 37, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 399560, + "2": 371055, + "3": 116973, + "6": 4990, + "7": 30, + "9": 6674, + "10": 862, + "12": 1993, + "20": 8457, + "24": 11006 + }, + "instance_pixel_counts": { + "4960": 23273, + "6215": 149223, + "7314": 19695, + "7826": 34739, + "8850": 4278, + "9362": 61493, + "9874": 38854, + "10386": 2042, + "18512": 3958, + "21652": 4119, + "22676": 95884, + "23188": 126657, + "24212": 11843, + "24724": 82328, + "25236": 76787, + "25748": 1942, + "26624": 714, + "28243": 1112, + "28802": 2577, + "33370": 1687, + "35988": 1089, + "36500": 2348, + "37012": 3927, + "38036": 1912, + "38548": 814, + "39052": 57, + "39060": 893, + "39564": 7352, + "39770": 61733, + "40076": 11927, + "40084": 23, + "41100": 962, + "41612": 9787, + "41818": 5864, + "42074": 47689, + "42124": 7227, + "43148": 146, + "56576": 212, + "56832": 234, + "57088": 635, + "57173": 11173, + "57344": 523, + "57600": 389, + "61569": 617 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": 34.81223678588867, + "z": 0.6555600762367249 + }, + "extent": { + "x": 0.32704341411590576, + "y": 0.23009030520915985, + "z": 0.560547411441803 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.2135511443703, + "ymin": 335.5548350077215, + "xmax": 652.6516097797719, + "ymax": 384.1826629384613 + }, + "corners_3d": [ + [ + -46.061134338378906, + 34.880794525146484, + 0.09501266479492188 + ], + [ + -45.735740661621094, + 35.2061882019043, + 0.09501266479492188 + ], + [ + -45.273231506347656, + 34.74367904663086, + 0.09501266479492188 + ], + [ + -45.59862518310547, + 34.41828536987305, + 0.09501266479492188 + ], + [ + -46.061134338378906, + 34.880794525146484, + 1.2161074876785278 + ], + [ + -45.735740661621094, + 35.2061882019043, + 1.2161074876785278 + ], + [ + -45.273231506347656, + 34.74367904663086, + 1.2161074876785278 + ], + [ + -45.59862518310547, + 34.41828536987305, + 1.2161074876785278 + ] + ], + "corners_2d": [ + [ + 627.6064843490499, + 379.0541486377633 + ], + [ + 642.6774413922819, + 384.1826629384613 + ], + [ + 652.2667955010398, + 368.3101805707357 + ], + [ + 637.3754230088825, + 363.3343278119713 + ], + [ + 627.2135511443703, + 351.33777746476 + ], + [ + 642.7627564869416, + 356.49012441147346 + ], + [ + 652.6516097797719, + 340.54904890498943 + ], + [ + 637.2934951853458, + 335.5548350077215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 234, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -41.541194915771484, + "y": 37.809940338134766, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2149682641029358, + "y": 0.2295873910188675, + "z": 0.5265422463417053 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.5737136880593, + "ymin": 376.659684924198, + "xmax": 837.6887364483669, + "ymax": 417.84906228223815 + }, + "corners_3d": [ + [ + -41.85329055786133, + 37.84890365600586, + 0.12901294231414795 + ], + [ + -41.4818115234375, + 38.11880111694336, + 0.12901294231414795 + ], + [ + -41.22909927368164, + 37.77097702026367, + 0.12901294231414795 + ], + [ + -41.60057830810547, + 37.50107955932617, + 0.12901294231414795 + ], + [ + -41.85329055786133, + 37.84890365600586, + 1.1820974349975586 + ], + [ + -41.4818115234375, + 38.11880111694336, + 1.1820974349975586 + ], + [ + -41.22909927368164, + 37.77097702026367, + 1.1820974349975586 + ], + [ + -41.60057830810547, + 37.50107955932617, + 1.1820974349975586 + ] + ], + "corners_2d": [ + [ + 812.5737136880593, + 414.33066872254466 + ], + [ + 829.6569498078459, + 417.84906228223815 + ], + [ + 831.8257760068947, + 406.01686857652976 + ], + [ + 814.9205336836746, + 402.57435478798357 + ], + [ + 817.8901959354547, + 388.48585028372054 + ], + [ + 835.5192289362972, + 392.02668242334914 + ], + [ + 837.6887364483669, + 380.12183631302037 + ], + [ + 820.2492053796827, + 376.659684924198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 635, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -47.92300796508789, + "y": 41.75494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3971533179283142, + "y": 0.30653318762779236, + "z": 0.8716685175895691 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 635.1164094588839, + "ymin": 559.3041748151466, + "xmax": 674.5494883113148, + "ymax": 637.0721957404986 + }, + "corners_3d": [ + [ + -48.41655349731445, + 41.844974517822266, + -0.2161182165145874 + ], + [ + -47.96095657348633, + 42.25519561767578, + -0.2161182165145874 + ], + [ + -47.42946243286133, + 41.664913177490234, + -0.2161182165145874 + ], + [ + -47.88505935668945, + 41.25469207763672, + -0.2161182165145874 + ], + [ + -48.41655349731445, + 41.844974517822266, + 1.5272188186645508 + ], + [ + -47.96095657348633, + 42.25519561767578, + 1.5272188186645508 + ], + [ + -47.42946243286133, + 41.664913177490234, + 1.5272188186645508 + ], + [ + -47.88505935668945, + 41.25469207763672, + 1.5272188186645508 + ] + ], + "corners_2d": [ + [ + 635.4006202118834, + 627.9601062785557 + ], + [ + 660.5223075851311, + 637.0721957404986 + ], + [ + 672.5704771860707, + 607.4897827205745 + ], + [ + 647.9307440485758, + 598.7835829547091 + ], + [ + 635.1164094588839, + 589.3209691607173 + ], + [ + 661.7998926248218, + 598.7125557119391 + ], + [ + 674.5494883113148, + 568.2524004055291 + ], + [ + 648.4091456634269, + 559.3041748151466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 523, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -55.16718292236328, + "y": 34.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31886473298072815, + "y": 0.3461596667766571, + "z": 0.8899583220481873 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 256.8936604969433, + "ymin": 420.94346581963515, + "xmax": 314.551879345204, + "ymax": 492.06017794260515 + }, + "corners_3d": [ + [ + -55.635772705078125, + 34.76835250854492, + -0.23440802097320557 + ], + [ + -55.17251968383789, + 35.28284454345703, + -0.23440802097320557 + ], + [ + -54.69859313964844, + 34.85612106323242, + -0.23440802097320557 + ], + [ + -55.16184616088867, + 34.34162902832031, + -0.23440802097320557 + ], + [ + -55.635772705078125, + 34.76835250854492, + 1.545508623123169 + ], + [ + -55.17251968383789, + 35.28284454345703, + 1.545508623123169 + ], + [ + -54.69859313964844, + 34.85612106323242, + 1.545508623123169 + ], + [ + -55.16184616088867, + 34.34162902832031, + 1.545508623123169 + ] + ], + "corners_2d": [ + [ + 277.0795247031365, + 481.83164488092643 + ], + [ + 297.9227501765499, + 492.06017794260515 + ], + [ + 314.551879345204, + 474.0404733222739 + ], + [ + 293.88468012450426, + 464.1248884356039 + ], + [ + 256.8936604969433, + 438.92449012545603 + ], + [ + 278.71802098041223, + 449.3254550289102 + ], + [ + 296.5792612613293, + 431.0088564406451 + ], + [ + 274.9451971199928, + 420.94346581963515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 389, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.42184829711914, + "y": 26.64202117919922, + "z": 0.8040024638175964 + }, + "extent": { + "x": 0.49980711936950684, + "y": 0.44887450337409973, + "z": 0.9132224321365356 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 833.506607518039, + "ymin": 86.19047785878013, + "xmax": 876.9228684215481, + "ymax": 151.41620025255878 + }, + "corners_3d": [ + [ + -35.09004211425781, + 26.57265281677246, + -0.10921996831893921 + ], + [ + -34.56235885620117, + 27.298948287963867, + -0.10921996831893921 + ], + [ + -33.75365447998047, + 26.711389541625977, + -0.10921996831893921 + ], + [ + -34.28133773803711, + 25.98509407043457, + -0.10921996831893921 + ], + [ + -35.09004211425781, + 26.57265281677246, + 1.7172248363494873 + ], + [ + -34.56235885620117, + 27.298948287963867, + 1.7172248363494873 + ], + [ + -33.75365447998047, + 26.711389541625977, + 1.7172248363494873 + ], + [ + -34.28133773803711, + 25.98509407043457, + 1.7172248363494873 + ] + ], + "corners_2d": [ + [ + 833.506607518039, + 143.43947569941338 + ], + [ + 856.2786174782319, + 151.41620025255878 + ], + [ + 867.8745797668489, + 138.0579150704819 + ], + [ + 845.3580329617758, + 130.33677329391682 + ], + [ + 841.2433403451159, + 99.06703365603028 + ], + [ + 865.0138485598545, + 106.91419147345289 + ], + [ + 876.9228684215481, + 93.77635399082459 + ], + [ + 853.4314447356921, + 86.19047785878013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8235368794956299039, + "instance_id": 8187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -59.495052337646484, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.31926690865009, + "ymin": 0.0, + "xmax": 88.54172227621916, + "ymax": 8.72070654140839 + }, + "corners_3d": [ + [ + -59.355716705322266, + 12.355925559997559, + 2.645533323287964 + ], + [ + -59.355716705322266, + 11.976011276245117, + 2.645533323287964 + ], + [ + -59.6343879699707, + 11.976012229919434, + 2.645533323287964 + ], + [ + -59.6343879699707, + 12.355926513671875, + 2.645533323287964 + ], + [ + -59.355716705322266, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -59.355716705322266, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 88.38700886631432, + 7.461875083299901 + ], + [ + 88.54172227621916, + 2.9242342917639235 + ], + [ + 80.60754033706621, + 4.166286202959498 + ], + [ + 80.3990769531905, + 8.72070654140839 + ], + [ + 78.46979332368744, + -14.935743832001947 + ], + [ + 78.69470876130345, + -19.402101056499646 + ], + [ + 70.6001332039558, + -18.179667662877137 + ], + [ + 70.31926690865009, + -13.696497725916345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.7064881266379, + "ymin": 471.65472418290796, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1210.2742789059193, + 706.3504736621853 + ], + [ + 1195.2949798664017, + 687.5629447754905 + ], + [ + 1045.7064881266379, + 751.0473264978593 + ], + [ + 1059.2300031435643, + 771.6440358803568 + ], + [ + 1432.1092643746183, + 493.6055214375799 + ], + [ + 1407.234235357615, + 471.65472418290796 + ], + [ + 1210.725819302545, + 546.7757984450247 + ], + [ + 1233.2431083003362, + 571.7371936167115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1211.9154113871418, + "ymin": 546.2624482238213, + "xmax": 1252.09786818444, + "ymax": 575.0852710364784 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1248.6472445985103, + 566.434190940349 + ], + [ + 1233.7339601209228, + 550.1957683638683 + ], + [ + 1211.9154113871418, + 558.620648042009 + ], + [ + 1226.6409182497227, + 575.0852710364784 + ], + [ + 1252.09786818444, + 562.5403647811787 + ], + [ + 1237.0556425632287, + 546.2624482238213 + ], + [ + 1215.1372134216522, + 554.7075161805338 + ], + [ + 1229.990151195283, + 571.2134737963797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2653496449461336491, + "instance_id": 43833, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 25.261022567749023, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.72019461290449, + "ymin": 30.520474934773745, + "xmax": 65.59506603691602, + "ymax": 42.84508068984189 + }, + "corners_3d": [ + [ + -58.15261459350586, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.1131534576416, + 7.797872066497803 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 48.16920225906949, + 37.34048161638441 + ], + [ + 47.677212759748386, + 42.84508068984189 + ], + [ + 65.23979557285998, + 39.960450919188986 + ], + [ + 65.59506603691602, + 34.500034774117466 + ], + [ + 46.22892202436856, + 33.35417580123817 + ], + [ + 45.72019461290449, + 38.84591350738543 + ], + [ + 63.348494877818894, + 35.96798874482948 + ], + [ + 63.71948370090752, + 30.520474934773745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9146753087061, + "ymin": 0.0, + "xmax": 789.9767313809314, + "ymax": 170.52153681665462 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 764.9967666667209, + 147.86169510972832 + ], + [ + 759.6689962226167, + 141.17948827412485 + ], + [ + 659.9146753087061, + 163.46631694896445 + ], + [ + 664.5470839736059, + 170.52153681665462 + ], + [ + 789.9767313809314, + -73.04588030918819 + ], + [ + 783.350664325829, + -78.89294882979306 + ], + [ + 663.9857860076003, + -59.31702966211776 + ], + [ + 669.6163309742014, + -53.07540389368779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 22.548127939411927, + "xmax": 174.13541183253392, + "ymax": 292.6986077850622 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 40.97070348882448, + 283.4509107638313 + ], + [ + 40.2874355704879, + 292.6986077850622 + ], + [ + 174.13541183253392, + 263.0776803810588 + ], + [ + 173.55350257015698, + 254.38675760607492 + ], + [ + -103.48001341514987, + 49.590617092047125 + ], + [ + -106.06984850372305, + 58.2784739795045 + ], + [ + 64.75489425587034, + 30.59314332625098 + ], + [ + 65.29086202488531, + 22.548127939411927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10141269703987107338, + "instance_id": 2582, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 25.261022567749023, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.82791097010602, + "ymin": 30.585724687644017, + "xmax": 65.49104326814472, + "ymax": 42.779087090766666 + }, + "corners_3d": [ + [ + -58.15041732788086, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.114728927612305, + 7.797285079956055 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 48.24978082605435, + 37.33343935963063 + ], + [ + 47.7636742877678, + 42.779087090766666 + ], + [ + 65.13876318155303, + 39.925459785303076 + ], + [ + 65.49104326814472, + 34.52305871751281 + ], + [ + 46.330395548129786, + 33.38950242262928 + ], + [ + 45.82791097010602, + 38.8225609500667 + ], + [ + 63.26732020401107, + 35.975496878962076 + ], + [ + 63.634991002805464, + 30.585724687644017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.032334526781482964, + "ymin": 0.0, + "xmax": 410.8354691710759, + "ymax": 76.88932641619476 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 105.24690584560005, + 71.42458729112627 + ], + [ + 105.09593305235364, + 76.88932641619476 + ], + [ + 410.8354691710759, + 24.83780288803166 + ], + [ + 408.89831635801505, + 20.10416918002346 + ], + [ + 1.128965911485352, + -158.68150238535497 + ], + [ + 0.032334526781482964, + -154.16782154168243 + ], + [ + 369.5178581800795, + -196.6421150062447 + ], + [ + 367.56523938698444, + -200.4480787323024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1211.702449011987, + "ymin": 546.1091988057027, + "xmax": 1252.317188401384, + "ymax": 575.2423743559415 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1248.8282042033343, + 566.497080192639 + ], + [ + 1233.7541893313432, + 550.0851209376763 + ], + [ + 1211.702449011987, + 558.5993271614449 + ], + [ + 1226.584627223057, + 575.2423743559415 + ], + [ + 1252.317188401384, + 562.5614969439304 + ], + [ + 1237.1114351239726, + 546.1091988057027 + ], + [ + 1214.9576626531925, + 554.6440200977743 + ], + [ + 1229.9700197303619, + 571.3293068915531 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00038/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07354ac55a4d8f0b82921984725dbc0d0c191615 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00038/meta.json @@ -0,0 +1,1727 @@ +{ + "frame_id": 38, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.0, + "sim_timestamp": 12179.155412127497 + }, + "drone_pose": { + "x": -51.65772361922662, + "y": 51.133546370002605, + "z": 20.007409053440124, + "pitch": -47.02515224380743, + "yaw": -68.90077815360623, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2453930377960205, + 0.6359764933586121, + 0.7316530346870422, + 30.557697296142578 + ], + [ + -0.9329584240913391, + 0.35998427867889404, + 2.9802322387695312e-08, + 29.787240982055664 + ], + [ + -0.26338356733322144, + -0.682601809501648, + 0.6816772222518921, + -62.14824295043945 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -51.31689314102615, + "y": 50.59997858687587, + "z": 20.006034014655288 + }, + "t1_image_uv": [ + 925.0807249670669, + -665.8131264094845 + ], + "t1_depth": 0.42398004487902613 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -45.16718292236328, + "y": 34.31223678588867, + "z": 0.6554965791106224 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.44957638746512, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": 34.31223678588867, + "z": 0.6554965972900391 + }, + "extent": { + "x": 0.23437009751796722, + "y": 0.30152463912963867, + "z": 0.5475953817367554 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.3081713578382, + "ymin": 337.37067906525846, + "xmax": 653.6259822208967, + "ymax": 382.33807299019827 + }, + "corners_3d": [ + [ + -45.54611587524414, + 34.26475143432617, + 0.10790121555328369 + ], + [ + -45.11969757080078, + 34.69116973876953, + 0.10790121555328369 + ], + [ + -44.78824996948242, + 34.35972213745117, + 0.10790121555328369 + ], + [ + -45.21466827392578, + 33.93330383300781, + 0.10790121555328369 + ], + [ + -45.54611587524414, + 34.26475143432617, + 1.2030919790267944 + ], + [ + -45.11969757080078, + 34.69116973876953, + 1.2030919790267944 + ], + [ + -44.78824996948242, + 34.35972213745117, + 1.2030919790267944 + ], + [ + -45.21466827392578, + 33.93330383300781, + 1.2030919790267944 + ] + ], + "corners_2d": [ + [ + 626.7177386008224, + 375.7927535593401 + ], + [ + 646.5168094144465, + 382.33807299019827 + ], + [ + 653.2202865050947, + 370.91132022066296 + ], + [ + 633.5935737683232, + 364.50688997425937 + ], + [ + 626.3081713578382, + 348.6994931033951 + ], + [ + 646.719055757324, + 355.2731757398262 + ], + [ + 653.6259822208967, + 343.79855772639775 + ], + [ + 633.3982234781786, + 337.37067906525846 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 38, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 401608, + "2": 365904, + "3": 125389, + "6": 4831, + "7": 82, + "9": 2178, + "10": 859, + "12": 2047, + "20": 7331, + "24": 11371 + }, + "instance_pixel_counts": { + "4960": 14271, + "6215": 154134, + "6802": 169, + "7314": 20656, + "7826": 33713, + "8850": 4466, + "9362": 65129, + "9874": 34301, + "10386": 1763, + "18512": 3848, + "21652": 5912, + "22676": 99992, + "23188": 121655, + "24212": 14793, + "24724": 86440, + "25236": 71238, + "25748": 1578, + "26624": 908, + "28243": 894, + "28802": 2456, + "33370": 1781, + "35988": 1305, + "36500": 2479, + "37012": 3565, + "38036": 2220, + "38548": 854, + "39052": 185, + "39060": 853, + "39564": 7614, + "39770": 65289, + "40076": 11537, + "40084": 95, + "41100": 1013, + "41612": 10361, + "41818": 6645, + "42074": 51674, + "42124": 6570, + "43148": 22, + "56576": 208, + "56832": 231, + "57088": 629, + "57173": 5661, + "57344": 585, + "57600": 394, + "61569": 655 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": 34.31223678588867, + "z": 0.6554965972900391 + }, + "extent": { + "x": 0.22582517564296722, + "y": 0.2905260920524597, + "z": 0.5520200133323669 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.806983259025, + "ymin": 337.5784421449672, + "xmax": 653.131866978621, + "ymax": 382.1135787134744 + }, + "corners_3d": [ + [ + -45.53229904174805, + 34.26648712158203, + 0.10347658395767212 + ], + [ + -45.12143325805664, + 34.67735290527344, + 0.10347658395767212 + ], + [ + -44.802066802978516, + 34.35798645019531, + 0.10347658395767212 + ], + [ + -45.21293258666992, + 33.947120666503906, + 0.10347658395767212 + ], + [ + -45.53229904174805, + 34.26648712158203, + 1.2075166702270508 + ], + [ + -45.12143325805664, + 34.67735290527344, + 1.2075166702270508 + ], + [ + -44.802066802978516, + 34.35798645019531, + 1.2075166702270508 + ], + [ + -45.21293258666992, + 33.947120666503906, + 1.2075166702270508 + ] + ], + "corners_2d": [ + [ + 627.204736194797, + 375.8096279934156 + ], + [ + 646.276312745816, + 382.1135787134744 + ], + [ + 652.7377375997976, + 371.1060637409526 + ], + [ + 633.8261404092075, + 364.9328966064632 + ], + [ + 626.806983259025, + 348.4969748751246 + ], + [ + 646.4726302958621, + 354.82838400110256 + ], + [ + 653.131866978621, + 343.77446798040165 + ], + [ + 633.6362767797883, + 337.5784421449672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -41.041194915771484, + "y": 37.309940338134766, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.1971118152141571, + "y": 0.21788939833641052, + "z": 0.5220575332641602 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.35695862116, + "ymin": 376.0335736095966, + "xmax": 837.1942398304586, + "ymax": 415.720681169658 + }, + "corners_3d": [ + [ + -41.33333206176758, + 37.34133529663086, + 0.13349276781082153 + ], + [ + -40.980777740478516, + 37.59748077392578, + 0.13349276781082153 + ], + [ + -40.74905776977539, + 37.27854537963867, + 0.13349276781082153 + ], + [ + -41.10161209106445, + 37.02239990234375, + 0.13349276781082153 + ], + [ + -41.33333206176758, + 37.34133529663086, + 1.177607774734497 + ], + [ + -40.980777740478516, + 37.59748077392578, + 1.177607774734497 + ], + [ + -40.74905776977539, + 37.27854537963867, + 1.177607774734497 + ], + [ + -41.10161209106445, + 37.02239990234375, + 1.177607774734497 + ] + ], + "corners_2d": [ + [ + 813.35695862116, + 412.51068023927274 + ], + [ + 829.5592335942184, + 415.720681169658 + ], + [ + 831.4067891036163, + 404.8844504269366 + ], + [ + 815.3602880117694, + 401.73809071947085 + ], + [ + 818.6369561445879, + 386.86812384050506 + ], + [ + 835.3503469396787, + 390.09785752129665 + ], + [ + 837.1942398304586, + 379.1973516213946 + ], + [ + 820.6465676500153, + 376.0335736095966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 629, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -47.42300796508789, + "y": 41.25494384765625, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.4005371034145355, + "y": 0.28318601846694946, + "z": 0.8659661412239075 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 639.4066886628202, + "ymin": 559.3020927985114, + "xmax": 676.6102913731207, + "ymax": 636.2873534769121 + }, + "corners_3d": [ + [ + -47.901466369628906, + 41.36311340332031, + -0.21041584014892578 + ], + [ + -47.48057174682617, + 41.742088317871094, + -0.21041584014892578 + ], + [ + -46.944549560546875, + 41.14677429199219, + -0.21041584014892578 + ], + [ + -47.36544418334961, + 40.767799377441406, + -0.21041584014892578 + ], + [ + -47.901466369628906, + 41.36311340332031, + 1.5215164422988892 + ], + [ + -47.48057174682617, + 41.742088317871094, + 1.5215164422988892 + ], + [ + -46.944549560546875, + 41.14677429199219, + 1.5215164422988892 + ], + [ + -47.36544418334961, + 40.767799377441406, + 1.5215164422988892 + ] + ], + "corners_2d": [ + [ + 639.440974956208, + 628.0798718462673 + ], + [ + 662.7478062912575, + 636.2873534769121 + ], + [ + 674.5299850492613, + 606.3960981523958 + ], + [ + 651.6807226083786, + 598.558703054894 + ], + [ + 639.4066886628202, + 589.6645657262388 + ], + [ + 664.1523449588251, + 598.1209961242889 + ], + [ + 676.6102913731207, + 567.354593027712 + ], + [ + 652.3798654737859, + 559.3020927985114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 585, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -54.66718292236328, + "y": 34.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3553417921066284, + "y": 0.2651159465312958, + "z": 0.8669918775558472 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 259.27188849704424, + "ymin": 424.24351090833363, + "xmax": 313.43175571974047, + "ymax": 493.97016490799865 + }, + "corners_3d": [ + [ + -55.10865020751953, + 34.352989196777344, + -0.21144157648086548 + ], + [ + -54.75385665893555, + 34.74702453613281, + -0.21144157648086548 + ], + [ + -54.22571563720703, + 34.271484375, + -0.21144157648086548 + ], + [ + -54.580509185791016, + 33.87744903564453, + -0.21144157648086548 + ], + [ + -55.10865020751953, + 34.352989196777344, + 1.5225422382354736 + ], + [ + -54.75385665893555, + 34.74702453613281, + 1.5225422382354736 + ], + [ + -54.22571563720703, + 34.271484375, + 1.5225422382354736 + ], + [ + -54.580509185791016, + 33.87744903564453, + 1.5225422382354736 + ] + ], + "corners_2d": [ + [ + 278.89218206165157, + 486.2356955848712 + ], + [ + 295.03976201049437, + 493.97016490799865 + ], + [ + 313.43175571974047, + 473.75712952981047 + ], + [ + 297.44260049242075, + 466.28800753628616 + ], + [ + 259.27188849704424, + 444.4970892203378 + ], + [ + 276.16462992715105, + 452.3603796144889 + ], + [ + 295.8898386450226, + 431.82272614924125 + ], + [ + 279.1683426795232, + 424.24351090833363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 394, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -33.92184829711914, + "y": 26.14202117919922, + "z": 0.80352383852005 + }, + "extent": { + "x": 0.3686889708042145, + "y": 0.3582165539264679, + "z": 0.9401346445083618 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 833.8696913274664, + "ymin": 87.16465163690299, + "xmax": 869.4407514281312, + "ymax": 148.55076820612712 + }, + "corners_3d": [ + [ + -34.43067932128906, + 26.068927764892578, + -0.13661080598831177 + ], + [ + -34.00957107543945, + 26.648534774780273, + -0.13661080598831177 + ], + [ + -33.41301727294922, + 26.21511459350586, + -0.13661080598831177 + ], + [ + -33.83412551879883, + 25.635507583618164, + -0.13661080598831177 + ], + [ + -34.43067932128906, + 26.068927764892578, + 1.7436585426330566 + ], + [ + -34.00957107543945, + 26.648534774780273, + 1.7436585426330566 + ], + [ + -33.41301727294922, + 26.21511459350586, + 1.7436585426330566 + ], + [ + -33.83412551879883, + 25.635507583618164, + 1.7436585426330566 + ] + ], + "corners_2d": [ + [ + 833.8696913274664, + 142.32709575949082 + ], + [ + 852.0242874318384, + 148.55076820612712 + ], + [ + 860.43861559889, + 138.6937433217818 + ], + [ + 842.437712675239, + 132.6184353282108 + ], + [ + 841.8238344552104, + 96.69953528395331 + ], + [ + 860.7926541191247, + 102.81672704025254 + ], + [ + 869.4407514281312, + 93.13012256015509 + ], + [ + 850.6401467278984, + 87.16465163690299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8235368794956299039, + "instance_id": 8187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -59.495052337646484, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.13237970634202, + "ymin": 0.0, + "xmax": 68.09258530218722, + "ymax": 20.175128898755645 + }, + "corners_3d": [ + [ + -59.355716705322266, + 12.355925559997559, + 2.645533323287964 + ], + [ + -59.355716705322266, + 11.976011276245117, + 2.645533323287964 + ], + [ + -59.6343879699707, + 11.976012229919434, + 2.645533323287964 + ], + [ + -59.6343879699707, + 12.355926513671875, + 2.645533323287964 + ], + [ + -59.355716705322266, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -59.355716705322266, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 67.89837478019547, + 18.843974556543458 + ], + [ + 68.09258530218722, + 14.18155795986604 + ], + [ + 59.99416140035055, + 15.494746263357968 + ], + [ + 59.74431249020324, + 20.175128898755645 + ], + [ + 57.45610336870959, + -3.708473742763772 + ], + [ + 57.725753896522974, + -8.30007822376217 + ], + [ + 49.459997280102925, + -7.006949132060868 + ], + [ + 49.13237970634202, + -2.3973286956000948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.3346552537623, + "ymin": 499.63984218626, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1210.9299201239828, + 731.053056109179 + ], + [ + 1195.516538723558, + 711.6685768730927 + ], + [ + 1044.3346552537623, + 779.1938677855876 + ], + [ + 1058.2866124698194, + 800.5334508709778 + ], + [ + 1438.3381689639184, + 522.586961468614 + ], + [ + 1412.5292724137082, + 499.63984218626 + ], + [ + 1213.2291958663745, + 580.6843789703519 + ], + [ + 1236.678127654673, + 606.9562747588793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.412579902025, + "ymin": 579.3903409986167, + "xmax": 1255.6762854427552, + "ymax": 609.6656448158178 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1252.113517387805, + 600.3059532791593 + ], + [ + 1236.5979979532244, + 583.2441620895464 + ], + [ + 1214.412579902025, + 592.353290815749 + ], + [ + 1229.7382174973832, + 609.6656448158178 + ], + [ + 1255.6762854427552, + 596.4986835990837 + ], + [ + 1240.0235656799473, + 579.3903409986167 + ], + [ + 1217.7348665770464, + 588.5239903658894 + ], + [ + 1233.1961833318405, + 605.8850480231029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2653496449461336491, + "instance_id": 43833, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 25.261022567749023, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.43589584773372, + "ymin": 46.39649765068117, + "xmax": 40.028880360374046, + "ymax": 59.17404319297634 + }, + "corners_3d": [ + [ + -58.15261459350586, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.1131534576416, + 7.797872066497803 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + 22.11199868895244, + 53.44897791499261 + ], + [ + 21.52278182199416, + 59.17404319297634 + ], + [ + 39.58326902671524, + 56.08707173329026 + ], + [ + 40.028880360374046, + 50.41016451018112 + ], + [ + 20.043516551217976, + 49.42850594043182 + ], + [ + 19.43589584773372, + 55.140982051174376 + ], + [ + 37.56592454401448, + 52.060761124397516 + ], + [ + 38.02883823806553, + 46.39649765068117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.1370456508838, + "ymin": 0.0, + "xmax": 778.7521192852693, + "ymax": 181.93725728591198 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 755.3859552069243, + 158.13568902979358 + ], + [ + 749.9681982127704, + 151.32216256102015 + ], + [ + 649.1370456508838, + 174.72833350872563 + ], + [ + 653.8503365525328, + 181.93725728591198 + ], + [ + 778.7521192852693, + -63.868110432351614 + ], + [ + 772.0173875223417, + -69.85601184210799 + ], + [ + 651.0320787133802, + -49.20230787769583 + ], + [ + 656.7525492566741, + -42.79324457865681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 38.27190927317645, + "xmax": 155.13337743331948, + "ymax": 311.7081832380645 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + 18.908906192382005, + 302.1405663696859 + ], + [ + 18.144509466317118, + 311.7081832380645 + ], + [ + 155.13337743331948, + 280.2134613694772 + ], + [ + 154.5813255398824, + 271.2468537096834 + ], + [ + -134.28482247692568, + 67.25667151100401 + ], + [ + -137.1234939500838, + 76.32543573144306 + ], + [ + 38.882697275226406, + 46.63793704605558 + ], + [ + 39.55622061404813, + 38.27190927317645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10141269703987107338, + "instance_id": 2582, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 25.261022567749023, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.547550820449374, + "ymin": 46.464121486185945, + "xmax": 39.92114505762879, + "ymax": 59.105598017373495 + }, + "corners_3d": [ + [ + -58.15041732788086, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.114728927612305, + 7.797285079956055 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + 22.194040874854636, + 53.441852916678386 + ], + [ + 21.61177123074799, + 59.105598017373495 + ], + [ + 39.47944281410594, + 56.05180623545954 + ], + [ + 39.92114505762879, + 50.43519873785681 + ], + [ + 20.147828710353224, + 49.46411494032736 + ], + [ + 19.547550820449374, + 55.11553720016906 + ], + [ + 37.48328536343638, + 52.06835328605359 + ], + [ + 37.941929191694726, + 46.464121486185945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 396.67805336284914, + "ymax": 88.85779121815426 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 86.00596701918425, + 83.24882666792678 + ], + [ + 85.82044635325792, + 88.85779121815426 + ], + [ + 396.67805336284914, + 34.00722221813356 + ], + [ + 394.71853587105323, + 29.17683562742525 + ], + [ + -23.702610664530994, + -148.68197706295337 + ], + [ + -24.90485651378924, + -144.0233976153812 + ], + [ + 352.2162212045235, + -188.99812483966434 + ], + [ + 350.2617072992609, + -192.8975577358798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.193903290206, + "ymin": 579.2294632189646, + "xmax": 1255.9015281198183, + "ymax": 609.8307671432489 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1252.2991295013117, + 600.3691263741401 + ], + [ + 1236.6164301917288, + 583.1250919444602 + ], + [ + 1214.193903290206, + 592.3307565212963 + ], + [ + 1229.6826160239389, + 609.8307671432489 + ], + [ + 1255.9015281198183, + 596.5210450535503 + ], + [ + 1240.078652479584, + 579.2294632189646 + ], + [ + 1217.5506193075553, + 588.460167268659 + ], + [ + 1233.1779375368906, + 606.0099477886438 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00039/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6da3bc931f044383c8434d9210561c14cd204634 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00039/meta.json @@ -0,0 +1,1727 @@ +{ + "frame_id": 39, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.5, + "sim_timestamp": 12189.976537361043 + }, + "drone_pose": { + "x": -51.31689314102615, + "y": 50.59997858687587, + "z": 20.006034014655288, + "pitch": -46.98076129904571, + "yaw": -68.39122875603702, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25124770402908325, + 0.6342959403991699, + 0.731124758720398, + 30.361709594726562 + ], + [ + -0.9297201633453369, + 0.368266761302948, + -2.9802322387695312e-08, + 29.0760555267334 + ], + [ + -0.26924899220466614, + -0.679741382598877, + 0.682243824005127, + -61.86091613769531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.98451577720114, + "y": 50.07322856170417, + "z": 20.004887996641745 + }, + "t1_image_uv": [ + 903.899488391361, + -664.9275720107337 + ], + "t1_depth": 0.41846234311796005 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -44.66718292236328, + "y": 33.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.46673650327058, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -44.66718292236328, + "y": 33.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.24504880607128143, + "y": 0.34993404150009155, + "z": 0.5475978255271912 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 624.5537460165375, + "ymin": 336.6661926534177, + "xmax": 655.3768880764397, + "ymax": 383.0670816115604 + }, + "corners_3d": [ + [ + -45.08789825439453, + 33.73807144165039, + 0.10795247554779053 + ], + [ + -44.593017578125, + 34.23295211791992, + 0.10795247554779053 + ], + [ + -44.24646759033203, + 33.88640213012695, + 0.10795247554779053 + ], + [ + -44.74134826660156, + 33.39152145385742, + 0.10795247554779053 + ], + [ + -45.08789825439453, + 33.73807144165039, + 1.2031481266021729 + ], + [ + -44.593017578125, + 34.23295211791992, + 1.2031481266021729 + ], + [ + -44.24646759033203, + 33.88640213012695, + 1.2031481266021729 + ], + [ + -44.74134826660156, + 33.39152145385742, + 1.2031481266021729 + ] + ], + "corners_2d": [ + [ + 625.0151005670767, + 375.6294386502219 + ], + [ + 648.0744584023436, + 383.0670816115604 + ], + [ + 654.9196065795271, + 371.0786874627002 + ], + [ + 632.0733750069521, + 363.80903287925327 + ], + [ + 624.5537460165375, + 348.5302452512925 + ], + [ + 648.3248797930197, + 355.9995905962481 + ], + [ + 655.3768880764397, + 343.961711724602 + ], + [ + 631.8321764474296, + 336.6661926534177 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 39, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 403650, + "2": 359915, + "3": 134131, + "6": 4147, + "7": 122, + "9": 204, + "10": 866, + "12": 2030, + "20": 5176, + "24": 11359 + }, + "instance_pixel_counts": { + "4960": 5785, + "6215": 158962, + "6802": 548, + "7314": 21439, + "7826": 32521, + "8850": 4668, + "9362": 68936, + "9874": 28706, + "10386": 958, + "18512": 3826, + "21652": 7825, + "22676": 104346, + "23188": 116173, + "24212": 17983, + "24724": 90907, + "25236": 65414, + "25748": 1002, + "26624": 1100, + "28243": 339, + "28802": 2128, + "33370": 1792, + "35988": 1538, + "36500": 2575, + "37012": 3222, + "38036": 2381, + "38548": 896, + "39052": 310, + "39060": 698, + "39564": 7881, + "39770": 68795, + "40076": 11259, + "40084": 49, + "41100": 1067, + "41612": 10973, + "41818": 7545, + "42074": 55999, + "42124": 5853, + "43148": 49, + "56576": 209, + "56832": 231, + "57088": 643, + "57173": 1554, + "57344": 557, + "57600": 390, + "61569": 702 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -44.66718292236328, + "y": 33.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31980466842651367, + "y": 0.22789670526981354, + "z": 0.55650395154953 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.551291560823, + "ymin": 335.91335924305355, + "xmax": 652.3170621858387, + "ymax": 383.824348782643 + }, + "corners_3d": [ + [ + -45.054466247558594, + 33.87722396850586, + 0.09904634952545166 + ], + [ + -44.73217010498047, + 34.199520111083984, + 0.09904634952545166 + ], + [ + -44.27989959716797, + 33.747249603271484, + 0.09904634952545166 + ], + [ + -44.602195739746094, + 33.42495346069336, + 0.09904634952545166 + ], + [ + -45.054466247558594, + 33.87722396850586, + 1.2120542526245117 + ], + [ + -44.73217010498047, + 34.199520111083984, + 1.2120542526245117 + ], + [ + -44.27989959716797, + 33.747249603271484, + 1.2120542526245117 + ], + [ + -44.602195739746094, + 33.42495346069336, + 1.2120542526245117 + ] + ], + "corners_2d": [ + [ + 627.930198366411, + 378.96372030338176 + ], + [ + 642.9654546852493, + 383.824348782643 + ], + [ + 651.946007521153, + 368.217508149718 + ], + [ + 637.0918051803719, + 363.49962388487137 + ], + [ + 627.551291560823, + 351.4366896766108 + ], + [ + 643.0589945871168, + 356.31890819941077 + ], + [ + 652.3170621858387, + 340.64779059199503 + ], + [ + 637.0018974808947, + 335.91335924305355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -40.54119110107422, + "y": 36.809940338134766, + "z": 0.8077573180198669 + }, + "extent": { + "x": 0.2312036007642746, + "y": 0.24739500880241394, + "z": 0.5288553237915039 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.9829129983734, + "ymin": 369.6157747901884, + "xmax": 839.389842006881, + "ymax": 412.0470710434991 + }, + "corners_3d": [ + [ + -40.877235412597656, + 36.8515739440918, + 0.27890199422836304 + ], + [ + -40.47694396972656, + 37.14240264892578, + 0.27890199422836304 + ], + [ + -40.20514678955078, + 36.768306732177734, + 0.27890199422836304 + ], + [ + -40.605438232421875, + 36.47747802734375, + 0.27890199422836304 + ], + [ + -40.877235412597656, + 36.8515739440918, + 1.3366127014160156 + ], + [ + -40.47694396972656, + 37.14240264892578, + 1.3366127014160156 + ], + [ + -40.20514678955078, + 36.768306732177734, + 1.3366127014160156 + ], + [ + -40.605438232421875, + 36.47747802734375, + 1.3366127014160156 + ] + ], + "corners_2d": [ + [ + 812.9829129983734, + 408.52775178598495 + ], + [ + 831.462521556103, + 412.0470710434991 + ], + [ + 833.4566868119999, + 399.33839816311036 + ], + [ + 815.1872501372818, + 395.90122296668267 + ], + [ + 818.3352094542009, + 382.3116075789047 + ], + [ + 837.4065524151271, + 385.8518846391585 + ], + [ + 839.389842006881, + 373.0709039144159 + ], + [ + 820.5422787976568, + 369.6157747901884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 643, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -46.92300796508789, + "y": 40.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31508544087409973, + "y": 0.3679443299770355, + "z": 0.885221004486084 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 640.2097350560032, + "ymin": 560.4214083569287, + "xmax": 681.8636561119953, + "ymax": 634.1139252501339 + }, + "corners_3d": [ + [ + -47.40727615356445, + 40.742897033691406, + -0.2296707034111023 + ], + [ + -46.86040496826172, + 41.23530578613281, + -0.2296707034111023 + ], + [ + -46.43873977661133, + 40.766998291015625, + -0.2296707034111023 + ], + [ + -46.98561096191406, + 40.27458953857422, + -0.2296707034111023 + ], + [ + -47.40727615356445, + 40.742897033691406, + 1.540771245956421 + ], + [ + -46.86040496826172, + 41.23530578613281, + 1.540771245956421 + ], + [ + -46.43873977661133, + 40.766998291015625, + 1.540771245956421 + ], + [ + -46.98561096191406, + 40.27458953857422, + 1.540771245956421 + ] + ], + "corners_2d": [ + [ + 640.2097350560032, + 623.7678078856968 + ], + [ + 670.5111057629886, + 634.1139252501339 + ], + [ + 679.4290173117663, + 610.5240414285583 + ], + [ + 649.6024533340299, + 600.5477463610914 + ], + [ + 640.2228280857203, + 584.3111557688234 + ], + [ + 672.4320138346881, + 594.9729287672002 + ], + [ + 681.8636561119953, + 570.6788670208639 + ], + [ + 650.1904728290746, + 560.4214083569287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 557, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -54.16718292236328, + "y": 33.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3926635682582855, + "y": 0.32845214009284973, + "z": 0.8852283954620361 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 256.652148783494, + "ymin": 424.2099448570451, + "xmax": 317.12663927197616, + "ymax": 498.7876929773681 + }, + "corners_3d": [ + [ + -54.67876434326172, + 33.830894470214844, + -0.22967809438705444 + ], + [ + -54.23921203613281, + 34.319068908691406, + -0.22967809438705444 + ], + [ + -53.655601501464844, + 33.7935791015625, + -0.22967809438705444 + ], + [ + -54.09515380859375, + 33.30540466308594, + -0.22967809438705444 + ], + [ + -54.67876434326172, + 33.830894470214844, + 1.540778636932373 + ], + [ + -54.23921203613281, + 34.319068908691406, + 1.540778636932373 + ], + [ + -53.655601501464844, + 33.7935791015625, + 1.540778636932373 + ], + [ + -54.09515380859375, + 33.30540466308594, + 1.540778636932373 + ] + ], + "corners_2d": [ + [ + 276.8343754141881, + 489.3276315540254 + ], + [ + 297.0313955431023, + 498.7876929773681 + ], + [ + 317.12663927197616, + 476.2533851420857 + ], + [ + 297.15662630439647, + 467.1535389389354 + ], + [ + 256.652148783494, + 446.7314503517164 + ], + [ + 277.8071614255083, + 456.35431937802315 + ], + [ + 299.39726503917774, + 433.44656813118127 + ], + [ + 278.4884347513126, + 424.2099448570451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 390, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -33.42184829711914, + "y": 25.64202117919922, + "z": 0.8030404448509216 + }, + "extent": { + "x": 0.4309741258621216, + "y": 0.39595457911491394, + "z": 0.9150658249855042 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 829.1023476669599, + "ymin": 86.07085036384854, + "xmax": 867.5354229343159, + "ymax": 148.37811603930865 + }, + "corners_3d": [ + [ + -34.00325012207031, + 25.57500648498535, + -0.11202538013458252 + ], + [ + -33.537776947021484, + 26.215675354003906, + -0.11202538013458252 + ], + [ + -32.84044647216797, + 25.709035873413086, + -0.11202538013458252 + ], + [ + -33.3059196472168, + 25.06836700439453, + -0.11202538013458252 + ], + [ + -34.00325012207031, + 25.57500648498535, + 1.7181062698364258 + ], + [ + -33.537776947021484, + 26.215675354003906, + 1.7181062698364258 + ], + [ + -32.84044647216797, + 25.709035873413086, + 1.7181062698364258 + ], + [ + -33.3059196472168, + 25.06836700439453, + 1.7181062698364258 + ] + ], + "corners_2d": [ + [ + 829.1023476669599, + 141.60766204121217 + ], + [ + 849.2128226692191, + 148.37811603930865 + ], + [ + 858.8711739084815, + 136.83060360228478 + ], + [ + 838.963662941703, + 130.24937749958715 + ], + [ + 836.6343228118964, + 97.22852233650366 + ], + [ + 857.6182165813267, + 103.88532307234658 + ], + [ + 867.5354229343159, + 92.53431981897381 + ], + [ + 846.7729840788307, + 86.07085036384854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8235368794956299039, + "instance_id": 8187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -59.495052337646484, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 28.05096101136394, + "ymin": 3.1262111094812326, + "xmax": 47.77076074996194, + "ymax": 31.954463458527812 + }, + "corners_3d": [ + [ + -59.355716705322266, + 12.355925559997559, + 2.645533323287964 + ], + [ + -59.355716705322266, + 11.976011276245117, + 2.645533323287964 + ], + [ + -59.6343879699707, + 11.976012229919434, + 2.645533323287964 + ], + [ + -59.6343879699707, + 12.355926513671875, + 2.645533323287964 + ], + [ + -59.355716705322266, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -59.355716705322266, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 47.53026378250388, + 30.5498996496666 + ], + [ + 47.77076074996194, + 25.75848714288287 + ], + [ + 39.50375494817513, + 27.143851301598488 + ], + [ + 39.20562891810039, + 31.954463458527812 + ], + [ + 36.552612771651525, + 7.847375968894369 + ], + [ + 36.87413110975331, + 3.1262111094812326 + ], + [ + 28.432573133572646, + 4.491141053094111 + ], + [ + 28.05096101136394, + 9.23157445096598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.2367548815996, + "ymin": 529.5143403124507, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1212.0220695119096, + 757.1241995435419 + ], + [ + 1196.1586509786405, + 737.0961759505567 + ], + [ + 1043.2367548815996, + 808.850348476505 + ], + [ + 1057.6305851192858, + 830.9910515976178 + ], + [ + 1445.5261187332562, + 553.5536191834638 + ], + [ + 1418.7222255647284, + 529.5143403124507 + ], + [ + 1216.3763420027735, + 616.9341175085528 + ], + [ + 1240.8159924344068, + 644.6493966979024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1217.5457518379017, + "ymin": 614.7863817171152, + "xmax": 1259.9711735857065, + "ymax": 646.6378409746109 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1256.2850326737482, + 636.5122760759571 + ], + [ + 1240.1297331959192, + 618.545274733646 + ], + [ + 1217.5457518379017, + 628.3929554203571 + ], + [ + 1233.5087269829173, + 646.6378409746109 + ], + [ + 1259.9711735857065, + 632.8080717458595 + ], + [ + 1243.6695455158622, + 614.7863817171152 + ], + [ + 1220.9785689681123, + 624.6636696882226 + ], + [ + 1237.0863413812176, + 642.9657647225872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2653496449461336491, + "instance_id": 43833, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_0", + "bbox_3d": { + "center_world": { + "x": -57.94672775268555, + "y": 25.261022567749023, + "z": 7.743223190307617 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 62.90205847770392, + "xmax": 14.130846164386867, + "ymax": 76.15175761888463 + }, + "corners_3d": [ + [ + -58.15261459350586, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.688574314117432 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.688574314117432 + ], + [ + -58.15261459350586, + 25.1131534576416, + 7.797872066497803 + ], + [ + -58.15261459350586, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.408891677856445, + 7.797872066497803 + ], + [ + -57.740840911865234, + 25.1131534576416, + 7.797872066497803 + ] + ], + "corners_2d": [ + [ + -4.299510660948272, + 70.19385294084645 + ], + [ + -5.000386557873981, + 76.15175761888463 + ], + [ + 13.581007883370717, + 72.85402309645696 + ], + [ + 14.130846164386867, + 66.94854252231664 + ], + [ + -6.502181965684713, + 66.14055356351787 + ], + [ + -7.223293334664049, + 72.0861994517523 + ], + [ + 11.431729234169893, + 68.79520973880386 + ], + [ + 12.000611459546462, + 62.90205847770392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.2983038449257, + "ymin": 0.0, + "xmax": 767.8308303969503, + "ymax": 193.78658789295457 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 746.0636287098309, + 168.83085928078688 + ], + [ + 740.5577432169124, + 161.879581109699 + ], + [ + 638.5941546387522, + 186.41675011681434 + ], + [ + 643.3853904748307, + 193.78658789295457 + ], + [ + 767.8308303969503, + -54.24894639959223 + ], + [ + 760.9889196760367, + -60.385103979637506 + ], + [ + 638.2983038449257, + -38.63147952765269 + ], + [ + 644.1052684118642, + -32.04629711517151 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 54.62224527145247, + "xmax": 136.04886530072014, + "ymax": 331.30757119902955 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -3.339361895465572, + 321.4049244229176 + ], + [ + -4.1991439584892305, + 331.30757119902955 + ], + [ + 136.04886530072014, + 297.885114404868 + ], + [ + 135.5374511490802, + 288.63022801209365 + ], + [ + -165.66628039163413, + 85.63466853468111 + ], + [ + -168.78388157907466, + 95.10701570904462 + ], + [ + 12.652178332426956, + 63.3273303605651 + ], + [ + 13.484268779691547, + 54.62224527145247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10141269703987107338, + "instance_id": 2582, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_1", + "bbox_3d": { + "center_world": { + "x": -57.94672393798828, + "y": 25.261022567749023, + "z": 7.743217468261719 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 62.97215601177726, + "xmax": 14.019177291269784, + "ymax": 76.0807556931507 + }, + "corners_3d": [ + [ + -58.15041732788086, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.689149856567383 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.689149856567383 + ], + [ + -58.15041732788086, + 25.114728927612305, + 7.797285079956055 + ], + [ + -58.15041732788086, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.407316207885742, + 7.797285079956055 + ], + [ + -57.7430305480957, + 25.114728927612305, + 7.797285079956055 + ] + ], + "corners_2d": [ + [ + -4.215990764343928, + 70.18667312692946 + ], + [ + -4.908699330272384, + 76.0807556931507 + ], + [ + 13.474311136025221, + 72.81846908403736 + ], + [ + 14.019177291269784, + 66.97569982837831 + ], + [ + -6.394952883108999, + 66.17645866546457 + ], + [ + -7.107462058937131, + 72.05854168647386 + ], + [ + 11.347610977971954, + 68.80285742814084 + ], + [ + 11.911123876937381, + 62.97215601177726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 382.7899540922775, + "ymax": 101.13997945353606 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 66.90793452059711, + 95.38213104944515 + ], + [ + 66.68086517220434, + 101.13997945353606 + ], + [ + 382.7899540922775, + 43.46793541170837 + ], + [ + 380.8119676865691, + 38.537617699873806 + ], + [ + -48.513002736807834, + -138.32991288755795 + ], + [ + -49.83263833466776, + -133.52077937089302 + ], + [ + 335.1587033051866, + -181.040083809542 + ], + [ + 333.20769558965264, + -185.03641849530004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1217.3209409332676, + "ymin": 614.6172329683517, + "xmax": 1260.2027846927235, + "ymax": 646.8116725245072 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1256.4756159913893, + 636.5757947916647 + ], + [ + 1240.146285870112, + 618.4169830542655 + ], + [ + 1217.3209409332676, + 628.3689735566204 + ], + [ + 1233.4537889541875, + 646.8116725245072 + ], + [ + 1260.2027846927235, + 632.8319035509253 + ], + [ + 1243.7239524364807, + 614.6172329683517 + ], + [ + 1220.7893068335609, + 624.5994576421488 + ], + [ + 1237.0700756649944, + 643.1006185259284 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00040/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00040/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bd714643b8546956e8a6f159e40b4aae9789f2ac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00040/meta.json @@ -0,0 +1,1619 @@ +{ + "frame_id": 40, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.0, + "sim_timestamp": 12199.463068790035 + }, + "drone_pose": { + "x": -50.98451577720114, + "y": 50.07322856170417, + "z": 20.004887996641745, + "pitch": -46.919585269094135, + "yaw": -67.86655454648736, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2573395371437073, + 0.6326913833618164, + 0.7303957939147949, + 30.18974494934082 + ], + [ + -0.9263088703155518, + 0.3767649531364441, + -2.9802322387695312e-08, + 28.361568450927734 + ], + [ + -0.27518758177757263, + -0.6765720844268799, + 0.6830241680145264, + -61.5722770690918 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.679469877921974, + "y": 49.55250981952581, + "z": 20.00393772870908 + }, + "t1_image_uv": [ + 842.9199550918188, + -663.3131500524233 + ], + "t1_depth": 0.4086486940857182 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -44.16718292236328, + "y": 33.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.49157870408782, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": 33.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.22754880785942078, + "y": 0.22515378892421722, + "z": 0.553240180015564 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.0767929956654, + "ymin": 338.27640084108606, + "xmax": 650.8535475239414, + "ymax": 381.39624210076954 + }, + "corners_3d": [ + [ + -44.4872932434082, + 33.31393051147461, + 0.10231012105941772 + ], + [ + -44.16887664794922, + 33.632347106933594, + 0.10231012105941772 + ], + [ + -43.84707260131836, + 33.310543060302734, + 0.10231012105941772 + ], + [ + -44.165489196777344, + 32.99212646484375, + 0.10231012105941772 + ], + [ + -44.4872932434082, + 33.31393051147461, + 1.2087905406951904 + ], + [ + -44.16887664794922, + 33.632347106933594, + 1.2087905406951904 + ], + [ + -43.84707260131836, + 33.310543060302734, + 1.2087905406951904 + ], + [ + -44.165489196777344, + 32.99212646484375, + 1.2087905406951904 + ] + ], + "corners_2d": [ + [ + 629.4060382162849, + 376.7247732388186 + ], + [ + 644.2811699210783, + 381.39624210076954 + ], + [ + 650.528425743851, + 370.2707040072856 + ], + [ + 635.782961418208, + 365.69767871048754 + ], + [ + 629.0767929956654, + 349.34417640380104 + ], + [ + 644.4148369275466, + 354.035072114236 + ], + [ + 650.8535475239414, + 342.865414620441 + ], + [ + 635.65332967335, + 338.27640084108606 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 40, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 405145, + "2": 351083, + "3": 143136, + "6": 3651, + "7": 127, + "10": 854, + "12": 2051, + "20": 3968, + "24": 11585 + }, + "instance_pixel_counts": { + "4960": 805, + "6215": 163410, + "6802": 952, + "7314": 22256, + "7826": 31423, + "8850": 4873, + "9362": 68813, + "9874": 21258, + "10386": 55, + "18512": 3922, + "21652": 9943, + "22676": 109018, + "23188": 110107, + "24212": 21387, + "24724": 95602, + "25236": 59088, + "26624": 1185, + "28802": 1836, + "33370": 1763, + "35988": 1777, + "36500": 2649, + "37012": 3034, + "38036": 2562, + "38548": 943, + "39052": 432, + "39060": 620, + "39564": 8163, + "39770": 72318, + "40076": 10806, + "41100": 1118, + "41612": 11632, + "41818": 8448, + "42074": 60607, + "42124": 5071, + "43148": 16, + "56576": 211, + "56832": 235, + "57088": 642, + "57173": 46, + "57344": 572, + "57600": 391, + "61569": 757 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": 33.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31075191497802734, + "y": 0.21769285202026367, + "z": 0.5573553442955017 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.1107586909243, + "ymin": 336.24919444048066, + "xmax": 651.7642899310861, + "ymax": 383.4767283332572 + }, + "corners_3d": [ + [ + -44.54085159301758, + 33.3780403137207, + 0.09819495677947998 + ], + [ + -44.23298645019531, + 33.68590545654297, + 0.09819495677947998 + ], + [ + -43.793514251708984, + 33.24643325805664, + 0.09819495677947998 + ], + [ + -44.10137939453125, + 32.938568115234375, + 0.09819495677947998 + ], + [ + -44.54085159301758, + 33.3780403137207, + 1.2129056453704834 + ], + [ + -44.23298645019531, + 33.68590545654297, + 1.2129056453704834 + ], + [ + -43.793514251708984, + 33.24643325805664, + 1.2129056453704834 + ], + [ + -44.10137939453125, + 32.938568115234375, + 1.2129056453704834 + ] + ], + "corners_2d": [ + [ + 628.472480131959, + 378.94241038152745 + ], + [ + 642.8762151291431, + 383.4767283332572 + ], + [ + 651.410018367704, + 368.2852497953766 + ], + [ + 637.1774597984681, + 363.88090607839064 + ], + [ + 628.1107586909243, + 351.3667675952893 + ], + [ + 642.9668714851362, + 355.9206422953271 + ], + [ + 651.7642899310861, + 340.66852050934705 + ], + [ + 637.0902067880405, + 336.24919444048066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 235, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -40.04119110107422, + "y": 36.309940338134766, + "z": 0.8063852787017822 + }, + "extent": { + "x": 0.21852295100688934, + "y": 0.17918944358825684, + "z": 0.5238831043243408 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 815.722380213654, + "ymin": 369.3040103559613, + "xmax": 836.6257790047821, + "ymax": 409.7189314326632 + }, + "corners_3d": [ + [ + -40.31460189819336, + 36.381404876708984, + 0.2825021743774414 + ], + [ + -40.0246696472168, + 36.5920524597168, + 0.2825021743774414 + ], + [ + -39.76778030395508, + 36.23847579956055, + 0.2825021743774414 + ], + [ + -40.05771255493164, + 36.027828216552734, + 0.2825021743774414 + ], + [ + -40.31460189819336, + 36.381404876708984, + 1.330268383026123 + ], + [ + -40.0246696472168, + 36.5920524597168, + 1.330268383026123 + ], + [ + -39.76778030395508, + 36.23847579956055, + 1.330268383026123 + ], + [ + -40.05771255493164, + 36.027828216552734, + 1.330268383026123 + ] + ], + "corners_2d": [ + [ + 815.722380213654, + 407.2729406813876 + ], + [ + 829.0915553464391, + 409.7189314326632 + ], + [ + 830.8482476081671, + 397.74242578459825 + ], + [ + 817.6235553804665, + 395.3505070803927 + ], + [ + 821.0910977052499, + 381.289340021108 + ], + [ + 834.8822935246052, + 383.74923970339336 + ], + [ + 836.6257790047821, + 371.70789565926 + ], + [ + 822.9882874434646, + 369.3040103559613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 642, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -46.42300796508789, + "y": 40.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3902685344219208, + "y": 0.2535375952720642, + "z": 0.8677816390991211 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 646.7805167410029, + "ymin": 559.0410671054541, + "xmax": 680.868389037437, + "ymax": 634.3282033230059 + }, + "corners_3d": [ + [ + -46.872562408447266, + 40.37532424926758, + -0.2122313380241394 + ], + [ + -46.49573516845703, + 40.714622497558594, + -0.2122313380241394 + ], + [ + -45.973453521728516, + 40.13457107543945, + -0.2122313380241394 + ], + [ + -46.35028076171875, + 39.79527282714844, + -0.2122313380241394 + ], + [ + -46.872562408447266, + 40.37532424926758, + 1.523331880569458 + ], + [ + -46.49573516845703, + 40.714622497558594, + 1.523331880569458 + ], + [ + -45.973453521728516, + 40.13457107543945, + 1.523331880569458 + ], + [ + -46.35028076171875, + 39.79527282714844, + 1.523331880569458 + ] + ], + "corners_2d": [ + [ + 646.7805167410029, + 627.3558912936714 + ], + [ + 667.7767944800888, + 634.3282033230059 + ], + [ + 678.5498070444885, + 605.1361023635352 + ], + [ + 657.9657620993651, + 598.4723920561768 + ], + [ + 647.1958935545545, + 588.7385380946375 + ], + [ + 669.488144549624, + 595.9195117676733 + ], + [ + 680.868389037437, + 565.8853687390783 + ], + [ + 659.0403139838405, + 559.0410671054541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 572, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -53.66718292236328, + "y": 33.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.39240965247154236, + "y": 0.36836302280426025, + "z": 0.9055308103561401 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 255.95989643004958, + "ymin": 425.53998119762923, + "xmax": 319.3278365784972, + "ymax": 502.20532321432677 + }, + "corners_3d": [ + [ + -54.205284118652344, + 33.301063537597656, + -0.24998050928115845 + ], + [ + -53.712318420410156, + 33.84855651855469, + -0.24998050928115845 + ], + [ + -53.12908172607422, + 33.32341003417969, + -0.24998050928115845 + ], + [ + -53.622047424316406, + 32.775917053222656, + -0.24998050928115845 + ], + [ + -54.205284118652344, + 33.301063537597656, + 1.5610811710357666 + ], + [ + -53.712318420410156, + 33.84855651855469, + 1.5610811710357666 + ], + [ + -53.12908172607422, + 33.32341003417969, + 1.5610811710357666 + ], + [ + -53.622047424316406, + 32.775917053222656, + 1.5610811710357666 + ] + ], + "corners_2d": [ + [ + 276.62996872178184, + 491.7650491008184 + ], + [ + 299.4824891478232, + 502.20532321432677 + ], + [ + 319.3278365784972, + 479.50939049498635 + ], + [ + 296.7413293071818, + 469.4689042174869 + ], + [ + 255.95989643004958, + 448.1932354224572 + ], + [ + 279.92775759833097, + 458.81778930358047 + ], + [ + 301.2904588800144, + 435.7351463370741 + ], + [ + 277.61206633139557, + 425.53998119762923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 391, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.92184829711914, + "y": 25.14202117919922, + "z": 0.8025717735290527 + }, + "extent": { + "x": 0.4891442656517029, + "y": 0.33958372473716736, + "z": 0.9376066327095032 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 826.4436628857222, + "ymin": 84.72989908647884, + "xmax": 863.1369208302519, + "ymax": 148.57169525979228 + }, + "corners_3d": [ + [ + -33.51717758178711, + 25.154804229736328, + -0.13503485918045044 + ], + [ + -33.11797332763672, + 25.704261779785156, + -0.13503485918045044 + ], + [ + -32.32651901245117, + 25.12923812866211, + -0.13503485918045044 + ], + [ + -32.72572326660156, + 24.57978057861328, + -0.13503485918045044 + ], + [ + -33.51717758178711, + 25.154804229736328, + 1.7401783466339111 + ], + [ + -33.11797332763672, + 25.704261779785156, + 1.7401783466339111 + ], + [ + -32.32651901245117, + 25.12923812866211, + 1.7401783466339111 + ], + [ + -32.72572326660156, + 24.57978057861328, + 1.7401783466339111 + ] + ], + "corners_2d": [ + [ + 826.4436628857222, + 142.86305448742075 + ], + [ + 843.7043119912864, + 148.57169525979228 + ], + [ + 854.477540420038, + 135.4647913154692 + ], + [ + 837.4182720887741, + 129.9376315164367 + ], + [ + 834.0434611878184, + 97.41868053412281 + ], + [ + 852.0686516089241, + 103.0280665045812 + ], + [ + 863.1369208302519, + 90.15384566293704 + ], + [ + 845.3317665602058, + 84.72989908647884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8235368794956299039, + "instance_id": 8187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -59.495052337646484, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 6.599487234080357, + "ymin": 15.223572486367061, + "xmax": 27.107391246073234, + "ymax": 44.40900733612483 + }, + "corners_3d": [ + [ + -59.355716705322266, + 12.355925559997559, + 2.645533323287964 + ], + [ + -59.355716705322266, + 11.976011276245117, + 2.645533323287964 + ], + [ + -59.6343879699707, + 11.976012229919434, + 2.645533323287964 + ], + [ + -59.6343879699707, + 12.355926513671875, + 2.645533323287964 + ], + [ + -59.355716705322266, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -59.355716705322266, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 26.81929463841459, + 42.926302343976715 + ], + [ + 27.107391246073234, + 38.001395306415475 + ], + [ + 18.6644554606944, + 39.46356672596403 + ], + [ + 18.31661887912901, + 44.40900733612483 + ], + [ + 15.28697062070205, + 20.0788968983494 + ], + [ + 15.661991458746456, + 15.223572486367061 + ], + [ + 7.036859299460048, + 16.664952994575515 + ], + [ + 6.599487234080357, + 21.540901459026657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.764357172122, + "ymin": 560.6114455554903, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1213.720874902775, + 783.9915557155852 + ], + [ + 1197.3797522562318, + 763.2968091659557 + ], + [ + 1042.764357172122, + 839.5802024473296 + ], + [ + 1057.631606244864, + 862.5597047639134 + ], + [ + 1453.7336188590116, + 585.8030304747348 + ], + [ + 1425.8659622661398, + 560.6114455554903 + ], + [ + 1220.5659210380034, + 654.9836902699753 + ], + [ + 1246.0784512931114, + 684.2449550862384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.7069822614715, + "ymin": 651.8853267715657, + "xmax": 1265.3530183022444, + "ymax": 685.4334204252082 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1261.5321152903803, + 674.4682732568704 + ], + [ + 1244.685639237531, + 655.534812695095 + ], + [ + 1221.7069822614715, + 666.1912949618398 + ], + [ + 1238.359446080412, + 685.4334204252082 + ], + [ + 1265.3530183022444, + 670.8825978184404 + ], + [ + 1248.3501767256078, + 651.8853267715657 + ], + [ + 1225.260851633897, + 662.5773183577636 + ], + [ + 1242.068157224201, + 681.8862082842584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.5124670595955, + "ymin": 0.0, + "xmax": 756.8794026878127, + "ymax": 206.1197676687527 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 736.7609541986278, + 179.95182787803705 + ], + [ + 731.1623399414291, + 172.86168611004007 + ], + [ + 628.0611000826264, + 198.5864620810387 + ], + [ + 632.9350412358639, + 206.1197676687527 + ], + [ + 756.8794026878127, + -44.14022932304562 + ], + [ + 749.9253028560915, + -50.426476435328425 + ], + [ + 625.5124670595955, + -27.51355767521295 + ], + [ + 631.4108978942891, + -20.748518337102098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.93762939669034, + "xmax": 116.69870510190015, + "ymax": 351.9131841204384 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -26.01253387581471, + 341.6580823429989 + ], + [ + -26.972058491812277, + 351.9131841204384 + ], + [ + 116.69870510190015, + 316.4186487004316 + ], + [ + 116.22843561238619, + 306.86251911772 + ], + [ + -197.95908444211727, + 105.15116068473529 + ], + [ + -201.37574744364179, + 115.05321863534894 + ], + [ + -14.175768511303431, + 81.00070170126105 + ], + [ + -13.175609182898711, + 71.93762939669034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 368.78025377328214, + "ymax": 114.08722073846471 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 47.50889967988235, + 108.1753873515652 + ], + [ + 47.23942379227742, + 114.08722073846471 + ], + [ + 368.78025377328214, + 53.430379611811816 + ], + [ + 366.7818504058196, + 48.39857735247233 + ], + [ + -73.84164112890903, + -127.27101525542378 + ], + [ + -75.28418961993748, + -122.30515009831754 + ], + [ + 317.89227584377653, + -172.5292674514751 + ], + [ + 315.9438303947589, + -176.6243958567435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.4757247678447, + "ymin": 651.7072846696951, + "xmax": 1265.5913197834043, + "ymax": 685.6166373131082 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1261.7278645540223, + 674.5320058620281 + ], + [ + 1244.6999624301816, + 655.3965308978347 + ], + [ + 1221.4757247678447, + 666.1658302177575 + ], + [ + 1238.3054200814863, + 685.6166373131082 + ], + [ + 1265.5913197834043, + 670.9079354137418 + ], + [ + 1248.4036614847141, + 651.7072846696951 + ], + [ + 1225.066370770715, + 662.5128455464088 + ], + [ + 1242.05424875021, + 682.0318788170985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.13833726526906, + "ymin": 0.0, + "xmax": 578.1668258217471, + "ymax": 3.0766379803527 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 568.8064805003513, + 3.0766379803527 + ], + [ + 578.1668258217471, + 1.3435341374506606 + ], + [ + 501.96026764673275, + -101.41671502773698 + ], + [ + 493.8759207118657, + -100.17636283850294 + ], + [ + 556.5437755785863, + -213.0318976556448 + ], + [ + 567.548687673707, + -214.40727208502904 + ], + [ + 482.4189687395958, + -293.82236873870045 + ], + [ + 473.13833726526906, + -292.88818349724966 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00041/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00041/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50fd3ec21b34b1ec30b35d1c3054de29f7935e54 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00041/meta.json @@ -0,0 +1,1720 @@ +{ + "frame_id": 41, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.5, + "sim_timestamp": 12210.677114297869 + }, + "drone_pose": { + "x": -50.679469877921974, + "y": 49.55250981952581, + "z": 20.00393772870908, + "pitch": -46.831046613380174, + "yaw": -67.27181148218045, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26432889699935913, + 0.6310263276100159, + 0.7293394207954407, + 30.075321197509766 + ], + [ + -0.9223480820655823, + 0.3863598704338074, + 2.9802322387695312e-08, + 27.59900665283203 + ], + [ + -0.2817874550819397, + -0.672704815864563, + 0.6841520071029663, + -61.30078887939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.41959768194205, + "y": 49.03637832741562, + "z": 20.003153725422045 + }, + "t1_image_uv": [ + 737.9069120066532, + -660.6214916681718 + ], + "t1_depth": 0.39495608255412346 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -43.66718292236328, + "y": 32.81223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.52864500974028, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -43.66718292236328, + "y": 32.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2506689131259918, + "y": 0.3478197753429413, + "z": 0.5452325940132141 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 624.6446232608134, + "ymin": 336.7695696172592, + "xmax": 655.2750651393065, + "ymax": 382.971333870162 + }, + "corners_3d": [ + [ + -44.09037780761719, + 32.7435417175293, + 0.11031770706176758 + ], + [ + -43.598487854003906, + 33.23543167114258, + 0.11031770706176758 + ], + [ + -43.243988037109375, + 32.88093185424805, + 0.11031770706176758 + ], + [ + -43.735877990722656, + 32.389041900634766, + 0.11031770706176758 + ], + [ + -44.09037780761719, + 32.7435417175293, + 1.2007828950881958 + ], + [ + -43.598487854003906, + 33.23543167114258, + 1.2007828950881958 + ], + [ + -43.243988037109375, + 32.88093185424805, + 1.2007828950881958 + ], + [ + -43.735877990722656, + 32.389041900634766, + 1.2007828950881958 + ] + ], + "corners_2d": [ + [ + 625.0993303324716, + 375.9439409248366 + ], + [ + 648.1638955852198, + 382.971333870162 + ], + [ + 654.8250323415316, + 370.6680895993644 + ], + [ + 631.985645498243, + 363.8044383536407 + ], + [ + 624.6446232608134, + 348.95027416275803 + ], + [ + 648.4147602564158, + 356.00548727747326 + ], + [ + 655.2750651393065, + 343.6554497446406 + ], + [ + 631.7440230177793, + 336.7695696172592 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 41, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 407248, + "2": 340348, + "3": 152526, + "6": 3094, + "7": 40, + "10": 857, + "12": 2089, + "20": 3732, + "24": 11666 + }, + "instance_pixel_counts": { + "6215": 167662, + "6802": 1359, + "7314": 23076, + "7826": 30285, + "8850": 3969, + "9362": 62323, + "9874": 14671, + "18512": 3732, + "21652": 12501, + "22676": 113758, + "23188": 103558, + "24212": 24665, + "24724": 100719, + "25236": 52047, + "25856": 44, + "26624": 661, + "28802": 1592, + "33370": 1735, + "35988": 1878, + "36500": 2788, + "37012": 3015, + "38036": 2337, + "38548": 989, + "39052": 551, + "39060": 659, + "39564": 8448, + "39770": 75951, + "40076": 10341, + "41100": 1119, + "41612": 12341, + "41818": 9386, + "42074": 65454, + "42124": 4203, + "56576": 212, + "56832": 233, + "57088": 639, + "57344": 617, + "57600": 388, + "61569": 837 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -43.66718292236328, + "y": 32.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.28841549158096313, + "y": 0.19373777508735657, + "z": 0.556686520576477 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.3402113113304, + "ymin": 337.0860085970768, + "xmax": 650.5523058391682, + "ymax": 382.61676564989307 + }, + "corners_3d": [ + [ + -44.00811767578125, + 32.87918472290039, + 0.09886378049850464 + ], + [ + -43.734130859375, + 33.15317153930664, + 0.09886378049850464 + ], + [ + -43.32624816894531, + 32.74528884887695, + 0.09886378049850464 + ], + [ + -43.60023498535156, + 32.4713020324707, + 0.09886378049850464 + ], + [ + -44.00811767578125, + 32.87918472290039, + 1.2122368812561035 + ], + [ + -43.734130859375, + 33.15317153930664, + 1.2122368812561035 + ], + [ + -43.32624816894531, + 32.74528884887695, + 1.2122368812561035 + ], + [ + -43.60023498535156, + 32.4713020324707, + 1.2122368812561035 + ] + ], + "corners_2d": [ + [ + 629.6631700693578, + 378.69567317704724 + ], + [ + 642.5157545826966, + 382.61676564989307 + ], + [ + 650.2357303363692, + 368.5033659327621 + ], + [ + 637.5273672387686, + 364.6871767514826 + ], + [ + 629.3402113113304, + 351.14434417724857 + ], + [ + 642.5946605899506, + 355.0815025705845 + ], + [ + 650.5523058391682, + 340.9146050076903 + ], + [ + 637.4511840158727, + 337.0860085970768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 233, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -39.54119110107422, + "y": 35.809940338134766, + "z": 0.804998517036438 + }, + "extent": { + "x": 0.2315099984407425, + "y": 0.2044714242219925, + "z": 0.5179539322853088 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 814.8128786314428, + "ymin": 367.50332095858766, + "xmax": 837.426525455171, + "ymax": 408.5244159653313 + }, + "corners_3d": [ + [ + -39.842689514160156, + 35.877052307128906, + 0.28704458475112915 + ], + [ + -39.51184844970703, + 36.1174201965332, + 0.28704458475112915 + ], + [ + -39.23969268798828, + 35.742828369140625, + 0.28704458475112915 + ], + [ + -39.570533752441406, + 35.50246047973633, + 0.28704458475112915 + ], + [ + -39.842689514160156, + 35.877052307128906, + 1.3229525089263916 + ], + [ + -39.51184844970703, + 36.1174201965332, + 1.3229525089263916 + ], + [ + -39.23969268798828, + 35.742828369140625, + 1.3229525089263916 + ], + [ + -39.570533752441406, + 35.50246047973633, + 1.3229525089263916 + ] + ], + "corners_2d": [ + [ + 814.8128786314428, + 405.86357318843915 + ], + [ + 830.0520974742236, + 408.5244159653313 + ], + [ + 831.7155661423689, + 395.87077182069015 + ], + [ + 816.6517172289043, + 393.2723021136846 + ], + [ + 820.0709312849763, + 380.15701839907234 + ], + [ + 835.7831721232988, + 382.83220073389026 + ], + [ + 837.426525455171, + 370.1139398111388 + ], + [ + 821.9006518162093, + 367.50332095858766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 639, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -45.92300796508789, + "y": 39.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.42109373211860657, + "y": 0.43669432401657104, + "z": 0.8990015983581543 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 642.2013496274471, + "ymin": 553.928939319497, + "xmax": 692.5329080711044, + "ymax": 637.6778385728368 + }, + "corners_3d": [ + [ + -46.529300689697266, + 39.77567672729492, + -0.2434512972831726 + ], + [ + -45.8802490234375, + 40.36008834838867, + -0.2434512972831726 + ], + [ + -45.316715240478516, + 39.73421859741211, + -0.2434512972831726 + ], + [ + -45.96576690673828, + 39.14980697631836, + -0.2434512972831726 + ], + [ + -46.529300689697266, + 39.77567672729492, + 1.5545518398284912 + ], + [ + -45.8802490234375, + 40.36008834838867, + 1.5545518398284912 + ], + [ + -45.316715240478516, + 39.73421859741211, + 1.5545518398284912 + ], + [ + -45.96576690673828, + 39.14980697631836, + 1.5545518398284912 + ] + ], + "corners_2d": [ + [ + 642.2013496274471, + 626.03226325572 + ], + [ + 678.466450116656, + 637.6778385728368 + ], + [ + 689.4547940147085, + 606.0582233185991 + ], + [ + 653.9673440963069, + 594.9693911588373 + ], + [ + 642.3406559849573, + 585.8803511735405 + ], + [ + 680.9240831318496, + 597.8841649389213 + ], + [ + 692.5329080711044, + 565.3237925676474 + ], + [ + 654.8286230695628, + 553.928939319497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 617, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -53.16718292236328, + "y": 32.81223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3927563428878784, + "y": 0.3267846703529358, + "z": 0.8854652047157288 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 258.6529930940205, + "ymin": 429.2524833096997, + "xmax": 318.88423857349534, + "ymax": 503.79579197184876 + }, + "corners_3d": [ + [ + -53.67771911621094, + 32.83219528198242, + -0.22991490364074707 + ], + [ + -53.240394592285156, + 33.31789016723633, + -0.22991490364074707 + ], + [ + -52.656646728515625, + 32.79227828979492, + -0.22991490364074707 + ], + [ + -53.093971252441406, + 32.306583404541016, + -0.22991490364074707 + ], + [ + -53.67771911621094, + 32.83219528198242, + 1.5410155057907104 + ], + [ + -53.240394592285156, + 33.31789016723633, + 1.5410155057907104 + ], + [ + -52.656646728515625, + 32.79227828979492, + 1.5410155057907104 + ], + [ + -53.093971252441406, + 32.306583404541016, + 1.5410155057907104 + ] + ], + "corners_2d": [ + [ + 278.7441895868964, + 494.70752925614283 + ], + [ + 299.2342307149429, + 503.79579197184876 + ], + [ + 318.88423857349534, + 480.933517881668 + ], + [ + 298.64244837987627, + 472.19646373566013 + ], + [ + 258.6529930940205, + 452.11687663022565 + ], + [ + 280.1255231806873, + 461.3617999970204 + ], + [ + 301.24949388211144, + 438.12080598243426 + ], + [ + 280.0470090559331, + 429.2524833096997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 388, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.42184829711914, + "y": 24.64202117919922, + "z": 0.8020981550216675 + }, + "extent": { + "x": 0.4832739233970642, + "y": 0.3691052198410034, + "z": 0.9404619932174683 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 821.937946808109, + "ymin": 84.14537859016423, + "xmax": 859.6220944058189, + "ymax": 148.2509116371933 + }, + "corners_3d": [ + [ + -33.029781341552734, + 24.627470016479492, + -0.13836383819580078 + ], + [ + -32.59587097167969, + 25.224695205688477, + -0.13836383819580078 + ], + [ + -31.81391716003418, + 24.656572341918945, + -0.13836383819580078 + ], + [ + -32.247825622558594, + 24.05934715270996, + -0.13836383819580078 + ], + [ + -33.029781341552734, + 24.627470016479492, + 1.7425601482391357 + ], + [ + -32.59587097167969, + 25.224695205688477, + 1.7425601482391357 + ], + [ + -31.81391716003418, + 24.656572341918945, + 1.7425601482391357 + ], + [ + -32.247825622558594, + 24.05934715270996, + 1.7425601482391357 + ] + ], + "corners_2d": [ + [ + 821.937946808109, + 142.18573661542675 + ], + [ + 840.7024895154547, + 148.2509116371933 + ], + [ + 851.1081691615221, + 135.28739169319985 + ], + [ + 832.5646434530232, + 129.41369903848158 + ], + [ + 829.3413992955836, + 96.67820789085818 + ], + [ + 848.9335221112935, + 102.63545258483981 + ], + [ + 859.6220944058189, + 89.90705483849337 + ], + [ + 840.2713158865163, + 84.14537859016423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8235368794956299039, + "instance_id": 8187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -59.495052337646484, + "y": 12.165968894958496, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 28.41339142032956, + "xmax": 5.590650817496567, + "ymax": 57.965916539474165 + }, + "corners_3d": [ + [ + -59.355716705322266, + 12.355925559997559, + 2.645533323287964 + ], + [ + -59.355716705322266, + 11.976011276245117, + 2.645533323287964 + ], + [ + -59.6343879699707, + 11.976012229919434, + 2.645533323287964 + ], + [ + -59.6343879699707, + 12.355926513671875, + 2.645533323287964 + ], + [ + -59.355716705322266, + 12.355925559997559, + 3.5146729946136475 + ], + [ + -59.355716705322266, + 11.976011276245117, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 11.976012229919434, + 3.5146729946136475 + ], + [ + -59.6343879699707, + 12.355926513671875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 5.260307786684848, + 56.39560784713649 + ], + [ + 5.590650817496567, + 51.33193794713992 + ], + [ + -3.039927197371867, + 52.88020696091667 + ], + [ + -3.432268860290833, + 57.965916539474165 + ], + [ + -6.85718031532042, + 33.40825977939829 + ], + [ + -6.433716233730024, + 28.41339142032956 + ], + [ + -15.254778199026646, + 29.940481279167273 + ], + [ + -15.743012497676204, + 34.95750478115775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.4686735028174, + "ymin": 592.051492393816, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1216.3500712921534, + 810.9527846548126 + ], + [ + 1199.4888546876025, + 789.5985008319719 + ], + [ + 1043.4686735028174, + 870.843766157421 + ], + [ + 1058.864158758766, + 894.672459614816 + ], + [ + 1463.1976032270927, + 618.4049650949179 + ], + [ + 1434.1882196569336, + 592.051492393816 + ], + [ + 1226.4755918419412, + 694.0921569337985 + ], + [ + 1253.173839007624, + 724.9562743998545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2565707033326799211, + "instance_id": 27465, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 47.76641845703125, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.5621688813294, + "ymin": 689.9198084025556, + "xmax": 1272.4603311717171, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.07089614868164, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.671158790588379 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.671158790588379 + ], + [ + -41.07089614868164, + 47.91271209716797, + 7.779294013977051 + ], + [ + -41.070899963378906, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47829055786133, + 47.62012481689453, + 7.779294013977051 + ], + [ + -41.47828674316406, + 47.91271209716797, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 1268.491917189256, + 713.3788784267335 + ], + [ + 1250.8845964672132, + 693.4482580192116 + ], + [ + 1227.5621688813294, + 705.0020735909002 + ], + [ + 1244.9761001631196, + 725.2760991097311 + ], + [ + 1272.4603311717171, + 709.9241183581894 + ], + [ + 1254.6856490056143, + 689.9198084025556 + ], + [ + 1231.2494305418838, + 701.5158964414794 + ], + [ + 1248.829250347279, + 721.867069805313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 612.4553564541228, + "ymin": 0.0, + "xmax": 745.61044768406, + "ymax": 219.00264489838636 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 727.2471093103978, + 191.50922710151025 + ], + [ + 721.5430779409419, + 184.28528700367653 + ], + [ + 617.3556857869432, + 211.30869220826526 + ], + [ + 622.3267273667301, + 219.00264489838636 + ], + [ + 745.61044768406, + -33.49118681715862 + ], + [ + 738.5306244665975, + -39.92275979476915 + ], + [ + 612.4553564541228, + -15.745599701109711 + ], + [ + 618.4611545250831, + -8.802777668087174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 90.64112933450662, + "xmax": 96.92784367984075, + "ymax": 374.058822982553 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -49.34389826848792, + 363.42998836912767 + ], + [ + -50.39517716096657, + 374.058822982553 + ], + [ + 96.92784367984075, + 336.22851650445153 + ], + [ + 96.48633575074996, + 326.3570045361181 + ], + [ + -231.52167049007198, + 126.34926639215394 + ], + [ + -235.245049264023, + 136.7128302081178 + ], + [ + -41.820346168782294, + 100.08311839958435 + ], + [ + -40.65737674493187, + 90.64112933450662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 354.251693609826, + "ymax": 128.13029303880515 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 27.327040522216862, + 122.05834968989984 + ], + [ + 27.021760195330444, + 128.13029303880515 + ], + [ + 354.251693609826, + 64.14704295801141 + ], + [ + 352.223743506225, + 59.01388252740503 + ], + [ + -100.29113118242617, + -115.0805590431408 + ], + [ + -101.85454778313999, + -109.95060412767839 + ], + [ + 299.9533330779254, + -163.19000479663669 + ], + [ + 297.99854052437377, + -167.38422274045047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14187998476992077164, + "instance_id": 27741, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 47.76641845703125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.3242885738782, + "ymin": 689.732301499731, + "xmax": 1272.705486737186, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.06869888305664, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 47.91428756713867, + 7.779880523681641 + ], + [ + -41.06869888305664, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.61854934692383, + 7.779880523681641 + ], + [ + -41.480472564697266, + 47.91428756713867, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 1268.6928569128836, + 713.4424435440799 + ], + [ + 1250.8959815032456, + 693.2992981072113 + ], + [ + 1227.3242885738782, + 704.9753650632244 + ], + [ + 1244.9235929255617, + 725.4693324325679 + ], + [ + 1272.705486737186, + 709.9507129366875 + ], + [ + 1254.7376216019027, + 689.732301499731 + ], + [ + 1231.0496850670643, + 701.4515367611416 + ], + [ + 1248.818458122833, + 722.0243413078351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 19.260661389587312, + "ymax": 10.936696256254436 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 19.260661389587312, + -94.87234583400254 + ], + [ + 10.04064837130511, + -93.57994127751437 + ], + [ + -0.3745766421013741, + 10.936696256254436 + ], + [ + 10.5599611508012, + 9.127461489552559 + ], + [ + -69.23687184206574, + -288.1080765777849 + ], + [ + -80.00470837953947, + -287.1329934890497 + ], + [ + -111.61410977848266, + -206.12882295303882 + ], + [ + -98.43597926339964, + -207.5681270095189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.86172637080983, + "ymin": 0.0, + "xmax": 566.1030121688203, + "ymax": 11.698679578336623 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 556.6522229097657, + 11.698679578336623 + ], + [ + 566.1030121688203, + 9.885355126227012 + ], + [ + 488.82253188884226, + -94.33094828963897 + ], + [ + 480.66207628846394, + -93.03607644754493 + ], + [ + 542.1546663672323, + -205.52223929816387 + ], + [ + 553.2898420732322, + -206.96536165259567 + ], + [ + 467.2460170091199, + -287.6996842093081 + ], + [ + 457.86172637080983, + -286.72247365487385 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00042/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00042/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99eb29facaf53db91282ce5f23c0b12e366236be --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00042/meta.json @@ -0,0 +1,1511 @@ +{ + "frame_id": 42, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 21.0, + "sim_timestamp": 12219.67291643587 + }, + "drone_pose": { + "x": -50.41959768194205, + "y": 49.03637832741562, + "z": 20.003153725422045, + "pitch": -46.70519896496965, + "yaw": -66.55606024180322, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2728276252746582, + 0.6291433572769165, + 0.7278349995613098, + 30.047775268554688 + ], + [ + -0.9174498319625854, + 0.39785152673721313, + 0.0, + 26.748249053955078 + ], + [ + -0.28957027196884155, + -0.6677520871162415, + 0.685752272605896, + -61.06136703491211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.21641050391702, + "y": 48.52473087079012, + "z": 20.00251032675906 + }, + "t1_image_uv": [ + 596.4325941030709, + -656.5284057094009 + ], + "t1_depth": 0.3778029440680106 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -43.16718292236328, + "y": 32.31223678588867, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.582403744337043, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 218, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": 32.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3289183974266052, + "y": 0.22230222821235657, + "z": 0.5616467595100403 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.913193188595, + "ymin": 335.77243610089033, + "xmax": 651.94561523357, + "ymax": 383.96825599122707 + }, + "corners_3d": [ + [ + -43.55695343017578, + 32.38762664794922, + 0.0939035415649414 + ], + [ + -43.24257278442383, + 32.70200729370117, + 0.0939035415649414 + ], + [ + -42.77741241455078, + 32.236846923828125, + 0.0939035415649414 + ], + [ + -43.091793060302734, + 31.92246437072754, + 0.0939035415649414 + ], + [ + -43.55695343017578, + 32.38762664794922, + 1.217197060585022 + ], + [ + -43.24257278442383, + 32.70200729370117, + 1.217197060585022 + ], + [ + -42.77741241455078, + 32.236846923828125, + 1.217197060585022 + ], + [ + -43.091793060302734, + 31.92246437072754, + 1.217197060585022 + ] + ], + "corners_2d": [ + [ + 628.2814044096018, + 379.6152966069775 + ], + [ + 643.0857621928848, + 383.96825599122707 + ], + [ + 651.585828223874, + 367.849159943389 + ], + [ + 636.974391363861, + 363.6294048452112 + ], + [ + 627.913193188595, + 351.81143684126386 + ], + [ + 643.1831394719304, + 356.18154569711413 + ], + [ + 651.94561523357, + 340.0047035978482 + ], + [ + 636.8808320145084, + 335.77243610089033 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 42, + "instance_stats": { + "semantic_tags_present": 8, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 408915, + "2": 330260, + "3": 162526, + "6": 1471, + "10": 831, + "12": 2036, + "20": 3698, + "24": 11863 + }, + "instance_pixel_counts": { + "6215": 171983, + "6802": 1838, + "7314": 23880, + "7826": 29277, + "8850": 3171, + "9362": 54344, + "9874": 8979, + "18512": 3698, + "21652": 15498, + "22676": 118785, + "23188": 96755, + "24212": 27042, + "24724": 106335, + "25236": 44500, + "25856": 116, + "26624": 180, + "28802": 4, + "33370": 1717, + "35988": 1965, + "36500": 2907, + "37012": 2786, + "38036": 2539, + "38548": 1050, + "39052": 678, + "39060": 616, + "39564": 8750, + "39770": 79737, + "40076": 9867, + "41100": 1135, + "41612": 13121, + "41818": 10665, + "42074": 70407, + "42124": 3237, + "56576": 218, + "56832": 229, + "57088": 667, + "57344": 530, + "57600": 392, + "61569": 1171 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 218, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": 32.31223678588867, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.24101559817790985, + "y": 0.3331066370010376, + "z": 0.547715425491333 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.3555757180488, + "ymin": 337.1884688210023, + "xmax": 654.5665651560852, + "ymax": 382.5368240735305 + }, + "corners_3d": [ + [ + -43.57314682006836, + 32.24711990356445, + 0.10783487558364868 + ], + [ + -43.10206604003906, + 32.71820068359375, + 0.10783487558364868 + ], + [ + -42.7612190246582, + 32.37735366821289, + 0.10783487558364868 + ], + [ + -43.2322998046875, + 31.90627098083496, + 0.10783487558364868 + ], + [ + -43.57314682006836, + 32.24711990356445, + 1.20326566696167 + ], + [ + -43.10206604003906, + 32.71820068359375, + 1.20326566696167 + ], + [ + -42.7612190246582, + 32.37735366821289, + 1.20326566696167 + ], + [ + -43.2322998046875, + 31.90627098083496, + 1.20326566696167 + ] + ], + "corners_2d": [ + [ + 625.7894422441369, + 376.04099782968154 + ], + [ + 647.9423187960989, + 382.5368240735305 + ], + [ + 654.1372321636841, + 370.7007024285838 + ], + [ + 632.1963420186178, + 364.35119270625677 + ], + [ + 625.3555757180488, + 348.91539651684485 + ], + [ + 648.1863766973905, + 355.4353477538527 + ], + [ + 654.5665651560852, + 343.5571389613423 + ], + [ + 631.9608586529927, + 337.1884688210023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 229, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -39.04119110107422, + "y": 35.309940338134766, + "z": 0.8036167025566101 + }, + "extent": { + "x": 0.23757079243659973, + "y": 0.25595948100090027, + "z": 0.5562326908111572 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.6835721597175, + "ymin": 364.3172568243562, + "xmax": 839.3027039846614, + "ymax": 408.0012876259753 + }, + "corners_3d": [ + [ + -39.387908935546875, + 35.351688385009766, + 0.24738401174545288 + ], + [ + -38.9737548828125, + 35.652587890625, + 0.24738401174545288 + ], + [ + -38.69447326660156, + 35.268192291259766, + 0.24738401174545288 + ], + [ + -39.10862731933594, + 34.96729278564453, + 0.24738401174545288 + ], + [ + -39.387908935546875, + 35.351688385009766, + 1.359849452972412 + ], + [ + -38.9737548828125, + 35.652587890625, + 1.359849452972412 + ], + [ + -38.69447326660156, + 35.268192291259766, + 1.359849452972412 + ], + [ + -39.10862731933594, + 34.96729278564453, + 1.359849452972412 + ] + ], + "corners_2d": [ + [ + 812.6835721597175, + 404.86943768541846 + ], + [ + 831.6971592239686, + 408.0012876259753 + ], + [ + 833.1528027282943, + 395.07003362831733 + ], + [ + 814.3647753663261, + 392.01353243783865 + ], + [ + 818.2345044914662, + 377.2367189510162 + ], + [ + 837.878012073513, + 380.38557276114324 + ], + [ + 839.3027039846614, + 367.3879594265011 + ], + [ + 819.8998632548639, + 364.3172568243562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 667, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -45.42300796508789, + "y": 39.254947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.38128662109375, + "y": 0.3936254680156708, + "z": 0.8770924806594849 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 648.6132581404373, + "ymin": 555.3641857727055, + "xmax": 693.9507268254948, + "ymax": 633.7064193864762 + }, + "corners_3d": [ + [ + -45.97065734863281, + 39.27490997314453, + -0.2215372920036316 + ], + [ + -45.385616302490234, + 39.80168533325195, + -0.2215372920036316 + ], + [ + -44.87535858154297, + 39.2349853515625, + -0.2215372920036316 + ], + [ + -45.46039962768555, + 38.70820999145508, + -0.2215372920036316 + ], + [ + -45.97065734863281, + 39.27490997314453, + 1.5326476097106934 + ], + [ + -45.385616302490234, + 39.80168533325195, + 1.5326476097106934 + ], + [ + -44.87535858154297, + 39.2349853515625, + 1.5326476097106934 + ], + [ + -45.46039962768555, + 38.70820999145508, + 1.5326476097106934 + ] + ], + "corners_2d": [ + [ + 648.6132581404373, + 623.6466089938828 + ], + [ + 681.3910323701979, + 633.7064193864762 + ], + [ + 690.8755480480638, + 605.0978479282489 + ], + [ + 658.7455060527927, + 595.4767452757735 + ], + [ + 649.1419965782993, + 584.3071942303545 + ], + [ + 683.9530490677464, + 594.6620257263287 + ], + [ + 693.9507268254948, + 565.2405792073292 + ], + [ + 659.869438901948, + 555.3641857727055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 530, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.66718292236328, + "y": 32.31223678588867, + "z": 0.6555111408233643 + }, + "extent": { + "x": 0.38655027747154236, + "y": 0.38090085983276367, + "z": 0.9042778611183167 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 258.3616399961118, + "ymin": 431.33387045519623, + "xmax": 322.00478990824814, + "ymax": 507.8443261419249 + }, + "corners_3d": [ + [ + -53.209320068359375, + 32.28782653808594, + -0.2487667202949524 + ], + [ + -52.6995735168457, + 32.85395431518555, + -0.2487667202949524 + ], + [ + -52.12504577636719, + 32.336647033691406, + -0.2487667202949524 + ], + [ + -52.63479232788086, + 31.770519256591797, + -0.2487667202949524 + ], + [ + -53.209320068359375, + 32.28782653808594, + 1.5597889423370361 + ], + [ + -52.6995735168457, + 32.85395431518555, + 1.5597889423370361 + ], + [ + -52.12504577636719, + 32.336647033691406, + 1.5597889423370361 + ], + [ + -52.63479232788086, + 31.770519256591797, + 1.5597889423370361 + ] + ], + "corners_2d": [ + [ + 278.85267938844663, + 497.5121351033538 + ], + [ + 303.0009039133831, + 507.8443261419249 + ], + [ + 322.00478990824814, + 485.14095148407506 + ], + [ + 298.1573312423262, + 475.20523479442153 + ], + [ + 258.3616399961118, + 453.994572345089 + ], + [ + 283.69938179181304, + 464.5074554287718 + ], + [ + 304.1659904757486, + 441.42105120574996 + ], + [ + 279.1565434131432, + 431.33387045519623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 392, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43327713012695, + "y": 24.51359748840332, + "z": 0.8021079301834106 + }, + "extent": { + "x": 0.3626989722251892, + "y": 0.43987059593200684, + "z": 0.932361900806427 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 809.9090761162605, + "ymin": 93.29396138462403, + "xmax": 848.2324921943772, + "ymax": 155.17654972391858 + }, + "corners_3d": [ + [ + -32.98525619506836, + 24.37092399597168, + -0.13025397062301636 + ], + [ + -32.46815872192383, + 25.08264923095703, + -0.13025397062301636 + ], + [ + -31.881298065185547, + 24.65627098083496, + -0.13025397062301636 + ], + [ + -32.39839553833008, + 23.94454574584961, + -0.13025397062301636 + ], + [ + -32.98525619506836, + 24.37092399597168, + 1.7344698905944824 + ], + [ + -32.46815872192383, + 25.08264923095703, + 1.7344698905944824 + ], + [ + -31.881298065185547, + 24.65627098083496, + 1.7344698905944824 + ], + [ + -32.39839553833008, + 23.94454574584961, + 1.7344698905944824 + ] + ], + "corners_2d": [ + [ + 809.9090761162605, + 148.02822633436685 + ], + [ + 832.4203418105824, + 155.17654972391858 + ], + [ + 840.169315323607, + 145.2271713054366 + ], + [ + 817.8635667188194, + 138.2517579315814 + ], + [ + 816.778120927789, + 102.89201510638566 + ], + [ + 840.2711902544524, + 109.91583869951867 + ], + [ + 848.2324921943772, + 100.14111676887046 + ], + [ + 824.9635983793967, + 93.29396138462403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1046.0317387354569, + "ymin": 622.8405588667108, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1220.3439609738157, + 837.2614534805017 + ], + [ + 1202.9052473706192, + 815.2885696658834 + ], + [ + 1046.0317387354569, + 902.0568717833225 + ], + [ + 1062.0350850855762, + 926.7140595095865 + ], + [ + 1474.3017751030168, + 650.3051031241395 + ], + [ + 1444.064502790449, + 622.8405588667108 + ], + [ + 1234.9864853385052, + 733.3898232335183 + ], + [ + 1263.0171040920327, + 765.8562221059053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 599.0160653211194, + "ymin": 0.0, + "xmax": 733.8469581203238, + "ymax": 232.50454974119006 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 717.3805070971771, + 203.5167729442482 + ], + [ + 711.5499602919311, + 196.170314646246 + ], + [ + 606.3834147042503, + 224.65818332481533 + ], + [ + 611.4760267806976, + 232.50454974119006 + ], + [ + 733.8469581203238, + -22.25747759780154 + ], + [ + 726.6186674745423, + -28.82287160996691 + ], + [ + 599.0160653211194, + -3.230286221182837 + ], + [ + 605.1569538047011, + 3.88228753572065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 111.18224635603025, + "xmax": 76.65278982366465, + "ymax": 398.32281214705057 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -73.50895031819357, + 387.2938807716816 + ], + [ + -74.63095318860803, + 398.32281214705057 + ], + [ + 76.65278982366465, + 357.75777398566385 + ], + [ + 76.21394879393927, + 347.5548599029884 + ], + [ + -266.6688013961707, + 149.81991119914304 + ], + [ + -270.6935478440771, + 160.68445141740386 + ], + [ + -70.42589337480672, + 121.02714673348541 + ], + [ + -69.12133891088752, + 111.18224635603025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.7854599975782, + "ymin": 0.22784171620656934, + "xmax": 621.9925979280763, + "ymax": 11.651255008354838 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 621.9925979280763, + 8.768710794455785 + ], + [ + 617.8283915401688, + 4.048951521842923 + ], + [ + 603.8953837940172, + 6.8908003182600055 + ], + [ + 607.9779478920741, + 11.651255008354838 + ], + [ + 621.9376176428, + 4.934725053379282 + ], + [ + 617.7611770550282, + 0.22784171620656934 + ], + [ + 603.7854599975782, + 3.061913351599685 + ], + [ + 607.8797546199455, + 7.8095053599587345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 338.879390015251, + "ymax": 143.7170817473397 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 5.932145488465608, + 137.47742260926918 + ], + [ + 5.605338084933692, + 143.7170817473397 + ], + [ + 338.879390015251, + 75.87451763211936 + ], + [ + 336.80532656680987, + 70.64165953961162 + ], + [ + -128.41914376306624, + -101.32367752813542 + ], + [ + -130.09365069774333, + -96.02053638937025 + ], + [ + 280.9602805626348, + -152.7507146794229 + ], + [ + 278.98180562049487, + -157.0428593509048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.6878229853218, + "ymin": 0.1666751768444783, + "xmax": 622.0907622571817, + "ymax": 11.713040374740785 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 622.0907622571817, + 8.799217915511576 + ], + [ + 617.8814648938189, + 4.028753363554358 + ], + [ + 603.7992245908084, + 6.9009994102463 + ], + [ + 607.9251141493901, + 11.713040374740785 + ], + [ + 622.0354920757325, + 4.9239850589742105 + ], + [ + 617.8136934683135, + 0.1666751768444783 + ], + [ + 603.6878229853218, + 3.030975806696233 + ], + [ + 607.8256936710171, + 7.829875787617425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.1700318217825, + "ymin": 0.0, + "xmax": 553.1349732211049, + "ymax": 21.07073530702428 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 543.5986171453935, + 21.07073530702428 + ], + [ + 553.1349732211049, + 19.16626382841281 + ], + [ + 474.45629056613114, + -86.37791044359466 + ], + [ + 466.22129995977383, + -85.0207634028863 + ], + [ + 526.6819317815347, + -197.12734311707175 + ], + [ + 537.9419043026533, + -198.6469061923525 + ], + [ + 450.6566945560491, + -280.5876494276955 + ], + [ + 441.1700318217825, + -279.5615833435919 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00043/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00043/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..55fd3ba1707cea0df05940e6f2be6f220433df2e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00043/meta.json @@ -0,0 +1,1512 @@ +{ + "frame_id": 43, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 21.5, + "sim_timestamp": 12228.692562737735 + }, + "drone_pose": { + "x": -50.21641050391702, + "y": 48.52473087079012, + "z": 20.00251032675906, + "pitch": -46.53296212311727, + "yaw": -65.6907535671136, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.28319722414016724, + 0.6269424557685852, + 0.7257702350616455, + 30.126136779785156 + ], + [ + -0.9113368391990662, + 0.4116615056991577, + -2.9802322387695312e-08, + 25.78830337524414 + ], + [ + -0.29877161979675293, + -0.6614211797714233, + 0.6879371404647827, + -60.85899353027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -50.07094622833637, + "y": 48.0192957728788, + "z": 20.001985702905824 + }, + "t1_image_uv": [ + 437.79547450168855, + -650.7528209385947 + ], + "t1_depth": 0.35845456705889395 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 31.812236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.657140849433127, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 31.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25400876998901367, + "y": 0.29130735993385315, + "z": 0.545612633228302 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.5121272411482, + "ymin": 337.1657496628341, + "xmax": 653.5668576606265, + "ymax": 382.5713867965826 + }, + "corners_3d": [ + [ + -42.95848846435547, + 32.06624221801758, + 0.10993766784667969 + ], + [ + -42.375877380371094, + 32.06624221801758, + 0.10993766784667969 + ], + [ + -42.375877380371094, + 31.558225631713867, + 0.10993766784667969 + ], + [ + -42.95848846435547, + 31.558225631713867, + 0.10993766784667969 + ], + [ + -42.95848846435547, + 32.06624221801758, + 1.2011629343032837 + ], + [ + -42.375877380371094, + 32.06624221801758, + 1.2011629343032837 + ], + [ + -42.375877380371094, + 31.558225631713867, + 1.2011629343032837 + ], + [ + -42.95848846435547, + 31.558225631713867, + 1.2011629343032837 + ] + ], + "corners_2d": [ + [ + 634.2383917529803, + 382.5713867965826 + ], + [ + 653.1685587002538, + 376.2388435755323 + ], + [ + 645.6594664774643, + 364.2312996487341 + ], + [ + 626.9058668529144, + 370.41647519897026 + ], + [ + 634.0630198961062, + 355.56114210625134 + ], + [ + 653.5668576606265, + 349.20726111862865 + ], + [ + 645.828586760198, + 337.1657496628341 + ], + [ + 626.5121272411482, + 343.36736082325166 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 43, + "instance_stats": { + "semantic_tags_present": 8, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 410305, + "2": 318051, + "3": 172951, + "6": 1751, + "10": 837, + "12": 1998, + "20": 3629, + "24": 12078 + }, + "instance_pixel_counts": { + "6215": 173877, + "6802": 2335, + "7314": 24772, + "7826": 28146, + "8338": 237, + "8850": 2288, + "9362": 45707, + "9874": 4244, + "18512": 3629, + "21652": 19009, + "22676": 124072, + "23188": 89477, + "24212": 28887, + "24724": 112463, + "25236": 36343, + "25856": 193, + "33370": 1705, + "35988": 2126, + "36500": 3006, + "37012": 2725, + "38036": 2748, + "38548": 997, + "39052": 817, + "39060": 438, + "39564": 9048, + "39770": 83579, + "40076": 9387, + "41100": 1067, + "41612": 13981, + "41818": 12122, + "42074": 75545, + "42124": 2145, + "56576": 203, + "56832": 225, + "57088": 600, + "57344": 580, + "57600": 390, + "61569": 1558, + "64661": 38, + "65171": 54 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 203, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 31.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2747119069099426, + "y": 0.2778283655643463, + "z": 0.5543738603591919 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.654466170041, + "ymin": 336.5997662100621, + "xmax": 653.4409483916179, + "ymax": 383.135815553389 + }, + "corners_3d": [ + [ + -42.945011138916016, + 32.08694839477539, + 0.1011764407157898 + ], + [ + -42.38935470581055, + 32.08694839477539, + 0.1011764407157898 + ], + [ + -42.38935470581055, + 31.53752326965332, + 0.1011764407157898 + ], + [ + -42.945011138916016, + 31.53752326965332, + 0.1011764407157898 + ], + [ + -42.945011138916016, + 32.08694839477539, + 1.2099242210388184 + ], + [ + -42.38935470581055, + 32.08694839477539, + 1.2099242210388184 + ], + [ + -42.38935470581055, + 31.53752326965332, + 1.2099242210388184 + ], + [ + -42.945011138916016, + 31.53752326965332, + 1.2099242210388184 + ] + ], + "corners_2d": [ + [ + 634.9828510497456, + 383.135815553389 + ], + [ + 653.0398542952186, + 377.09061715031413 + ], + [ + 644.9249331261981, + 364.10097300809485 + ], + [ + 627.0499688672007, + 369.9942041986515 + ], + [ + 634.8275942239725, + 355.6929329662574 + ], + [ + 653.4409483916179, + 349.6268591607814 + ], + [ + 645.0744509440758, + 336.5997662100621 + ], + [ + 626.654466170041, + 342.5087350570435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 225, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 34.809940338134766, + "z": 0.8071420788764954 + }, + "extent": { + "x": 0.22760255634784698, + "y": 0.30372563004493713, + "z": 0.5314574837684631 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 808.8683745275872, + "ymin": 360.78521571001687, + "xmax": 842.8005388040616, + "ymax": 406.95137827956495 + }, + "corners_3d": [ + [ + -38.805572509765625, + 35.082252502441406, + 0.2756845951080322 + ], + [ + -38.20560073852539, + 34.98722839355469, + 0.2756845951080322 + ], + [ + -38.27680969238281, + 34.537628173828125, + 0.2756845951080322 + ], + [ + -38.87678146362305, + 34.632652282714844, + 0.2756845951080322 + ], + [ + -38.805572509765625, + 35.082252502441406, + 1.3385995626449585 + ], + [ + -38.20560073852539, + 34.98722839355469, + 1.3385995626449585 + ], + [ + -38.27680969238281, + 34.537628173828125, + 1.3385995626449585 + ], + [ + -38.87678146362305, + 34.632652282714844, + 1.3385995626449585 + ] + ], + "corners_2d": [ + [ + 819.8080822806738, + 406.95137827956495 + ], + [ + 836.8306084481466, + 397.6711480811052 + ], + [ + 825.8174362642278, + 387.28427473098856 + ], + [ + 808.8683745275872, + 396.3810942240463 + ], + [ + 825.311368522731, + 380.53784636636595 + ], + [ + 842.8005388040616, + 371.2144636027757 + ], + [ + 831.395933844445, + 360.78521571001687 + ], + [ + 813.9837215525961, + 369.9188066029406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 600, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 38.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3652929663658142, + "y": 0.5899682641029358, + "z": 0.9023054242134094 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 644.741479282262, + "ymin": 548.8286507891307, + "xmax": 708.3844814759684, + "ymax": 636.8485983511425 + }, + "corners_3d": [ + [ + -45.49304962158203, + 39.15061569213867, + -0.24675512313842773 + ], + [ + -44.31473159790039, + 39.088863372802734, + -0.24675512313842773 + ], + [ + -44.35296630859375, + 38.35927963256836, + -0.24675512313842773 + ], + [ + -45.53128433227539, + 38.4210319519043, + -0.24675512313842773 + ], + [ + -45.49304962158203, + 39.15061569213867, + 1.5578557252883911 + ], + [ + -44.31473159790039, + 39.088863372802734, + 1.5578557252883911 + ], + [ + -44.35296630859375, + 38.35927963256836, + 1.5578557252883911 + ], + [ + -45.53128433227539, + 38.4210319519043, + 1.5578557252883911 + ] + ], + "corners_2d": [ + [ + 659.5238425988946, + 636.8485983511425 + ], + [ + 704.3651035954599, + 615.2954150372354 + ], + [ + 688.9439342850667, + 590.38106105693 + ], + [ + 644.741479282262, + 611.0887323002198 + ], + [ + 660.7650785435358, + 596.5984887441687 + ], + [ + 708.3844814759684, + 574.4140706187454 + ], + [ + 691.9365927403182, + 548.8286507891307 + ], + [ + 645.0365249007989, + 570.0896769139865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 580, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 31.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3146337866783142, + "y": 0.5361242294311523, + "z": 0.9045990705490112 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 259.27018034603987, + "ymin": 435.5904479331893, + "xmax": 325.52537386539564, + "ymax": 510.78402830482116 + }, + "corners_3d": [ + [ + -52.71903991699219, + 32.0983772277832, + -0.24904876947402954 + ], + [ + -51.64826202392578, + 32.15449523925781, + -0.24904876947402954 + ], + [ + -51.615325927734375, + 31.526090621948242, + -0.24904876947402954 + ], + [ + -52.68610382080078, + 31.469974517822266, + -0.24904876947402954 + ], + [ + -52.71903991699219, + 32.0983772277832, + 1.5601494312286377 + ], + [ + -51.64826202392578, + 32.15449523925781, + 1.5601494312286377 + ], + [ + -51.615325927734375, + 31.526090621948242, + 1.5601494312286377 + ], + [ + -52.68610382080078, + 31.469974517822266, + 1.5601494312286377 + ] + ], + "corners_2d": [ + [ + 282.57011849893377, + 510.78402830482116 + ], + [ + 325.52537386539564, + 498.0819833277194 + ], + [ + 321.81131236551795, + 479.4854752714639 + ], + [ + 279.5173783099682, + 491.77820661032337 + ], + [ + 262.1419702754228, + 467.39510884699496 + ], + [ + 307.7595275626858, + 454.47588498441075 + ], + [ + 304.1422349413653, + 435.5904479331893 + ], + [ + 259.27018034603987, + 448.0703064373223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 390, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43327713012695, + "y": 24.376869201660156, + "z": 0.8021079301834106 + }, + "extent": { + "x": 0.3929772973060608, + "y": 0.5139806866645813, + "z": 0.9402382373809814 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 795.5916238204511, + "ymin": 101.49527851371613, + "xmax": 838.1486905116005, + "ymax": 163.31240951843517 + }, + "corners_3d": [ + [ + -33.002403259277344, + 24.68460464477539, + -0.1381303071975708 + ], + [ + -31.98710060119629, + 24.845413208007812, + -0.1381303071975708 + ], + [ + -31.86414909362793, + 24.069133758544922, + -0.1381303071975708 + ], + [ + -32.87945556640625, + 23.9083251953125, + -0.1381303071975708 + ], + [ + -33.002403259277344, + 24.68460464477539, + 1.742346167564392 + ], + [ + -31.98710060119629, + 24.845413208007812, + 1.742346167564392 + ], + [ + -31.86414909362793, + 24.069133758544922, + 1.742346167564392 + ], + [ + -32.87945556640625, + 23.9083251953125, + 1.742346167564392 + ] + ], + "corners_2d": [ + [ + 803.7323789078994, + 163.31240951843517 + ], + [ + 830.3384977435155, + 158.91166860260765 + ], + [ + 821.8463050589957, + 146.86778582103847 + ], + [ + 795.5916238204511, + 151.13858291830616 + ], + [ + 810.4887659458626, + 117.6469237422753 + ], + [ + 838.1486905116005, + 113.3219551013496 + ], + [ + 829.1928482323493, + 101.49527851371613 + ], + [ + 801.9124197302201, + 105.68740637411435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1051.0409368637731, + "ymin": 652.1181046085272, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1226.0870034112131, + 862.3287945869668 + ], + [ + 1208.0043708162427, + 839.8064299430193 + ], + [ + 1051.0409368637731, + 932.729359318716 + ], + [ + 1067.7490869948394, + 958.167201937544 + ], + [ + 1487.3945930138566, + 680.5873090247969 + ], + [ + 1455.842724672607, + 652.1181046085272 + ], + [ + 1246.8764282847883, + 772.0613601827035 + ], + [ + 1276.4096109004145, + 806.0728837781057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 585.2637148662003, + "ymin": 0.0, + "xmax": 721.6057934044682, + "ymax": 246.68920247354026 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 707.1760407813499, + 216.00464547613421 + ], + [ + 701.1923453846148, + 208.55187187197907 + ], + [ + 595.1951955929072, + 238.70311294585747 + ], + [ + 600.4406969680018, + 246.68920247354026 + ], + [ + 721.6057934044682, + -10.389622598548954 + ], + [ + 714.2000453762656, + -17.071747178456746 + ], + [ + 585.2637148662003, + 10.114294500722565 + ], + [ + 591.57578604844, + 17.383414468427873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 133.90680602614336, + "xmax": 55.939968717723104, + "ymax": 425.1514092782992 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -98.51514484763311, + 413.6917698798488 + ], + [ + -99.67737277556432, + 425.1514092782992 + ], + [ + 55.939968717723104, + 381.34158307388907 + ], + [ + 55.46762764967241, + 370.78993967704025 + ], + [ + -303.49298174427463, + 176.03194757291286 + ], + [ + -307.8045033615298, + 187.4437908865821 + ], + [ + -99.93857179092663, + 144.18092452311038 + ], + [ + -98.52586104899376, + 133.90680602614336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.1716757907336, + "ymin": 13.399859174804533, + "xmax": 608.7045545110466, + "ymax": 25.127095159207727 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 608.7045545110466, + 22.059756947299547 + ], + [ + 604.4257115376282, + 17.239696636281394 + ], + [ + 590.3246302998629, + 20.263277070799916 + ], + [ + 594.5210207443179, + 25.127095159207727 + ], + [ + 608.6079352909211, + 18.207092487042644 + ], + [ + 604.3166689835269, + 13.399859174804533 + ], + [ + 590.1716757907336, + 16.415368565415804 + ], + [ + 594.3799721808612, + 21.266378377797935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 322.5589941799951, + "ymax": 161.19187079413885 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -16.861005349533002, + 154.77591670904752 + ], + [ + -17.189726164225362, + 161.19187079413885 + ], + [ + 322.5589941799951, + 88.81829301978883 + ], + [ + 320.41714466842495, + 83.48879937833402 + ], + [ + -158.48116114556865, + -85.65867449370046 + ], + [ + -160.25150558297287, + -80.17206788550402 + ], + [ + 260.79569305319217, + -140.99140168599143 + ], + [ + 258.7701554956849, + -145.37888269396512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.072269782944, + "ymin": 13.337083824348895, + "xmax": 608.8044536678723, + "ymax": 25.19054347911856 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 608.8044536678723, + 22.089920411383332 + ], + [ + 604.4792835451397, + 17.218089656142354 + ], + [ + 590.2271723136427, + 20.274007668449656 + ], + [ + 594.4681068532411, + 25.19054347911856 + ], + [ + 608.7071044264501, + 18.19580987316533 + ], + [ + 604.3692397718713, + 13.337083824348895 + ], + [ + 590.072269782944, + 16.384756152136106 + ], + [ + 594.3253645766735, + 21.288206590179072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.8115921439859, + "ymin": 0.0, + "xmax": 539.1280392255676, + "ymax": 31.340535816696274 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 529.5127459752484, + 31.340535816696274 + ], + [ + 539.1280392255676, + 29.331614568606312 + ], + [ + 458.6350517623794, + -77.36554072060949 + ], + [ + 450.3276132760276, + -75.93659327800304 + ], + [ + 509.9763607765197, + -187.67193752887158 + ], + [ + 521.3534365444316, + -189.2784104052963 + ], + [ + 432.39880493011185, + -272.2691588772236 + ], + [ + 422.8115921439859, + -271.1871248260827 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00044/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00044/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4a02b784e28b4ecd2f437033172fc5aea7206d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00044/meta.json @@ -0,0 +1,1513 @@ +{ + "frame_id": 44, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.0, + "sim_timestamp": 12239.442589291604 + }, + "drone_pose": { + "x": -50.07094622833637, + "y": 48.0192957728788, + "z": 20.001985702905824, + "pitch": -46.63276768923177, + "yaw": -66.0993870443591, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2782059907913208, + 0.6277896165847778, + 0.7269675135612488, + 29.53525733947754 + ], + [ + -0.9142496585845947, + 0.4051513075828552, + 0.0, + 26.3222599029541 + ], + [ + -0.2945318818092346, + -0.6646297574043274, + 0.6866719126701355, + -60.3973388671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.97481581197049, + "y": 47.51701378229424, + "z": 20.001560682119532 + }, + "t1_image_uv": [ + 315.83273373085626, + -654.5997207452442 + ], + "t1_depth": 0.342380396330549 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 31.312236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.612517623441498, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 31.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2653906047344208, + "y": 0.2446911633014679, + "z": 0.5484832525253296 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.9150748155321, + "ymin": 337.3113065483282, + "xmax": 652.1760632775587, + "ymax": 382.4105970597299 + }, + "corners_3d": [ + [ + -42.91187286376953, + 31.577625274658203, + 0.1070670485496521 + ], + [ + -42.42249298095703, + 31.577625274658203, + 0.1070670485496521 + ], + [ + -42.42249298095703, + 31.046844482421875, + 0.1070670485496521 + ], + [ + -42.91187286376953, + 31.046844482421875, + 0.1070670485496521 + ], + [ + -42.91187286376953, + 31.577625274658203, + 1.204033613204956 + ], + [ + -42.42249298095703, + 31.577625274658203, + 1.204033613204956 + ], + [ + -42.42249298095703, + 31.046844482421875, + 1.204033613204956 + ], + [ + -42.91187286376953, + 31.046844482421875, + 1.204033613204956 + ] + ], + "corners_2d": [ + [ + 635.8345003988794, + 382.4105970597299 + ], + [ + 651.8152705300575, + 377.15569678093914 + ], + [ + 644.0936858723907, + 364.51607034586425 + ], + [ + 628.2705639285547, + 369.6429026153619 + ], + [ + 635.7066355158015, + 355.26361556123305 + ], + [ + 652.1760632775587, + 349.9897781320613 + ], + [ + 644.2171163190898, + 337.3113065483282 + ], + [ + 627.9150748155321, + 342.45275373852775 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 44, + "instance_stats": { + "semantic_tags_present": 8, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 410448, + "2": 317654, + "3": 172897, + "6": 1830, + "10": 837, + "12": 2118, + "20": 3582, + "24": 12234 + }, + "instance_pixel_counts": { + "6215": 173485, + "6802": 2508, + "7314": 25677, + "7826": 26926, + "8338": 459, + "8850": 2511, + "9362": 47364, + "9874": 2403, + "18512": 3575, + "21652": 20240, + "22676": 128505, + "23188": 83634, + "24212": 30281, + "24724": 116260, + "25236": 31406, + "25856": 226, + "33370": 1702, + "35988": 2207, + "36500": 3123, + "37012": 2557, + "38036": 2825, + "38548": 1124, + "39052": 871, + "39060": 340, + "39564": 9362, + "39770": 75499, + "40076": 8938, + "40265": 7, + "41100": 1112, + "41612": 14477, + "41818": 13389, + "42074": 82307, + "42124": 1561, + "56576": 201, + "56832": 227, + "57088": 719, + "57344": 573, + "57600": 398, + "61569": 1604, + "64661": 58, + "65171": 122 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 201, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 31.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2543652355670929, + "y": 0.27302244305610657, + "z": 0.5574027299880981 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.1225787605284, + "ymin": 337.0472742804328, + "xmax": 652.9599145443403, + "ymax": 382.66198528814573 + }, + "corners_3d": [ + [ + -42.94020462036133, + 31.566600799560547, + 0.09814757108688354 + ], + [ + -42.394161224365234, + 31.566600799560547, + 0.09814757108688354 + ], + [ + -42.394161224365234, + 31.05786895751953, + 0.09814757108688354 + ], + [ + -42.94020462036133, + 31.05786895751953, + 0.09814757108688354 + ], + [ + -42.94020462036133, + 31.566600799560547, + 1.2129530906677246 + ], + [ + -42.394161224365234, + 31.566600799560547, + 1.2129530906677246 + ], + [ + -42.394161224365234, + 31.05786895751953, + 1.2129530906677246 + ], + [ + -42.94020462036133, + 31.05786895751953, + 1.2129530906677246 + ] + ], + "corners_2d": [ + [ + 634.746791438371, + 382.66198528814573 + ], + [ + 652.569958748252, + 376.801855477216 + ], + [ + 645.1623110725716, + 364.694742748353 + ], + [ + 627.5076581277376, + 370.41794968370624 + ], + [ + 634.582868763845, + 355.07347321014527 + ], + [ + 652.9599145443403, + 349.19197695870747 + ], + [ + 645.3205263361384, + 337.0472742804328 + ], + [ + 627.1225787605284, + 342.78715022376787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 227, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 34.309940338134766, + "z": 0.8071128129959106 + }, + "extent": { + "x": 0.21433839201927185, + "y": 0.21245485544204712, + "z": 0.5217084288597107 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.9704086823606, + "ymin": 363.75464675800146, + "xmax": 840.0519609387508, + "ymax": 406.1046857209609 + }, + "corners_3d": [ + [ + -38.717498779296875, + 34.554874420166016, + 0.28540438413619995 + ], + [ + -38.297821044921875, + 34.4884033203125, + 0.28540438413619995 + ], + [ + -38.36488342285156, + 34.065006256103516, + 0.28540438413619995 + ], + [ + -38.78456115722656, + 34.13147735595703, + 0.28540438413619995 + ], + [ + -38.717498779296875, + 34.554874420166016, + 1.3288211822509766 + ], + [ + -38.297821044921875, + 34.4884033203125, + 1.3288211822509766 + ], + [ + -38.36488342285156, + 34.065006256103516, + 1.3288211822509766 + ], + [ + -38.78456115722656, + 34.13147735595703, + 1.3288211822509766 + ] + ], + "corners_2d": [ + [ + 822.2244961343865, + 406.1046857209609 + ], + [ + 834.2386769501338, + 399.6540396306753 + ], + [ + 823.9335794819033, + 389.74963701573586 + ], + [ + 811.9704086823606, + 396.0794832754617 + ], + [ + 827.7125310523581, + 380.18359900988116 + ], + [ + 840.0519609387508, + 373.70198546035584 + ], + [ + 829.385284794652, + 363.75464675800146 + ], + [ + 817.0992936866818, + 370.1112892363805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 719, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 38.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.32338622212409973, + "y": 0.48377683758735657, + "z": 0.8909072875976562 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 647.4282169804046, + "ymin": 553.4764836250356, + "xmax": 700.9180901770334, + "ymax": 634.0577519549721 + }, + "corners_3d": [ + [ + -45.389198303222656, + 38.60321044921875, + -0.23535698652267456 + ], + [ + -44.422969818115234, + 38.55257034301758, + -0.23535698652267456 + ], + [ + -44.456817626953125, + 37.90668487548828, + -0.23535698652267456 + ], + [ + -45.42304611206055, + 37.95732498168945, + -0.23535698652267456 + ], + [ + -45.389198303222656, + 38.60321044921875, + 1.5464575290679932 + ], + [ + -44.422969818115234, + 38.55257034301758, + 1.5464575290679932 + ], + [ + -44.456817626953125, + 37.90668487548828, + 1.5464575290679932 + ], + [ + -45.42304611206055, + 37.95732498168945, + 1.5464575290679932 + ] + ], + "corners_2d": [ + [ + 660.3748365696126, + 634.0577519549721 + ], + [ + 697.3678596887072, + 616.6056983560495 + ], + [ + 683.9456132166945, + 594.3195515963396 + ], + [ + 647.4282169804046, + 611.1618245636067 + ], + [ + 661.654113038204, + 594.3305036913109 + ], + [ + 700.9180901770334, + 576.368969524616 + ], + [ + 686.6146978225247, + 553.4764836250356 + ], + [ + 647.885827781275, + 570.7724067386904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 573, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 31.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31523191928863525, + "y": 0.5431554913520813, + "z": 0.9041462540626526 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.94321520501387, + "ymin": 433.97640114808735, + "xmax": 324.70653592639405, + "ymax": 509.14219153903963 + }, + "corners_3d": [ + [ + -52.72609329223633, + 31.598608016967773, + -0.2485959529876709 + ], + [ + -51.64126968383789, + 31.65546226501465, + -0.2485959529876709 + ], + [ + -51.608272552490234, + 31.025861740112305, + -0.2485959529876709 + ], + [ + -52.69309616088867, + 30.96900749206543, + -0.2485959529876709 + ], + [ + -52.72609329223633, + 31.598608016967773, + 1.5596965551376343 + ], + [ + -51.64126968383789, + 31.65546226501465, + 1.5596965551376343 + ], + [ + -51.608272552490234, + 31.025861740112305, + 1.5596965551376343 + ], + [ + -52.69309616088867, + 30.96900749206543, + 1.5596965551376343 + ] + ], + "corners_2d": [ + [ + 281.14640106393074, + 509.14219153903963 + ], + [ + 324.70653592639405, + 496.5128447066369 + ], + [ + 321.1650480581727, + 477.8343857228356 + ], + [ + 278.2801186743789, + 490.05563697815506 + ], + [ + 260.6155184370376, + 465.7954742370666 + ], + [ + 306.87436032646656, + 452.94812400386854 + ], + [ + 303.44097883865834, + 433.97640114808735 + ], + [ + 257.94321520501387, + 446.3856029170072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 398, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43328094482422, + "y": 23.876869201660156, + "z": 0.8021030426025391 + }, + "extent": { + "x": 0.382415771484375, + "y": 0.4310937523841858, + "z": 0.9390779137611389 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 800.4241785149495, + "ymin": 101.93235042263353, + "xmax": 838.5628826487215, + "ymax": 162.75565587069437 + }, + "corners_3d": [ + [ + -32.91889190673828, + 24.1871395111084, + -0.13697487115859985 + ], + [ + -32.067317962646484, + 24.32201385498047, + -0.13697487115859985 + ], + [ + -31.94767189025879, + 23.566598892211914, + -0.13697487115859985 + ], + [ + -32.79924392700195, + 23.431724548339844, + -0.13697487115859985 + ], + [ + -32.91889190673828, + 24.1871395111084, + 1.7411808967590332 + ], + [ + -32.067317962646484, + 24.32201385498047, + 1.7411808967590332 + ], + [ + -31.94767189025879, + 23.566598892211914, + 1.7411808967590332 + ], + [ + -32.79924392700195, + 23.431724548339844, + 1.7411808967590332 + ] + ], + "corners_2d": [ + [ + 808.2854772295284, + 162.75565587069437 + ], + [ + 830.7105534445354, + 159.14392309438486 + ], + [ + 822.558500830474, + 147.33014137910564 + ], + [ + 800.4241785149495, + 150.83774904374218 + ], + [ + 815.2464325460595, + 117.0885193561495 + ], + [ + 838.5628826487215, + 113.53773446898361 + ], + [ + 829.9618673787572, + 101.93235042263353 + ], + [ + 806.9594743267213, + 105.37663864847661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1229818305721407215, + "instance_id": 61206, + "pixel_count": null, + "type_id": "BP_StreetLight_simple10_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 47.76633834838867, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1065.929026318116, + "ymin": 693.3223398644, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 47.98593521118164, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 47.54672622680664, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 47.5467414855957, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 47.9859504699707, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 47.98593521118164, + 7.942829132080078 + ], + [ + -37.74831008911133, + 47.54672622680664, + 7.942829132080078 + ], + [ + -41.581748962402344, + 47.5467414855957, + 7.942829132080078 + ], + [ + -41.58174514770508, + 47.9859504699707, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1245.0963551731988, + 895.2278337039934 + ], + [ + 1226.469130127372, + 871.628339980089 + ], + [ + 1065.929026318116, + 967.1395203752023 + ], + [ + 1083.1026514183407, + 993.8073245447408 + ], + [ + 1524.2943112569753, + 723.7862450441371 + ], + [ + 1491.09916618449, + 693.3223398644 + ], + [ + 1276.0596545092942, + 819.3092481302019 + ], + [ + 1307.1120351766722, + 855.8029468545218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 593.8322897971518, + "ymin": 0.0, + "xmax": 732.2246132232028, + "ymax": 255.42352315171144 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 715.6940327531137, + 224.50125155097135 + ], + [ + 709.6508331932135, + 216.8449763129591 + ], + [ + 602.3209731457445, + 247.2227587798344 + ], + [ + 607.6021883215459, + 255.42352315171144 + ], + [ + 732.2246132232028, + -3.120331723584627 + ], + [ + 724.7008767194977, + -10.0249538024745 + ], + [ + 593.8322897971518, + 17.52569950254741 + ], + [ + 600.221970598831, + 25.034942629979014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 142.50813559655984, + "xmax": 57.0700367909925, + "ymax": 434.5844168959154 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -98.77325359667032, + 422.85417643305084 + ], + [ + -100.06917868652658, + 434.5844168959154 + ], + [ + 57.0700367909925, + 390.5708681989156 + ], + [ + 56.69202545397093, + 379.76336698780096 + ], + [ + -306.90884137941316, + 185.09171907102862 + ], + [ + -311.48357516167073, + 196.8502924899829 + ], + [ + -100.91530499773307, + 153.09916137524945 + ], + [ + -99.32726863658809, + 142.50813559655984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 598.7699255458696, + "ymin": 20.846302221604162, + "xmax": 617.5412889020138, + "ymax": 32.80216563709075 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 617.5412889020138, + 29.69391282895282 + ], + [ + 613.2083334891472, + 24.71571544266834 + ], + [ + 598.8985461903799, + 27.778920893783322 + ], + [ + 603.1460608347278, + 32.80216563709075 + ], + [ + 617.4708104880968, + 25.81174930133153 + ], + [ + 613.1248696865142, + 20.846302221604162 + ], + [ + 598.7699255458696, + 23.90163533601276 + ], + [ + 603.0298826369583, + 28.91215584237716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 327.88833796867635, + "ymax": 165.26669639611256 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -13.916990720946387, + 158.7341231610553 + ], + [ + -14.311084395597504, + 165.26669639611256 + ], + [ + 327.88833796867635, + 92.92326597897755 + ], + [ + 325.7649840688432, + 87.48664700271212 + ], + [ + -156.4679657124043, + -82.81653505220913 + ], + [ + -158.34281752843185, + -77.20809032616461 + ], + [ + 266.4248892992952, + -138.24316800469848 + ], + [ + 264.4200571329908, + -142.73632888083802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 598.6692502703372, + "ymin": 20.78230882800483, + "xmax": 617.6424835036495, + "ymax": 32.866857673870356 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 617.6424835036495, + 29.724873793198924 + ], + [ + 613.2626069476894, + 24.6932098721976 + ], + [ + 598.7995669827602, + 27.78917124187643 + ], + [ + 603.092155160778, + 32.866857673870356 + ], + [ + 617.5715660938392, + 25.80094635611431 + ], + [ + 613.1784206625109, + 20.78230882800483 + ], + [ + 598.6692502703372, + 23.870227477871936 + ], + [ + 602.9745466583338, + 28.93491443740055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.63829643339693, + "ymin": 0.0, + "xmax": 546.407559251908, + "ymax": 35.148173515104304 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 536.7039217914134, + 35.148173515104304 + ], + [ + 546.407559251908, + 33.136420296255494 + ], + [ + 465.76743648834844, + -75.63803063593377 + ], + [ + 457.4003699692895, + -74.21163314142319 + ], + [ + 518.2114213977466, + -185.34509078318456 + ], + [ + 529.709688700818, + -186.95982609856912 + ], + [ + 440.30336866093114, + -271.8333476666262 + ], + [ + 430.63829643339693, + -270.7504519130723 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a84cc7218b6575130551d28e23c56208bdbfcc9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00045/meta.json @@ -0,0 +1,1409 @@ +{ + "frame_id": 45, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 12249.047021330567 + }, + "drone_pose": { + "x": -49.97481581197049, + "y": 47.51701378229424, + "z": 20.001560682119532, + "pitch": -46.69610542170734, + "yaw": -66.37265779552287, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27488642930984497, + 0.6283726096153259, + 0.7277261018753052, + 29.040130615234375 + ], + [ + -0.9161716103553772, + 0.40078628063201904, + 0.0, + 26.741334915161133 + ], + [ + -0.29166266322135925, + -0.6667219996452332, + 0.6858678460121155, + -59.974849700927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.916775887947715, + "y": 47.01718247831571, + "z": 20.001218575822435 + }, + "t1_image_uv": [ + 212.2919791735452, + -657.1387383461702 + ], + "t1_depth": 0.3302836427598948 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 30.812236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 26.584190622012805, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 30.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2552734315395355, + "y": 0.27024412155151367, + "z": 0.557769238948822 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.210625172678, + "ymin": 337.0449543169232, + "xmax": 652.87374447773, + "ymax": 382.6611721381877 + }, + "corners_3d": [ + [ + -42.93742752075195, + 31.067508697509766, + 0.09778106212615967 + ], + [ + -42.39693832397461, + 31.067508697509766, + 0.09778106212615967 + ], + [ + -42.39693832397461, + 30.556961059570312, + 0.09778106212615967 + ], + [ + -42.93742752075195, + 30.556961059570312, + 0.09778106212615967 + ], + [ + -42.93742752075195, + 31.067508697509766, + 1.2133195400238037 + ], + [ + -42.39693832397461, + 31.067508697509766, + 1.2133195400238037 + ], + [ + -42.39693832397461, + 30.556961059570312, + 1.2133195400238037 + ], + [ + -42.93742752075195, + 30.556961059570312, + 1.2133195400238037 + ] + ], + "corners_2d": [ + [ + 634.7872320043969, + 382.6611721381877 + ], + [ + 652.485289250086, + 376.911027850535 + ], + [ + 645.1228398507867, + 364.7088061893515 + ], + [ + 627.5940797106489, + 370.3238632824175 + ], + [ + 634.6241181798484, + 355.05856032150064 + ], + [ + 652.87374447773, + 349.28668545569656 + ], + [ + 645.2802910126535, + 337.0449543169232 + ], + [ + 627.210625172678, + 342.67707764608207 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 8, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 410914, + "2": 317084, + "3": 172715, + "6": 1887, + "10": 825, + "12": 2078, + "20": 3606, + "24": 12491 + }, + "instance_pixel_counts": { + "6215": 173003, + "6802": 2671, + "7314": 26601, + "7826": 25707, + "8338": 796, + "8850": 2675, + "9362": 48738, + "9874": 725, + "18512": 3581, + "21652": 21766, + "22676": 133043, + "23188": 77644, + "24212": 31801, + "24724": 120402, + "25236": 25983, + "25856": 261, + "33370": 1640, + "35988": 2299, + "36500": 3233, + "37012": 2522, + "38036": 2867, + "38548": 1132, + "39052": 921, + "39060": 356, + "39564": 9683, + "39770": 66659, + "40076": 8484, + "40265": 25, + "41100": 1160, + "41612": 15008, + "41818": 14863, + "42074": 89553, + "42124": 912, + "56576": 202, + "56832": 230, + "57088": 649, + "57344": 601, + "57600": 396, + "61569": 1626, + "64661": 82, + "65171": 275 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 202, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 30.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26582762598991394, + "y": 0.29826414585113525, + "z": 0.5480188131332397 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.1209301855399, + "ymin": 336.7541197567925, + "xmax": 653.9694655825441, + "ymax": 382.98531084199556 + }, + "corners_3d": [ + [ + -42.96544647216797, + 31.078062057495117, + 0.10753148794174194 + ], + [ + -42.368919372558594, + 31.078062057495117, + 0.10753148794174194 + ], + [ + -42.368919372558594, + 30.54640769958496, + 0.10753148794174194 + ], + [ + -42.96544647216797, + 30.54640769958496, + 0.10753148794174194 + ], + [ + -42.96544647216797, + 31.078062057495117, + 1.2035691738128662 + ], + [ + -42.368919372558594, + 31.078062057495117, + 1.2035691738128662 + ], + [ + -42.368919372558594, + 30.54640769958496, + 1.2035691738128662 + ], + [ + -42.96544647216797, + 30.54640769958496, + 1.2035691738128662 + ] + ], + "corners_2d": [ + [ + 634.0131379558707, + 382.98531084199556 + ], + [ + 653.5552236307481, + 376.63559418420425 + ], + [ + 645.8773127355987, + 363.93567260667083 + ], + [ + 626.5299052807914, + 370.13008468466137 + ], + [ + 633.8290252604629, + 355.86762182137994 + ], + [ + 653.9694655825441, + 349.49422928436604 + ], + [ + 646.0546510676128, + 336.7541197567925 + ], + [ + 626.1209301855399, + 342.96694047025653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 33.809940338134766, + "z": 0.8070785999298096 + }, + "extent": { + "x": 0.18848878145217896, + "y": 0.2572571039199829, + "z": 0.5426328182220459 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.3054580113779, + "ymin": 363.8601574459484, + "xmax": 840.975355643942, + "ymax": 407.4140532735842 + }, + "corners_3d": [ + [ + -38.76579666137695, + 34.036354064941406, + 0.26444578170776367 + ], + [ + -38.25761413574219, + 33.95586395263672, + 0.26444578170776367 + ], + [ + -38.316585540771484, + 33.583526611328125, + 0.26444578170776367 + ], + [ + -38.82476806640625, + 33.66401672363281, + 0.26444578170776367 + ], + [ + -38.76579666137695, + 34.036354064941406, + 1.3497114181518555 + ], + [ + -38.25761413574219, + 33.95586395263672, + 1.3497114181518555 + ], + [ + -38.316585540771484, + 33.583526611328125, + 1.3497114181518555 + ], + [ + -38.82476806640625, + 33.66401672363281, + 1.3497114181518555 + ] + ], + "corners_2d": [ + [ + 820.2742227060107, + 407.4140532735842 + ], + [ + 834.8952143917516, + 399.6445010199155 + ], + [ + 825.8703275453086, + 390.89041148232576 + ], + [ + 811.3054580113779, + 398.53148619634067 + ], + [ + 825.9408226762048, + 380.46423224324553 + ], + [ + 840.975355643942, + 372.65484485852073 + ], + [ + 831.6194678577052, + 363.8601574459484 + ], + [ + 816.6438741776922, + 371.5364164558481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 649, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 37.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.34581542015075684, + "y": 0.5467773079872131, + "z": 0.8761731386184692 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 643.1038679259161, + "ymin": 552.6188541464575, + "xmax": 702.3908596010041, + "ymax": 636.289007297002 + }, + "corners_3d": [ + [ + -45.4509391784668, + 38.12890625, + -0.22062283754348755 + ], + [ + -44.358882904052734, + 38.07167434692383, + -0.22062283754348755 + ], + [ + -44.395076751708984, + 37.38098907470703, + -0.22062283754348755 + ], + [ + -45.48713302612305, + 37.4382209777832, + -0.22062283754348755 + ], + [ + -45.4509391784668, + 38.12890625, + 1.5317234992980957 + ], + [ + -44.358882904052734, + 38.07167434692383, + 1.5317234992980957 + ], + [ + -44.395076751708984, + 37.38098907470703, + 1.5317234992980957 + ], + [ + -45.48713302612305, + 37.4382209777832, + 1.5317234992980957 + ] + ], + "corners_2d": [ + [ + 656.7776038689893, + 636.289007297002 + ], + [ + 698.8061758346937, + 616.6775687700492 + ], + [ + 684.5477117284412, + 592.7692393843982 + ], + [ + 643.1038679259161, + 611.6467888810998 + ], + [ + 657.8170285837226, + 597.3519470217266 + ], + [ + 702.3908596010041, + 577.1707072502293 + ], + [ + 687.2092821158882, + 552.6188541464575 + ], + [ + 643.2922805902178, + 571.9998568247642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 601, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 30.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2941381633281708, + "y": 0.4123486280441284, + "z": 0.8749180436134338 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 263.25094162516945, + "ymin": 435.77241915709953, + "xmax": 318.4079675204095, + "ymax": 505.13521138991166 + }, + "corners_3d": [ + [ + -52.5943603515625, + 31.084388732910156, + -0.21936774253845215 + ], + [ + -51.77079391479492, + 31.12755012512207, + -0.21936774253845215 + ], + [ + -51.74000549316406, + 30.540081024169922, + -0.21936774253845215 + ], + [ + -52.56357192993164, + 30.496919631958008, + -0.21936774253845215 + ], + [ + -52.5943603515625, + 31.084388732910156, + 1.5304683446884155 + ], + [ + -51.77079391479492, + 31.12755012512207, + 1.5304683446884155 + ], + [ + -51.74000549316406, + 30.540081024169922, + 1.5304683446884155 + ], + [ + -52.56357192993164, + 30.496919631958008, + 1.5304683446884155 + ] + ], + "corners_2d": [ + [ + 285.3075683460735, + 505.13521138991166 + ], + [ + 318.4079675204095, + 495.6781350729089 + ], + [ + 315.29464890966403, + 478.1720127778989 + ], + [ + 282.6751974416105, + 487.3432643306496 + ], + [ + 265.7105059268745, + 463.1641025231444 + ], + [ + 300.7920349476382, + 453.54875782858136 + ], + [ + 297.792475196918, + 435.77241915709953 + ], + [ + 263.25094162516945, + 445.08155173412996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 396, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43328094482422, + "y": 23.376869201660156, + "z": 0.8021030426025391 + }, + "extent": { + "x": 0.33195555210113525, + "y": 0.5245934724807739, + "z": 0.9164912700653076 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 800.3144233772648, + "ymin": 102.8705988306508, + "xmax": 842.2504957095848, + "ymax": 161.84006261385454 + }, + "corners_3d": [ + [ + -33.00334548950195, + 23.62267303466797, + -0.11438822746276855 + ], + [ + -31.96707534790039, + 23.786802291870117, + -0.11438822746276855 + ], + [ + -31.863216400146484, + 23.131065368652344, + -0.11438822746276855 + ], + [ + -32.89948654174805, + 22.966936111450195, + -0.11438822746276855 + ], + [ + -33.00334548950195, + 23.62267303466797, + 1.7185943126678467 + ], + [ + -31.96707534790039, + 23.786802291870117, + 1.7185943126678467 + ], + [ + -31.863216400146484, + 23.131065368652344, + 1.7185943126678467 + ], + [ + -32.89948654174805, + 22.966936111450195, + 1.7185943126678467 + ] + ], + "corners_2d": [ + [ + 807.062510296805, + 161.84006261385454 + ], + [ + 834.4307654984414, + 157.518659490312 + ], + [ + 827.3726679374222, + 147.2277682041468 + ], + [ + 800.3144233772648, + 151.440593708691 + ], + [ + 813.8185449543462, + 117.23693655239606 + ], + [ + 842.2504957095848, + 112.98611734883843 + ], + [ + 834.8097345747842, + 102.8705988306508 + ], + [ + 806.7121067809392, + 107.01039124130895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 601.9796900621726, + "ymin": 0.0, + "xmax": 742.2707911649736, + "ymax": 264.63884772426184 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 723.710503100856, + 233.34739265342307 + ], + [ + 717.5863687002916, + 225.4995323833261 + ], + [ + 609.0567292783674, + 256.23327591275915 + ], + [ + 614.3985216421759, + 264.63884772426184 + ], + [ + 742.2707911649736, + 4.657892198770924 + ], + [ + 734.6042559566682, + -2.4578101049310703 + ], + [ + 601.9796900621726, + 25.56810122439157 + ], + [ + 608.4769607628202, + 33.30825044298041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 152.50579249858956, + "xmax": 57.86107391547796, + "ymax": 445.61539684501025 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -99.56207510296144, + 433.60194387328096 + ], + [ + -100.96184299561605, + 445.61539684501025 + ], + [ + 57.86107391547796, + 401.1107811911096 + ], + [ + 57.54597877235096, + 390.04135614131854 + ], + [ + -311.1189845224653, + 195.8372282096611 + ], + [ + -315.9269505971338, + 207.96197457752174 + ], + [ + -102.34661889476195, + 163.42407403116206 + ], + [ + -100.61933905999058, + 152.50579249858956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.9483141060907, + "ymin": 28.901653553637004, + "xmax": 625.9611704838702, + "ymax": 41.089836003602386 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 625.9611704838702, + 37.92762733147066 + ], + [ + 621.5547158345526, + 32.797699526280155 + ], + [ + 607.0529773491126, + 35.913395432573054 + ], + [ + 611.371349371188, + 41.089836003602386 + ], + [ + 625.9164433926155, + 34.0189252127542 + ], + [ + 621.4963841598601, + 28.901653553637004 + ], + [ + 606.9483141060907, + 32.00963403016158 + ], + [ + 611.2797243334921, + 37.17345198373101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 332.2822325177874, + "ymax": 170.64308909966135 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -12.109134565596037, + 163.99091349471638 + ], + [ + -12.55038316643629, + 170.64308909966135 + ], + [ + 332.2822325177874, + 97.90552471915947 + ], + [ + 330.15965158231563, + 92.36528259554416 + ], + [ + -155.84576614097978, + -78.64320207007796 + ], + [ + -157.80637521242716, + -72.90921961187894 + ], + [ + 270.9901836423637, + -134.5159455886336 + ], + [ + 268.9860304096152, + -139.1118073398065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.8463505141492, + "ymin": 28.836423744346575, + "xmax": 626.063674196374, + "ymax": 41.15579320093508 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 626.063674196374, + 37.959265735598365 + ], + [ + 621.6094976661085, + 32.77424521726704 + ], + [ + 606.9524618637057, + 35.92325307912972 + ], + [ + 611.3166510827508, + 41.15579320093508 + ], + [ + 626.0187948618841, + 34.008514028605305 + ], + [ + 621.5507167474733, + 28.836423744346575 + ], + [ + 606.8463505141492, + 31.977549146320428 + ], + [ + 611.223856450874, + 37.19719365690747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 436.9021277495573, + "ymin": 0.0, + "xmax": 552.6229761962446, + "ymax": 39.62255259629353 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 542.8381058856546, + 39.62255259629353 + ], + [ + 552.6229761962446, + 37.59878445279912 + ], + [ + 471.49746149781504, + -73.10945589165289 + ], + [ + 463.07415535775715, + -71.67881815183205 + ], + [ + 525.2461224307807, + -182.20283653534284 + ], + [ + 536.8567557984699, + -183.83279398226625 + ], + [ + 446.64118617917563, + -270.4654416402253 + ], + [ + 436.9021277495573, + -269.3767575569691 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00047/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00047/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..004c882eba8912f5d5fed9fd44285d6d01092eeb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00047/meta.json @@ -0,0 +1,1515 @@ +{ + "frame_id": 47, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.5, + "sim_timestamp": 12267.445873868885 + }, + "drone_pose": { + "x": -49.88570339929592, + "y": 46.519378360869936, + "z": 20.00094499200786, + "pitch": -46.747565514452695, + "yaw": -66.63266346112916, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27177268266677856, + 0.6290133595466614, + 0.7283418774604797, + 28.251354217529297 + ], + [ + -0.917980968952179, + 0.3966246247291565, + -2.9802322387695312e-08, + 27.343387603759766 + ], + [ + -0.2888783812522888, + -0.6686038970947266, + 0.6852139234542847, + -59.21886444091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.87135745516768, + "y": 46.02330531479034, + "z": 20.000727638583584 + }, + "t1_image_uv": [ + 82.43724811184836, + -659.4597985225587 + ], + "t1_depth": 0.31609368614711447 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 29.812236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 26.560871854015716, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 29.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2666113078594208, + "y": 0.23887084424495697, + "z": 0.5487779378890991 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1196630066145, + "ymin": 337.3294386032874, + "xmax": 651.9740011849298, + "ymax": 382.3870394443675 + }, + "corners_3d": [ + [ + -42.90605545043945, + 30.078845977783203, + 0.10677236318588257 + ], + [ + -42.42831039428711, + 30.078845977783203, + 0.10677236318588257 + ], + [ + -42.42831039428711, + 29.545623779296875, + 0.10677236318588257 + ], + [ + -42.90605545043945, + 29.545623779296875, + 0.10677236318588257 + ], + [ + -42.90605545043945, + 30.078845977783203, + 1.2043282985687256 + ], + [ + -42.42831039428711, + 30.078845977783203, + 1.2043282985687256 + ], + [ + -42.42831039428711, + 29.545623779296875, + 1.2043282985687256 + ], + [ + -42.90605545043945, + 29.545623779296875, + 1.2043282985687256 + ] + ], + "corners_2d": [ + [ + 635.9220524867023, + 382.3870394443675 + ], + [ + 651.6176066917675, + 377.34580260860986 + ], + [ + 644.0081254545394, + 364.54584466061374 + ], + [ + 628.4705837774433, + 369.46319544094325 + ], + [ + 635.7963264388709, + 355.232340075673 + ], + [ + 651.9740011849298, + 350.1717532240674 + ], + [ + 644.1295206172578, + 337.3294386032874 + ], + [ + 628.1196630066145, + 342.26191217723664 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 47, + "instance_stats": { + "semantic_tags_present": 8, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 412425, + "2": 315702, + "3": 171855, + "6": 2055, + "10": 813, + "12": 2047, + "20": 3595, + "24": 13108 + }, + "instance_pixel_counts": { + "6215": 172061, + "6802": 2823, + "7314": 28421, + "7826": 23215, + "8338": 1778, + "8850": 2905, + "9362": 48566, + "18000": 55, + "18512": 3464, + "21652": 25518, + "22676": 142497, + "23188": 64953, + "23700": 30, + "24212": 34819, + "24724": 129387, + "25236": 14268, + "25856": 350, + "26624": 9, + "33370": 1710, + "35988": 2553, + "36500": 3468, + "37012": 2442, + "38036": 3012, + "38548": 1100, + "39052": 1049, + "39060": 381, + "39564": 10349, + "39770": 48021, + "40076": 7570, + "40265": 76, + "40588": 91, + "41100": 1242, + "41612": 15632, + "41818": 18052, + "42074": 104072, + "56576": 211, + "56832": 246, + "57088": 610, + "57344": 596, + "57600": 384, + "61569": 1696, + "64661": 152, + "65171": 953 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 29.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2535400390625, + "y": 0.2761218249797821, + "z": 0.5580193996429443 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.04688719183, + "ymin": 337.02138837367386, + "xmax": 653.0369639708954, + "ymax": 382.68299140090255 + }, + "corners_3d": [ + [ + -42.94330596923828, + 30.06577491760254, + 0.09753090143203735 + ], + [ + -42.39105987548828, + 30.06577491760254, + 0.09753090143203735 + ], + [ + -42.39105987548828, + 29.55869483947754, + 0.09753090143203735 + ], + [ + -42.94330596923828, + 29.55869483947754, + 0.09753090143203735 + ], + [ + -42.94330596923828, + 30.06577491760254, + 1.2135696411132812 + ], + [ + -42.39105987548828, + 30.06577491760254, + 1.2135696411132812 + ], + [ + -42.39105987548828, + 29.55869483947754, + 1.2135696411132812 + ], + [ + -42.94330596923828, + 29.55869483947754, + 1.2135696411132812 + ] + ], + "corners_2d": [ + [ + 634.5086306860518, + 382.68299140090255 + ], + [ + 652.6427650243749, + 376.85939207775783 + ], + [ + 645.3966273333004, + 364.69654024891935 + ], + [ + 627.4361057085212, + 370.3839944378288 + ], + [ + 634.3364194395976, + 355.071092778258 + ], + [ + 653.0369639708954, + 349.2248768836408 + ], + [ + 645.5628593132034, + 337.02138837367386 + ], + [ + 627.04688719183, + 342.72673410864485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 246, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 32.809940338134766, + "z": 0.8070151209831238 + }, + "extent": { + "x": 0.2135290652513504, + "y": 0.22785890102386475, + "z": 0.5209930539131165 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.7240445521817, + "ymin": 364.94355916426707, + "xmax": 840.7367209249096, + "ymax": 407.73444919312425 + }, + "corners_3d": [ + [ + -38.73284149169922, + 33.05648422241211, + 0.2860220670700073 + ], + [ + -38.28273391723633, + 32.98519515991211, + 0.2860220670700073 + ], + [ + -38.34954071044922, + 32.56339645385742, + 0.2860220670700073 + ], + [ + -38.79964828491211, + 32.63468551635742, + 0.2860220670700073 + ], + [ + -38.73284149169922, + 33.05648422241211, + 1.3280081748962402 + ], + [ + -38.28273391723633, + 32.98519515991211, + 1.3280081748962402 + ], + [ + -38.34954071044922, + 32.56339645385742, + 1.3280081748962402 + ], + [ + -38.79964828491211, + 32.63468551635742, + 1.3280081748962402 + ] + ], + "corners_2d": [ + [ + 821.8530447747628, + 407.73444919312425 + ], + [ + 834.8831527658199, + 400.87345513735244 + ], + [ + 824.6960212377138, + 390.88937688034423 + ], + [ + 811.7240445521817, + 397.6214800089856 + ], + [ + 827.3516160255566, + 381.8696676570414 + ], + [ + 840.7367209249096, + 374.97371958433064 + ], + [ + 830.1898647926862, + 364.94355916426707 + ], + [ + 816.8657208913984, + 371.70611235606503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 610, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 36.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3160327076911926, + "y": 0.444404274225235, + "z": 0.8840563893318176 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 646.2174313449835, + "ymin": 555.819282247736, + "xmax": 696.1602917611061, + "ymax": 634.0014259110634 + }, + "corners_3d": [ + [ + -45.35026168823242, + 37.093807220458984, + -0.22850608825683594 + ], + [ + -44.46267318725586, + 37.04728698730469, + -0.22850608825683594 + ], + [ + -44.49575424194336, + 36.41608810424805, + -0.22850608825683594 + ], + [ + -45.38334274291992, + 36.462608337402344, + -0.22850608825683594 + ], + [ + -45.35026168823242, + 37.093807220458984, + 1.5396066904067993 + ], + [ + -44.46267318725586, + 37.04728698730469, + 1.5396066904067993 + ], + [ + -44.49575424194336, + 36.41608810424805, + 1.5396066904067993 + ], + [ + -45.38334274291992, + 36.462608337402344, + 1.5396066904067993 + ] + ], + "corners_2d": [ + [ + 658.6356133593528, + 634.0014259110634 + ], + [ + 692.8974950240842, + 618.2059005632268 + ], + [ + 680.0387627969443, + 596.2069685550586 + ], + [ + 646.2174313449835, + 611.4604006489369 + ], + [ + 659.8001732739376, + 594.6849470180422 + ], + [ + 696.1602917611061, + 578.4244915817961 + ], + [ + 682.4633500353057, + 555.819282247736 + ], + [ + 646.5987845457106, + 571.4879910705007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 596, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 29.81223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3027612268924713, + "y": 0.49946165084838867, + "z": 0.8945046067237854 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.73745807385785, + "ymin": 433.0151108020148, + "xmax": 321.4795862994565, + "ymax": 505.700258331697 + }, + "corners_3d": [ + [ + -52.68180465698242, + 30.088441848754883, + -0.2389591932296753 + ], + [ + -51.68424987792969, + 30.14072036743164, + -0.2389591932296753 + ], + [ + -51.65256118774414, + 29.536027908325195, + -0.2389591932296753 + ], + [ + -52.650115966796875, + 29.483749389648438, + -0.2389591932296753 + ], + [ + -52.68180465698242, + 30.088441848754883, + 1.5500500202178955 + ], + [ + -51.68424987792969, + 30.14072036743164, + 1.5500500202178955 + ], + [ + -51.65256118774414, + 29.536027908325195, + 1.5500500202178955 + ], + [ + -52.650115966796875, + 29.483749389648438, + 1.5500500202178955 + ] + ], + "corners_2d": [ + [ + 281.3885425310992, + 505.700258331697 + ], + [ + 321.4795862994565, + 494.3870006636411 + ], + [ + 318.3357205225475, + 476.37922333082776 + ], + [ + 278.84555865820397, + 487.3407260650727 + ], + [ + 261.08456285143234, + 462.81445657194007 + ], + [ + 303.6302582100583, + 451.3065996985363 + ], + [ + 300.60679253831586, + 433.0151108020148 + ], + [ + 258.73745807385785, + 444.14550563851947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 384, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.433284759521484, + "y": 22.37687110900879, + "z": 0.8021079301834106 + }, + "extent": { + "x": 0.3507031202316284, + "y": 0.5215685963630676, + "z": 0.9322144389152527 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 801.767514104456, + "ymin": 102.266353373144, + "xmax": 844.1821888911782, + "ymax": 162.5754581407828 + }, + "corners_3d": [ + [ + -33.0032958984375, + 22.641664505004883, + -0.13010650873184204 + ], + [ + -31.972999572753906, + 22.804847717285156, + -0.13010650873184204 + ], + [ + -31.8632755279541, + 22.112077713012695, + -0.13010650873184204 + ], + [ + -32.89356994628906, + 21.948894500732422, + -0.13010650873184204 + ], + [ + -33.0032958984375, + 22.641664505004883, + 1.7343223094940186 + ], + [ + -31.972999572753906, + 22.804847717285156, + 1.7343223094940186 + ], + [ + -31.8632755279541, + 22.112077713012695, + 1.7343223094940186 + ], + [ + -32.89356994628906, + 21.948894500732422, + 1.7343223094940186 + ] + ], + "corners_2d": [ + [ + 808.8407150256223, + 162.5754581407828 + ], + [ + 836.1331381314279, + 158.3379992838587 + ], + [ + 828.7318648246888, + 147.41936765375098 + ], + [ + 801.767514104456, + 151.5442655792645 + ], + [ + 815.8070603175435, + 117.16570543117652 + ], + [ + 844.1821888911782, + 112.99774775496684 + ], + [ + 836.3697088854999, + 102.266353373144 + ], + [ + 808.3489175410448, + 106.31913576802938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.09776268311316, + "ymin": 0.0, + "xmax": 86.5714169412106, + "ymax": 0.6079829485718165 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 86.5714169412106, + -1.0132846945857636 + ], + [ + 86.17071123072867, + -6.1044214025156975 + ], + [ + 76.90878022609365, + -4.50812221132594 + ], + [ + 77.23822853095453, + 0.6079829485718165 + ], + [ + 74.89992046710427, + -27.673874316698516 + ], + [ + 74.58282882297715, + -32.66138742599651 + ], + [ + 65.09776268311316, + -31.097753642104408 + ], + [ + 65.34010320464483, + -26.085264525875743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.6924446757553, + "ymin": 13.834877196026639, + "xmax": 761.4664180757885, + "ymax": 284.1780927967541 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 738.9219861941264, + 251.83355635882216 + ], + [ + 732.58487253361, + 243.6248911259276 + ], + [ + 621.9396417055144, + 275.3798304782056 + ], + [ + 627.461173189599, + 284.1780927967541 + ], + [ + 761.4664180757885, + 21.35232742810325 + ], + [ + 753.4524123292198, + 13.834877196026639 + ], + [ + 617.6924446757553, + 43.08795218535147 + ], + [ + 624.4781383426186, + 51.27581100933389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 175.8130142394737, + "xmax": 58.863089561132256, + "ymax": 471.41842740508946 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -102.18729933262705, + 458.7983003650893 + ], + [ + -103.73049353289264, + 471.41842740508946 + ], + [ + 58.863089561132256, + 425.25360426272 + ], + [ + 58.60423608631095, + 413.63668226243226 + ], + [ + -321.279070125893, + 221.35436789003148 + ], + [ + -326.49487596348695, + 234.27520625334526 + ], + [ + -106.08602989303142, + 187.42487967323643 + ], + [ + -104.15825746921644, + 175.8130142394737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.7255203907522, + "ymin": 46.39534789601123, + "xmax": 642.2403383937273, + "ymax": 59.064318062417556 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 642.2330229516627, + 55.76161657332739 + ], + [ + 637.6321626283922, + 50.338381577853056 + ], + [ + 622.781756303874, + 53.59114013208665 + ], + [ + 627.2899998581228, + 59.064318062417556 + ], + [ + 642.2403383937273, + 51.806164952971415 + ], + [ + 637.6244644615217, + 46.39534789601123 + ], + [ + 622.7255203907522, + 49.64062617437389 + ], + [ + 627.2481689147013, + 55.10143555576275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 339.20426493528583, + "ymax": 184.2612098752781 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -10.834103420129736, + 177.35949808973814 + ], + [ + -11.330197373615306, + 184.2612098752781 + ], + [ + 339.20426493528583, + 109.76910790900001 + ], + [ + 337.0435051820179, + 104.02689531820374 + ], + [ + -157.52485215056265, + -67.36663463080504 + ], + [ + -159.61746504380608, + -61.368687927029896 + ], + [ + 277.9909809365705, + -124.95004674701062 + ], + [ + 275.9428586979879, + -129.74745936097133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 622.6209111097469, + "ymin": 46.32756249260598, + "xmax": 642.3459447167272, + "ymax": 59.132896879765326 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 642.3382020897704, + 55.794347443326785 + ], + [ + 637.6875125419959, + 50.312879370553844 + ], + [ + 622.678093878323, + 53.60040485754172 + ], + [ + 627.2341640108376, + 59.132896879765326 + ], + [ + 642.3459447167272, + 51.796343609261044 + ], + [ + 637.6799138633932, + 46.32756249260598 + ], + [ + 622.6209111097469, + 49.607445673519294 + ], + [ + 627.191694040728, + 55.12730174107372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.1919783005676, + "ymin": 0.0, + "xmax": 562.917633899356, + "ymax": 49.982093996538936 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 552.985446593622, + 49.982093996538936 + ], + [ + 562.917633899356, + 47.91322573476003 + ], + [ + 480.058881055161, + -66.38011231675847 + ], + [ + 471.53035509560993, + -64.92571177254274 + ], + [ + 536.9061933344095, + -174.19775912753062 + ], + [ + 548.722851069313, + -175.87452084013205 + ], + [ + 456.07078548451295, + -265.78479752711155 + ], + [ + 446.1919783005676, + -264.6732820750784 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f961fcdca00778601103cd0c957029ef3ba56c04 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00048/meta.json @@ -0,0 +1,1517 @@ +{ + "frame_id": 48, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 12276.156903651776 + }, + "drone_pose": { + "x": -49.87135745516768, + "y": 46.02330531479034, + "z": 20.000727638583584, + "pitch": -46.75048215282387, + "yaw": -66.67903089149218, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27124881744384766, + 0.6291990280151367, + 0.7283767461776733, + 27.917308807373047 + ], + [ + -0.9183015823364258, + 0.3958815336227417, + -2.9802322387695312e-08, + 27.57716941833496 + ], + [ + -0.2883509397506714, + -0.6688694953918457, + 0.6851768493652344, + -58.86806869506836 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.864450296089835, + "y": 45.528993551100925, + "z": 20.00055611861405 + }, + "t1_image_uv": [ + 59.29317831757078, + -659.7595254237989 + ], + "t1_depth": 0.3130189475958561 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 29.312236785888672, + "z": 0.6555698220431805 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.559274708161922, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 29.31223487854004, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.2803662121295929, + "y": 0.18882568180561066, + "z": 0.5574875473976135 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.6105663528394, + "ymin": 337.294200947259, + "xmax": 650.4893183064007, + "ymax": 382.4026499636599 + }, + "corners_3d": [ + [ + -42.85601043701172, + 29.592601776123047, + 0.09808230400085449 + ], + [ + -42.478355407714844, + 29.592601776123047, + 0.09808230400085449 + ], + [ + -42.478355407714844, + 29.03186798095703, + 0.09808230400085449 + ], + [ + -42.85601043701172, + 29.03186798095703, + 0.09808230400085449 + ], + [ + -42.85601043701172, + 29.592601776123047, + 1.2130573987960815 + ], + [ + -42.478355407714844, + 29.592601776123047, + 1.2130573987960815 + ], + [ + -42.478355407714844, + 29.03186798095703, + 1.2130573987960815 + ], + [ + -42.85601043701172, + 29.03186798095703, + 1.2130573987960815 + ] + ], + "corners_2d": [ + [ + 637.7592364915406, + 382.4026499636599 + ], + [ + 650.1719353756569, + 378.42218798359363 + ], + [ + 642.2031963975285, + 364.94241332733884 + ], + [ + 629.9220216334253, + 368.82006417755747 + ], + [ + 637.6890443290546, + 354.8158806081409 + ], + [ + 650.4893183064007, + 350.8197942150987 + ], + [ + 642.2710207745218, + 337.294200947259 + ], + [ + 629.6105663528394, + 341.1839104966753 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 413601, + "2": 314775, + "3": 171264, + "6": 2213, + "7": 64, + "10": 805, + "12": 1994, + "20": 3667, + "24": 13217 + }, + "instance_pixel_counts": { + "6215": 171435, + "6802": 2888, + "7314": 29377, + "7826": 21926, + "8338": 2332, + "8850": 2992, + "9362": 48038, + "18000": 115, + "18512": 3474, + "21652": 27653, + "22676": 147492, + "23188": 58393, + "23700": 164, + "24212": 36232, + "24724": 133055, + "25236": 9222, + "25856": 395, + "26624": 165, + "33370": 1788, + "35988": 2683, + "36500": 3584, + "37012": 2268, + "37524": 22, + "38036": 3100, + "38548": 1121, + "39052": 1077, + "39060": 259, + "39564": 10678, + "39770": 40041, + "40076": 7089, + "40265": 78, + "40588": 194, + "41100": 1282, + "41612": 15467, + "41818": 19835, + "42074": 109600, + "56576": 211, + "56832": 216, + "57088": 590, + "57344": 595, + "57600": 382, + "61569": 1717, + "64661": 180, + "65171": 1390 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 29.31223487854004, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.2654394507408142, + "y": 0.24294432997703552, + "z": 0.5532390475273132 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0014441646531, + "ymin": 337.2028605088039, + "xmax": 652.0916296599439, + "ymax": 382.50697234208207 + }, + "corners_3d": [ + [ + -42.910125732421875, + 29.577674865722656, + 0.10233080387115479 + ], + [ + -42.42424011230469, + 29.577674865722656, + 0.10233080387115479 + ], + [ + -42.42424011230469, + 29.046794891357422, + 0.10233080387115479 + ], + [ + -42.910125732421875, + 29.046794891357422, + 0.10233080387115479 + ], + [ + -42.910125732421875, + 29.577674865722656, + 1.2088088989257812 + ], + [ + -42.42424011230469, + 29.577674865722656, + 1.2088088989257812 + ], + [ + -42.42424011230469, + 29.046794891357422, + 1.2088088989257812 + ], + [ + -42.910125732421875, + 29.046794891357422, + 1.2088088989257812 + ] + ], + "corners_2d": [ + [ + 635.7615024600178, + 382.50697234208207 + ], + [ + 651.7288361460842, + 377.38925359968744 + ], + [ + 644.1658431184793, + 364.6408665955049 + ], + [ + 628.3587549833571, + 369.63333654861145 + ], + [ + 635.6297317417997, + 355.1313643629592 + ], + [ + 652.0916296599439, + 349.99382063987537 + ], + [ + 644.2930689245673, + 337.2028605088039 + ], + [ + 628.0014441646531, + 342.21084522547886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 216, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 32.309940338134766, + "z": 0.8069907426834106 + }, + "extent": { + "x": 0.21375367045402527, + "y": 0.1851806789636612, + "z": 0.518390953540802 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 812.9497162464319, + "ymin": 365.75007908321805, + "xmax": 839.4796073046509, + "ymax": 407.1488702053987 + }, + "corners_3d": [ + [ + -38.69065475463867, + 32.55002975463867, + 0.28859978914260864 + ], + [ + -38.324851989746094, + 32.49209213256836, + 0.28859978914260864 + ], + [ + -38.391727447509766, + 32.06985092163086, + 0.28859978914260864 + ], + [ + -38.757530212402344, + 32.12778854370117, + 0.28859978914260864 + ], + [ + -38.69065475463867, + 32.55002975463867, + 1.3253817558288574 + ], + [ + -38.324851989746094, + 32.49209213256836, + 1.3253817558288574 + ], + [ + -38.391727447509766, + 32.06985092163086, + 1.3253817558288574 + ], + [ + -38.757530212402344, + 32.12778854370117, + 1.3253817558288574 + ] + ], + "corners_2d": [ + [ + 823.0872491945352, + 407.1488702053987 + ], + [ + 833.6865535260107, + 401.5781134899132 + ], + [ + 823.50147045541, + 391.56306245846906 + ], + [ + 812.9497162464319, + 397.02898601274427 + ], + [ + 828.5928694271391, + 381.4106718785614 + ], + [ + 839.4796073046509, + 375.81160646695463 + ], + [ + 828.9366086501791, + 365.75007908321805 + ], + [ + 818.0997275127866, + 371.2406647032265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 590, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 36.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33748289942741394, + "y": 0.3809191882610321, + "z": 0.888222336769104 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 647.9964350534303, + "ymin": 556.1232751093008, + "xmax": 693.8042218020844, + "ymax": 633.76787224643 + }, + "corners_3d": [ + [ + -45.285743713378906, + 36.61190414428711, + -0.23267203569412231 + ], + [ + -44.52494812011719, + 36.5720329284668, + -0.23267203569412231 + ], + [ + -44.560272216796875, + 35.89799118041992, + -0.23267203569412231 + ], + [ + -45.321067810058594, + 35.937862396240234, + -0.23267203569412231 + ], + [ + -45.285743713378906, + 36.61190414428711, + 1.5437726974487305 + ], + [ + -44.52494812011719, + 36.5720329284668, + 1.5437726974487305 + ], + [ + -44.560272216796875, + 35.89799118041992, + 1.5437726974487305 + ], + [ + -45.321067810058594, + 35.937862396240234, + 1.5437726974487305 + ] + ], + "corners_2d": [ + [ + 661.2650350347019, + 633.76787224643 + ], + [ + 690.6589739805214, + 620.2339138626289 + ], + [ + 676.9862109695446, + 596.6893136439352 + ], + [ + 647.9964350534303, + 609.7277156641858 + ], + [ + 662.600138034986, + 594.2582606452322 + ], + [ + 693.8042218020844, + 580.3228111300272 + ], + [ + 679.2377779173949, + 556.1232751093008 + ], + [ + 648.4885839493418, + 569.5175422185043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 595, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 29.31223487854004, + "z": 0.6555405259132385 + }, + "extent": { + "x": 0.30589598417282104, + "y": 0.5145288109779358, + "z": 0.9040361642837524 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.91302858646077, + "ymin": 432.3092705064706, + "xmax": 322.1024434212623, + "ymax": 505.9569189128673 + }, + "corners_3d": [ + [ + -52.697017669677734, + 29.590784072875977, + -0.24849563837051392 + ], + [ + -51.669368743896484, + 29.64463996887207, + -0.24849563837051392 + ], + [ + -51.63734817504883, + 29.0336856842041, + -0.24849563837051392 + ], + [ + -52.66499710083008, + 28.979829788208008, + -0.24849563837051392 + ], + [ + -52.697017669677734, + 29.590784072875977, + 1.5595767498016357 + ], + [ + -51.669368743896484, + 29.64463996887207, + 1.5595767498016357 + ], + [ + -51.63734817504883, + 29.0336856842041, + 1.5595767498016357 + ], + [ + -52.66499710083008, + 28.979829788208008, + 1.5595767498016357 + ] + ], + "corners_2d": [ + [ + 280.8124290733096, + 505.9569189128673 + ], + [ + 322.1024434212623, + 494.3303171235717 + ], + [ + 318.9374498148643, + 476.14227877419296 + ], + [ + 278.2728042293362, + 487.4037603535567 + ], + [ + 260.2501409146333, + 462.6151488272682 + ], + [ + 304.09553430527245, + 450.7864395144345 + ], + [ + 301.05363477906945, + 432.3092705064706 + ], + [ + 257.91302858646077, + 443.7458875933181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 382, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.433284759521484, + "y": 21.876873016357422, + "z": 0.8021030426025391 + }, + "extent": { + "x": 0.34193357825279236, + "y": 0.5893042087554932, + "z": 0.9012886881828308 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 800.4698403205782, + "ymin": 102.9777262486499, + "xmax": 846.062760397826, + "ymax": 162.04616120918496 + }, + "corners_3d": [ + [ + -33.068824768066406, + 22.12240982055664, + -0.09918564558029175 + ], + [ + -31.904726028442383, + 22.30678367614746, + -0.09918564558029175 + ], + [ + -31.797744750976562, + 21.631336212158203, + -0.09918564558029175 + ], + [ + -32.96184158325195, + 21.446962356567383, + -0.09918564558029175 + ], + [ + -33.068824768066406, + 22.12240982055664, + 1.7033917903900146 + ], + [ + -31.904726028442383, + 22.30678367614746, + 1.7033917903900146 + ], + [ + -31.797744750976562, + 21.631336212158203, + 1.7033917903900146 + ], + [ + -32.96184158325195, + 21.446962356567383, + 1.7033917903900146 + ] + ], + "corners_2d": [ + [ + 807.3409817985003, + 162.04616120918496 + ], + [ + 838.2061553469885, + 157.2746856297945 + ], + [ + 830.9726724798348, + 146.63300931754216 + ], + [ + 800.4698403205782, + 151.28074987516848 + ], + [ + 814.0143806423271, + 118.13867524967489 + ], + [ + 846.062760397826, + 113.44285370010536 + ], + [ + 838.4401976766658, + 102.9777262486499 + ], + [ + 806.7821782819549, + 107.54703179125858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.85263081859944, + "ymin": 0.0, + "xmax": 87.52177539028219, + "ymax": 7.216644092774345 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 87.52177539028219, + 5.565567549039372 + ], + [ + 87.11976072181301, + 0.3697998165736749 + ], + [ + 77.76706779316862, + 1.9951873921143601 + ], + [ + 78.09636872638623, + 7.216644092774345 + ], + [ + 75.74961504548673, + -21.22907521306962 + ], + [ + 75.43287073003671, + -26.321246026969163 + ], + [ + 65.85263081859944, + -24.728448507198607 + ], + [ + 66.09306057201263, + -19.610564571871066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.5456124371543, + "ymin": 22.430980398730014, + "xmax": 770.9792911435982, + "ymax": 294.38682707583854 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 746.4112329174994, + 261.40739322323054 + ], + [ + 739.9497225339494, + 253.0223429076167 + ], + [ + 628.3273923889823, + 285.39407292440336 + ], + [ + 633.9588644993798, + 294.38682707583854 + ], + [ + 770.9792911435982, + 30.146813950272474 + ], + [ + 762.7681623051268, + 22.430980398730014 + ], + [ + 625.5456124371543, + 52.39911669235124 + ], + [ + 632.5021722194249, + 60.81111676565058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 188.69336157363057, + "xmax": 59.251137539292586, + "ymax": 485.6553411635496 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -103.78300057726665, + 472.7119847325081 + ], + [ + -105.3793556029018, + 485.6553411635496 + ], + [ + 59.251137539292586, + 438.4270906561469 + ], + [ + 58.99909907830909, + 426.52287678007815 + ], + [ + -326.92211896524066, + 235.60231877790102 + ], + [ + -332.3291061686664, + 248.9538797610943 + ], + [ + -108.18602540092434, + 200.67435699593136 + ], + [ + -106.18034103958928, + 188.69336157363057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.6113406367245, + "ymin": 55.675634744951935, + "xmax": 650.4073412226788, + "ymax": 68.59476215372439 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 650.3729041726299, + 65.20985432879621 + ], + [ + 645.6575537471961, + 59.640119406756185 + ], + [ + 630.6423112053637, + 62.97315173408231 + ], + [ + 635.2629857916793, + 68.59476215372439 + ], + [ + 650.4073412226788, + 61.23309775612398 + ], + [ + 645.6761916615396, + 55.675634744951935 + ], + [ + 630.6113406367245, + 59.001289306359354 + ], + [ + 635.2471857631793, + 64.61068589790585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 342.17801150486645, + "ymax": 192.00638368603296 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -10.849617352582754, + 184.97464356862696 + ], + [ + -11.3614083219461, + 192.00638368603296 + ], + [ + 342.17801150486645, + 116.32491200228986 + ], + [ + 339.9856148048576, + 110.48192885480051 + ], + [ + -159.20442044389313, + -60.76495858033775 + ], + [ + -161.3519906152427, + -54.62834632978428 + ], + [ + 280.9377091426409, + -119.47555023443113 + ], + [ + 278.85304439247545, + -124.37420578525757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.5053703971738, + "ymin": 55.60652082673295, + "xmax": 650.5146217117288, + "ymax": 68.66470626237185 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 650.4794556747303, + 65.24305595706699 + ], + [ + 645.7130376624368, + 59.613520629094694 + ], + [ + 630.5370261611483, + 62.98217262817974 + ], + [ + 635.2067211982372, + 68.66470626237185 + ], + [ + 650.5146217117288, + 61.223518339786665 + ], + [ + 645.7320597725005, + 55.60652082673295 + ], + [ + 630.5053703971738, + 58.96763519975781 + ], + [ + 635.1905602463, + 64.63769099739255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.93829244347353, + "ymin": 0.0, + "xmax": 567.502537700962, + "ymax": 55.62513465579906 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 557.5010181374846, + 55.62513465579906 + ], + [ + 567.502537700962, + 53.52693515638248 + ], + [ + 483.5333309217503, + -62.49160448893713 + ], + [ + 474.95428989525146, + -61.0205445601697 + ], + [ + 542.1097657059537, + -169.63794564723605 + ], + [ + 554.0241922027524, + -171.34355029215646 + ], + [ + 459.8846482722736, + -262.83849515434497 + ], + [ + 449.93829244347353, + -261.71198010804676 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00049/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00049/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1203d21a7e84d6238e17c72959bccbb6df5c3593 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00049/meta.json @@ -0,0 +1,1517 @@ +{ + "frame_id": 49, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.5, + "sim_timestamp": 12285.340121106477 + }, + "drone_pose": { + "x": -49.864450296089835, + "y": 45.528993551100925, + "z": 20.00055611861405, + "pitch": -46.74635062356323, + "yaw": -66.70608767651609, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2709725499153137, + 0.6293752789497375, + 0.7283272743225098, + 27.59976577758789 + ], + [ + -0.9184884428977966, + 0.39544790983200073, + 0.0, + 27.795568466186523 + ], + [ + -0.2880154848098755, + -0.6689601540565491, + 0.6852294206619263, + -58.52378845214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.856436759034565, + "y": 45.03647791858819, + "z": 20.00042171963228 + }, + "t1_image_uv": [ + 63.82766940405429, + -659.7767980851711 + ], + "t1_depth": 0.31224647940010586 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 28.812236785888672, + "z": 0.6555454064905644 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 26.560874493290893, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 28.81223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.2549365162849426, + "y": 0.29640746116638184, + "z": 0.5446528792381287 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.3537103223969, + "ymin": 337.12702003722546, + "xmax": 653.7300795690531, + "ymax": 382.6059179233065 + }, + "corners_3d": [ + [ + -42.96358871459961, + 29.067171096801758, + 0.11089253425598145 + ], + [ + -42.37077713012695, + 29.067171096801758, + 0.11089253425598145 + ], + [ + -42.37077713012695, + 28.55729866027832, + 0.11089253425598145 + ], + [ + -42.96358871459961, + 28.55729866027832, + 0.11089253425598145 + ], + [ + -42.96358871459961, + 29.067171096801758, + 1.2001982927322388 + ], + [ + -42.37077713012695, + 29.067171096801758, + 1.2001982927322388 + ], + [ + -42.37077713012695, + 28.55729866027832, + 1.2001982927322388 + ], + [ + -42.96358871459961, + 28.55729866027832, + 1.2001982927322388 + ] + ], + "corners_2d": [ + [ + 633.8400256377903, + 382.6059179233065 + ], + [ + 653.3247934379558, + 376.3724087481484 + ], + [ + 646.0508609644072, + 364.14022676800215 + ], + [ + 626.7541354679521, + 370.2270790411028 + ], + [ + 633.651503227512, + 355.6560629788229 + ], + [ + 653.7300795690531, + 349.3989233257087 + ], + [ + 646.2326669131007, + 337.12702003722546 + ], + [ + 626.3537103223969, + 343.23253725495596 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 49, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 414891, + "2": 313664, + "3": 170590, + "6": 2446, + "7": 140, + "10": 807, + "12": 1982, + "20": 3767, + "24": 13313 + }, + "instance_pixel_counts": { + "6215": 170640, + "6802": 2954, + "7314": 30349, + "7826": 20594, + "8338": 2884, + "8850": 3070, + "9362": 47490, + "18000": 187, + "18512": 3504, + "21652": 29897, + "22676": 152662, + "23188": 51574, + "23700": 433, + "24212": 37572, + "24724": 135520, + "25236": 5242, + "25856": 450, + "26624": 373, + "33370": 1843, + "35988": 2796, + "36500": 3705, + "37012": 2051, + "37524": 60, + "38036": 3172, + "38548": 1234, + "39052": 1108, + "39060": 131, + "39564": 11046, + "39770": 32970, + "40076": 6613, + "40265": 76, + "40588": 301, + "41100": 1324, + "41612": 15291, + "41818": 21722, + "42074": 114055, + "56576": 205, + "56832": 219, + "57088": 600, + "57344": 583, + "57600": 375, + "61569": 1763, + "64661": 164, + "65171": 1991 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 28.81223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.28096434473991394, + "y": 0.24004271626472473, + "z": 0.5628198385238647 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.879360894874, + "ymin": 336.62085939876624, + "xmax": 652.2246515969373, + "ymax": 383.08508880316526 + }, + "corners_3d": [ + [ + -42.9072265625, + 29.093198776245117, + 0.09272557497024536 + ], + [ + -42.42713928222656, + 29.093198776245117, + 0.09272557497024536 + ], + [ + -42.42713928222656, + 28.53127098083496, + 0.09272557497024536 + ], + [ + -42.9072265625, + 28.53127098083496, + 0.09272557497024536 + ], + [ + -42.9072265625, + 29.093198776245117, + 1.21836519241333 + ], + [ + -42.42713928222656, + 29.093198776245117, + 1.21836519241333 + ], + [ + -42.42713928222656, + 28.53127098083496, + 1.21836519241333 + ], + [ + -42.9072265625, + 28.53127098083496, + 1.21836519241333 + ] + ], + "corners_2d": [ + [ + 636.071796986662, + 383.08508880316526 + ], + [ + 651.851510980434, + 378.03111047837865 + ], + [ + 643.8583189576124, + 364.53563255253084 + ], + [ + 628.2462725202793, + 369.45878728272424 + ], + [ + 635.9474979168716, + 355.2360685041413 + ], + [ + 652.2246515969373, + 350.1620998460223 + ], + [ + 643.9781689604762, + 336.62085939876624 + ], + [ + 627.879360894874, + 341.55942471405416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 219, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 31.809940338134766, + "z": 0.8069614171981812 + }, + "extent": { + "x": 0.23024293780326843, + "y": 0.2983996868133545, + "z": 0.5408968329429626 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.1900041615414, + "ymin": 363.1862197578879, + "xmax": 843.3081781048095, + "ymax": 409.8610956109229 + }, + "corners_3d": [ + [ + -38.79990005493164, + 32.08403015136719, + 0.2660645842552185 + ], + [ + -38.210445404052734, + 31.99066925048828, + 0.2660645842552185 + ], + [ + -38.2824821472168, + 31.535852432250977, + 0.2660645842552185 + ], + [ + -38.8719367980957, + 31.62921142578125, + 0.2660645842552185 + ], + [ + -38.79990005493164, + 32.08403015136719, + 1.347858190536499 + ], + [ + -38.210445404052734, + 31.99066925048828, + 1.347858190536499 + ], + [ + -38.2824821472168, + 31.535852432250977, + 1.347858190536499 + ], + [ + -38.8719367980957, + 31.62921142578125, + 1.347858190536499 + ] + ], + "corners_2d": [ + [ + 820.0794234851937, + 409.8610956109229 + ], + [ + 837.1594029027624, + 400.88544283997464 + ], + [ + 826.1873174635401, + 390.1298236097075 + ], + [ + 809.1900041615414, + 398.9236644718554 + ], + [ + 825.7445208673033, + 383.0162249677903 + ], + [ + 843.3081781048095, + 373.99280784913077 + ], + [ + 831.9332439454894, + 363.1862197578879 + ], + [ + 814.4564453407057, + 372.021223646105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 600, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 35.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3542260527610779, + "y": 0.5172827243804932, + "z": 0.9095788598060608 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 642.2750575996953, + "ymin": 552.6405518090271, + "xmax": 699.5695157980001, + "ymax": 637.253489341881 + }, + "corners_3d": [ + [ + -45.421043395996094, + 36.13576126098633, + -0.2540285587310791 + ], + [ + -44.38789367675781, + 36.08161544799805, + -0.2540285587310791 + ], + [ + -44.42497253417969, + 35.3741340637207, + -0.2540285587310791 + ], + [ + -45.45812225341797, + 35.428279876708984, + -0.2540285587310791 + ], + [ + -45.421043395996094, + 36.13576126098633, + 1.5651291608810425 + ], + [ + -44.38789367675781, + 36.08161544799805, + 1.5651291608810425 + ], + [ + -44.42497253417969, + 35.3741340637207, + 1.5651291608810425 + ], + [ + -45.45812225341797, + 35.428279876708984, + 1.5651291608810425 + ] + ], + "corners_2d": [ + [ + 656.0974127946125, + 637.253489341881 + ], + [ + 696.0113834827455, + 618.8826646003208 + ], + [ + 681.6128794300903, + 594.2656802391189 + ], + [ + 642.2750575996953, + 611.9314024171065 + ], + [ + 657.1356355969324, + 596.8827309365868 + ], + [ + 699.5695157980001, + 577.952739440814 + ], + [ + 684.2023105609126, + 552.6405518090271 + ], + [ + 642.4187460957644, + 570.7989001109457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 583, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 28.81223487854004, + "z": 0.6555405259132385 + }, + "extent": { + "x": 0.2976367175579071, + "y": 0.47600463032722473, + "z": 0.8797606229782104 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 259.8643935416834, + "ymin": 433.4602884486982, + "xmax": 320.2785893256613, + "ymax": 504.5566872396547 + }, + "corners_3d": [ + [ + -52.658111572265625, + 29.084550857543945, + -0.22422009706497192 + ], + [ + -51.7074089050293, + 29.134376525878906, + -0.22422009706497192 + ], + [ + -51.67625427246094, + 28.539918899536133, + -0.22422009706497192 + ], + [ + -52.626956939697266, + 28.490093231201172, + -0.22422009706497192 + ], + [ + -52.658111572265625, + 29.084550857543945, + 1.5353012084960938 + ], + [ + -51.7074089050293, + 29.134376525878906, + 1.5353012084960938 + ], + [ + -51.67625427246094, + 28.539918899536133, + 1.5353012084960938 + ], + [ + -52.626956939697266, + 28.490093231201172, + 1.5353012084960938 + ] + ], + "corners_2d": [ + [ + 282.0622567505583, + 504.5566872396547 + ], + [ + 320.2785893256613, + 493.8201795453463 + ], + [ + 317.23489944603904, + 476.10896568647644 + ], + [ + 279.58249322355437, + 486.51701214591 + ], + [ + 262.15467719686586, + 462.36327578758596 + ], + [ + 302.6694171339141, + 451.44572619335946 + ], + [ + 299.7456575351201, + 433.4602884486982 + ], + [ + 259.8643935416834, + 444.02580133843793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 375, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.433284759521484, + "y": 21.376874923706055, + "z": 0.8021030426025391 + }, + "extent": { + "x": 0.37709227204322815, + "y": 0.41877683997154236, + "z": 0.9317083358764648 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 804.5932144896692, + "ymin": 102.41903501215683, + "xmax": 842.125718660285, + "ymax": 162.69955992642977 + }, + "corners_3d": [ + [ + -32.9058952331543, + 21.683813095092773, + -0.12960529327392578 + ], + [ + -32.07865524291992, + 21.814836502075195, + -0.12960529327392578 + ], + [ + -31.960674285888672, + 21.069936752319336, + -0.12960529327392578 + ], + [ + -32.78791427612305, + 20.938913345336914, + -0.12960529327392578 + ], + [ + -32.9058952331543, + 21.683813095092773, + 1.733811378479004 + ], + [ + -32.07865524291992, + 21.814836502075195, + 1.733811378479004 + ], + [ + -31.960674285888672, + 21.069936752319336, + 1.733811378479004 + ], + [ + -32.78791427612305, + 20.938913345336914, + 1.733811378479004 + ] + ], + "corners_2d": [ + [ + 812.2158471050349, + 162.69955992642977 + ], + [ + 834.1526576634091, + 159.30981090532268 + ], + [ + 826.2462497858428, + 147.55008559438812 + ], + [ + 804.5932144896692, + 150.84307447138474 + ], + [ + 819.3185050409134, + 117.3121625822381 + ], + [ + 842.125718660285, + 113.97780877107016 + ], + [ + 833.7804600227124, + 102.41903501215683 + ], + [ + 811.2797360963623, + 105.654380549689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 66.4898672445762, + "ymin": 0.0, + "xmax": 88.36264502117433, + "ymax": 14.122300774801886 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 88.36264502117433, + 12.439239917439352 + ], + [ + 87.9563739625346, + 7.136486888568243 + ], + [ + 78.51079462162659, + 8.79308989498952 + ], + [ + 78.84285853586118, + 14.122300774801886 + ], + [ + 76.48690098263671, + -14.487204432061105 + ], + [ + 76.1675502512735, + -19.686447257351347 + ], + [ + 66.4898672445762, + -18.06237076083005 + ], + [ + 66.73129873981509, + -12.836628187769179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 633.5387561401218, + "ymin": 31.28210492314662, + "xmax": 780.6289491860908, + "ymax": 304.8429137020563 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 753.9747267224527, + 271.1904979253798 + ], + [ + 747.3820481648106, + 262.6269716834546 + ], + [ + 634.7955509488716, + 295.6525597557868 + ], + [ + 640.544090316694, + 304.8429137020563 + ], + [ + 780.6289491860908, + 39.19996417443383 + ], + [ + 772.2102781554112, + 31.28210492314662 + ], + [ + 633.5387561401218, + 62.00632754019449 + ], + [ + 640.6770515073858, + 70.64764097690488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 202.13073080599213, + "xmax": 59.639130818333, + "ymax": 500.44616355410017 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -105.44879714211186, + 487.1670905988134 + ], + [ + -107.09502624934134, + 500.44616355410017 + ], + [ + 59.639130818333, + 452.07226051485463 + ], + [ + 59.38879381069148, + 439.8710416338143 + ], + [ + -332.7774269245889, + 250.5137791278646 + ], + [ + -338.3782358993054, + 264.31749137163337 + ], + [ + -110.34708915980855, + 214.4970370370899 + ], + [ + -108.26697278998108, + 202.13073080599213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.6369865663165, + "ymin": 65.24567941448942, + "xmax": 658.7204898515611, + "ymax": 78.4222713499118 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 658.6577250363334, + 74.95031414127334 + ], + [ + 653.8207939730214, + 69.23083795536053 + ], + [ + 638.6415420845655, + 72.64886917870712 + ], + [ + 643.381758148904, + 78.4222713499118 + ], + [ + 658.7204898515611, + 70.95305092072056 + ], + [ + 653.8669244559574, + 65.24567941448942 + ], + [ + 638.6369865663165, + 68.65644081736889 + ], + [ + 643.3931883208032, + 74.41780577768805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 345.0809489461752, + "ymax": 200.07770760721414 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -10.99917557620472, + 192.91263587051728 + ], + [ + -11.524081539142117, + 200.07770760721414 + ], + [ + 345.0809489461752, + 123.11382834609944 + ], + [ + 342.8533828597067, + 117.1687686998223 + ], + [ + -161.07374211586125, + -53.818666970525896 + ], + [ + -163.27459332308797, + -47.539084217123445 + ], + [ + 283.8101207735926, + -113.74303150700439 + ], + [ + 281.6846224599292, + -118.744692461037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.5296275095586, + "ymin": 65.17519869063256, + "xmax": 658.829485036604, + "ymax": 78.49362118117756 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 658.7656761556312, + 74.98397423192444 + ], + [ + 653.8763631513228, + 69.20309610309914 + ], + [ + 638.5345945075633, + 72.65764991467717 + ], + [ + 643.3251013166425, + 78.49362118117756 + ], + [ + 658.829485036604, + 70.94370980440249 + ], + [ + 653.9231747390836, + 65.17519869063256 + ], + [ + 638.5296275095586, + 68.62232510550854 + ], + [ + 643.3364617959398, + 74.44599902766282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.51800095997163, + "ymin": 0.0, + "xmax": 572.005795454073, + "ymax": 61.45086340741955 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 561.9357064831518, + 61.45086340741955 + ], + [ + 572.005795454073, + 59.321351491638325 + ], + [ + 486.8536650364183, + -58.42370514492353 + ], + [ + 478.22451005148423, + -56.93470681965573 + ], + [ + 547.2342768839897, + -164.86680241095564 + ], + [ + 559.245677717287, + -166.60297815080355 + ], + [ + 463.53150892494153, + -259.6884180546258 + ], + [ + 453.51800095997163, + -258.54589862400644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00050/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00050/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f944346d11303de7cd2e2201788feec9cc69cd91 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00050/meta.json @@ -0,0 +1,1724 @@ +{ + "frame_id": 50, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.0, + "sim_timestamp": 12298.877288167598 + }, + "drone_pose": { + "x": -49.856436759034565, + "y": 45.03647791858819, + "z": 20.00042171963228, + "pitch": -46.74031915707344, + "yaw": -66.7385691933416, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2706459164619446, + 0.6295992136001587, + 0.7282551527023315, + 27.282962799072266 + ], + [ + -0.9187124967575073, + 0.39492708444595337, + 0.0, + 28.01760482788086 + ], + [ + -0.28760766983032227, + -0.6690570712089539, + 0.6853060722351074, + -58.1774787902832 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.8387547310431, + "y": 44.545294890724605, + "z": 20.000317199311798 + }, + "t1_image_uv": [ + 96.79132937843735, + -659.6984882055295 + ], + "t1_depth": 0.31411012369192826 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 28.312236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.563314228619554, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 216, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 28.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25880613923072815, + "y": 0.2731652855873108, + "z": 0.5508819222450256 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.0845603276006, + "ymin": 337.1175046214621, + "xmax": 653.0035699396735, + "ymax": 382.6010647573668 + }, + "corners_3d": [ + [ + -42.94034957885742, + 28.571041107177734, + 0.10466837882995605 + ], + [ + -42.39401626586914, + 28.571041107177734, + 0.10466837882995605 + ], + [ + -42.39401626586914, + 28.053428649902344, + 0.10466837882995605 + ], + [ + -42.94034957885742, + 28.053428649902344, + 0.10466837882995605 + ], + [ + -42.94034957885742, + 28.571041107177734, + 1.2064322233200073 + ], + [ + -42.39401626586914, + 28.571041107177734, + 1.2064322233200073 + ], + [ + -42.39401626586914, + 28.053428649902344, + 1.2064322233200073 + ], + [ + -42.94034957885742, + 28.053428649902344, + 1.2064322233200073 + ] + ], + "corners_2d": [ + [ + 634.6571139274212, + 382.6010647573668 + ], + [ + 652.6153495090614, + 376.86400128037457 + ], + [ + 645.2497788100015, + 364.4397912254746 + ], + [ + 627.4676122685769, + 370.0398402427067 + ], + [ + 634.4917560285988, + 355.3415742897243 + ], + [ + 653.0035699396735, + 349.5825513086154 + ], + [ + 645.4093393490788, + 337.1175046214621 + ], + [ + 627.0845603276006, + 342.73482267283646 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 50, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 416208, + "2": 312650, + "3": 169815, + "6": 2667, + "7": 251, + "10": 788, + "12": 2096, + "20": 3737, + "24": 13388 + }, + "instance_pixel_counts": { + "6215": 169998, + "6802": 3028, + "7314": 31359, + "7826": 19214, + "8338": 3390, + "8850": 3163, + "9362": 46935, + "18000": 258, + "18512": 3397, + "21652": 32180, + "22676": 157723, + "23188": 44838, + "23700": 856, + "24212": 38799, + "24724": 136780, + "25236": 2388, + "25856": 514, + "26624": 622, + "33370": 1901, + "35988": 2915, + "36500": 3821, + "37012": 1731, + "37524": 97, + "38036": 3255, + "38548": 1352, + "39052": 1147, + "39564": 11427, + "39770": 26620, + "40076": 6103, + "40265": 82, + "40588": 414, + "41100": 1361, + "41612": 15111, + "41818": 23728, + "42074": 117566, + "56576": 216, + "56832": 206, + "57088": 698, + "57344": 591, + "57600": 385, + "61569": 1782, + "64661": 217, + "65171": 2644 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 216, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 28.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.25621581077575684, + "y": 0.28187620639801025, + "z": 0.5634829998016357 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.8227644736409, + "ymin": 336.76797001873234, + "xmax": 653.2631395639277, + "ymax": 382.93170767390995 + }, + "corners_3d": [ + [ + -42.949058532714844, + 28.568450927734375, + 0.09206730127334595 + ], + [ + -42.38530731201172, + 28.568450927734375, + 0.09206730127334595 + ], + [ + -42.38530731201172, + 28.056018829345703, + 0.09206730127334595 + ], + [ + -42.949058532714844, + 28.056018829345703, + 0.09206730127334595 + ], + [ + -42.949058532714844, + 28.568450927734375, + 1.2190332412719727 + ], + [ + -42.38530731201172, + 28.568450927734375, + 1.2190332412719727 + ], + [ + -42.38530731201172, + 28.056018829345703, + 1.2190332412719727 + ], + [ + -42.949058532714844, + 28.056018829345703, + 1.2190332412719727 + ] + ], + "corners_2d": [ + [ + 634.3347835700907, + 382.93170767390995 + ], + [ + 652.8583104654788, + 377.0127603967848 + ], + [ + 645.5662288364825, + 364.7156066572428 + ], + [ + 627.2224438722517, + 370.4946405607095 + ], + [ + 634.1553706409251, + 355.048491244915 + ], + [ + 653.2631395639277, + 349.10639468405 + ], + [ + 645.7393327406835, + 336.76797001873234 + ], + [ + 626.8227644736409, + 342.5652521005778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 206, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 31.309940338134766, + "z": 0.8069272637367249 + }, + "extent": { + "x": 0.21531739830970764, + "y": 0.261528342962265, + "z": 0.5171496272087097 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.6849544600997, + "ymin": 364.7597240057346, + "xmax": 841.69342195582, + "ymax": 408.44462505272793 + }, + "corners_3d": [ + [ + -38.76581573486328, + 31.563518524169922, + 0.28977763652801514 + ], + [ + -38.24919891357422, + 31.4816951751709, + 0.28977763652801514 + ], + [ + -38.316566467285156, + 31.05636215209961, + 0.28977763652801514 + ], + [ + -38.83318328857422, + 31.138185501098633, + 0.28977763652801514 + ], + [ + -38.76581573486328, + 31.563518524169922, + 1.3240768909454346 + ], + [ + -38.24919891357422, + 31.4816951751709, + 1.3240768909454346 + ], + [ + -38.316566467285156, + 31.05636215209961, + 1.3240768909454346 + ], + [ + -38.83318328857422, + 31.138185501098633, + 1.3240768909454346 + ] + ], + "corners_2d": [ + [ + 820.8739003333583, + 408.44462505272793 + ], + [ + 835.856970902528, + 400.58967690460264 + ], + [ + 825.5999258648358, + 390.5164818920358 + ], + [ + 810.6849544600997, + 398.22241129991454 + ], + [ + 826.3049739640915, + 382.7734994776493 + ], + [ + 841.69342195582, + 374.87879936765603 + ], + [ + 831.0766498338469, + 364.7597240057346 + ], + [ + 815.7596020022287, + 372.50023681759865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 698, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 35.254947662353516, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3134863078594208, + "y": 0.3468249440193176, + "z": 0.866034984588623 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 649.4569888498713, + "ymin": 558.0592772822183, + "xmax": 691.4956790114629, + "ymax": 631.7695412861115 + }, + "corners_3d": [ + [ + -45.252952575683594, + 35.58615493774414, + -0.21048957109451294 + ], + [ + -44.56025314331055, + 35.54985427856445, + -0.21048957109451294 + ], + [ + -44.59306335449219, + 34.92374038696289, + -0.21048957109451294 + ], + [ + -45.285762786865234, + 34.96004104614258, + -0.21048957109451294 + ], + [ + -45.252952575683594, + 35.58615493774414, + 1.521580457687378 + ], + [ + -44.56025314331055, + 35.54985427856445, + 1.521580457687378 + ], + [ + -44.59306335449219, + 34.92374038696289, + 1.521580457687378 + ], + [ + -45.285762786865234, + 34.96004104614258, + 1.521580457687378 + ] + ], + "corners_2d": [ + [ + 661.7757556718269, + 631.7695412861115 + ], + [ + 688.5597926127077, + 619.48770095752 + ], + [ + 675.8976511012687, + 597.5830939455525 + ], + [ + 649.4569888498713, + 609.4461121756979 + ], + [ + 663.1057081877268, + 593.1937627835915 + ], + [ + 691.4956790114629, + 580.5582666048291 + ], + [ + 678.028637987174, + 558.0592772822183 + ], + [ + 650.0239951742439, + 570.2384207842599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 591, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 28.31223487854004, + "z": 0.6555405259132385 + }, + "extent": { + "x": 0.2987622022628784, + "y": 0.4876049757003784, + "z": 0.8814157843589783 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 259.3599393148462, + "ymin": 433.0874526330063, + "xmax": 320.7441941407881, + "ymax": 504.57062651082776 + }, + "corners_3d": [ + [ + -52.66975402832031, + 28.585067749023438, + -0.22587525844573975 + ], + [ + -51.69588088989258, + 28.636106491088867, + -0.22587525844573975 + ], + [ + -51.66461181640625, + 28.03940200805664, + -0.22587525844573975 + ], + [ + -52.638484954833984, + 27.98836326599121, + -0.22587525844573975 + ], + [ + -52.66975402832031, + 28.585067749023438, + 1.5369563102722168 + ], + [ + -51.69588088989258, + 28.636106491088867, + 1.5369563102722168 + ], + [ + -51.66461181640625, + 28.03940200805664, + 1.5369563102722168 + ], + [ + -52.638484954833984, + 27.98836326599121, + 1.5369563102722168 + ] + ], + "corners_2d": [ + [ + 281.602990720463, + 504.57062651082776 + ], + [ + 320.7441941407881, + 493.59374159084473 + ], + [ + 317.6967452025786, + 475.8238912473795 + ], + [ + 279.13548671617275, + 486.4636953771547 + ], + [ + 261.6352346614839, + 462.29406651489694 + ], + [ + 303.1340318691783, + 451.1321031440146 + ], + [ + 300.2071595446639, + 433.0874526330063 + ], + [ + 259.3599393148462, + 443.88811327239966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 385, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.433284759521484, + "y": 20.876874923706055, + "z": 0.8021030426025391 + }, + "extent": { + "x": 0.3409057557582855, + "y": 0.5890917778015137, + "z": 0.9030672311782837 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 800.7918705081113, + "ymin": 103.14000461004832, + "xmax": 846.3725733131712, + "ymax": 162.24106303305106 + }, + "corners_3d": [ + [ + -33.06845474243164, + 21.121429443359375, + -0.10096418857574463 + ], + [ + -31.904775619506836, + 21.30573844909668, + -0.10096418857574463 + ], + [ + -31.79811668395996, + 20.632320404052734, + -0.10096418857574463 + ], + [ + -32.961795806884766, + 20.44801139831543, + -0.10096418857574463 + ], + [ + -33.06845474243164, + 21.121429443359375, + 1.7051702737808228 + ], + [ + -31.904775619506836, + 21.30573844909668, + 1.7051702737808228 + ], + [ + -31.79811668395996, + 20.632320404052734, + 1.7051702737808228 + ], + [ + -32.961795806884766, + 20.44801139831543, + 1.7051702737808228 + ] + ], + "corners_2d": [ + [ + 807.6277994712207, + 162.24106303305106 + ], + [ + 838.4904456008861, + 157.4911243335154 + ], + [ + 831.2929221234427, + 146.87882814624356 + ], + [ + 800.7918705081113, + 151.5059198759588 + ], + [ + 814.3245745438314, + 118.250125836221 + ], + [ + 846.3725733131712, + 113.57573169248744 + ], + [ + 838.786779253976, + 103.14000461004832 + ], + [ + 807.1283935371623, + 107.68878780544105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.42957236497034, + "ymin": 0.0, + "xmax": 190.33458350067195, + "ymax": 3.0446150857923158 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 190.33458350067195, + 1.4191317298873969 + ], + [ + 189.1519374437429, + -3.711102254532989 + ], + [ + 180.1085683923323, + -2.110761182532144 + ], + [ + 181.2232719013972, + 3.0446150857923158 + ], + [ + 180.8189675890971, + -25.28598919815522 + ], + [ + 179.68683076893882, + -30.312495650300605 + ], + [ + 170.42957236497034, + -28.74468868355791 + ], + [ + 171.4904873114018, + -23.69302711214749 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.8475996645078, + "ymin": 0.0, + "xmax": 563.6097983230185, + "ymax": 4.400311100364831 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 560.2012263116751, + -1.2663749845054895 + ], + [ + 553.3629247451933, + 0.08324221053140946 + ], + [ + 556.7338115330233, + 4.400311100364831 + ], + [ + 563.6097983230185, + 3.0330053797371193 + ], + [ + 558.8084092876443, + -23.339722170648884 + ], + [ + 551.8475996645078, + -22.012502999693197 + ], + [ + 555.2677547215236, + -17.766442097418008 + ], + [ + 562.2676219730746, + -19.11136320225279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 67.20070741920222, + "ymin": 0.0, + "xmax": 89.27683798467137, + "ymax": 21.163431882101577 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 89.27683798467137, + 19.448034044566953 + ], + [ + 88.86705508274599, + 14.03552467827734 + ], + [ + 79.32748831755077, + 15.723674151708053 + ], + [ + 79.66152816509873, + 21.163431882101577 + ], + [ + 77.29818719897253, + -7.608518070691957 + ], + [ + 76.97702112956324, + -12.91766576364597 + ], + [ + 67.20070741920222, + -11.261951919048556 + ], + [ + 67.44230319832116, + -5.925494987869342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.3984779440713, + "ymin": 40.38392505593367, + "xmax": 790.5249643941695, + "ymax": 315.53653464226414 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 761.694615926719, + 281.19854163337817 + ], + [ + 754.9677801780882, + 272.45076054366893 + ], + [ + 641.3984779440713, + 306.1421149245738 + ], + [ + 647.2665686150713, + 315.53653464226414 + ], + [ + 790.5249643941695, + 48.51168253886277 + ], + [ + 781.8921159558039, + 40.38392505593367 + ], + [ + 641.7407148101382, + 71.88505514824982 + ], + [ + 649.0664208566579, + 80.76483094925999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 215.95278090668592, + "xmax": 60.0446073223992, + "ymax": 515.5597119711002 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -107.13605550670763, + 501.93320869251227 + ], + [ + -108.8358150751285, + 515.5597119711002 + ], + [ + 60.0446073223992, + 466.01430246682247 + ], + [ + 59.79779560026748, + 453.50594269552573 + ], + [ + -338.76989976754624, + 265.86150030695427 + ], + [ + -344.57589416002884, + 280.1381914068364 + ], + [ + -112.54703635214923, + 228.72143107178812 + ], + [ + -110.38700230639995, + 215.95278090668592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.847875113199, + "ymin": 75.08509202947931, + "xmax": 667.2495340615774, + "ymax": 88.52709110902481 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 667.1569538310383, + 84.96562581300066 + ], + [ + 662.1946780491329, + 79.09050116699507 + ], + [ + 646.847875113199, + 82.59589363428216 + ], + [ + 651.7113193739675, + 88.52709110902481 + ], + [ + 667.2495340615774, + 80.94830450862742 + ], + [ + 662.2697428833039, + 75.08509202947931 + ], + [ + 646.8711455718068, + 78.58333917618626 + ], + [ + 651.7514356801886, + 84.5027021732696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 348.06796930227995, + "ymax": 208.27664308378937 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -11.095860373400342, + 200.9751659292328 + ], + [ + -11.635182490812667, + 208.27664308378937 + ], + [ + 348.06796930227995, + 130.02273404614496 + ], + [ + 345.80526029250643, + 123.9732390348654 + ], + [ + -162.89856912431242, + -46.724889179008244 + ], + [ + -165.15529768080546, + -40.298247202304424 + ], + [ + 286.7893370502276, + -107.87786397280524 + ], + [ + 284.62276101501004, + -112.98536404733579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.739218878927, + "ymin": 75.01320265941882, + "xmax": 667.3602924392305, + "ymax": 88.59989038186393 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 667.2663366452159, + 84.99976118921654 + ], + [ + 662.2503238904343, + 79.0615700722883 + ], + [ + 646.739218878927, + 82.60441285839306 + ], + [ + 651.6542631854352, + 88.59989038186393 + ], + [ + 667.3602924392305, + 80.93922338548765 + ], + [ + 662.3263821606373, + 75.01320265941882 + ], + [ + 646.7623663328071, + 78.54874518615264 + ], + [ + 651.6946167580943, + 84.53213254343132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.2151926966168, + "ymin": 0.0, + "xmax": 576.6126808334718, + "ymax": 67.38796776898062 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 566.4731707971616, + 67.38796776898062 + ], + [ + 576.6126808334718, + 65.227026586985 + ], + [ + 490.27036381880856, + -54.27956414908135 + ], + [ + 481.5907336729126, + -52.7727339733143 + ], + [ + 552.4953026701863, + -159.97760246329256 + ], + [ + 564.6049624449739, + -161.7446626745717 + ], + [ + 467.2963462930765, + -256.45742126539506 + ], + [ + 457.2151926966168, + -255.29891050184085 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4bd0238d08060e958dfe56d1aa1e6ff3e46a14c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00052/meta.json @@ -0,0 +1,1828 @@ +{ + "frame_id": 52, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 12316.108985643135 + }, + "drone_pose": { + "x": -49.80119055441477, + "y": 44.05450546626149, + "z": 20.000236569842816, + "pitch": -46.7481583339089, + "yaw": -66.92077840817623, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2686033248901367, + 0.6303650736808777, + 0.728348970413208, + 26.580036163330078 + ], + [ + -0.9199637770652771, + 0.39200353622436523, + 0.0, + 28.545761108398438 + ], + [ + -0.2855154275894165, + -0.6700546145439148, + 0.685206413269043, + -57.44221496582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.73041564666168, + "y": 43.56346292370736, + "z": 20.000174883361062 + }, + "t1_image_uv": [ + 267.8512712612117, + -660.1813128565879 + ], + "t1_depth": 0.328591351286858 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 27.312236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 26.559640673625616, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 27.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.26264891028404236, + "y": 0.29890257120132446, + "z": 0.5437959432601929 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.1775319175318, + "ymin": 336.95567325750324, + "xmax": 653.9128144716353, + "ymax": 382.7850214015597 + }, + "corners_3d": [ + [ + -42.966087341308594, + 27.57488441467285, + 0.11175435781478882 + ], + [ + -42.36827850341797, + 27.57488441467285, + 0.11175435781478882 + ], + [ + -42.36827850341797, + 27.049585342407227, + 0.11175435781478882 + ], + [ + -42.966087341308594, + 27.049585342407227, + 0.11175435781478882 + ], + [ + -42.966087341308594, + 27.57488441467285, + 1.1993463039398193 + ], + [ + -42.36827850341797, + 27.57488441467285, + 1.1993463039398193 + ], + [ + -42.36827850341797, + 27.049585342407227, + 1.1993463039398193 + ], + [ + -42.966087341308594, + 27.049585342407227, + 1.1993463039398193 + ] + ], + "corners_2d": [ + [ + 633.8172079712984, + 382.7850214015597 + ], + [ + 653.502661608309, + 376.55084942828165 + ], + [ + 646.070977268467, + 363.92729775264013 + ], + [ + 626.5824511750134, + 370.01016872077236 + ], + [ + 633.6282377478431, + 355.87806440221226 + ], + [ + 653.9128144716353, + 349.6202008991175 + ], + [ + 646.2530752848877, + 336.95567325750324 + ], + [ + 626.1775319175318, + 343.0571202093995 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 419044, + "2": 310334, + "3": 167900, + "6": 3362, + "7": 518, + "10": 774, + "12": 2128, + "20": 3811, + "24": 13729 + }, + "instance_pixel_counts": { + "6215": 168430, + "6802": 3183, + "7314": 33599, + "7826": 16207, + "8338": 4388, + "8850": 3392, + "9362": 45826, + "18000": 354, + "18512": 3376, + "21652": 36683, + "22676": 169193, + "23188": 29809, + "23700": 2136, + "24212": 40980, + "24724": 136041, + "25856": 703, + "26624": 1323, + "33370": 2013, + "35988": 3183, + "36500": 4096, + "37012": 1309, + "37524": 170, + "38036": 3426, + "38548": 1242, + "39052": 1204, + "39564": 12233, + "39770": 15975, + "40076": 5005, + "40265": 81, + "40588": 655, + "41100": 1453, + "41612": 14759, + "41818": 27997, + "42074": 121915, + "56576": 211, + "56832": 248, + "57088": 671, + "57344": 599, + "57600": 399, + "61569": 1854, + "63123": 7, + "64661": 303, + "65171": 4195 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 27.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2810009717941284, + "y": 0.23984374105930328, + "z": 0.562835156917572 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.9077883223655, + "ymin": 336.63137100953423, + "xmax": 652.196846530677, + "ymax": 383.07409555003903 + }, + "corners_3d": [ + [ + -42.90702819824219, + 27.59323501586914, + 0.09271514415740967 + ], + [ + -42.427337646484375, + 27.59323501586914, + 0.09271514415740967 + ], + [ + -42.427337646484375, + 27.031234741210938, + 0.09271514415740967 + ], + [ + -42.90702819824219, + 27.031234741210938, + 0.09271514415740967 + ], + [ + -42.90702819824219, + 27.59323501586914, + 1.2183854579925537 + ], + [ + -42.427337646484375, + 27.59323501586914, + 1.2183854579925537 + ], + [ + -42.427337646484375, + 27.031234741210938, + 1.2183854579925537 + ], + [ + -42.90702819824219, + 27.031234741210938, + 1.2183854579925537 + ] + ], + "corners_2d": [ + [ + 636.0312523655209, + 383.07409555003903 + ], + [ + 651.8245038464692, + 378.0677915513182 + ], + [ + 643.8982329673511, + 364.5472682041863 + ], + [ + 628.2738641379649, + 369.4237592723419 + ], + [ + 635.9056586629237, + 355.2239417946061 + ], + [ + 652.196846530677, + 350.19781298895896 + ], + [ + 644.0193369475365, + 336.63137100953423 + ], + [ + 627.9077883223655, + 341.5231415736976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 248, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 30.309940338134766, + "z": 0.8068637847900391 + }, + "extent": { + "x": 0.22986939549446106, + "y": 0.2982141375541687, + "z": 0.5401511788368225 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.1405373805746, + "ymin": 363.74636574541256, + "xmax": 843.2425260709406, + "ymax": 410.3524124181741 + }, + "corners_3d": [ + [ + -38.799774169921875, + 30.58363151550293, + 0.26671260595321655 + ], + [ + -38.210689544677734, + 30.490327835083008, + 0.26671260595321655 + ], + [ + -38.28260803222656, + 30.0362491607666, + 0.26671260595321655 + ], + [ + -38.8716926574707, + 30.129552841186523, + 0.26671260595321655 + ], + [ + -38.799774169921875, + 30.58363151550293, + 1.3470149040222168 + ], + [ + -38.210689544677734, + 30.490327835083008, + 1.3470149040222168 + ], + [ + -38.28260803222656, + 30.0362491607666, + 1.3470149040222168 + ], + [ + -38.8716926574707, + 30.129552841186523, + 1.3470149040222168 + ] + ], + "corners_2d": [ + [ + 819.9673619142122, + 410.3524124181741 + ], + [ + 837.1004326784342, + 401.4260443905115 + ], + [ + 826.1890865767324, + 390.650568585967 + ], + [ + 809.1405373805746, + 399.39594669179843 + ], + [ + 825.6241760235391, + 383.5473399735492 + ], + [ + 843.2425260709406, + 374.5732217398193 + ], + [ + 831.930464975846, + 363.74636574541256 + ], + [ + 814.4009472832535, + 372.5329205512773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 671, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 34.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3545019328594208, + "y": 0.5186071395874023, + "z": 0.9097742438316345 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 641.0606549822621, + "ymin": 552.7625911246696, + "xmax": 698.3724324619841, + "ymax": 637.364629594357 + }, + "corners_3d": [ + [ + -45.4223518371582, + 34.636104583740234, + -0.25422394275665283 + ], + [ + -44.386558532714844, + 34.58182144165039, + -0.25422394275665283 + ], + [ + -44.42366409301758, + 33.8737907409668, + -0.25422394275665283 + ], + [ + -45.45945739746094, + 33.92807388305664, + -0.25422394275665283 + ], + [ + -45.4223518371582, + 34.636104583740234, + 1.5653245449066162 + ], + [ + -44.386558532714844, + 34.58182144165039, + 1.5653245449066162 + ], + [ + -44.42366409301758, + 33.8737907409668, + 1.5653245449066162 + ], + [ + -45.45945739746094, + 33.92807388305664, + 1.5653245449066162 + ] + ], + "corners_2d": [ + [ + 654.7663300716948, + 637.364629594357 + ], + [ + 694.8843279860491, + 619.0815225041899 + ], + [ + 680.5939171720177, + 594.3926105339779 + ], + [ + 641.0606549822621, + 611.9721194964934 + ], + [ + 655.7190603729102, + 596.989578123771 + ], + [ + 698.3724324619841, + 578.1494503954756 + ], + [ + 683.1209336804427, + 552.7625911246696 + ], + [ + 641.1276653725812, + 570.8326859834654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 599, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 27.31223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.31709960103034973, + "y": 0.3439086973667145, + "z": 0.8806197643280029 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 265.1687352265464, + "ymin": 433.30745390477455, + "xmax": 314.817543110293, + "ymax": 502.58435519765953 + }, + "corners_3d": [ + [ + -52.527217864990234, + 27.61090087890625, + -0.22507435083389282 + ], + [ + -51.84033966064453, + 27.64689826965332, + -0.22507435083389282 + ], + [ + -51.80714797973633, + 27.013568878173828, + -0.22507435083389282 + ], + [ + -52.49402618408203, + 26.977571487426758, + -0.22507435083389282 + ], + [ + -52.527217864990234, + 27.61090087890625, + 1.5361652374267578 + ], + [ + -51.84033966064453, + 27.64689826965332, + 1.5361652374267578 + ], + [ + -51.80714797973633, + 27.013568878173828, + 1.5361652374267578 + ], + [ + -52.49402618408203, + 26.977571487426758, + 1.5361652374267578 + ] + ], + "corners_2d": [ + [ + 287.20381734676414, + 502.58435519765953 + ], + [ + 314.817543110293, + 494.91150876783877 + ], + [ + 311.7574349093321, + 475.99973262428654 + ], + [ + 284.5786770575719, + 483.4226375630502 + ], + [ + 267.59655198147544, + 460.31536686814786 + ], + [ + 296.8707694043457, + 452.51330853394046 + ], + [ + 293.95438880971784, + 433.30745390477455 + ], + [ + 265.1687352265464, + 440.84165032773427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 399, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43328857421875, + "y": 19.876876831054688, + "z": 0.8020932674407959 + }, + "extent": { + "x": 0.3447814881801605, + "y": 0.5865728855133057, + "z": 0.9043219089508057 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 801.8686335642448, + "ymin": 103.34031775327662, + "xmax": 847.4651805538106, + "ymax": 162.58033729941468 + }, + "corners_3d": [ + [ + -33.06657409667969, + 20.125652313232422, + -0.10222864151000977 + ], + [ + -31.907873153686523, + 20.309173583984375, + -0.10222864151000977 + ], + [ + -31.80000114440918, + 19.628101348876953, + -0.10222864151000977 + ], + [ + -32.958702087402344, + 19.444580078125, + -0.10222864151000977 + ], + [ + -33.06657409667969, + 20.125652313232422, + 1.7064151763916016 + ], + [ + -31.907873153686523, + 20.309173583984375, + 1.7064151763916016 + ], + [ + -31.80000114440918, + 19.628101348876953, + 1.7064151763916016 + ], + [ + -32.958702087402344, + 19.444580078125, + 1.7064151763916016 + ] + ], + "corners_2d": [ + [ + 808.742257602216, + 162.58033729941468 + ], + [ + 839.524150185309, + 157.90406455458458 + ], + [ + 832.284549293568, + 147.14979153750275 + ], + [ + 801.8686335642448, + 151.7036240197243 + ], + [ + 815.4980864908596, + 118.51807466514413 + ], + [ + 847.4651805538106, + 113.91600458328091 + ], + [ + 839.832926623962, + 103.34031775327662 + ], + [ + 808.2602405663356, + 107.81717896716773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.74875536248192, + "ymin": 0.0, + "xmax": 194.9506138821967, + "ymax": 16.235785459851684 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 194.9506138821967, + 14.556644299950847 + ], + [ + 193.74737432269762, + 9.211312590950854 + ], + [ + 184.53184402659343, + 10.863932262383344 + ], + [ + 185.66433349629307, + 16.235785459851684 + ], + [ + 185.33759267684007, + -12.412541819669798 + ], + [ + 184.1863299925779, + -17.654253542117715 + ], + [ + 174.74875536248192, + -16.03386160445791 + ], + [ + 175.8257884900853, + -10.765580897468169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 562.3387310012962, + "ymin": 0.0, + "xmax": 574.147872715123, + "ymax": 15.838911406296575 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 570.6405829946148, + 9.977431189984316 + ], + [ + 563.6970816670022, + 11.363963560759089 + ], + [ + 567.1654223018759, + 15.838911406296575 + ], + [ + 574.147872715123, + 14.433865312054365 + ], + [ + 569.4084347270336, + -12.284537175509456 + ], + [ + 562.3387310012962, + -10.920182348102344 + ], + [ + 565.8600237567399, + -6.516127137025023 + ], + [ + 572.9701150844106, + -7.899026827592934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.4687031461284, + "ymin": 0.32974815428889315, + "xmax": 91.9204146166253, + "ymax": 34.95966505158685 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 91.9204146166253, + 33.18643565618538 + ], + [ + 91.52246748047605, + 27.54320700327895 + ], + [ + 81.79482050275487, + 29.287664272624454 + ], + [ + 82.11378980913378, + 34.95966505158685 + ], + [ + 79.74795759558481, + 5.870132536384574 + ], + [ + 79.44245943380804, + 0.32974815428889315 + ], + [ + 69.4687031461284, + 2.042200021115434 + ], + [ + 69.69115430683223, + 7.611459380800227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.19103987445607, + "ymin": 0.0, + "xmax": 276.6739739538423, + "ymax": 1.3858977847788196 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 276.6739739538423, + -0.22044129793852107 + ], + [ + 274.8637624112641, + -5.335182061925593 + ], + [ + 266.0447236805004, + -3.753664934081087 + ], + [ + 267.7903176600157, + 1.3858977847788196 + ], + [ + 269.0016006837512, + -26.89880017976617 + ], + [ + 267.2141480974312, + -31.909688329633866 + ], + [ + 258.19103987445607, + -30.360458304678616 + ], + [ + 259.9108194777607, + -25.324738798998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.1175591861296, + "ymin": 59.38988929770909, + "xmax": 811.4217426475011, + "ymax": 337.66191261717694 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 777.8531421491712, + 302.0237929411618 + ], + [ + 770.8652112706696, + 292.8714946675285 + ], + [ + 655.1175591861296, + 327.82275065185013 + ], + [ + 661.2118573944736, + 337.66191261717694 + ], + [ + 811.4217426475011, + 67.98348835599961 + ], + [ + 802.3562322881509, + 59.38988929770909 + ], + [ + 658.9223455177072, + 92.42317424266406 + ], + [ + 666.6171514138682, + 101.82874617317424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 244.0556752024622, + "xmax": 60.77695387062272, + "ymax": 545.7926618085817 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -110.58298331089338, + 531.4387135314277 + ], + [ + -112.4326830417723, + 545.7926618085817 + ], + [ + 60.77695387062272, + 494.08226908236225 + ], + [ + 60.57445961133624, + 480.9259141305089 + ], + [ + -351.1591314369773, + 296.91579431082346 + ], + [ + -357.451897480483, + 312.199806641883 + ], + [ + -117.26768813779279, + 257.68647071379553 + ], + [ + -114.88820755395818, + 244.0556752024622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.0330890219301, + "ymin": 95.55652548412814, + "xmax": 685.1159145270938, + "ymax": 109.5590464357521 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 684.9582858130804, + 105.8212240261094 + ], + [ + 679.7485111574524, + 99.60278025253882 + ], + [ + 664.0330890219301, + 103.28003646043334 + ], + [ + 669.1390714418338, + 109.5590464357521 + ], + [ + 685.1159145270938, + 101.76355067474645 + ], + [ + 679.8867389290904, + 95.55652548412814 + ], + [ + 664.1170712665034, + 99.22698667270998 + ], + [ + 669.2417363565808, + 105.49467949805577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 354.8201443397856, + "ymax": 224.21275211540282 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -10.5044103952888, + 216.62938571427432 + ], + [ + -11.093764212561496, + 224.21275211540282 + ], + [ + 354.8201443397856, + 143.72535536043688 + ], + [ + 352.5027979979785, + 137.45421736890881 + ], + [ + -165.64337837836842, + -32.95224967429078 + ], + [ + -168.03949522747462, + -26.21902284241122 + ], + [ + 293.67302928515846, + -96.2941604298872 + ], + [ + 291.4416226752816, + -101.62794272373083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9208312931414, + "ymin": 95.48166114601065, + "xmax": 685.2303994205276, + "ymax": 109.63490689341373 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 685.0706719027518, + 105.85650032596274 + ], + [ + 679.8044815864538, + 99.57131782629108 + ], + [ + 663.9208312931414, + 103.28784745950514 + ], + [ + 669.0809852729424, + 109.63490689341373 + ], + [ + 685.2303994205276, + 101.75517739350369 + ], + [ + 679.9443849952804, + 95.48166114601065 + ], + [ + 664.0053199899958, + 99.1912482690318 + ], + [ + 669.1845563597375, + 105.52674619411869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 466.05448634486555, + "ymin": 0.0, + "xmax": 586.8247395272956, + "ymax": 79.29543448613708 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 576.5355188952709, + 79.29543448613708 + ], + [ + 586.8247395272956, + 77.0791245338969 + ], + [ + 498.35642791739315, + -46.22621224031565 + ], + [ + 489.57045109961285, + -44.68980977492953 + ], + [ + 564.2293815892351, + -150.25823349979237 + ], + [ + 576.5506040538806, + -152.08212087394497 + ], + [ + 476.2777956542675, + -250.32249516443017 + ], + [ + 466.05448634486555, + -249.13624757454647 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00053/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00053/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2317cc8f776e8e9a3e18fa0903565260111768ed --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00053/meta.json @@ -0,0 +1,1932 @@ +{ + "frame_id": 53, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.5, + "sim_timestamp": 12324.677046795608 + }, + "drone_pose": { + "x": -49.73041564666168, + "y": 43.56346292370736, + "z": 20.000174883361062, + "pitch": -46.77852334210585, + "yaw": -67.13705231558447, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26607203483581543, + 0.6310186982154846, + 0.7287119626998901, + 26.146862030029297 + ], + [ + -0.9214368462562561, + 0.38852816820144653, + 2.9802322387695312e-08, + 28.897804260253906 + ], + [ + -0.2831251621246338, + -0.6714620590209961, + 0.684820294380188, + -57.027671813964844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.611635060340525, + "y": 43.07349201676735, + "z": 20.000128089517005 + }, + "t1_image_uv": [ + 412.07280742213703, + -661.3360976785185 + ], + "t1_depth": 0.3408190712839839 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 26.812236785888672, + "z": 0.6555502903461456 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.54632430832219, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 26.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.29319578409194946, + "y": 0.21605956554412842, + "z": 0.5574691891670227 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.5607545831585, + "ymin": 336.7188469832173, + "xmax": 651.5513504862344, + "ymax": 382.9956297363519 + }, + "corners_3d": [ + [ + -42.883243560791016, + 27.105430603027344, + 0.09808111190795898 + ], + [ + -42.45112228393555, + 27.105430603027344, + 0.09808111190795898 + ], + [ + -42.45112228393555, + 26.519039154052734, + 0.09808111190795898 + ], + [ + -42.883243560791016, + 26.519039154052734, + 0.09808111190795898 + ], + [ + -42.883243560791016, + 27.105430603027344, + 1.2130194902420044 + ], + [ + -42.45112228393555, + 27.105430603027344, + 1.2130194902420044 + ], + [ + -42.45112228393555, + 26.519039154052734, + 1.2130194902420044 + ], + [ + -42.883243560791016, + 26.519039154052734, + 1.2130194902420044 + ] + ], + "corners_2d": [ + [ + 636.9387828205356, + 382.9956297363519 + ], + [ + 651.2014865095472, + 378.51867228276734 + ], + [ + 643.0065708185016, + 364.3674848232043 + ], + [ + 628.9039600058616, + 368.72318640139827 + ], + [ + 636.8427451663994, + 355.41360887237613 + ], + [ + 651.5513504862344, + 350.91873176390465 + ], + [ + 643.0991601127455, + 336.7188469832173 + ], + [ + 628.5607545831585, + 341.0882521378139 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 53, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 420560, + "2": 309362, + "3": 166804, + "6": 3715, + "7": 678, + "10": 783, + "12": 2028, + "20": 3709, + "24": 13961 + }, + "instance_pixel_counts": { + "6215": 167951, + "6802": 3262, + "7314": 34852, + "7826": 14536, + "8338": 4721, + "8850": 3556, + "9362": 45287, + "18000": 362, + "18512": 3263, + "21652": 38732, + "22676": 174997, + "23188": 22207, + "23700": 2945, + "24212": 42116, + "24724": 134484, + "25856": 791, + "26624": 1704, + "33370": 2129, + "35988": 3343, + "36500": 4269, + "37012": 1070, + "37524": 211, + "38036": 3516, + "38548": 1216, + "39052": 1241, + "39564": 12682, + "39770": 11637, + "40076": 4398, + "40265": 84, + "40588": 782, + "41100": 1506, + "41612": 14588, + "41818": 30366, + "42074": 122672, + "56576": 211, + "56832": 220, + "57088": 613, + "57344": 574, + "57600": 410, + "61569": 1898, + "63123": 81, + "64661": 336, + "65171": 4998 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 26.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2565258741378784, + "y": 0.28330686688423157, + "z": 0.5476669073104858 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.799893671283, + "ymin": 337.16794040260567, + "xmax": 653.2876706635883, + "ymax": 382.55526136270487 + }, + "corners_3d": [ + [ + -42.95048904418945, + 27.06875991821289, + 0.10788339376449585 + ], + [ + -42.38387680053711, + 27.06875991821289, + 0.10788339376449585 + ], + [ + -42.38387680053711, + 26.555709838867188, + 0.10788339376449585 + ], + [ + -42.95048904418945, + 26.555709838867188, + 0.10788339376449585 + ], + [ + -42.95048904418945, + 27.06875991821289, + 1.2032172679901123 + ], + [ + -42.38387680053711, + 27.06875991821289, + 1.2032172679901123 + ], + [ + -42.38387680053711, + 26.555709838867188, + 1.2032172679901123 + ], + [ + -42.95048904418945, + 26.555709838867188, + 1.2032172679901123 + ] + ], + "corners_2d": [ + [ + 634.1992662928278, + 382.55526136270487 + ], + [ + 652.8927929134536, + 376.69479979161883 + ], + [ + 645.69942308546, + 364.32961334212945 + ], + [ + 627.1896589411235, + 370.0509259814631 + ], + [ + 634.0205688882389, + 355.45762102662763 + ], + [ + 653.2876706635883, + 349.5744244935144 + ], + [ + 645.871841913785, + 337.16794040260567 + ], + [ + 626.799893671283, + 342.90723638660705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 220, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 29.809940338134766, + "z": 0.8068344593048096 + }, + "extent": { + "x": 0.22348999977111816, + "y": 0.17543092370033264, + "z": 0.5215104818344116 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 812.9310057206952, + "ymin": 366.717562184057, + "xmax": 839.4058210599909, + "ymax": 408.4671705005589 + }, + "corners_3d": [ + [ + -38.679500579833984, + 30.058122634887695, + 0.28532397747039795 + ], + [ + -38.33295822143555, + 30.00323486328125, + 0.28532397747039795 + ], + [ + -38.40288162231445, + 29.561758041381836, + 0.28532397747039795 + ], + [ + -38.74942398071289, + 29.61664581298828, + 0.28532397747039795 + ], + [ + -38.679500579833984, + 30.058122634887695, + 1.3283449411392212 + ], + [ + -38.33295822143555, + 30.00323486328125, + 1.3283449411392212 + ], + [ + -38.40288162231445, + 29.561758041381836, + 1.3283449411392212 + ], + [ + -38.74942398071289, + 29.61664581298828, + 1.3283449411392212 + ] + ], + "corners_2d": [ + [ + 823.4415444047314, + 408.4671705005589 + ], + [ + 833.5666228959933, + 403.23832106093175 + ], + [ + 823.0065295704336, + 392.679266713206 + ], + [ + 812.9310057206952, + 397.8046741135687 + ], + [ + 829.0033050030748, + 382.58354632096064 + ], + [ + 839.4058210599909, + 377.3272652238395 + ], + [ + 828.4707866971811, + 366.717562184057 + ], + [ + 818.1202823196488, + 371.8667619803488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 613, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 33.754947662353516, + "z": 0.6554965972900391 + }, + "extent": { + "x": 0.35081052780151367, + "y": 0.5856652855873108, + "z": 0.8880312442779541 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 637.1969881270655, + "ymin": 552.6442061133562, + "xmax": 699.7273949683185, + "ymax": 638.2546961780049 + }, + "corners_3d": [ + [ + -45.48950958251953, + 34.135929107666016, + -0.23253464698791504 + ], + [ + -44.319786071777344, + 34.07462692260742, + -0.23253464698791504 + ], + [ + -44.35650634765625, + 33.373966217041016, + -0.23253464698791504 + ], + [ + -45.52622985839844, + 33.43526840209961, + -0.23253464698791504 + ], + [ + -45.48950958251953, + 34.135929107666016, + 1.5435278415679932 + ], + [ + -44.319786071777344, + 34.07462692260742, + 1.5435278415679932 + ], + [ + -44.35650634765625, + 33.373966217041016, + 1.5435278415679932 + ], + [ + -45.52622985839844, + 33.43526840209961, + 1.5435278415679932 + ] + ], + "corners_2d": [ + [ + 650.772585838313, + 638.2546961780049 + ], + [ + 696.2408030079148, + 617.7409496195157 + ], + [ + 682.1661403550754, + 593.2710034278501 + ], + [ + 637.3600079802279, + 613.0014273135305 + ], + [ + 651.4518057566534, + 598.9158834025557 + ], + [ + 699.7273949683185, + 577.78975981995 + ], + [ + 684.7271492060133, + 552.6442061133562 + ], + [ + 637.1969881270655, + 572.9147250728128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 574, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 26.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.30427977442741394, + "y": 0.5114282369613647, + "z": 0.9051249623298645 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.4901270730777, + "ymin": 430.3421967884209, + "xmax": 321.2156054334562, + "ymax": 503.614547926445 + }, + "corners_3d": [ + [ + -52.6938362121582, + 27.089330673217773, + -0.2495746612548828 + ], + [ + -51.67237854003906, + 27.142864227294922, + -0.2495746612548828 + ], + [ + -51.64052963256836, + 26.535139083862305, + -0.2495746612548828 + ], + [ + -52.6619873046875, + 26.481605529785156, + -0.2495746612548828 + ], + [ + -52.6938362121582, + 27.089330673217773, + 1.5606752634048462 + ], + [ + -51.67237854003906, + 27.142864227294922, + 1.5606752634048462 + ], + [ + -51.64052963256836, + 26.535139083862305, + 1.5606752634048462 + ], + [ + -52.6619873046875, + 26.481605529785156, + 1.5606752634048462 + ] + ], + "corners_2d": [ + [ + 280.1948417065581, + 503.614547926445 + ], + [ + 321.2156054334562, + 492.34256467808683 + ], + [ + 318.2728058008802, + 474.24678721234943 + ], + [ + 277.87324945104, + 485.16632033767706 + ], + [ + 259.5979187669034, + 460.1908767094346 + ], + [ + 303.15344898913406, + 448.7241262587571 + ], + [ + 300.34571906174693, + 430.3421967884209 + ], + [ + 257.4901270730777, + 441.43049528283706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 410, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -32.43328857421875, + "y": 19.376876831054688, + "z": 0.8020883798599243 + }, + "extent": { + "x": 0.34992673993110657, + "y": 0.5304272174835205, + "z": 0.9305534362792969 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 804.4997397024608, + "ymin": 102.98020882465892, + "xmax": 847.5125150193137, + "ymax": 163.2188219387209 + }, + "corners_3d": [ + [ + -33.011924743652344, + 19.63951873779297, + -0.12846505641937256 + ], + [ + -31.96413230895996, + 19.80547332763672, + -0.12846505641937256 + ], + [ + -31.854650497436523, + 19.114234924316406, + -0.12846505641937256 + ], + [ + -32.902442932128906, + 18.948280334472656, + -0.12846505641937256 + ], + [ + -33.011924743652344, + 19.63951873779297, + 1.7326418161392212 + ], + [ + -31.96413230895996, + 19.80547332763672, + 1.7326418161392212 + ], + [ + -31.854650497436523, + 19.114234924316406, + 1.7326418161392212 + ], + [ + -32.902442932128906, + 18.948280334472656, + 1.7326418161392212 + ] + ], + "corners_2d": [ + [ + 811.4422286946282, + 163.2188219387209 + ], + [ + 839.3282548462422, + 159.04391138990678 + ], + [ + 832.0481307675961, + 148.08836700694567 + ], + [ + 804.4997397024608, + 152.15226640161146 + ], + [ + 818.5188035139716, + 117.85740335015953 + ], + [ + 847.5125150193137, + 113.75012402710615 + ], + [ + 839.8239342235389, + 102.98020882465892 + ], + [ + 811.1949339375237, + 106.97387291639282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.6855359758129, + "ymin": 0.0, + "xmax": 198.00476559386277, + "ymax": 22.338293195053552 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 198.00476559386277, + 20.640410165398805 + ], + [ + 196.81110484674815, + 15.178824177763829 + ], + [ + 187.50865207205237, + 16.849595541332747 + ], + [ + 188.63001845663666, + 22.338293195053552 + ], + [ + 188.35471971723751, + -6.465965902060191 + ], + [ + 187.21414432499154, + -11.824100235270976 + ], + [ + 177.6855359758129, + -10.185174944129301 + ], + [ + 178.75022971902456, + -4.79986193787056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 568.571643706782, + "ymin": 0.0, + "xmax": 580.3822216249158, + "ymax": 21.37665960836688 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 576.8369476942315, + 15.412263175535713 + ], + [ + 569.8330457721785, + 16.811784162382196 + ], + [ + 573.3385660037522, + 21.37665960836688 + ], + [ + 580.3822216249158, + 19.95825884883817 + ], + [ + 575.7038405663842, + -6.953952950791745 + ], + [ + 568.571643706782, + -5.5763441930231465 + ], + [ + 572.1319727529263, + -1.0822304279035961 + ], + [ + 579.305402576367, + -2.478760528934174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.38777724567183, + "ymin": 6.365905048370337, + "xmax": 93.99164027272286, + "ymax": 41.27146633574267 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 93.99164027272286, + 39.47839178589345 + ], + [ + 93.6208456368588, + 33.71227418093753 + ], + [ + 83.80120471093085, + 35.475935148782185 + ], + [ + 84.09129833440079, + 41.27146633574267 + ], + [ + 81.73409890234825, + 12.029574234986228 + ], + [ + 81.4581187037769, + 6.365905048370337 + ], + [ + 71.38777724567183, + 8.098008484201216 + ], + [ + 71.57886055445476, + 13.791217045447695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.93157579358694, + "ymin": 0.0, + "xmax": 280.50559514882707, + "ymax": 7.32281510884269 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 280.50559514882707, + 5.698584900051401 + ], + [ + 278.69171044826896, + 0.4727169309717283 + ], + [ + 269.7896624385668, + 2.071573644641319 + ], + [ + 271.53751844220454, + 7.32281510884269 + ], + [ + 272.8323683344763, + -21.120322188511125 + ], + [ + 271.04144772485427, + -26.24234245327216 + ], + [ + 261.93157579358694, + -24.675439796465128 + ], + [ + 263.653318000509, + -19.528019582510638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.2427850585356, + "ymin": 69.39062908339804, + "xmax": 822.6073888764636, + "ymax": 349.1587902261681 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 786.4031057233713, + 312.9844600029005 + ], + [ + 779.2997617396037, + 303.59834735075594 + ], + [ + 662.2427850585356, + 339.06651965044483 + ], + [ + 668.4291400527176, + 349.1587902261681 + ], + [ + 822.6073888764636, + 78.25685432109896 + ], + [ + 813.3345956826296, + 69.39062908339804 + ], + [ + 667.9280866283699, + 103.11747808229882 + ], + [ + 675.7879505467993, + 112.82624492474193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 881.7042373946758, + "ymin": 0.0, + "xmax": 984.3691699426115, + "ymax": 1.4586055237832625 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 929.7071216800089, + 1.4586055237832625 + ], + [ + 938.1346965051948, + -0.3824595277366143 + ], + [ + 889.7997814203445, + -36.31986128045304 + ], + [ + 881.7042373946758, + -34.673756697013346 + ], + [ + 974.7792258288325, + -194.6817209730625 + ], + [ + 984.3691699426115, + -196.17916355685907 + ], + [ + 926.1266088723896, + -225.15223813540103 + ], + [ + 916.9598238993003, + -223.83572225634202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 257.87740289987477, + "xmax": 60.933176390646395, + "ymax": 560.2582394434435 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -112.42622465549789, + 545.5271621611291 + ], + [ + -114.39522930653834, + 560.2582394434435 + ], + [ + 60.933176390646395, + 507.7417230131522 + ], + [ + 60.79440496904476, + 494.2428159596976 + ], + [ + -357.64361919870066, + 311.96923743903784 + ], + [ + -364.2485816613689, + 327.78479314616607 + ], + [ + -120.03216686648432, + 271.9715006390432 + ], + [ + -117.48141445391741, + 257.87740289987477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.0386586377384, + "ymin": 106.23663501286708, + "xmax": 694.4868070877718, + "ymax": 120.53841604719162 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 694.2934721310436, + 116.72112893797765 + ], + [ + 688.9721058514626, + 110.3044293995774 + ], + [ + 673.0386586377384, + 114.05887680799106 + ], + [ + 678.2530122238595, + 120.53841604719162 + ], + [ + 694.4868070877718, + 112.642245554758 + ], + [ + 689.1450489276209, + 106.23663501286708 + ], + [ + 673.1559029263187, + 109.98454853194008 + ], + [ + 678.3898988394031, + 116.45311427597187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 358.88831441341915, + "ymax": 231.39678017252203 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -9.448404422517797, + 223.66827460850158 + ], + [ + -10.085535689818016, + 231.39678017252203 + ], + [ + 358.88831441341915, + 150.2273634108264 + ], + [ + 356.56243635585787, + 143.835050977807 + ], + [ + -166.10397717946125, + -26.83390990003653 + ], + [ + -168.59769381029116, + -19.94131894700547 + ], + [ + 297.9261675949703, + -90.91117941767823 + ], + [ + 295.68388915019733, + -96.36973154860294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.9244744996604, + "ymin": 106.1601816466609, + "xmax": 694.6032954051459, + "ymax": 120.61591017166415 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 694.40746426466, + 116.75717283974097 + ], + [ + 689.0284704571242, + 110.27161267785914 + ], + [ + 672.9244744996604, + 114.06615043257645 + ], + [ + 678.1941419473152, + 120.61591017166415 + ], + [ + 694.6032954051459, + 112.63441220056058 + ], + [ + 689.2034649528814, + 106.1601816466609 + ], + [ + 673.0425697644205, + 109.94804359269943 + ], + [ + 678.3322998353352, + 116.48659299465865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.8935045767593, + "ymin": 0.0, + "xmax": 592.8499622310312, + "ymax": 85.09694620723849 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 582.4744707263909, + 85.09694620723849 + ], + [ + 592.8499622310312, + 82.86221105239724 + ], + [ + 503.6377613673949, + -42.60036202451363 + ], + [ + 494.7927855592236, + -41.0562315099869 + ], + [ + 571.1965831290709, + -145.66983465654943 + ], + [ + 583.6392636115081, + -147.51548163013877 + ], + [ + 482.195271380401, + -247.7721506125132 + ], + [ + 471.8935045767593, + -246.57710419953753 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00054/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00054/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..375c0019cf667c7e6bba12fd227834f72579b35d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00054/meta.json @@ -0,0 +1,1827 @@ +{ + "frame_id": 54, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 27.0, + "sim_timestamp": 12333.576531111496 + }, + "drone_pose": { + "x": -49.611635060340525, + "y": 43.07349201676735, + "z": 20.000128089517005, + "pitch": -46.83599401026274, + "yaw": -67.49500238454671, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2618447542190552, + 0.6319929361343384, + 0.7293984889984131, + 25.62462043762207 + ], + [ + -0.9238461256027222, + 0.3827641010284424, + 2.9802322387695312e-08, + 29.346532821655273 + ], + [ + -0.27918756008148193, + -0.6738519668579102, + 0.6840890645980835, + -56.55797576904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.43016138085443, + "y": 42.58418347705597, + "z": 20.000092904232254 + }, + "t1_image_uv": [ + 587.1653752570822, + -663.4456161056202 + ], + "t1_depth": 0.3567831548587357 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 26.312236785888672, + "z": 0.6555551742017269 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.521266819050403, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 218, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 26.31223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2661450207233429, + "y": 0.2369653284549713, + "z": 0.5527200102806091 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.256700159103, + "ymin": 337.2787775599736, + "xmax": 651.8390941768923, + "ymax": 382.4267905295082 + }, + "corners_3d": [ + [ + -42.90414810180664, + 26.578380584716797, + 0.10283517837524414 + ], + [ + -42.43021774291992, + 26.578380584716797, + 0.10283517837524414 + ], + [ + -42.43021774291992, + 26.04608917236328, + 0.10283517837524414 + ], + [ + -42.90414810180664, + 26.04608917236328, + 0.10283517837524414 + ], + [ + -42.90414810180664, + 26.578380584716797, + 1.2082751989364624 + ], + [ + -42.43021774291992, + 26.578380584716797, + 1.2082751989364624 + ], + [ + -42.43021774291992, + 26.04608917236328, + 1.2082751989364624 + ], + [ + -42.90414810180664, + 26.04608917236328, + 1.2082751989364624 + ] + ], + "corners_2d": [ + [ + 635.7905740618143, + 382.4267905295082 + ], + [ + 651.4831451341782, + 377.5865860211269 + ], + [ + 644.1379890645121, + 364.6880899516277 + ], + [ + 628.6069959547444, + 369.40884010854273 + ], + [ + 635.6594668113693, + 355.08240516112335 + ], + [ + 651.8390941768923, + 350.22261908514906 + ], + [ + 644.2646188087506, + 337.2787775599736 + ], + [ + 628.256700159103, + 342.01497070121354 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 54, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 421998, + "2": 308449, + "3": 166013, + "6": 4061, + "7": 799, + "10": 769, + "12": 1595, + "20": 3661, + "24": 14255 + }, + "instance_pixel_counts": { + "6215": 167575, + "6802": 3360, + "7314": 36250, + "7826": 12710, + "8338": 4918, + "8850": 3784, + "9362": 44766, + "18000": 368, + "18512": 3207, + "21652": 40647, + "22676": 179898, + "23188": 15448, + "23700": 3853, + "24212": 43381, + "24724": 132832, + "25856": 887, + "26624": 2017, + "33370": 2179, + "35988": 3499, + "36500": 4423, + "37012": 824, + "37524": 250, + "38036": 3601, + "38548": 1291, + "39052": 1271, + "39564": 13161, + "39770": 7971, + "40076": 3733, + "40265": 86, + "40588": 917, + "41100": 1567, + "41612": 14437, + "41818": 33398, + "42074": 122465, + "56576": 218, + "56832": 208, + "57088": 587, + "57344": 582, + "61569": 1956, + "63123": 184, + "64661": 367, + "65171": 5755 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 218, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 26.31223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.25832274556159973, + "y": 0.28391844034194946, + "z": 0.5646900534629822 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.7651966497474, + "ymin": 336.6936624827213, + "xmax": 653.3251999936269, + "ymax": 383.0019306811926 + }, + "corners_3d": [ + [ + -42.95110321044922, + 26.570556640625, + 0.0908651351928711 + ], + [ + -42.383262634277344, + 26.570558547973633, + 0.0908651351928711 + ], + [ + -42.383262634277344, + 26.053913116455078, + 0.0908651351928711 + ], + [ + -42.95110321044922, + 26.053911209106445, + 0.0908651351928711 + ], + [ + -42.95110321044922, + 26.570556640625, + 1.2202452421188354 + ], + [ + -42.383262634277344, + 26.570558547973633, + 1.2202452421188354 + ], + [ + -42.383262634277344, + 26.053913116455078, + 1.2202452421188354 + ], + [ + -42.95110321044922, + 26.053911209106445, + 1.2202452421188354 + ] + ], + "corners_2d": [ + [ + 634.1231334070742, + 383.0019306811926 + ], + [ + 652.916290026424, + 377.2051019667884 + ], + [ + 645.7740319257955, + 364.6977336560994 + ], + [ + 627.1686598485713, + 370.35569754070883 + ], + [ + 633.9360115663353, + 355.06630663300194 + ], + [ + 653.3251999936269, + 349.2455874996165 + ], + [ + 645.9545635461108, + 336.6936624827213 + ], + [ + 626.7651966497474, + 342.37059975171684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 208, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 29.309940338134766, + "z": 0.8068003058433533 + }, + "extent": { + "x": 0.21690553426742554, + "y": 0.2697168290615082, + "z": 0.5207346081733704 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.3888052578102, + "ymin": 366.44130468411845, + "xmax": 842.1053575018407, + "ymax": 410.641322834223 + }, + "corners_3d": [ + [ + -38.77365493774414, + 29.566368103027344, + 0.2860656976699829 + ], + [ + -38.24086380004883, + 29.481983184814453, + 0.2860656976699829 + ], + [ + -38.3087272644043, + 29.053512573242188, + 0.2860656976699829 + ], + [ + -38.84151840209961, + 29.137897491455078, + 0.2860656976699829 + ], + [ + -38.77365493774414, + 29.566368103027344, + 1.3275349140167236 + ], + [ + -38.24086380004883, + 29.481983184814453, + 1.3275349140167236 + ], + [ + -38.3087272644043, + 29.053512573242188, + 1.3275349140167236 + ], + [ + -38.84151840209961, + 29.137897491455078, + 1.3275349140167236 + ] + ], + "corners_2d": [ + [ + 820.5132791749486, + 410.641322834223 + ], + [ + 836.188242805331, + 402.65748808644634 + ], + [ + 825.9869089373426, + 392.3603154471031 + ], + [ + 810.3888052578102, + 400.190121668236 + ], + [ + 825.9996361868566, + 384.81556821872886 + ], + [ + 842.1053575018407, + 376.7886685306838 + ], + [ + 831.5405568961697, + 366.44130468411845 + ], + [ + 815.5155489062123, + 374.3087264055296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 587, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 33.254947662353516, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.3351513743400574, + "y": 0.31257444620132446, + "z": 0.8824294805526733 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 646.3261463939405, + "ymin": 558.6137690848606, + "xmax": 686.1798246279182, + "ymax": 633.279133140697 + }, + "corners_3d": [ + [ + -45.217613220214844, + 33.60599899291992, + -0.22685962915420532 + ], + [ + -44.59332275390625, + 33.573280334472656, + -0.22685962915420532 + ], + [ + -44.62840270996094, + 32.90389633178711, + -0.22685962915420532 + ], + [ + -45.25269317626953, + 32.936614990234375, + -0.22685962915420532 + ], + [ + -45.217613220214844, + 33.60599899291992, + 1.5379993915557861 + ], + [ + -44.59332275390625, + 33.573280334472656, + 1.5379993915557861 + ], + [ + -44.62840270996094, + 32.90389633178711, + 1.5379993915557861 + ], + [ + -45.25269317626953, + 32.936614990234375, + 1.5379993915557861 + ] + ], + "corners_2d": [ + [ + 659.1050412882292, + 633.279133140697 + ], + [ + 683.48647362197, + 622.4593123958293 + ], + [ + 670.3634748484217, + 598.7888139979655 + ], + [ + 646.3261463939405, + 609.2123937935777 + ], + [ + 660.2988964853326, + 594.0931076578255 + ], + [ + 686.1798246279182, + 582.9503376875584 + ], + [ + 672.2073328659264, + 558.6137690848606 + ], + [ + 646.7136755349184, + 569.3238279954122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 582, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 26.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3123828172683716, + "y": 0.3292211890220642, + "z": 0.8878635764122009 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 264.72870278538704, + "ymin": 430.9956200379296, + "xmax": 313.08505619593217, + "ymax": 499.82666613645415 + }, + "corners_3d": [ + [ + -52.51230239868164, + 26.60696029663086, + -0.23231327533721924 + ], + [ + -51.85476303100586, + 26.641420364379883, + -0.23231327533721924 + ], + [ + -51.82206344604492, + 26.01750946044922, + -0.23231327533721924 + ], + [ + -52.4796028137207, + 25.983049392700195, + -0.23231327533721924 + ], + [ + -52.51230239868164, + 26.60696029663086, + 1.5434138774871826 + ], + [ + -51.85476303100586, + 26.641420364379883, + 1.5434138774871826 + ], + [ + -51.82206344604492, + 26.01750946044922, + 1.5434138774871826 + ], + [ + -52.4796028137207, + 25.983049392700195, + 1.5434138774871826 + ] + ], + "corners_2d": [ + [ + 286.65593540858185, + 499.82666613645415 + ], + [ + 313.08505619593217, + 492.7010332825823 + ], + [ + 310.33831475464683, + 474.0363850482481 + ], + [ + 284.3217448072267, + 480.93314587350403 + ], + [ + 266.85215042251275, + 457.20092453906307 + ], + [ + 294.88100777217267, + 449.95411632844974 + ], + [ + 292.2938521097443, + 430.9956200379296 + ], + [ + 264.72870278538704, + 437.99699264630533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.45702323407204, + "ymin": 0.0, + "xmax": 201.8543661730249, + "ymax": 27.827717538177467 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 201.8543661730249, + 26.12152999448847 + ], + [ + 200.6941609502628, + 20.53644674648814 + ], + [ + 191.30536831831728, + 22.215079884646627 + ], + [ + 192.39160497498193, + 27.827717538177467 + ], + [ + 192.18157117257397, + -1.1264682653363138 + ], + [ + 191.07600751380045, + -6.608352070979322 + ], + [ + 181.45702323407204, + -4.960942190818628 + ], + [ + 182.4849174513675, + 0.5485837343637172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.8391038785921, + "ymin": 0.0, + "xmax": 587.6256432498839, + "ymax": 26.701246274971652 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 584.0569177348527, + 20.629778069410634 + ], + [ + 576.9841812364917, + 22.035300192302884 + ], + [ + 580.512154435187, + 26.701246274971652 + ], + [ + 587.6256432498839, + 25.276548519317203 + ], + [ + 583.0424827043979, + -1.8507782922469573 + ], + [ + 575.8391038785921, + -0.46673508951715803 + ], + [ + 579.4236937405882, + 4.128646335088433 + ], + [ + 586.6693534269828, + 2.725374211534529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.1705824715633, + "ymin": 11.67305687258255, + "xmax": 96.88074456259585, + "ymax": 46.849998519550354 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 96.88074456259585, + 45.04875975150128 + ], + [ + 96.56215201991643, + 39.15424327399194 + ], + [ + 86.65472601774263, + 40.92560325723417 + ], + [ + 86.89081438394123, + 46.849998519550354 + ], + [ + 84.55397137206933, + 17.465614924047202 + ], + [ + 84.3330528595867, + 11.67305687258255 + ], + [ + 74.1705824715633, + 13.41354750464393 + ], + [ + 74.30467194626908, + 19.236133684967342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.5120923784043, + "ymin": 0.0, + "xmax": 285.14208831925265, + "ymax": 12.73700931880478 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 285.14208831925265, + 11.104399345173192 + ], + [ + 283.3470673237874, + 5.7589366869429455 + ], + [ + 274.35998140947504, + 7.365748452339062 + ], + [ + 276.0874002449856, + 12.73700931880478 + ], + [ + 277.4822638787681, + -15.861669123611819 + ], + [ + 275.71079692421546, + -21.10336026973738 + ], + [ + 266.5120923784043, + -19.527929995728243 + ], + [ + 268.2127053393404, + -14.26039559392109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.5022306131843, + "ymin": 79.8790686990198, + "xmax": 834.3800103445517, + "ymax": 361.0406639618189 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 795.3103429401897, + 324.48701829700263 + ], + [ + 788.1131593414616, + 314.83465417328193 + ], + [ + 669.5022306131843, + 350.6646616388593 + ], + [ + 675.7522560306469, + 361.0406639618189 + ], + [ + 834.3800103445517, + 89.05858074501748 + ], + [ + 824.9178859781866, + 79.8790686990198 + ], + [ + 677.1715108892317, + 114.18245043047196 + ], + [ + 685.1663835300744, + 124.23431642227649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.5960599586859, + "ymin": 0.0, + "xmax": 997.1532277145321, + "ymax": 6.677739208647267 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 940.1619041664628, + 6.677739208647267 + ], + [ + 948.6814501433023, + 4.827887852817355 + ], + [ + 899.7741725790421, + -31.898354259053292 + ], + [ + 891.5960599586859, + -30.246455821412894 + ], + [ + 987.4468643440503, + -190.81763766427696 + ], + [ + 997.1532277145321, + -192.3273111296878 + ], + [ + 937.9950104067425, + -222.03048653288204 + ], + [ + 928.7247326409565, + -220.7053951370126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 271.1118781091485, + "xmax": 60.78625012193254, + "ymax": 573.6684000512057 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -114.41682310927763, + 558.5572142071051 + ], + [ + -116.55584369190319, + 573.6684000512057 + ], + [ + 60.78625012193254, + 520.7158154047348 + ], + [ + 60.760442361247215, + 506.86318222727016 + ], + [ + -364.3324423292531, + 326.0691343633192 + ], + [ + -371.3224255526467, + 342.42632854793845 + ], + [ + -123.26095449953539, + 285.6894444058098 + ], + [ + -120.46850653396223, + 271.1118781091485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.2810761714886, + "ymin": 117.31304046538011, + "xmax": 704.1148217142137, + "ymax": 131.92774174068333 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 703.8834411903206, + 128.04496403226062 + ], + [ + 698.4694391469611, + 121.40353398197502 + ], + [ + 682.2810761714886, + 125.22127817889685 + ], + [ + 687.5839984805921, + 131.92774174068333 + ], + [ + 704.1148217142137, + 123.94379203341387 + ], + [ + 698.6794275514794, + 117.31304046538011 + ], + [ + 682.4336665155652, + 121.12459702642445 + ], + [ + 687.7571921703333, + 127.82051344597255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 363.6741339930596, + "ymax": 237.59783355069555 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -7.544155255473356, + 229.72315858453106 + ], + [ + -8.25534735601093, + 237.59783355069555 + ], + [ + 363.6741339930596, + 156.2908699896152 + ], + [ + 361.36257892269214, + 149.76789887808064 + ], + [ + -165.4961876754977, + -21.676059676464263 + ], + [ + -168.11850870799162, + -14.6220911394052 + ], + [ + 303.0281388171283, + -86.0234733583473 + ], + [ + 300.80154758895884, + -91.61731034536842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.1648645248679, + "ymin": 117.23492451721776, + "xmax": 704.2334300608929, + "ymax": 132.00694309086464 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 703.9991293791459, + 128.08200033730105 + ], + [ + 698.526487867734, + 121.36930277074742 + ], + [ + 682.1648645248679, + 125.22780472990414 + ], + [ + 687.5240247934892, + 132.00694309086464 + ], + [ + 704.2334300608929, + 123.93671179005511 + ], + [ + 698.7389298257802, + 117.23492451721776 + ], + [ + 682.3186714432543, + 121.0871043240671 + ], + [ + 687.6988759139226, + 127.85546801774379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.29187160956224, + "ymin": 0.0, + "xmax": 599.8358492260072, + "ymax": 90.71634364602335 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 589.3616853519551, + 90.71634364602335 + ], + [ + 599.8358492260072, + 88.47486664353778 + ], + [ + 510.2758748374355, + -39.40759114867342 + ], + [ + 501.3657441520189, + -37.86438370379142 + ], + [ + 579.3132317368222, + -141.3839551216932 + ], + [ + 591.8942111215265, + -143.24255387402513 + ], + [ + 489.679736756638, + -245.77099108279958 + ], + [ + 479.29187160956224, + -244.57351676319388 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00055/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00055/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b405e605fb8bc6bc10457d00eb00c14882fb09b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00055/meta.json @@ -0,0 +1,2036 @@ +{ + "frame_id": 55, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 27.5, + "sim_timestamp": 12342.765385554405 + }, + "drone_pose": { + "x": -49.43016138085443, + "y": 42.58418347705597, + "z": 20.000092904232254, + "pitch": -46.928688688825915, + "yaw": -68.03915175355293, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25538915395736694, + 0.6333560943603516, + 0.7305042743682861, + 24.984722137451172 + ], + [ + -0.9274396896362305, + 0.37397289276123047, + 0.0, + 29.91815948486328 + ], + [ + -0.27318882942199707, + -0.6774986386299133, + 0.6829081177711487, + -56.012718200683594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.18010468504505, + "y": 42.093277873588924, + "z": 20.000066690105058 + }, + "t1_image_uv": [ + 763.7836858870701, + -666.8102038566726 + ], + "t1_depth": 0.37479893117420987 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.66718292236328, + "y": 25.812236785888672, + "z": 0.6555551742017269 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 26.481072739410457, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 25.81223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.2655957043170929, + "y": 0.29841795563697815, + "z": 0.5477983951568604 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.2053570830466, + "ymin": 336.8230880983809, + "xmax": 653.8922606694914, + "ymax": 382.9057956074604 + }, + "corners_3d": [ + [ + -42.965599060058594, + 26.077831268310547, + 0.10775679349899292 + ], + [ + -42.36876678466797, + 26.077831268310547, + 0.10775679349899292 + ], + [ + -42.36876678466797, + 25.54663848876953, + 0.10775679349899292 + ], + [ + -42.965599060058594, + 25.54663848876953, + 0.10775679349899292 + ], + [ + -42.965599060058594, + 26.077831268310547, + 1.2033536434173584 + ], + [ + -42.36876678466797, + 26.077831268310547, + 1.2033536434173584 + ], + [ + -42.36876678466797, + 25.54663848876953, + 1.2033536434173584 + ], + [ + -42.965599060058594, + 25.54663848876953, + 1.2033536434173584 + ] + ], + "corners_2d": [ + [ + 633.6050801790282, + 382.9057956074604 + ], + [ + 653.477224337195, + 376.93259831548914 + ], + [ + 646.2796201446947, + 363.98605129270504 + ], + [ + 626.6146655952093, + 369.81158530500795 + ], + [ + 633.4069843225268, + 355.8149531496129 + ], + [ + 653.8922606694914, + 349.81669629649775 + ], + [ + 646.4705320617735, + 336.8230880983809 + ], + [ + 626.2053570830466, + 342.66857009900554 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 55, + "instance_stats": { + "semantic_tags_present": 9, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 423417, + "2": 307395, + "3": 164858, + "6": 4376, + "7": 885, + "10": 753, + "12": 1675, + "20": 3755, + "24": 14486 + }, + "instance_pixel_counts": { + "6215": 167053, + "6802": 3458, + "7314": 37823, + "7826": 10674, + "8338": 5059, + "8850": 4069, + "9362": 44270, + "18000": 367, + "18512": 3296, + "21652": 42422, + "22676": 183763, + "23188": 9614, + "23700": 4853, + "24212": 44790, + "24724": 131271, + "25856": 954, + "26624": 2316, + "33370": 2167, + "35988": 3655, + "36500": 4604, + "37012": 555, + "37524": 293, + "38036": 3681, + "38548": 1319, + "39052": 1322, + "39564": 13702, + "39770": 4984, + "40076": 3002, + "40265": 92, + "40588": 1006, + "41100": 1644, + "41612": 14313, + "41818": 36522, + "42074": 121185, + "56576": 212, + "56832": 217, + "57088": 639, + "57344": 606, + "57600": 1, + "61569": 1991, + "63123": 296, + "64661": 379, + "65171": 6408 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 25.81223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.28325194120407104, + "y": 0.2221105843782425, + "z": 0.5638361573219299 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.5671782695955, + "ymin": 336.729954844021, + "xmax": 651.5408777269407, + "ymax": 382.963092041611 + }, + "corners_3d": [ + [ + -42.8892936706543, + 26.095487594604492, + 0.09171903133392334 + ], + [ + -42.445072174072266, + 26.095487594604492, + 0.09171903133392334 + ], + [ + -42.445072174072266, + 25.528982162475586, + 0.09171903133392334 + ], + [ + -42.8892936706543, + 25.528982162475586, + 0.09171903133392334 + ], + [ + -42.8892936706543, + 26.095487594604492, + 1.2193913459777832 + ], + [ + -42.445072174072266, + 26.095487594604492, + 1.2193913459777832 + ], + [ + -42.445072174072266, + 25.528982162475586, + 1.2193913459777832 + ], + [ + -42.8892936706543, + 25.528982162475586, + 1.2193913459777832 + ] + ], + "corners_2d": [ + [ + 636.396289103713, + 382.963092041611 + ], + [ + 651.1857442865216, + 378.5138582760588 + ], + [ + 643.5409288893284, + 364.6874729774694 + ], + [ + 628.915791584622, + 369.0195531791834 + ], + [ + 636.2813733126357, + 355.0772645177961 + ], + [ + 651.5408777269407, + 350.6087019869697 + ], + [ + 643.6518155794132, + 336.729954844021 + ], + [ + 628.5671782695955, + 341.07718758665817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 217, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": 28.809940338134766, + "z": 0.8067758679389954 + }, + "extent": { + "x": 0.23133301734924316, + "y": 0.29859989881515503, + "z": 0.5424892902374268 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.1430673558152, + "ymin": 366.54244204845435, + "xmax": 843.5878114172301, + "ymax": 413.3832918277296 + }, + "corners_3d": [ + [ + -38.7999267578125, + 29.08513641357422, + 0.2642865777015686 + ], + [ + -38.210079193115234, + 28.991714477539062, + 0.2642865777015686 + ], + [ + -38.28245544433594, + 28.534744262695312, + 0.2642865777015686 + ], + [ + -38.8723030090332, + 28.62816619873047, + 0.2642865777015686 + ], + [ + -38.7999267578125, + 29.08513641357422, + 1.3492650985717773 + ], + [ + -38.210079193115234, + 28.991714477539062, + 1.3492650985717773 + ], + [ + -38.28245544433594, + 28.534744262695312, + 1.3492650985717773 + ], + [ + -38.8723030090332, + 28.62816619873047, + 1.3492650985717773 + ] + ], + "corners_2d": [ + [ + 819.8248645345925, + 413.3832918277296 + ], + [ + 837.355641134458, + 404.6292039220261 + ], + [ + 826.5779561859158, + 393.5322363503123 + ], + [ + 809.1430673558152, + 402.1052211236373 + ], + [ + 825.5513107109917, + 386.5043179294462 + ], + [ + 843.5878114172301, + 377.69848067112736 + ], + [ + 832.4068620261747, + 366.54244204845435 + ], + [ + 814.4713528739259, + 375.1604212580731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 639, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.92300796508789, + "y": 32.754947662353516, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.3640380799770355, + "y": 0.5657238364219666, + "z": 0.9107796549797058 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 632.5485573636097, + "ymin": 553.6413881583701, + "xmax": 694.0864587759354, + "ymax": 640.1561660607301 + }, + "corners_3d": [ + [ + -45.468902587890625, + 33.148094177246094, + -0.2552098035812378 + ], + [ + -44.33900833129883, + 33.0888786315918, + -0.2552098035812378 + ], + [ + -44.377113342285156, + 32.36180114746094, + -0.2552098035812378 + ], + [ + -45.50700759887695, + 32.421016693115234, + -0.2552098035812378 + ], + [ + -45.468902587890625, + 33.148094177246094, + 1.5663495063781738 + ], + [ + -44.33900833129883, + 33.0888786315918, + 1.5663495063781738 + ], + [ + -44.377113342285156, + 32.36180114746094, + 1.5663495063781738 + ], + [ + -45.50700759887695, + 32.421016693115234, + 1.5663495063781738 + ] + ], + "corners_2d": [ + [ + 646.3892166264126, + 640.1561660607301 + ], + [ + 690.8314529526237, + 620.8808555080857 + ], + [ + 676.7423700316367, + 595.1514638560366 + ], + [ + 632.9944816556927, + 613.6587119318899 + ], + [ + 646.8048740659012, + 599.9973842102548 + ], + [ + 694.0864587759354, + 580.1179194627884 + ], + [ + 679.0452234432364, + 553.6413881583701 + ], + [ + 632.5485573636097, + 572.6792197122911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 606, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": 25.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3073217570781708, + "y": 0.4608727991580963, + "z": 0.8860452771186829 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.25209762549486, + "ymin": 427.5609004996559, + "xmax": 317.15257788200097, + "ymax": 498.56625897554557 + }, + "corners_3d": [ + [ + -52.64350891113281, + 26.095014572143555, + -0.23049497604370117 + ], + [ + -51.723026275634766, + 26.14325523376465, + -0.23049497604370117 + ], + [ + -51.69085693359375, + 25.529455184936523, + -0.23049497604370117 + ], + [ + -52.6113395690918, + 25.48121452331543, + -0.23049497604370117 + ], + [ + -52.64350891113281, + 26.095014572143555, + 1.5415955781936646 + ], + [ + -51.723026275634766, + 26.14325523376465, + 1.5415955781936646 + ], + [ + -51.69085693359375, + 25.529455184936523, + 1.5415955781936646 + ], + [ + -52.6113395690918, + 25.48121452331543, + 1.5415955781936646 + ] + ], + "corners_2d": [ + [ + 280.1508068629366, + 498.56625897554557 + ], + [ + 317.15257788200097, + 488.87867370622183 + ], + [ + 314.6104526493081, + 470.5282967199898 + ], + [ + 278.1800357111862, + 479.90945695285814 + ], + [ + 259.99092113790107, + 456.05114895198926 + ], + [ + 299.22433767382245, + 446.19861216939404 + ], + [ + 296.843595782828, + 427.5609004996559 + ], + [ + 258.25209762549486, + 437.08484897809177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -31.421844482421875, + "y": 17.64202117919922, + "z": 0.8011118173599243 + }, + "extent": { + "x": 0.34364622831344604, + "y": 0.4775475859642029, + "z": 0.9143121838569641 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 826.0761935293199, + "ymin": 87.85646494149893, + "xmax": 866.1968581641703, + "ymax": 145.86618528903648 + }, + "corners_3d": [ + [ + -31.9472713470459, + 17.90673065185547, + -0.1132003664970398 + ], + [ + -31.003934860229492, + 18.056140899658203, + -0.1132003664970398 + ], + [ + -30.89641761779785, + 17.37731170654297, + -0.1132003664970398 + ], + [ + -31.839754104614258, + 17.227901458740234, + -0.1132003664970398 + ], + [ + -31.9472713470459, + 17.90673065185547, + 1.7154240608215332 + ], + [ + -31.003934860229492, + 18.056140899658203, + 1.7154240608215332 + ], + [ + -30.89641761779785, + 17.37731170654297, + 1.7154240608215332 + ], + [ + -31.839754104614258, + 17.227901458740234, + 1.7154240608215332 + ] + ], + "corners_2d": [ + [ + 832.776699729362, + 145.86618528903648 + ], + [ + 857.5473897119296, + 142.46261685070084 + ], + [ + 850.5544400537281, + 132.00219295112143 + ], + [ + 826.0761935293199, + 135.31817330716686 + ], + [ + 840.4748284293714, + 101.47740615621473 + ], + [ + 866.1968581641703, + 98.13178777187278 + ], + [ + 858.813438283632, + 87.85646494149893 + ], + [ + 833.4065206984491, + 91.11262502058787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.25682675666968, + "ymin": 0.0, + "xmax": 206.67965108337967, + "ymax": 32.48827846574329 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 206.67965108337967, + 30.788367251286957 + ], + [ + 205.58551571033308, + 25.071213882778693 + ], + [ + 196.11159841667808, + 26.7433466151046 + ], + [ + 197.12993516266732, + 32.48827846574329 + ], + [ + 197.00214822540266, + 3.3928609324666468 + ], + [ + 195.9648385878951, + -2.221447090586423 + ], + [ + 186.25682675666968, + -0.579606788164142 + ], + [ + 187.21451694303568, + 5.062588956926277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 584.4007914781592, + "ymin": 2.965628794156828, + "xmax": 596.1296696897658, + "ymax": 31.75703463355603 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 592.5577421697411, + 25.573725414098476 + ], + [ + 585.4048181681127, + 26.975465708182696 + ], + [ + 588.9347349528, + 31.75703463355603 + ], + [ + 596.1296696897658, + 30.335928716434978 + ], + [ + 591.6870554211798, + 2.965628794156828 + ], + [ + 584.4007914781592, + 4.346542135477819 + ], + [ + 587.9890335346472, + 9.05783892332039 + ], + [ + 595.3188977159367, + 7.657493512137705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 78.02657581904475, + "ymin": 15.99128011593524, + "xmax": 100.7812153138434, + "ymax": 51.4320116766865 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 100.7812153138434, + 49.63888441894818 + ], + [ + 100.54878124429035, + 43.60995796764519 + ], + [ + 90.55978701784511, + 45.373000817065815 + ], + [ + 90.70783153110256, + 51.4320116766865 + ], + [ + 88.40580763477021, + 21.918844315672686 + ], + [ + 88.27457902375033, + 15.99128011593524 + ], + [ + 78.02657581904475, + 17.724444727676257 + ], + [ + 78.06896008199487, + 23.682266061660357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 272.12428450186667, + "ymin": 0.0, + "xmax": 290.76340549975964, + "ymax": 17.44869151122839 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 290.76340549975964, + 15.821017780157206 + ], + [ + 289.01820686726825, + 10.345565374605428 + ], + [ + 279.9436859018324, + 11.94720547037383 + ], + [ + 281.6195047647896, + 17.44869151122839 + ], + [ + 283.1347526471178, + -11.300892243453859 + ], + [ + 281.4142514584737, + -16.672740673410146 + ], + [ + 272.12428450186667, + -15.101600800053973 + ], + [ + 273.7720423229038, + -9.703653671382199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.8038672492977, + "ymin": 91.02981759631734, + "xmax": 846.7605882115038, + "ymax": 373.41935809950866 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 804.5572816166459, + 336.7141519755316 + ], + [ + 797.2977366916307, + 326.75285809956597 + ], + [ + 676.8038672492977, + 362.72000106634175 + ], + [ + 683.0768046501283, + 373.41935809950866 + ], + [ + 846.7605882115038, + 100.57670659192263 + ], + [ + 837.1374035913452, + 91.02981759631734 + ], + [ + 686.552162678905, + 125.73128285678558 + ], + [ + 694.6370055705673, + 136.17839849760634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 903.610804073611, + "ymin": 0.0, + "xmax": 1012.5356157229783, + "ymax": 12.135106226662401 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 952.6826901756415, + 12.135106226662401 + ], + [ + 961.3226422710418, + 10.28639631259341 + ], + [ + 911.8961142006135, + -27.399407073272812 + ], + [ + 903.610804073611, + -25.750987657438657 + ], + [ + 1002.6764149167644, + -186.97401605366122 + ], + [ + 1012.5356157229783, + -188.48890060872873 + ], + [ + 952.460012698893, + -219.0848910412284 + ], + [ + 943.0551669372157, + -217.75784351382185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 283.4156389560595, + "xmax": 60.29789508375916, + "ymax": 585.5270444684174 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -116.66660445625394, + 570.0384731474862 + ], + [ + -119.04349035329517, + 585.5270444684174 + ], + [ + 60.14368594252562, + 532.6632965783248 + ], + [ + 60.29789508375916, + 518.4472172221298 + ], + [ + -371.3145429852283, + 338.69727030392147 + ], + [ + -378.7845152010973, + 355.5979321277157 + ], + [ + -127.19920678515257, + 298.4952679966608 + ], + [ + -124.06965299626643, + 283.4156389560595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.6608634503809, + "ymin": 128.9103079311201, + "xmax": 713.9039076215206, + "ymax": 143.8527396060772 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 713.6321340710859, + 139.92573614289762 + ], + [ + 708.1539714625549, + 133.0248971998755 + ], + [ + 691.6608634503809, + 136.88485207140837 + ], + [ + 697.0227145284786, + 143.8527396060772 + ], + [ + 713.9039076215206, + 135.80099100737763 + ], + [ + 708.4033659038064, + 128.9103079311201 + ], + [ + 691.8508205418589, + 132.76452854614257 + ], + [ + 697.2342114984234, + 139.7224093899967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 369.3344813971113, + "ymax": 242.460879915549 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -4.57424906758331, + 234.44047827473386 + ], + [ + -5.394648091146223, + 242.460879915549 + ], + [ + 369.3344813971113, + 161.76712223784457 + ], + [ + 367.06856821270287, + 155.1017468054234 + ], + [ + -163.52454437703955, + -17.831175456197286 + ], + [ + -166.31653373273025, + -10.615453438033228 + ], + [ + 309.1668685903465, + -81.79799393548097 + ], + [ + 306.9926744092991, + -87.54019226949822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.5425074747683, + "ymin": 128.83044918278657, + "xmax": 714.0247735920082, + "ymax": 143.93372745866134 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 713.7496288177498, + 139.96407447499277 + ], + [ + 708.2121155108771, + 132.98918747635673 + ], + [ + 691.5425074747683, + 136.89034106287707 + ], + [ + 696.9611947575546, + 143.93372745866134 + ], + [ + 714.0247735920082, + 135.7949597189298 + ], + [ + 708.4643929594896, + 128.83044918278657 + ], + [ + 691.7340667661914, + 132.72574370524782 + ], + [ + 697.1747547492483, + 139.75890768298783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 2.794340839671918, + "ymax": 90.60215387887047 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 2.794340839671918, + -40.52888324084836 + ], + [ + -7.380874745565279, + -39.016693297318795 + ], + [ + -26.994535268863274, + 90.60215387887047 + ], + [ + -14.667939071244064, + 88.40227414627947 + ], + [ + -98.76317852696127, + -247.4002552645377 + ], + [ + -110.8490190407864, + -246.22562282500394 + ], + [ + -159.99209197422317, + -142.06547184989415 + ], + [ + -144.75316627551433, + -143.89252691228603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 488.6997917694988, + "ymin": 0.0, + "xmax": 608.0210254474481, + "ymax": 96.10795208975924 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 597.4315261172649, + 96.10795208975924 + ], + [ + 608.0210254474481, + 93.87602006534695 + ], + [ + 518.6582870862005, + -36.76917285604998 + ], + [ + 509.6746401694755, + -35.2387512877645 + ], + [ + 588.869343307361, + -137.4834804060837 + ], + [ + 601.6113909144419, + -139.34252313708868 + ], + [ + 499.18419530752044, + -244.47813178261003 + ], + [ + 488.6997917694988, + -243.28705371979015 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00057/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00057/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d702cb5e6b9c586097d18b1aab8e1da1ee31171 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00057/meta.json @@ -0,0 +1,1933 @@ +{ + "frame_id": 57, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 28.5, + "sim_timestamp": 12361.15970493597 + }, + "drone_pose": { + "x": -48.87365388930948, + "y": 41.60511816805722, + "z": 20.000047348819674, + "pitch": -46.93117610682618, + "yaw": -68.23001515899365, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2532660961151123, + 0.6341738700866699, + 0.730534017086029, + 24.152202606201172 + ], + [ + -0.9286803007125854, + 0.3708813190460205, + 0.0, + 29.957435607910156 + ], + [ + -0.27094143629074097, + -0.6784324645996094, + 0.6828763484954834, + -55.12571716308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.52876438031587, + "y": 41.12467242797757, + "z": 20.00003322579708 + }, + "t1_image_uv": [ + 987.9688757131255, + -666.9472519242636 + ], + "t1_depth": 0.3920452495525345 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -42.16718292236328, + "y": 24.812236785888672, + "z": 0.6555551742017269 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 26.47993571442216, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 207, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": 24.81223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.32445308566093445, + "y": 0.21974729001522064, + "z": 0.5588297247886658 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.7847366221168, + "ymin": 335.8404313509117, + "xmax": 652.0806360174072, + "ymax": 383.89550176318124 + }, + "corners_3d": [ + [ + -42.5519905090332, + 24.886272430419922, + 0.0967254638671875 + ], + [ + -42.2412223815918, + 25.19704246520996, + 0.0967254638671875 + ], + [ + -41.78237533569336, + 24.738197326660156, + 0.0967254638671875 + ], + [ + -42.093143463134766, + 24.427427291870117, + 0.0967254638671875 + ], + [ + -42.5519905090332, + 24.886272430419922, + 1.214384913444519 + ], + [ + -42.2412223815918, + 25.19704246520996, + 1.214384913444519 + ], + [ + -41.78237533569336, + 24.738197326660156, + 1.214384913444519 + ], + [ + -42.093143463134766, + 24.427427291870117, + 1.214384913444519 + ] + ], + "corners_2d": [ + [ + 628.1576690207504, + 379.2439628444854 + ], + [ + 642.6666252435285, + 383.89550176318124 + ], + [ + 651.715754383152, + 368.0656596373655 + ], + [ + 637.3849437630895, + 363.5528987386456 + ], + [ + 627.7847366221168, + 351.5903950975954 + ], + [ + 642.7509863538636, + 356.2622537746832 + ], + [ + 652.0806360174072, + 340.36860826522314 + ], + [ + 637.3038651713737, + 335.8404313509117 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 57, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 426608, + "2": 293750, + "3": 173908, + "6": 5107, + "7": 1019, + "10": 744, + "12": 1659, + "14": 218, + "20": 3555, + "24": 15032 + }, + "instance_pixel_counts": { + "6215": 167128, + "6802": 3686, + "7314": 41324, + "7826": 6109, + "8338": 5284, + "8850": 3216, + "9362": 32763, + "18000": 377, + "18512": 3085, + "21652": 47396, + "22676": 187123, + "23188": 1380, + "23700": 8087, + "24212": 45756, + "24724": 126915, + "25856": 1110, + "26624": 2895, + "33370": 2118, + "35988": 4084, + "36500": 4760, + "37012": 148, + "37524": 401, + "38036": 3930, + "38548": 1213, + "39052": 1412, + "39564": 14888, + "39770": 2834, + "40076": 1334, + "40265": 93, + "40588": 1088, + "41100": 1646, + "41612": 13872, + "41818": 43308, + "42074": 125648, + "56576": 207, + "56832": 193, + "57088": 648, + "57344": 611, + "59904": 218, + "61569": 2121, + "63123": 1147, + "64661": 496, + "65171": 8804 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 207, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": 24.81223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.31145018339157104, + "y": 0.22031736373901367, + "z": 0.5574554204940796 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.9596132825736, + "ymin": 336.18052297005386, + "xmax": 651.9152875386789, + "ymax": 383.5466714444195 + }, + "corners_3d": [ + [ + -42.54319763183594, + 24.87667465209961, + 0.09809976816177368 + ], + [ + -42.231624603271484, + 25.188251495361328, + 0.09809976816177368 + ], + [ + -41.791168212890625, + 24.74779510498047, + 0.09809976816177368 + ], + [ + -42.10274124145508, + 24.43621826171875, + 0.09809976816177368 + ], + [ + -42.54319763183594, + 24.87667465209961, + 1.213010549545288 + ], + [ + -42.231624603271484, + 25.188251495361328, + 1.213010549545288 + ], + [ + -41.791168212890625, + 24.74779510498047, + 1.213010549545288 + ], + [ + -42.10274124145508, + 24.43621826171875, + 1.213010549545288 + ] + ], + "corners_2d": [ + [ + 628.3262024693694, + 378.8858593855723 + ], + [ + 642.8696889999733, + 383.5466714444195 + ], + [ + 651.5561613545253, + 368.3510528351545 + ], + [ + 637.1841363361456, + 363.82380788532754 + ], + [ + 627.9596132825736, + 351.29896483410977 + ], + [ + 642.9602193439451, + 355.97999713037274 + ], + [ + 651.9152875386789, + 340.7232804246846 + ], + [ + 637.097023351573, + 336.18052297005386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 193, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -38.04119110107422, + "y": 27.809940338134766, + "z": 0.8038265705108643 + }, + "extent": { + "x": 0.22343748807907104, + "y": 0.24895384907722473, + "z": 0.5338569283485413 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.9259553048031, + "ymin": 369.37053752975055, + "xmax": 839.3595813981091, + "ymax": 411.59420434325983 + }, + "corners_3d": [ + [ + -38.373931884765625, + 27.84437370300293, + 0.269969642162323 + ], + [ + -37.97111511230469, + 28.13703727722168, + 0.269969642162323 + ], + [ + -37.70845031738281, + 27.7755069732666, + 0.269969642162323 + ], + [ + -38.11126708984375, + 27.48284339904785, + 0.269969642162323 + ], + [ + -38.373931884765625, + 27.84437370300293, + 1.3376834392547607 + ], + [ + -37.97111511230469, + 28.13703727722168, + 1.3376834392547607 + ], + [ + -37.70845031738281, + 27.7755069732666, + 1.3376834392547607 + ], + [ + -38.11126708984375, + 27.48284339904785, + 1.3376834392547607 + ] + ], + "corners_2d": [ + [ + 812.9259553048031, + 408.10000053521867 + ], + [ + 831.5051385804377, + 411.59420434325983 + ], + [ + 833.3814604834652, + 399.328753110326 + ], + [ + 815.0068682248119, + 395.91344186591516 + ], + [ + 818.3170658904903, + 381.6232134407308 + ], + [ + 837.495481974944, + 385.1379724256611 + ], + [ + 839.3595813981091, + 372.8035051093846 + ], + [ + 820.3991022230746, + 369.37053752975055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 648, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -44.42300796508789, + "y": 31.754947662353516, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.3963867127895355, + "y": 0.2992932200431824, + "z": 0.8713313937187195 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 642.7142794118403, + "ymin": 558.3529127100092, + "xmax": 680.9435098393448, + "ymax": 635.6090575784187 + }, + "corners_3d": [ + [ + -44.91065979003906, + 31.849254608154297, + -0.21576154232025146 + ], + [ + -44.465824127197266, + 32.249786376953125, + -0.21576154232025146 + ], + [ + -43.93535614013672, + 31.660640716552734, + -0.21576154232025146 + ], + [ + -44.380191802978516, + 31.260108947753906, + -0.21576154232025146 + ], + [ + -44.91065979003906, + 31.849254608154297, + 1.5269012451171875 + ], + [ + -44.465824127197266, + 32.249786376953125, + 1.5269012451171875 + ], + [ + -43.93535614013672, + 31.660640716552734, + 1.5269012451171875 + ], + [ + -44.380191802978516, + 31.260108947753906, + 1.5269012451171875 + ] + ], + "corners_2d": [ + [ + 642.7142794118403, + 627.2244585970295 + ], + [ + 667.4455626506114, + 635.6090575784187 + ], + [ + 678.6087814373627, + 605.9710325620133 + ], + [ + 654.3664347311945, + 597.9624671446858 + ], + [ + 642.8813248482492, + 588.443112791228 + ], + [ + 669.1462711702363, + 597.0804638672927 + ], + [ + 680.9435098393448, + 566.5798318061031 + ], + [ + 655.2293997630935, + 558.3529127100092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 611, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -51.66718292236328, + "y": 24.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.2819848656654358, + "y": 0.3518603444099426, + "z": 0.8800942897796631 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 259.4125197068302, + "ymin": 427.8017446199836, + "xmax": 315.31005134395514, + "ymax": 496.4438085367567 + }, + "corners_3d": [ + [ + -52.112178802490234, + 24.739437103271484, + -0.2245439887046814 + ], + [ + -51.64129638671875, + 25.26240348815918, + -0.2245439887046814 + ], + [ + -51.22218704223633, + 24.885032653808594, + -0.2245439887046814 + ], + [ + -51.69306945800781, + 24.3620662689209, + -0.2245439887046814 + ], + [ + -52.112178802490234, + 24.739437103271484, + 1.53564453125 + ], + [ + -51.64129638671875, + 25.26240348815918, + 1.53564453125 + ], + [ + -51.22218704223633, + 24.885032653808594, + 1.53564453125 + ], + [ + -51.69306945800781, + 24.3620662689209, + 1.53564453125 + ] + ], + "corners_2d": [ + [ + 279.26576986905286, + 486.41931660936746 + ], + [ + 300.9284119710251, + 496.4438085367567 + ], + [ + 315.31005134395514, + 480.2261595241031 + ], + [ + 293.8246040651151, + 470.4780192600349 + ], + [ + 259.4125197068302, + 443.9893736169038 + ], + [ + 282.0961866303562, + 454.18138617839725 + ], + [ + 297.5417216945646, + 437.6975929503202 + ], + [ + 275.0502060058861, + 427.8017446199836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 218, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 517.2605707826532, + "ymin": 0.0, + "xmax": 641.8009575042703, + "ymax": 14.461405270701164 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 520.5864823812803, + -6.169579161835259 + ], + [ + 534.5270788215635, + 14.461405270701164 + ], + [ + 641.8009575042703, + -6.051198945951455 + ], + [ + 625.0966925520481, + -25.484312320298045 + ], + [ + 517.2605707826532, + -40.51531807212427 + ], + [ + 531.4851399424304, + -20.411495546985748 + ], + [ + 641.7692898432176, + -40.42144465655258 + ], + [ + 624.6253962886145, + -59.326568710893184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.22945384372525, + "ymin": 15.103232102671086, + "xmax": 193.36715191360025, + "ymax": 50.50495915436005 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 193.36715191360025, + 48.730917270195164 + ], + [ + 192.4011399740105, + 42.70825734739793 + ], + [ + 182.64953835222286, + 44.452532323328455 + ], + [ + 183.5349862052006, + 50.50495915436005 + ], + [ + 183.12865642430273, + 21.02432392411248 + ], + [ + 182.22880253784916, + 15.103232102671086 + ], + [ + 172.22945384372525, + 16.81785610090941 + ], + [ + 173.0445683165389, + 22.768883349226314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 581.9009402164521, + "ymin": 17.924398399718655, + "xmax": 593.8991051570848, + "ymax": 47.20809450156412 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 590.2972698468901, + 40.753975275610344 + ], + [ + 582.9732705846387, + 42.206019545582365 + ], + [ + 586.5308908605308, + 47.20809450156412 + ], + [ + 593.8991051570848, + 45.73551648211293 + ], + [ + 589.3646093827085, + 17.924398399718655 + ], + [ + 581.9009402164521, + 19.356028343296884 + ], + [ + 585.51823226039, + 24.288623066161108 + ], + [ + 593.0278283892322, + 22.83636366589377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.532285363430105, + "ymin": 34.13169997050551, + "xmax": 84.29026781060634, + "ymax": 70.28490954051898 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 84.29026781060634, + 68.41183434831987 + ], + [ + 84.24079482342484, + 62.05487250819493 + ], + [ + 73.94959788025551, + 63.89566499798315 + ], + [ + 73.90923442621408, + 70.28490954051898 + ], + [ + 71.1927740458284, + 40.38927467464771 + ], + [ + 71.25800629168134, + 34.13169997050551 + ], + [ + 60.692232957691544, + 35.94345058886671 + ], + [ + 60.532285363430105, + 42.23355185531943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.6435906509149, + "ymin": 0.017743081319792964, + "xmax": 279.9021204692492, + "ymax": 34.81470038463175 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 279.9021204692492, + 33.11730740380972 + ], + [ + 278.2445949431971, + 27.353491704534633 + ], + [ + 268.91088573716553, + 29.023018261858056 + ], + [ + 270.4947628184359, + 34.81470038463175 + ], + [ + 271.8314442185716, + 5.678740076092595 + ], + [ + 270.2050019331359, + 0.017743081319792964 + ], + [ + 260.6435906509149, + 1.657272644090824 + ], + [ + 262.1927153945518, + 7.346252068862384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.5005562506124, + "ymin": 118.09923362846553, + "xmax": 850.2528916732402, + "ymax": 403.96772250564663 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 806.1054933724283, + 365.4221510563973 + ], + [ + 798.6700348973598, + 354.8710028489873 + ], + [ + 674.5005562506124, + 392.6183396644879 + ], + [ + 680.883659027896, + 403.96772250564663 + ], + [ + 850.2528916732402, + 128.3601444585979 + ], + [ + 840.2971918277208, + 118.09923362846553 + ], + [ + 683.9779880913521, + 155.06704882666972 + ], + [ + 692.2683426675125, + 166.32394713970714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.2101838043823, + "ymin": 0.0, + "xmax": 1020.4023535087877, + "ymax": 25.44154123598787 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 958.2635733830805, + 25.44154123598787 + ], + [ + 967.0781097482154, + 23.535293717422064 + ], + [ + 916.6544709852988, + -15.652811610958793 + ], + [ + 908.2101838043823, + -13.957056086428793 + ], + [ + 1010.3174285478439, + -176.0479720522685 + ], + [ + 1020.4023535087877, + -177.61987746516672 + ], + [ + 958.8083763191839, + -209.62402011985978 + ], + [ + 949.2000880168137, + -208.25128166258855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 323.97314819720407, + "xmax": 37.074998984892886, + "ymax": 627.5498061172204 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -146.78134353003645, + 610.9886579360943 + ], + [ + -149.7015827645074, + 627.5498061172204 + ], + [ + 36.56055145819312, + 571.6022637670546 + ], + [ + 37.074998984892886, + 556.4332700417372 + ], + [ + -423.4368047942478, + 383.70097409921846 + ], + [ + -432.2698860344062, + 402.18870131420414 + ], + [ + -166.88240180362914, + 340.4022848682055 + ], + [ + -162.8795030364156, + 323.97314819720407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.2926656073089, + "ymin": 158.12096576877903, + "xmax": 712.3269563492402, + "ymax": 173.89221630858884 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 712.0511366043839, + 169.70379817263208 + ], + [ + 706.4270268544286, + 162.27576068815642 + ], + [ + 689.2926656073089, + 166.38995854552826 + ], + [ + 694.7906833254425, + 173.89221630858884 + ], + [ + 712.3269563492402, + 165.54008047195492 + ], + [ + 706.6790507920846, + 158.12096576877903 + ], + [ + 689.480613194361, + 162.23015922635804 + ], + [ + 695.0014821345063, + 169.72368969769235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 361.576249093791, + "ymax": 263.9361210206505 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -21.975059261091587, + 255.52247944083047 + ], + [ + -23.023638884706656, + 263.9361210206505 + ], + [ + 361.576249093791, + 180.20585099228467 + ], + [ + 359.36539923528596, + 173.23196059747158 + ], + [ + -190.0232681731643, + 1.1939312160723716 + ], + [ + -193.26727173527468, + 8.852797919686964 + ], + [ + 297.98440291784226, + -65.81854939663447 + ], + [ + 295.91551146465343, + -71.88612477261847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.1701408681719, + "ymin": 158.0367130428126, + "xmax": 712.4521632122628, + "ymax": 173.97773609682125 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 712.1728952912642, + 169.7438203290258 + ], + [ + 706.4878238595999, + 162.23609971272 + ], + [ + 689.1701408681719, + 166.39418937695802 + ], + [ + 694.7263945397866, + 173.97773609682125 + ], + [ + 712.4521632122628, + 165.53531671995705 + ], + [ + 706.7427765749696, + 158.0367130428126 + ], + [ + 689.3596366729241, + 162.1896890351025 + ], + [ + 694.9392301313608, + 169.76432068539057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.48392475892683, + "ymin": 0.0, + "xmax": 606.1644888495133, + "ymax": 112.09449797461616 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 595.3336938451101, + 112.09449797461616 + ], + [ + 606.1644888495133, + 109.78755908508836 + ], + [ + 516.4240203831534, + -26.05656176911691 + ], + [ + 507.2721561683485, + -24.486763007099455 + ], + [ + 586.1212685251579, + -124.11914817999764 + ], + [ + 599.2108256234853, + -126.05700702323753 + ], + [ + 496.1958093488579, + -236.14172975385793 + ], + [ + 485.48392475892683, + -234.9132453601576 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00058/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00058/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..837702156389049f3d23122059c5da63a6b0d725 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00058/meta.json @@ -0,0 +1,1932 @@ +{ + "frame_id": 58, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.0, + "sim_timestamp": 12370.691840580897 + }, + "drone_pose": { + "x": -48.52876438031587, + "y": 41.12467242797757, + "z": 20.00003322579708, + "pitch": -46.810953691574895, + "yaw": -67.79838283974216, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25861501693725586, + 0.6336656808853149, + 0.7290995121002197, + 24.02754783630371 + ], + [ + -0.9258599281311035, + 0.37786686420440674, + -2.9802322387695312e-08, + 29.391183853149414 + ], + [ + -0.2755025625228882, + -0.675044059753418, + 0.6844077110290527, + -54.81893539428711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.1804378571003, + "y": 40.65494726280905, + "z": 20.000023027202563 + }, + "t1_image_uv": [ + 999.0244442349257, + -662.651006189774 + ], + "t1_depth": 0.38773863311203804 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -41.66718292236328, + "y": 24.312236785888672, + "z": 0.6555454064905644 + }, + "image_uv": [ + 639.9999999999999, + 360.0000000000001 + ], + "depth": 26.532027840231095, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": 24.31223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.22772946953773499, + "y": 0.3160741925239563, + "z": 0.5454829931259155 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.0230676776476, + "ymin": 337.5786206509815, + "xmax": 653.912997925329, + "ymax": 382.13545148596774 + }, + "corners_3d": [ + [ + -42.05171203613281, + 24.249765396118164, + 0.11006242036819458 + ], + [ + -41.604713439941406, + 24.696762084960938, + 0.11006242036819458 + ], + [ + -41.28265380859375, + 24.374704360961914, + 0.11006242036819458 + ], + [ + -41.729652404785156, + 23.92770767211914, + 0.11006242036819458 + ], + [ + -42.05171203613281, + 24.249765396118164, + 1.2010283470153809 + ], + [ + -41.604713439941406, + 24.696762084960938, + 1.2010283470153809 + ], + [ + -41.28265380859375, + 24.374704360961914, + 1.2010283470153809 + ], + [ + -41.729652404785156, + 23.92770767211914, + 1.2010283470153809 + ] + ], + "corners_2d": [ + [ + 626.4368234927599, + 375.61661500731395 + ], + [ + 647.3032047790238, + 382.13545148596774 + ], + [ + 653.5029616880081, + 371.01090309920016 + ], + [ + 632.8191074806463, + 364.6297197323104 + ], + [ + 626.0230676776476, + 348.6025502176251 + ], + [ + 647.5274367270326, + 355.14672494263357 + ], + [ + 653.912997925329, + 343.98044723554364 + ], + [ + 632.6024363995164, + 337.5786206509815 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 58, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 428715, + "2": 280751, + "3": 184583, + "6": 5207, + "7": 1047, + "10": 721, + "12": 1693, + "14": 899, + "20": 3593, + "24": 14391 + }, + "instance_pixel_counts": { + "6215": 166804, + "6802": 3798, + "7314": 43226, + "7826": 3588, + "8338": 5383, + "8850": 2068, + "9362": 22264, + "18000": 381, + "18512": 3116, + "21652": 50030, + "22676": 185035, + "23188": 33, + "23700": 10196, + "24212": 46315, + "24724": 123807, + "25856": 1225, + "26624": 2854, + "33370": 2036, + "35988": 4293, + "36500": 5021, + "37524": 429, + "38036": 2877, + "38548": 1261, + "39052": 1463, + "39564": 15496, + "39770": 2882, + "40076": 401, + "40265": 96, + "40588": 1128, + "41100": 1546, + "41612": 13586, + "41818": 46906, + "42074": 132759, + "56576": 209, + "56832": 231, + "57088": 664, + "57344": 589, + "59904": 899, + "61569": 2175, + "63123": 2779, + "64661": 510, + "65171": 10520 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": 24.31223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.21818357706069946, + "y": 0.2367260456085205, + "z": 0.5572435855865479 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.8423747829156, + "ymin": 338.3061511024648, + "xmax": 651.0937959343075, + "ymax": 381.35972850049404 + }, + "corners_3d": [ + [ + -41.988853454589844, + 24.299123764038086, + 0.09830182790756226 + ], + [ + -41.65407180786133, + 24.6339054107666, + 0.09830182790756226 + ], + [ + -41.34551239013672, + 24.325345993041992, + 0.09830182790756226 + ], + [ + -41.680294036865234, + 23.990564346313477, + 0.09830182790756226 + ], + [ + -41.988853454589844, + 24.299123764038086, + 1.2127890586853027 + ], + [ + -41.65407180786133, + 24.6339054107666, + 1.2127890586853027 + ], + [ + -41.34551239013672, + 24.325345993041992, + 1.2127890586853027 + ], + [ + -41.680294036865234, + 23.990564346313477, + 1.2127890586853027 + ] + ], + "corners_2d": [ + [ + 629.1798734985545, + 376.4798350723672 + ], + [ + 644.7999144281666, + 381.35972850049404 + ], + [ + 650.7600883370225, + 370.7186741021173 + ], + [ + 635.2709367945954, + 365.9375188677413 + ], + [ + 628.8423747829156, + 348.8852752507861 + ], + [ + 644.9503572796759, + 353.7844737630257 + ], + [ + 651.0937959343075, + 343.1031699527657 + ], + [ + 635.1249716718143, + 338.3061511024648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -37.541194915771484, + "y": 27.309940338134766, + "z": 0.8042954206466675 + }, + "extent": { + "x": 0.2011462301015854, + "y": 0.2416345179080963, + "z": 0.5294775366783142 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.2179621372557, + "ymin": 369.0119002969755, + "xmax": 838.6632106204012, + "ymax": 409.55055768389155 + }, + "corners_3d": [ + [ + -37.85491180419922, + 27.330642700195312, + 0.27481788396835327 + ], + [ + -37.46393966674805, + 27.614700317382812, + 0.27481788396835327 + ], + [ + -37.22747802734375, + 27.28923797607422, + 0.27481788396835327 + ], + [ + -37.61845016479492, + 27.00518035888672, + 0.27481788396835327 + ], + [ + -37.85491180419922, + 27.330642700195312, + 1.333772897720337 + ], + [ + -37.46393966674805, + 27.614700317382812, + 1.333772897720337 + ], + [ + -37.22747802734375, + 27.28923797607422, + 1.333772897720337 + ], + [ + -37.61845016479492, + 27.00518035888672, + 1.333772897720337 + ] + ], + "corners_2d": [ + [ + 813.2179621372557, + 406.28256903663936 + ], + [ + 831.2079416393165, + 409.55055768389155 + ], + [ + 832.779951887215, + 398.55372471627544 + ], + [ + 814.9691780668948, + 395.3523249672656 + ], + [ + 818.5439107685546, + 379.99773715288705 + ], + [ + 837.1055573663878, + 383.28368877876915 + ], + [ + 838.6632106204012, + 372.2288676695723 + ], + [ + 820.2922894710567, + 369.0119002969755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 664, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -43.92300796508789, + "y": 31.254947662353516, + "z": 0.655569851398468 + }, + "extent": { + "x": 0.3024560511112213, + "y": 0.42548704147338867, + "z": 0.8972812294960022 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 641.3922024457519, + "ymin": 558.5127205549306, + "xmax": 687.4542125432712, + "ymax": 633.179525396645 + }, + "corners_3d": [ + [ + -44.44158935546875, + 31.195009231567383, + -0.24171137809753418 + ], + [ + -43.8091926574707, + 31.764423370361328, + -0.24171137809753418 + ], + [ + -43.40442657470703, + 31.31488609313965, + -0.24171137809753418 + ], + [ + -44.03682327270508, + 30.745471954345703, + -0.24171137809753418 + ], + [ + -44.44158935546875, + 31.195009231567383, + 1.5528510808944702 + ], + [ + -43.8091926574707, + 31.764423370361328, + 1.5528510808944702 + ], + [ + -43.40442657470703, + 31.31488609313965, + 1.5528510808944702 + ], + [ + -44.03682327270508, + 30.745471954345703, + 1.5528510808944702 + ] + ], + "corners_2d": [ + [ + 641.3922024457519, + 621.6160822715212 + ], + [ + 676.4866292457581, + 633.179525396645 + ], + [ + 684.66986757936, + 610.5429931516028 + ], + [ + 650.111345976382, + 599.3782674229092 + ], + [ + 641.4797828447602, + 581.3841125568337 + ], + [ + 678.8039015393427, + 593.2967111971737 + ], + [ + 687.4542125432712, + 569.989315566916 + ], + [ + 650.7357346180104, + 558.5127205549306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 589, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -51.16718292236328, + "y": 24.31223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.4459155201911926, + "y": 0.3834802210330963, + "z": 0.9020788669586182 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 254.66992994723591, + "ymin": 423.935022195638, + "xmax": 321.5991108755547, + "ymax": 503.90018021600827 + }, + "corners_3d": [ + [ + -51.75516128540039, + 24.32563018798828, + -0.24652856588363647 + ], + [ + -51.24196243286133, + 24.895591735839844, + -0.24652856588363647 + ], + [ + -50.57920455932617, + 24.298839569091797, + -0.24652856588363647 + ], + [ + -51.092403411865234, + 23.728878021240234, + -0.24652856588363647 + ], + [ + -51.75516128540039, + 24.32563018798828, + 1.557629108428955 + ], + [ + -51.24196243286133, + 24.895591735839844, + 1.557629108428955 + ], + [ + -50.57920455932617, + 24.298839569091797, + 1.557629108428955 + ], + [ + -51.092403411865234, + 23.728878021240234, + 1.557629108428955 + ] + ], + "corners_2d": [ + [ + 275.297481118265, + 493.0546438439318 + ], + [ + 299.1057051226187, + 503.90018021600827 + ], + [ + 321.5991108755547, + 478.1469082828157 + ], + [ + 298.10714892256823, + 467.77280341104176 + ], + [ + 254.66992994723591, + 449.6109541774694 + ], + [ + 279.63347715426676, + 460.6450342426236 + ], + [ + 303.8356281442034, + 434.46315700479124 + ], + [ + 279.21609000453407, + 423.935022195638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 899, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 505.68069923293297, + "ymin": 0.0, + "xmax": 631.6681996917685, + "ymax": 23.67567108538708 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 509.3394237933777, + 2.7218964544619553 + ], + [ + 523.39360595869, + 23.67567108538708 + ], + [ + 631.6681996917685, + 2.409184961013011 + ], + [ + 614.8121701425263, + -17.29268470706893 + ], + [ + 505.68069923293297, + -31.738095259560907 + ], + [ + 520.0133191599753, + -11.311386075236271 + ], + [ + 631.3586645037992, + -32.064199360173006 + ], + [ + 614.0645925116314, + -51.23744866001931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.94535639626997, + "ymin": 28.80225897313835, + "xmax": 174.81104319653423, + "ymax": 64.62365950731356 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 174.81104319653423, + 62.75827981307782 + ], + [ + 173.8948761129538, + 56.56284304310998 + ], + [ + 163.94496205367557, + 58.39645718701365 + ], + [ + 164.77755860441238, + 64.62365950731356 + ], + [ + 163.9959771937962, + 34.89705029053516 + ], + [ + 163.15318755950796, + 28.80225897313835 + ], + [ + 152.94535639626997, + 30.605833769083006 + ], + [ + 153.70015513465557, + 36.73260079862081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.3894294349599, + "ymin": 28.42694103795327, + "xmax": 582.7338901446863, + "ymax": 57.952577497798416 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 579.095811545445, + 51.34039338620573 + ], + [ + 571.6860639990075, + 52.85300498092073 + ], + [ + 575.2790961377598, + 57.952577497798416 + ], + [ + 582.7338901446863, + 56.4183517926067 + ], + [ + 577.9423078867513, + 28.42694103795327 + ], + [ + 570.3894294349599, + 29.918801169915298 + ], + [ + 574.0417369206496, + 34.949295130502605 + ], + [ + 581.6414299001067, + 33.43570882341237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.69204533523441, + "ymin": 48.836953484503454, + "xmax": 63.43308522558641, + "ymax": 85.44538869701893 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 63.3967549539575, + 83.47181959756409 + ], + [ + 63.43308522558641, + 76.91913528070631 + ], + [ + 52.91123415854531, + 78.85814825582202 + ], + [ + 52.78134095854716, + 85.44538869701893 + ], + [ + 49.599526649955806, + 55.291680824668276 + ], + [ + 49.76075726307056, + 48.836953484503454 + ], + [ + 38.952031525489815, + 50.74669733254211 + ], + [ + 38.69204533523441, + 57.23627836246533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 243.13622474808682, + "ymin": 12.948809858452933, + "xmax": 263.0378949749191, + "ymax": 48.13753229908713 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 263.0378949749191, + 46.355656500485736 + ], + [ + 261.405691244143, + 40.43607190761185 + ], + [ + 251.89750653499812, + 42.1882824851956 + ], + [ + 253.45356174919743, + 48.13753229908713 + ], + [ + 254.47664938305752, + 18.766164744415278 + ], + [ + 252.88077747405748, + 12.948809858452933 + ], + [ + 243.13622474808682, + 14.670530387052736 + ], + [ + 244.65208048854367, + 20.517699997488705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.0814439145845, + "ymin": 133.9129594399642, + "xmax": 841.2187754272368, + "ymax": 422.1850236798688 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 798.4643353629291, + 381.7593205366837 + ], + [ + 790.8973169381309, + 370.9468063767058 + ], + [ + 665.0814439145845, + 410.52397928174884 + ], + [ + 671.574287006494, + 422.1850236798688 + ], + [ + 841.2187754272368, + 144.49421844098285 + ], + [ + 831.0764392509627, + 133.9129594399642 + ], + [ + 672.0869627317161, + 172.9336122473406 + ], + [ + 680.5162887620721, + 184.58446450393086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.9237079898462, + "ymin": 0.0, + "xmax": 1011.711436439333, + "ymax": 33.31655173866005 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 950.4740630846436, + 33.31655173866005 + ], + [ + 959.3269268190223, + 31.345694411516547 + ], + [ + 908.4060549286786, + -8.283074000217823 + ], + [ + 899.9237079898462, + -6.531148572720724 + ], + [ + 1001.5747281594687, + -168.7722957348269 + ], + [ + 1011.711436439333, + -170.4003403336725 + ], + [ + 949.5377471697456, + -202.81714861450507 + ], + [ + 939.8785556316172, + -201.39676900943334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8822582843068541422, + "instance_id": 61033, + "pixel_count": null, + "type_id": "BP_StreetLight_simple23_SM_2", + "bbox_3d": { + "center_world": { + "x": -59.5562858581543, + "y": 25.261098861694336, + "z": 4.084101676940918 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 353.81269602747807, + "xmax": 14.286464236975007, + "ymax": 659.5751676211119 + }, + "corners_3d": [ + [ + -61.47300338745117, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.480703353881836, + 0.2073829174041748 + ], + [ + -57.63956832885742, + 25.041494369506836, + 0.2073829174041748 + ], + [ + -61.47300338745117, + 25.041494369506836, + 7.960820198059082 + ], + [ + -61.47300338745117, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.480703353881836, + 7.960820198059082 + ], + [ + -57.63956832885742, + 25.041494369506836, + 7.960820198059082 + ] + ], + "corners_2d": [ + [ + -175.02747652435266, + 642.2774825205703 + ], + [ + -178.2426936809237, + 659.5751676211119 + ], + [ + 13.612480461333348, + 599.9567267765151 + ], + [ + 14.286464236975007, + 584.1744098579294 + ], + [ + -469.96410978330255, + 418.3223817836189 + ], + [ + -479.7137950943593, + 437.93085200708856 + ], + [ + -203.165223222107, + 371.131962325436 + ], + [ + -198.63028716020324, + 353.81269602747807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.6142900028909, + "ymin": 175.78096505004876, + "xmax": 701.0222771977387, + "ymax": 192.060248939654 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 700.7857151440711, + 187.63221820179723 + ], + [ + 695.0648301310953, + 179.95056898391633 + ], + [ + 677.6142900028909, + 184.29875236706621 + ], + [ + 683.2050556555672, + 192.060248939654 + ], + [ + 701.0222771977387, + 183.4543504166887 + ], + [ + 695.2771846046061, + 175.78096505004876 + ], + [ + 677.7600988600456, + 180.124404429416 + ], + [ + 683.3740774220386, + 187.87786267549978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 347.8784802217421, + "ymax": 281.6509983194516 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -42.9134721605169, + 272.9814171746551 + ], + [ + -44.07104752160967, + 281.6509983194516 + ], + [ + 347.8784802217421, + 193.73758414335092 + ], + [ + 345.6630592282223, + 186.60095945993015 + ], + [ + -219.44774345911037, + 17.536977833922833 + ], + [ + -222.97153050930467, + 25.488009768563245 + ], + [ + 280.24080921228125, + -53.41164072695295 + ], + [ + 278.21047724853173, + -59.65227520274806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.4897789746682, + "ymin": 175.69402705679363, + "xmax": 701.149516930038, + "ymax": 192.1485549294006 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 700.9099129693154, + 187.6724189816104 + ], + [ + 695.1270076910216, + 179.90838682270757 + ], + [ + 677.4897789746682, + 184.30294791283646 + ], + [ + 683.1397521646091, + 192.1485549294006 + ], + [ + 701.149516930038, + 183.44961530520638 + ], + [ + 695.3418755172365, + 175.69402705679363 + ], + [ + 677.636667494973, + 180.08374034147482 + ], + [ + 683.3103496796402, + 187.92113633258552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 472.07346787238066, + "ymin": 0.0, + "xmax": 595.7296235737867, + "ymax": 123.00867826658288 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 584.7804186614904, + 123.00867826658288 + ], + [ + 595.7296235737867, + 120.60659536641703 + ], + [ + 505.1607219866993, + -17.493998975078398 + ], + [ + 495.9181631035792, + -15.865143222256506 + ], + [ + 573.2708957341399, + -114.21727173011953 + ], + [ + 586.5363331039981, + -116.24230439299288 + ], + [ + 482.9110832525006, + -228.48201273952782 + ], + [ + 472.07346787238066, + -227.20440314926964 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00060/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00060/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36bcd94a30b9600a2344bfee8168cea68f9eaa84 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00060/meta.json @@ -0,0 +1,1827 @@ +{ + "frame_id": 60, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 30.0, + "sim_timestamp": 12391.586870341795 + }, + "drone_pose": { + "x": -47.85317271854908, + "y": 40.18167641506585, + "z": 20.00001574930226, + "pitch": -46.30644948449943, + "yaw": -66.92712085123074, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27072596549987793, + 0.6355419158935547, + 0.7230448722839355, + 24.031322479248047 + ], + [ + -0.9200071096420288, + 0.3919016122817993, + -2.9802322387695312e-08, + 28.27799415588379 + ], + [ + -0.283362478017807, + -0.6652064323425293, + 0.6908010244369507, + -54.10493469238281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.559893009117374, + "y": 39.69401676602928, + "z": 20.000010620037173 + }, + "t1_image_uv": [ + 834.0681033109445, + -644.7907285837949 + ], + "t1_depth": 0.3893302919234233 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.66718292236328, + "y": 23.312236785888672, + "z": 0.8079477441310883 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999983 + ], + "depth": 26.5433968637862, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.66718292236328, + "y": 23.31223487854004, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.3127172589302063, + "y": 0.22157467901706696, + "z": 0.5572119355201721 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.0976161195073, + "ymin": 336.198158976791, + "xmax": 651.7725997187606, + "ymax": 383.54252407741427 + }, + "corners_3d": [ + [ + -41.04498291015625, + 23.37668228149414, + 0.2507358193397522 + ], + [ + -40.731632232666016, + 23.69003677368164, + 0.2507358193397522 + ], + [ + -40.28938293457031, + 23.247787475585938, + 0.2507358193397522 + ], + [ + -40.60273361206055, + 22.934432983398438, + 0.2507358193397522 + ], + [ + -41.04498291015625, + 23.37668228149414, + 1.3651597499847412 + ], + [ + -40.731632232666016, + 23.69003677368164, + 1.3651597499847412 + ], + [ + -40.28938293457031, + 23.247787475585938, + 1.3651597499847412 + ], + [ + -40.60273361206055, + 22.934432983398438, + 1.3651597499847412 + ] + ], + "corners_2d": [ + [ + 628.4554368285594, + 379.156501300011 + ], + [ + 643.1929567012745, + 383.54252407741427 + ], + [ + 651.4224234877745, + 368.32780418763815 + ], + [ + 636.8674502638031, + 364.07033727165395 + ], + [ + 628.0976161195073, + 351.322213132685 + ], + [ + 643.2923586570274, + 355.7218437646869 + ], + [ + 651.7725997187606, + 340.4649203197054 + ], + [ + 636.7718318421054, + 336.198158976791 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 60, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 430054, + "2": 252992, + "3": 208443, + "6": 5402, + "7": 1119, + "10": 695, + "12": 1649, + "14": 3283, + "20": 3392, + "24": 14571 + }, + "instance_pixel_counts": { + "6215": 163531, + "6802": 4046, + "7314": 44880, + "8338": 5593, + "8850": 244, + "9356": 40, + "9362": 2921, + "18000": 377, + "18512": 2918, + "21652": 53931, + "22676": 176412, + "23700": 15459, + "24212": 44600, + "24724": 115962, + "25856": 1537, + "26624": 2704, + "33370": 1848, + "35988": 4693, + "36500": 4953, + "37524": 528, + "38036": 2984, + "38548": 1216, + "39052": 1558, + "39564": 15177, + "39770": 2791, + "40265": 97, + "40588": 1204, + "41100": 1113, + "41612": 12685, + "41818": 55386, + "42074": 148418, + "56576": 214, + "56832": 232, + "57088": 670, + "57344": 533, + "59904": 3283, + "61569": 2280, + "62613": 114, + "63123": 9212, + "64661": 83, + "65171": 14478 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.66718292236328, + "y": 23.31223487854004, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.22804440557956696, + "y": 0.2223266363143921, + "z": 0.5587953329086304 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.2614982075581, + "ymin": 338.1707322619419, + "xmax": 650.6657452731331, + "ymax": 381.50179440714516 + }, + "corners_3d": [ + [ + -40.98564147949219, + 23.3162784576416, + 0.24915242195129395 + ], + [ + -40.671226501464844, + 23.630695343017578, + 0.24915242195129395 + ], + [ + -40.348724365234375, + 23.308191299438477, + 0.24915242195129395 + ], + [ + -40.66313934326172, + 22.9937744140625, + 0.24915242195129395 + ], + [ + -40.98564147949219, + 23.3162784576416, + 1.3667430877685547 + ], + [ + -40.671226501464844, + 23.630695343017578, + 1.3667430877685547 + ], + [ + -40.348724365234375, + 23.308191299438477, + 1.3667430877685547 + ], + [ + -40.66313934326172, + 22.9937744140625, + 1.3667430877685547 + ] + ], + "corners_2d": [ + [ + 629.5845763648401, + 377.1187466853292 + ], + [ + 644.3464402473239, + 381.50179440714516 + ], + [ + 650.3469636177088, + 370.4068789309984 + ], + [ + 635.7186579502655, + 366.1178866858102 + ], + [ + 629.2614982075581, + 349.19927699871965 + ], + [ + 644.4818596395329, + 353.59540720728137 + ], + [ + 650.6657452731331, + 342.4696423598321 + ], + [ + 635.5873275864831, + 338.1707322619419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 232, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.541194915771484, + "y": 26.309940338134766, + "z": 0.8052475452423096 + }, + "extent": { + "x": 0.24559447169303894, + "y": 0.2614990174770355, + "z": 0.5242871642112732 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.0208384384779, + "ymin": 369.35292673655965, + "xmax": 838.7736463411647, + "ymax": 411.992218465536 + }, + "corners_3d": [ + [ + -36.89710998535156, + 26.35492515563965, + 0.2809603810310364 + ], + [ + -36.473995208740234, + 26.662336349487305, + 0.2809603810310364 + ], + [ + -36.185279846191406, + 26.264955520629883, + 0.2809603810310364 + ], + [ + -36.608394622802734, + 25.957544326782227, + 0.2809603810310364 + ], + [ + -36.89710998535156, + 26.35492515563965, + 1.3295347690582275 + ], + [ + -36.473995208740234, + 26.662336349487305, + 1.3295347690582275 + ], + [ + -36.185279846191406, + 26.264955520629883, + 1.3295347690582275 + ], + [ + -36.608394622802734, + 25.957544326782227, + 1.3295347690582275 + ] + ], + "corners_2d": [ + [ + 812.0208384384779, + 408.70844195938236 + ], + [ + 831.4287610290767, + 411.992218465536 + ], + [ + 833.0350145802494, + 398.68362521602404 + ], + [ + 813.8658230465505, + 395.48190967633013 + ], + [ + 817.1853555829217, + 382.63436965042007 + ], + [ + 837.194408302883, + 385.93333050920967 + ], + [ + 838.7736463411647, + 372.56701615490164 + ], + [ + 819.0182553316329, + 369.35292673655965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 670, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.92300796508789, + "y": 30.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3644042909145355, + "y": 0.4831274449825287, + "z": 0.9104200601577759 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 643.0447451000575, + "ymin": 556.847525360289, + "xmax": 695.5330456534456, + "ymax": 638.0060828576038 + }, + "corners_3d": [ + [ + -43.525875091552734, + 30.202476501464844, + -0.2548697590827942 + ], + [ + -42.80780792236328, + 30.849027633666992, + -0.2548697590827942 + ], + [ + -42.32014083862305, + 30.307418823242188, + -0.2548697590827942 + ], + [ + -43.0382080078125, + 29.66086769104004, + -0.2548697590827942 + ], + [ + -43.525875091552734, + 30.202476501464844, + 1.5659704208374023 + ], + [ + -42.80780792236328, + 30.849027633666992, + 1.5659704208374023 + ], + [ + -42.32014083862305, + 30.307418823242188, + 1.5659704208374023 + ], + [ + -43.0382080078125, + 29.66086769104004, + 1.5659704208374023 + ] + ], + "corners_2d": [ + [ + 643.0447451000575, + 625.4719192480455 + ], + [ + 683.0636323830597, + 638.0060828576038 + ], + [ + 692.2718302236113, + 610.7552259157557 + ], + [ + 653.0068543027201, + 598.7454400723813 + ], + [ + 643.2370725485576, + 584.304886143041 + ], + [ + 685.8123874645651, + 597.2069734393006 + ], + [ + 695.5330456534456, + 569.176716807014 + ], + [ + 653.8101044791002, + 556.847525360289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 533, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -50.16718292236328, + "y": 23.31223487854004, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.4029028117656708, + "y": 0.2847851514816284, + "z": 0.8707689642906189 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 261.9747753337917, + "ymin": 434.4484345404047, + "xmax": 319.2896755094837, + "ymax": 507.6748695295631 + }, + "corners_3d": [ + [ + -50.65715789794922, + 23.370193481445312, + -0.21521377563476562 + ], + [ + -50.276039123535156, + 23.793466567993164, + -0.21521377563476562 + ], + [ + -49.677207946777344, + 23.254276275634766, + -0.21521377563476562 + ], + [ + -50.058326721191406, + 22.831003189086914, + -0.21521377563476562 + ], + [ + -50.65715789794922, + 23.370193481445312, + 1.5263241529464722 + ], + [ + -50.276039123535156, + 23.793466567993164, + 1.5263241529464722 + ], + [ + -49.677207946777344, + 23.254276275634766, + 1.5263241529464722 + ], + [ + -50.058326721191406, + 22.831003189086914, + 1.5263241529464722 + ] + ], + "corners_2d": [ + [ + 281.3707870673034, + 499.8875370084392 + ], + [ + 299.272909672942, + 507.6748695295631 + ], + [ + 319.2896755094837, + 484.2925336032628 + ], + [ + 301.6158306263307, + 476.8169595980885 + ], + [ + 261.9747753337917, + 457.8481501133801 + ], + [ + 280.71291934637475, + 465.7581009745831 + ], + [ + 302.19336230765373, + 442.0250767682158 + ], + [ + 283.7031177890896, + 434.4484345404047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 3283, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 482.7918531810411, + "ymin": 0.0, + "xmax": 611.5386522209086, + "ymax": 47.266559997095044 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 487.0983291872458, + 25.71332576384401 + ], + [ + 501.35533900589996, + 47.266559997095044 + ], + [ + 611.5386522209086, + 24.48682224040971 + ], + [ + 594.3962723142191, + 4.300476026365118 + ], + [ + 482.7918531810411, + -8.860305024683555 + ], + [ + 497.3129234510735, + 12.161407924527907 + ], + [ + 610.6707121265748, + -10.077173471199501 + ], + [ + 593.0970519215371, + -29.729431369128292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.32154080193186, + "ymin": 61.96600938815175, + "xmax": 137.61884298437803, + "ymax": 98.56401236681256 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 137.61884298437803, + 96.50544251952806 + ], + [ + 136.82754074528708, + 89.95815805110044 + ], + [ + 126.46364750519024, + 91.98047632653828 + ], + [ + 127.1645412143132, + 98.56401236681256 + ], + [ + 125.6658047141616, + 68.41370783332695 + ], + [ + 124.96390363581145, + 61.96600938815175 + ], + [ + 114.32154080193186, + 63.95727844546144 + ], + [ + 114.9280743639248, + 70.44152624123723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.5341874473204, + "ymin": 54.68961747575179, + "xmax": 560.5649180444906, + "ymax": 84.63015271448802 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 556.8574439377085, + 77.70509491974587 + ], + [ + 549.2789452261586, + 79.34178984694324 + ], + [ + 552.9395345044695, + 84.63015271448802 + ], + [ + 560.5649180444906, + 82.96949284387136 + ], + [ + 555.2621200724129, + 54.68961747575179 + ], + [ + 547.5341874473204, + 56.30465037367753 + ], + [ + 551.2527131150199, + 61.5239804377905 + ], + [ + 559.0294122739263, + 59.88484043151533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 84.13242013697447, + "xmax": 21.534035108606076, + "ymax": 121.59960377986889 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 21.29069878835162, + 119.41166330698726 + ], + [ + 21.534035108606076, + 112.45541085656211 + ], + [ + 10.524849149009924, + 114.60364555037674 + ], + [ + 10.179395939367623, + 121.59960377986889 + ], + [ + 6.103861811580487, + 90.99285868180294 + ], + [ + 6.494713761594312, + 84.13242013697447 + ], + [ + -4.826666617145861, + 86.25073838509712 + ], + [ + -5.325528939529477, + 93.15129673582663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.1982756901349, + "ymin": 44.49839490866498, + "xmax": 229.36182241477667, + "ymax": 80.39966117719825 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 229.36182241477667, + 78.44033211527363 + ], + [ + 227.7989392620891, + 72.20691981303912 + ], + [ + 217.9304173507847, + 74.13257602443349 + ], + [ + 219.41150957286504, + 80.39966117719825 + ], + [ + 219.83521784738218, + 50.629945521821526 + ], + [ + 218.32039047653137, + 44.49839490866498 + ], + [ + 208.1982756901349, + 46.39232180812837 + ], + [ + 209.62701412491623, + 52.55776323944008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.5034012055794, + "ymin": 171.17180488537088, + "xmax": 823.3691487481944, + "ymax": 464.2407831453333 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 783.6195403265372, + 419.73450609050514 + ], + [ + 775.7645786863068, + 408.3671382883289 + ], + [ + 646.5034012055794, + 451.9085614263988 + ], + [ + 653.2332633002595, + 464.2407831453333 + ], + [ + 823.3691487481944, + 182.4166009880365 + ], + [ + 812.829388401894, + 171.17180488537088 + ], + [ + 648.3733915715258, + 214.60706330425083 + ], + [ + 657.0936294261312, + 227.09001610167988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.1396890963837, + "ymin": 0.0, + "xmax": 993.6913683607077, + "ymax": 54.030960228164645 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 934.6901091452312, + 54.030960228164645 + ], + [ + 943.6038881663235, + 51.931892640838726 + ], + [ + 891.6825613436602, + 11.538426282744297 + ], + [ + 883.1396890963837, + 13.400832616234936 + ], + [ + 983.4777425793219, + -148.46988431690374 + ], + [ + 993.6913683607077, + -150.20666242531752 + ], + [ + 930.42646732295, + -183.29531362578575 + ], + [ + 920.6911171877023, + -181.78350067817155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.3453428125281, + "ymin": 216.98526950006084, + "xmax": 678.5298888745144, + "ymax": 234.33871124357256 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 678.3761795866577, + 229.3913043010541 + ], + [ + 672.4515488013011, + 221.1750445131989 + ], + [ + 654.3453428125281, + 226.02963285999706 + ], + [ + 660.1307433996049, + 234.33871124357256 + ], + [ + 678.5298888745144, + 225.19452727520647 + ], + [ + 672.58030151471, + 216.98526950006084 + ], + [ + 654.4025788222516, + 221.83564599160837 + ], + [ + 660.2118318360893, + 230.13801610846016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 320.4964060839249, + "ymax": 322.91373745652254 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -85.70687377525098, + 313.6989445522772 + ], + [ + -87.13222097660298, + 322.91373745652254 + ], + [ + 320.4964060839249, + 226.0309175579924 + ], + [ + 318.2840424692765, + 218.5617094567722 + ], + [ + -279.3379256843722, + 56.62320365448153 + ], + [ + -283.5124780975183, + 65.18776151376 + ], + [ + 244.8895978257426, + -22.713461068464767 + ], + [ + 242.95955763771542, + -29.298456364226865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.2167031837643, + "ymin": 216.89266698189633, + "xmax": 678.6613520026159, + "ymax": 234.4329217702781 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 678.5054602123407, + 229.43175299022698 + ], + [ + 672.5165764154162, + 221.12742413615308 + ], + [ + 654.2167031837643, + 226.03376632165643 + ], + [ + 660.0633472153265, + 234.4329217702781 + ], + [ + 678.6613520026159, + 225.18984070667514 + ], + [ + 672.6469663294924, + 216.89266698189633 + ], + [ + 654.2740357907201, + 221.79470465437316 + ], + [ + 660.1450415072711, + 230.18700830664733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 445.67106411831077, + "ymin": 0.0, + "xmax": 575.0205615195106, + "ymax": 149.86334107035157 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 563.8363052579596, + 149.86334107035157 + ], + [ + 575.0205615195106, + 147.26508544965333 + ], + [ + 482.9046483329444, + 4.885868790885866 + ], + [ + 473.4885138086339, + 6.632946435115457 + ], + [ + 547.7229530488013, + -88.63610055384834 + ], + [ + 561.3277935039089, + -90.83775413868915 + ], + [ + 456.7423657708215, + -207.00047273026792 + ], + [ + 445.67106411831077, + -205.62649316610623 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00061/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00061/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f06e2381a17da684c25681181f89dd4f1ca5655 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00061/meta.json @@ -0,0 +1,1722 @@ +{ + "frame_id": 61, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 30.5, + "sim_timestamp": 12401.164424038725 + }, + "drone_pose": { + "x": -47.559893009117374, + "y": 39.69401676602928, + "z": 20.000010620037173, + "pitch": -46.16117134938136, + "yaw": -66.35088002262457, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2778385877609253, + 0.6344643831253052, + 0.7212910056114197, + 23.972583770751953 + ], + [ + -0.9160192012786865, + 0.4011344313621521, + 2.9802322387695312e-08, + 27.643138885498047 + ], + [ + -0.2893347144126892, + -0.6607164144515991, + 0.6926321983337402, + -53.83986282348633 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.317609743512456, + "y": 39.20021819910238, + "z": 20.000007052561774 + }, + "t1_image_uv": [ + 700.1714950598359, + -639.7086826124932 + ], + "t1_depth": 0.38061579906906046 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 22.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.60792640458684, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 22.81223487854004, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2929443418979645, + "y": 0.18847045302391052, + "z": 0.5579452514648438 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.4245823131934, + "ymin": 336.96412259843515, + "xmax": 650.6836616966374, + "ymax": 382.7531924437569 + }, + "corners_3d": [ + [ + -40.35565185546875, + 23.105178833007812, + 0.25000739097595215 + ], + [ + -39.97871398925781, + 23.105178833007812, + 0.25000739097595215 + ], + [ + -39.97871398925781, + 22.519290924072266, + 0.25000739097595215 + ], + [ + -40.35565185546875, + 22.519290924072266, + 0.25000739097595215 + ], + [ + -40.35565185546875, + 23.105178833007812, + 1.3658978939056396 + ], + [ + -39.97871398925781, + 23.105178833007812, + 1.3658978939056396 + ], + [ + -39.97871398925781, + 22.519290924072266, + 1.3658978939056396 + ], + [ + -40.35565185546875, + 22.519290924072266, + 1.3658978939056396 + ] + ], + "corners_2d": [ + [ + 638.0230674915348, + 382.7531924437569 + ], + [ + 650.3637180170005, + 378.76903618240055 + ], + [ + 641.9423111202583, + 364.874799276713 + ], + [ + 629.7381692104076, + 368.75078654752906 + ], + [ + 637.9617904470971, + 354.8845637404442 + ], + [ + 650.6836616966374, + 350.88935532159746 + ], + [ + 642.0014303077959, + 336.96412259843515 + ], + [ + 629.4245823131934, + 340.84757731233384 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 61, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 430341, + "2": 240696, + "3": 219648, + "6": 5508, + "7": 807, + "10": 681, + "12": 1627, + "14": 3941, + "20": 3326, + "24": 15025 + }, + "instance_pixel_counts": { + "6215": 161950, + "6802": 4191, + "7314": 44177, + "8338": 5728, + "9356": 10, + "18000": 392, + "18512": 2837, + "21652": 55912, + "22676": 172210, + "23700": 17891, + "24212": 43519, + "24724": 112896, + "25856": 1723, + "26624": 2243, + "33370": 1773, + "35988": 4876, + "36500": 4829, + "37524": 643, + "38036": 3070, + "38548": 1066, + "39052": 1602, + "39564": 14902, + "39770": 2590, + "40265": 97, + "40588": 1250, + "41100": 439, + "41612": 6447, + "41818": 59561, + "42074": 155724, + "56576": 206, + "56832": 223, + "57088": 607, + "57344": 591, + "59904": 3941, + "61569": 2349, + "62613": 272, + "63123": 12683, + "64659": 18, + "64661": 269, + "65171": 15212 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 22.81223487854004, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26314330101013184, + "y": 0.25368285179138184, + "z": 0.5479049682617188 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.6690974379268, + "ymin": 337.2519584324674, + "xmax": 652.4219463636076, + "ymax": 382.4797893556018 + }, + "corners_3d": [ + [ + -40.42086410522461, + 23.07537841796875, + 0.26004767417907715 + ], + [ + -39.91350173950195, + 23.07537841796875, + 0.26004767417907715 + ], + [ + -39.91350173950195, + 22.549091339111328, + 0.26004767417907715 + ], + [ + -40.42086410522461, + 22.549091339111328, + 0.26004767417907715 + ], + [ + -40.42086410522461, + 23.07537841796875, + 1.3558576107025146 + ], + [ + -39.91350173950195, + 23.07537841796875, + 1.3558576107025146 + ], + [ + -39.91350173950195, + 22.549091339111328, + 1.3558576107025146 + ], + [ + -40.42086410522461, + 22.549091339111328, + 1.3558576107025146 + ] + ], + "corners_2d": [ + [ + 635.4513116483582, + 382.4797893556018 + ], + [ + 652.0570448121352, + 377.12444129866657 + ], + [ + 644.4693387288472, + 364.6601081386895 + ], + [ + 628.0287455191306, + 369.8846336200546 + ], + [ + 635.312900360141, + 355.112801303667 + ], + [ + 652.4219463636076, + 349.7430916287849 + ], + [ + 644.6028938712034, + 337.2519584324674 + ], + [ + 627.6690974379268, + 342.4865894071793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 25.809940338134766, + "z": 0.8055355548858643 + }, + "extent": { + "x": 0.23167726397514343, + "y": 0.23859986662864685, + "z": 0.5269966125488281 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.0840459483727, + "ymin": 367.09592998180403, + "xmax": 840.3906941965488, + "ymax": 411.19561436850523 + }, + "corners_3d": [ + [ + -36.24061584472656, + 26.07608985900879, + 0.27853894233703613 + ], + [ + -35.769290924072266, + 26.001440048217773, + 0.27853894233703613 + ], + [ + -35.841773986816406, + 25.543790817260742, + 0.27853894233703613 + ], + [ + -36.3130989074707, + 25.618440628051758, + 0.27853894233703613 + ], + [ + -36.24061584472656, + 26.07608985900879, + 1.3325321674346924 + ], + [ + -35.769290924072266, + 26.001440048217773, + 1.3325321674346924 + ], + [ + -35.841773986816406, + 25.543790817260742, + 1.3325321674346924 + ], + [ + -36.3130989074707, + 25.618440628051758, + 1.3325321674346924 + ] + ], + "corners_2d": [ + [ + 821.0773995182617, + 411.19561436850523 + ], + [ + 834.5734231228096, + 404.0399555204832 + ], + [ + 823.5163219757044, + 393.37989736061394 + ], + [ + 810.0840459483727, + 400.38964865218566 + ], + [ + 826.5294047677141, + 384.98114391873975 + ], + [ + 840.3906941965488, + 377.79537823825603 + ], + [ + 828.9453187415113, + 367.09592998180403 + ], + [ + 815.150830640769, + 374.13084751341563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 607, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 29.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.326416015625, + "y": 0.4746496379375458, + "z": 0.8863043189048767 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 646.3463437493907, + "ymin": 555.959656538648, + "xmax": 698.957109476071, + "ymax": 636.2268743005491 + }, + "corners_3d": [ + [ + -42.87992477416992, + 30.105756759643555, + -0.23075401782989502 + ], + [ + -41.93192672729492, + 30.056074142456055, + -0.23075401782989502 + ], + [ + -41.96609115600586, + 29.404138565063477, + -0.23075401782989502 + ], + [ + -42.91408920288086, + 29.453821182250977, + -0.23075401782989502 + ], + [ + -42.87992477416992, + 30.105756759643555, + 1.5418546199798584 + ], + [ + -41.93192672729492, + 30.056074142456055, + 1.5418546199798584 + ], + [ + -41.96609115600586, + 29.404138565063477, + 1.5418546199798584 + ], + [ + -42.91408920288086, + 29.453821182250977, + 1.5418546199798584 + ] + ], + "corners_2d": [ + [ + 659.2541590206799, + 636.2268743005491 + ], + [ + 695.5723917183029, + 619.3306758980707 + ], + [ + 682.185154609551, + 596.8905259665613 + ], + [ + 646.3463437493907, + 613.1859105857435 + ], + [ + 660.4435712960096, + 596.3435486829342 + ], + [ + 698.957109476071, + 578.9785673577776 + ], + [ + 684.7059730537645, + 555.959656538648 + ], + [ + 646.7308763261344, + 572.6703532026153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 591, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 22.81223487854004, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3046533167362213, + "y": 0.5135827660560608, + "z": 0.9051740169525146 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 260.4449913105951, + "ymin": 436.44231229573154, + "xmax": 324.1108551376915, + "ymax": 510.1432366462233 + }, + "corners_3d": [ + [ + -50.196006774902344, + 23.08959197998047, + -0.24962371587753296 + ], + [ + -49.170249938964844, + 23.143348693847656, + -0.24962371587753296 + ], + [ + -49.13835906982422, + 22.53487777709961, + -0.24962371587753296 + ], + [ + -50.16411590576172, + 22.481121063232422, + -0.24962371587753296 + ], + [ + -50.196006774902344, + 23.08959197998047, + 1.5607242584228516 + ], + [ + -49.170249938964844, + 23.143348693847656, + 1.5607242584228516 + ], + [ + -49.13835906982422, + 22.53487777709961, + 1.5607242584228516 + ], + [ + -50.16411590576172, + 22.481121063232422, + 1.5607242584228516 + ] + ], + "corners_2d": [ + [ + 283.06010185632095, + 510.1432366462233 + ], + [ + 324.1108551376915, + 498.4442884637483 + ], + [ + 320.8570086657786, + 480.5040808744289 + ], + [ + 280.426945103645, + 491.83529323334506 + ], + [ + 262.8854077163414, + 466.5250233658755 + ], + [ + 306.44821316915034, + 454.64053328151414 + ], + [ + 303.30916961172, + 436.44231229573154 + ], + [ + 260.4449913105951, + 447.9327577877521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 3941, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 470.03022316827594, + "ymin": 0.0, + "xmax": 600.3951476473079, + "ymax": 57.456696006240804 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 474.71415174083154, + 35.56939720351261 + ], + [ + 489.17400714582243, + 57.456696006240804 + ], + [ + 600.3951476473079, + 33.7101210646797 + ], + [ + 583.0176836589108, + 13.258597985577069 + ], + [ + 470.03022316827594, + 0.8799985077798738 + ], + [ + 484.7493189806619, + 22.236559492273898 + ], + [ + 599.2117935004273, + -0.9543176248629948 + ], + [ + 581.4038627333404, + -20.8716031056793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.19056633997218, + "ymin": 77.82832814820114, + "xmax": 117.37249705310091, + "ymax": 114.91521653918494 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 117.37249705310091, + 112.73255344355385 + ], + [ + 116.6159440722721, + 105.98155588569514 + ], + [ + 106.01310917277135, + 108.12517330912266 + ], + [ + 106.67558872334632, + 114.91521653918494 + ], + [ + 104.74353968847663, + 84.48142359624859 + ], + [ + 104.08489250977664, + 77.82832814820114 + ], + [ + 93.19056633997218, + 79.94054657645631 + ], + [ + 93.74985850442738, + 86.63305114836135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 535.2724365693476, + "ymin": 66.24308363186924, + "xmax": 548.7032380144941, + "ymax": 96.44750010663978 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 544.935851830091, + 89.34141374485966 + ], + [ + 537.2670854449802, + 91.05637893968338 + ], + [ + 540.9868246885017, + 96.44750010663978 + ], + [ + 548.7032380144941, + 94.70716830569796 + ], + [ + 543.0945141733569, + 66.24308363186924 + ], + [ + 535.2724365693476, + 67.93595753955259 + ], + [ + 539.049938159955, + 73.25863797147673 + ], + [ + 546.9216036646179, + 71.54023314855527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.1953608202939, + "ymin": 59.3224977492481, + "xmax": 211.13133764351795, + "ymax": 95.67447499038974 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 211.13133764351795, + 93.60154147938414 + ], + [ + 209.57385039761584, + 87.1880027071353 + ], + [ + 199.49944742651144, + 89.22478526913613 + ], + [ + 200.97219940225688, + 95.67447499038974 + ], + [ + 201.0376895352204, + 65.63533820023906 + ], + [ + 199.53421073203697, + 59.3224977492481 + ], + [ + 189.1953608202939, + 61.32701942165073 + ], + [ + 190.60955297688344, + 67.67628056498813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 636.990976208657, + "ymin": 188.44157159471146, + "xmax": 815.0055392360767, + "ymax": 484.3251711805648 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 776.6136389947756, + 437.36247406216427 + ], + [ + 768.573495205639, + 425.7162265341073 + ], + [ + 637.6720936751746, + 471.6471676577388 + ], + [ + 644.5695361679019, + 484.3251711805648 + ], + [ + 815.0055392360767, + 200.03819521896955 + ], + [ + 804.2069420960485, + 188.44157159471146 + ], + [ + 636.990976208657, + 234.58961325413532 + ], + [ + 645.9263079605448, + 247.5247443076081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.8274393069269, + "ymin": 0.0, + "xmax": 983.8541810248541, + "ymax": 62.17897585585939 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 926.0043135908779, + 62.17897585585939 + ], + [ + 934.9407362265266, + 60.0003092508382 + ], + [ + 882.3957455541641, + 19.234076643368383 + ], + [ + 873.8274393069269, + 21.165922141283374 + ], + [ + 973.6079919892463, + -140.8289422620844 + ], + [ + 983.8541810248541, + -142.63429412392702 + ], + [ + 919.8907311264368, + -176.07468311263938 + ], + [ + 910.1195319924809, + -174.50445012028376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.1994701639168, + "ymin": 236.66667713320845, + "xmax": 667.8268271669989, + "ymax": 254.64014136845984 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 667.7139000727234, + 249.37295968384905 + ], + [ + 661.6423560000445, + 240.86770071195087 + ], + [ + 643.1994701639168, + 246.03429775652137 + ], + [ + 649.1277956095066, + 254.64014136845984 + ], + [ + 667.8268271669989, + 245.16585153648504 + ], + [ + 661.7296960763183, + 236.66667713320845 + ], + [ + 643.2124580367054, + 241.8294990538654 + ], + [ + 649.1652103000198, + 250.42959736927398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 305.91369935574755, + "ymax": 343.9518678033889 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -109.06633347077059, + 334.4223322756628 + ], + [ + -110.59956827280064, + 343.9518678033889 + ], + [ + 305.91369935574755, + 241.36504427431868 + ], + [ + 303.6705253657028, + 233.71179140510162 + ], + [ + -313.1352215510168, + 76.31187634930023 + ], + [ + -317.6383094250982, + 85.24853446559644 + ], + [ + 225.68072107674834, + -8.515703257507994 + ], + [ + 223.76711089817138, + -15.301017587925571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.0684702518677, + "ymin": 236.57080400148612, + "xmax": 667.960693025631, + "ymax": 254.7377591632458 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 667.8460029405547, + 249.41333472818246 + ], + [ + 661.7086090268971, + 240.81693781980658 + ], + [ + 643.0684702518677, + 246.0386016996788 + ], + [ + 649.0595498112884, + 254.7377591632458 + ], + [ + 667.960693025631, + 245.16098283602875 + ], + [ + 661.7971528781281, + 236.57080400148612 + ], + [ + 643.0810602778727, + 241.78860930115565 + ], + [ + 649.0970879968847, + 250.48189903588434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.7517124364293, + "ymin": 0.0, + "xmax": 563.9666397718838, + "ymax": 161.83248713524853 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 552.6591019250606, + 161.83248713524853 + ], + [ + 563.9666397718838, + 159.11115688681176 + ], + [ + 470.43195065281805, + 14.388409666064604 + ], + [ + 460.91793194092867, + 16.211894963678674 + ], + [ + 533.9818899482875, + -77.67646922625107 + ], + [ + 547.7744187461545, + -79.99102067904983 + ], + [ + 441.96109822266794, + -198.42231317452627 + ], + [ + 430.7517124364293, + -196.98485726832882 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00062/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00062/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a72ec59375d916552c8581f0be35b341ee220049 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00062/meta.json @@ -0,0 +1,1826 @@ +{ + "frame_id": 62, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.0, + "sim_timestamp": 12411.016569215106 + }, + "drone_pose": { + "x": -47.317609743512456, + "y": 39.20021819910238, + "z": 20.000007052561774, + "pitch": -46.30148992654599, + "yaw": -67.05204111355357, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2693641781806946, + 0.6361882090568542, + 0.7229850888252258, + 23.224679946899414 + ], + [ + -0.9208593964576721, + 0.38989490270614624, + -2.9802322387695312e-08, + 28.28890037536621 + ], + [ + -0.2818881869316101, + -0.6657676696777344, + 0.6908636093139648, + -53.25379180908203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.13295355971183, + "y": 38.72865468271975, + "z": 20.000004606221342 + }, + "t1_image_uv": [ + 602.0720132040877, + -644.6251986245347 + ], + "t1_depth": 0.34974469008591597 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 22.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.545573507282192, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 22.31223487854004, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.25400876998901367, + "y": 0.2790271043777466, + "z": 0.5603922009468079 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.9697645580187, + "ymin": 336.89198316625317, + "xmax": 653.1166402415371, + "ymax": 382.816592747756 + }, + "corners_3d": [ + [ + -40.44620895385742, + 22.56624412536621, + 0.24756044149398804 + ], + [ + -39.88815689086914, + 22.56624412536621, + 0.24756044149398804 + ], + [ + -39.88815689086914, + 22.058225631713867, + 0.24756044149398804 + ], + [ + -40.44620895385742, + 22.058225631713867, + 0.24756044149398804 + ], + [ + -40.44620895385742, + 22.56624412536621, + 1.368344783782959 + ], + [ + -39.88815689086914, + 22.56624412536621, + 1.368344783782959 + ], + [ + -39.88815689086914, + 22.058225631713867, + 1.368344783782959 + ], + [ + -40.44620895385742, + 22.058225631713867, + 1.368344783782959 + ] + ], + "corners_2d": [ + [ + 634.3253939446163, + 382.816592747756 + ], + [ + 652.7210016756545, + 377.06748418318205 + ], + [ + 645.5757209771541, + 364.92184161554576 + ], + [ + 627.3602838311748, + 370.5347003656626 + ], + [ + 634.1478826637481, + 354.83413125950267 + ], + [ + 653.1166402415371, + 349.0676641169099 + ], + [ + 645.7470078695936, + 336.89198316625317 + ], + [ + 626.9697645580187, + 342.51760481610864 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 62, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 40, + "semantic_pixel_counts": { + "1": 432747, + "2": 239024, + "3": 218333, + "6": 5743, + "7": 831, + "10": 677, + "12": 1645, + "14": 4035, + "20": 3243, + "24": 15322 + }, + "instance_pixel_counts": { + "6215": 160727, + "6802": 4331, + "7314": 43604, + "8338": 5935, + "9356": 65, + "18000": 402, + "18512": 2742, + "21652": 57340, + "22676": 169959, + "23700": 19350, + "24212": 44765, + "24724": 111152, + "25856": 1839, + "26624": 2316, + "33370": 1725, + "35988": 5023, + "36500": 4696, + "37524": 708, + "38036": 3175, + "38548": 1104, + "39052": 1665, + "39564": 14669, + "39770": 811, + "40265": 99, + "40588": 1308, + "41100": 571, + "41612": 6149, + "41818": 64834, + "42074": 150963, + "56576": 215, + "56832": 241, + "57088": 614, + "57344": 575, + "59904": 4035, + "61569": 2419, + "62613": 316, + "63123": 13465, + "64659": 111, + "64661": 300, + "65171": 16605 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 22.31223487854004, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2833898961544037, + "y": 0.2889196574687958, + "z": 0.5490388870239258 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.2296376712317, + "ymin": 336.3904768925998, + "xmax": 653.8786513856885, + "ymax": 383.3637620223311 + }, + "corners_3d": [ + [ + -40.45610427856445, + 22.595624923706055, + 0.2589137554168701 + ], + [ + -39.87826156616211, + 22.595624923706055, + 0.2589137554168701 + ], + [ + -39.87826156616211, + 22.028844833374023, + 0.2589137554168701 + ], + [ + -40.45610427856445, + 22.028844833374023, + 0.2589137554168701 + ], + [ + -40.45610427856445, + 22.595624923706055, + 1.3569915294647217 + ], + [ + -39.87826156616211, + 22.595624923706055, + 1.3569915294647217 + ], + [ + -39.87826156616211, + 22.028844833374023, + 1.3569915294647217 + ], + [ + -40.45610427856445, + 22.028844833374023, + 1.3569915294647217 + ] + ], + "corners_2d": [ + [ + 634.4034065230582, + 383.3637620223311 + ], + [ + 653.4681389826515, + 377.40221996002543 + ], + [ + 645.4903256888095, + 363.85382551205447 + ], + [ + 626.6338607092562, + 369.65791083896335 + ], + [ + 634.231795351429, + 355.9510668398811 + ], + [ + 653.8786513856885, + 349.97163184918475 + ], + [ + 645.6553871694194, + 336.3904768925998 + ], + [ + 626.2296376712317, + 342.20725327184687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 241, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 25.309940338134766, + "z": 0.8055404424667358 + }, + "extent": { + "x": 0.18250855803489685, + "y": 0.28086185455322266, + "z": 0.5553197264671326 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.0480467150537, + "ymin": 368.6878197126967, + "xmax": 840.8621206811551, + "ymax": 413.1902514993981 + }, + "corners_3d": [ + [ + -36.29004669189453, + 25.534137725830078, + 0.25022071599960327 + ], + [ + -35.7352409362793, + 25.446266174316406, + 0.25022071599960327 + ], + [ + -35.79234313964844, + 25.085742950439453, + 0.25022071599960327 + ], + [ + -36.34714889526367, + 25.173614501953125, + 0.25022071599960327 + ], + [ + -36.29004669189453, + 25.534137725830078, + 1.3608601093292236 + ], + [ + -35.7352409362793, + 25.446266174316406, + 1.3608601093292236 + ], + [ + -35.79234313964844, + 25.085742950439453, + 1.3608601093292236 + ], + [ + -36.34714889526367, + 25.173614501953125, + 1.3608601093292236 + ] + ], + "corners_2d": [ + [ + 818.5978045846197, + 413.1902514993981 + ], + [ + 834.694054104967, + 404.8830984677284 + ], + [ + 826.080244052737, + 396.36444610144883 + ], + [ + 810.0480467150537, + 404.53676757863144 + ], + [ + 824.3021444855142, + 385.58940564480133 + ], + [ + 840.8621206811551, + 377.24269286425476 + ], + [ + 831.9260653484703, + 368.6878197126967 + ], + [ + 815.4334736111855, + 376.8948035987326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 614, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 29.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3257226347923279, + "y": 0.4377831816673279, + "z": 0.8855552673339844 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 644.01576166958, + "ymin": 558.1326561183042, + "xmax": 693.4951100185673, + "ymax": 636.8148849685135 + }, + "corners_3d": [ + [ + -42.843143463134766, + 29.60313606262207, + -0.23000496625900269 + ], + [ + -41.96877670288086, + 29.55731201171875, + -0.23000496625900269 + ], + [ + -42.002872467041016, + 28.90675926208496, + -0.23000496625900269 + ], + [ + -42.87723922729492, + 28.95258331298828, + -0.23000496625900269 + ], + [ + -42.843143463134766, + 29.60313606262207, + 1.5411055088043213 + ], + [ + -41.96877670288086, + 29.55731201171875, + 1.5411055088043213 + ], + [ + -42.002872467041016, + 28.90675926208496, + 1.5411055088043213 + ], + [ + -42.87723922729492, + 28.95258331298828, + 1.5411055088043213 + ] + ], + "corners_2d": [ + [ + 656.5639834484564, + 636.8148849685135 + ], + [ + 690.4097413368561, + 621.5380343841967 + ], + [ + 677.4025377487067, + 598.8713375963061 + ], + [ + 644.01576166958, + 613.6029377302607 + ], + [ + 657.5907856347103, + 597.1081938981504 + ], + [ + 693.4951100185673, + 581.3986488481796 + ], + [ + 679.6483477856254, + 558.1326561183042 + ], + [ + 644.2599155832241, + 573.2479544015118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 575, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 22.31223487854004, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3025854527950287, + "y": 0.5262280106544495, + "z": 0.8863595128059387 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.6654804004246, + "ymin": 434.1075974590301, + "xmax": 322.78059595379875, + "ymax": 506.6914905449164 + }, + "corners_3d": [ + [ + -50.208526611328125, + 22.586864471435547, + -0.2308140993118286 + ], + [ + -49.15751266479492, + 22.64194679260254, + -0.2308140993118286 + ], + [ + -49.12583923339844, + 22.03760528564453, + -0.2308140993118286 + ], + [ + -50.17685317993164, + 21.98252296447754, + -0.2308140993118286 + ], + [ + -50.208526611328125, + 22.586864471435547, + 1.5419049263000488 + ], + [ + -49.15751266479492, + 22.64194679260254, + 1.5419049263000488 + ], + [ + -49.12583923339844, + 22.03760528564453, + 1.5419049263000488 + ], + [ + -50.17685317993164, + 21.98252296447754, + 1.5419049263000488 + ] + ], + "corners_2d": [ + [ + 280.66132366209297, + 506.6914905449164 + ], + [ + 322.78059595379875, + 495.11235253676597 + ], + [ + 319.8460217588869, + 477.2368101383822 + ], + [ + 278.36460240744987, + 488.4537998602599 + ], + [ + 260.75480151647514, + 463.9989133367975 + ], + [ + 305.3938075492233, + 452.23802516702995 + ], + [ + 302.58843766056714, + 434.1075974590301 + ], + [ + 258.6654804004246, + 445.4808871436662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4035, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 479.1730770583447, + "ymin": 0.0, + "xmax": 610.4133496953251, + "ymax": 60.69820585445581 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 483.6583616032724, + 38.29923663997022 + ], + [ + 497.97198114789705, + 60.69820585445581 + ], + [ + 610.4133496953251, + 37.16980537558027 + ], + [ + 593.0883388651744, + 16.209837321160137 + ], + [ + 479.1730770583447, + 3.417032300067774 + ], + [ + 493.7513957516244, + 25.286868426593514 + ], + [ + 609.4970856888356, + 2.2934323821605744 + ], + [ + 591.7293720381562, + -18.132482827557794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 97.04339744319236, + "ymin": 82.39323488386935, + "xmax": 121.2716052191804, + "ymax": 119.78293087100323 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 121.2716052191804, + 117.61704748933278 + ], + [ + 120.63883637518302, + 110.68882638745555 + ], + [ + 109.93638074151113, + 112.81546170541364 + ], + [ + 110.47250014002884, + 119.78293087100323 + ], + [ + 108.57239307442364, + 89.2251729411758 + ], + [ + 108.04250184506225, + 82.39323488386935 + ], + [ + 97.04339744319236, + 84.48999252451256 + ], + [ + 97.47117097985074, + 91.36158041287769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 543.9696729433231, + "ymin": 71.49337169754097, + "xmax": 557.3411520447213, + "ymax": 101.97592720645855 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 553.5938183778063, + 94.7249906755236 + ], + [ + 545.824030675222, + 96.43050010160033 + ], + [ + 549.5219314586232, + 101.97592720645855 + ], + [ + 557.3411520447213, + 100.24482727794384 + ], + [ + 551.8964429753175, + 71.49337169754097 + ], + [ + 543.9696729433231, + 73.17781875593033 + ], + [ + 547.72679079931, + 78.65581736862629 + ], + [ + 555.7050273358855, + 76.94559306967773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 105.7496414101958, + "xmax": 1.502958419036304, + "ymax": 144.0383898674428 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1.0283975527615894, + 141.7330833783694 + ], + [ + 1.502958419036304, + 134.36165872334647 + ], + [ + -9.88187402583219, + 136.6238856663549 + ], + [ + -10.465873387798752, + 144.0383898674428 + ], + [ + -15.121958573681582, + 113.02979211757395 + ], + [ + -14.480334722520183, + 105.7496414101958 + ], + [ + -26.19858974483907, + 107.9834903184298 + ], + [ + -26.956173253778047, + 115.30726219463628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 194.01658797960664, + "ymin": 64.01219551119368, + "xmax": 215.98088527200082, + "ymax": 100.68128352666793 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 215.98088527200082, + 98.62214623151493 + ], + [ + 214.52417938628486, + 92.03342547259484 + ], + [ + 204.34457486373753, + 94.05616780124001 + ], + [ + 205.71401838945224, + 100.68128352666793 + ], + [ + 205.86514155632352, + 70.50150280701962 + ], + [ + 204.46579117819613, + 64.01219551119368 + ], + [ + 194.01658797960664, + 66.0041258986243 + ], + [ + 195.3239497858259, + 72.53013392997639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.691169471639, + "ymin": 203.22568666347112, + "xmax": 827.0044084909038, + "ymax": 499.7864489038613 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 785.2184673325281, + 452.6807304452185 + ], + [ + 777.1378491555677, + 440.5934338681867 + ], + [ + 643.691169471639, + 486.64532127821747 + ], + [ + 650.5685361119018, + 499.7864489038613 + ], + [ + 827.0044084909038, + 215.38649656037018 + ], + [ + 816.0406495189737, + 203.22568666347112 + ], + [ + 644.796001588186, + 249.97401572491103 + ], + [ + 653.7797966007578, + 263.5235271124926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.221412508954, + "ymin": 0.0, + "xmax": 1001.1728911635389, + "ymax": 68.33795358686547 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 939.9011355203388, + 68.33795358686547 + ], + [ + 948.9935093991551, + 66.16401922802856 + ], + [ + 895.9272232178806, + 24.129423256059226 + ], + [ + 887.221412508954, + 26.05348694813705 + ], + [ + 990.7262397738804, + -136.5564693710628 + ], + [ + 1001.1728911635389, + -138.36726727734862 + ], + [ + 936.1875098480896, + -173.0162542244052 + ], + [ + 926.2417259630087, + -171.4452253107138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.0415276039693, + "ymin": 252.0932429839557, + "xmax": 676.179762585743, + "ymax": 270.54863677715383 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 676.0295416250364, + 265.214893007218 + ], + [ + 669.9174057949473, + 256.3085042283109 + ], + [ + 651.0415276039693, + 261.53803649334907 + ], + [ + 657.0018004032071, + 270.54863677715383 + ], + [ + 676.179762585743, + 260.99492167742153 + ], + [ + 670.0409168453584, + 252.0932429839557 + ], + [ + 651.0873771489638, + 257.3199215798177 + ], + [ + 657.0731047203112, + 266.32619261160767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 311.07689050927263, + "ymax": 348.44247344191666 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -106.78851396029359, + 338.73048807977386 + ], + [ + -108.49657376154596, + 348.44247344191666 + ], + [ + 311.07689050927263, + 247.1465363482004 + ], + [ + 308.92382477112704, + 239.30696804410854 + ], + [ + -312.63845248985217, + 80.0034351577018 + ], + [ + -317.4237898091236, + 89.15781244071394 + ], + [ + 230.91230279911713, + -3.932474350186908 + ], + [ + 229.1148191392977, + -10.922562316216045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.9078643728639, + "ymin": 251.99481248596118, + "xmax": 676.316459073659, + "ymax": 270.64888763062754 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 676.1640494964877, + 265.25716993902427 + ], + [ + 669.9855898864462, + 256.25534931376103 + ], + [ + 650.9078643728639, + 261.54060130038977 + ], + [ + 656.9311786025233, + 270.64888763062754 + ], + [ + 676.316459073659, + 260.9918190458508 + ], + [ + 670.1107055545657, + 251.99481248596118 + ], + [ + 650.9536458597325, + 257.2771470521167 + ], + [ + 657.0029578878257, + 266.38101257971397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 440.99320708462756, + "ymin": 0.0, + "xmax": 572.3037211790477, + "ymax": 167.70684782091467 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 560.851670292532, + 167.70684782091467 + ], + [ + 572.3037211790477, + 165.00567724851632 + ], + [ + 479.5930241458707, + 16.700454160072184 + ], + [ + 469.99190795881935, + 18.501582662597457 + ], + [ + 543.6534909199, + -73.40765839469572 + ], + [ + 557.6534611384188, + -75.71814100681763 + ], + [ + 452.3189597200246, + -197.64799756566697 + ], + [ + 440.99320708462756, + -196.22299361092269 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00064/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00064/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60dbc9559e916fa4cd55517d88d05fa64dd4315d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00064/meta.json @@ -0,0 +1,1931 @@ +{ + "frame_id": 64, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 32.0, + "sim_timestamp": 12429.489876219304 + }, + "drone_pose": { + "x": -46.99822970694881, + "y": 38.244779087013555, + "z": 20.00000295421641, + "pitch": -46.42788882160396, + "yaw": -68.0295153424713, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25787466764450073, + 0.6392101645469666, + 0.7245073914527893, + 22.07595443725586 + ], + [ + -0.9273766875267029, + 0.3741288185119629, + -2.9802322387695312e-08, + 29.276588439941406 + ], + [ + -0.27105915546417236, + -0.6718913316726685, + 0.6892670392990112, + -52.220977783203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.90233952898073, + "y": 37.75680775845941, + "z": 20.000001857209458 + }, + "t1_image_uv": [ + 372.9755643015471, + -649.0778363673847 + ], + "t1_depth": 0.3366446635775051 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 21.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 26.48979019422621, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 21.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2806445360183716, + "y": 0.1889990121126175, + "z": 0.5528731942176819 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.7383163549457, + "ymin": 337.35200028256776, + "xmax": 650.3649807126305, + "ymax": 382.35506010600994 + }, + "corners_3d": [ + [ + -40.35618209838867, + 21.59288215637207, + 0.255079448223114 + ], + [ + -39.97818374633789, + 21.59288215637207, + 0.255079448223114 + ], + [ + -39.97818374633789, + 21.031591415405273, + 0.255079448223114 + ], + [ + -40.35618209838867, + 21.031591415405273, + 0.255079448223114 + ], + [ + -40.35618209838867, + 21.59288215637207, + 1.360825777053833 + ], + [ + -39.97818374633789, + 21.59288215637207, + 1.360825777053833 + ], + [ + -39.97818374633789, + 21.031591415405273, + 1.360825777053833 + ], + [ + -40.35618209838867, + 21.031591415405273, + 1.360825777053833 + ] + ], + "corners_2d": [ + [ + 637.4696463210132, + 382.35506010600994 + ], + [ + 650.0546779393985, + 378.59789452886355 + ], + [ + 642.4877813639212, + 365.0014862475614 + ], + [ + 630.0425557845575, + 368.659716474732 + ], + [ + 637.3912613871618, + 354.75533981538035 + ], + [ + 650.3649807126305, + 350.98586116949735 + ], + [ + 642.5635114180805, + 337.35200028256776 + ], + [ + 629.7383163549457, + 341.0192129882253 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 64, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 437851, + "2": 235627, + "3": 214915, + "6": 6281, + "7": 909, + "10": 650, + "12": 1891, + "14": 4163, + "20": 3145, + "24": 16168 + }, + "instance_pixel_counts": { + "6215": 158044, + "6802": 4595, + "7314": 42419, + "8338": 6401, + "9356": 289, + "18000": 415, + "18512": 2626, + "21652": 60166, + "22676": 164680, + "23700": 22599, + "24212": 46908, + "24724": 107052, + "25856": 2134, + "26624": 2479, + "33370": 1696, + "35988": 5333, + "36500": 4527, + "37524": 889, + "38036": 3379, + "38548": 1180, + "39052": 1771, + "39564": 14214, + "40265": 104, + "40588": 1438, + "41100": 769, + "41612": 5661, + "41818": 77111, + "42074": 136108, + "45457": 26, + "56576": 215, + "56832": 239, + "57088": 699, + "57344": 586, + "57600": 152, + "59904": 4163, + "61569": 2577, + "62613": 448, + "63123": 16122, + "64659": 691, + "64661": 412, + "65171": 19633 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 21.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2539331018924713, + "y": 0.27471068501472473, + "z": 0.5569824576377869 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.1732863690298, + "ymin": 337.05766990371023, + "xmax": 652.9169877672346, + "ymax": 382.64908761849426 + }, + "corners_3d": [ + [ + -40.44189453125, + 21.56616973876953, + 0.25097018480300903 + ], + [ + -39.89247131347656, + 21.56616973876953, + 0.25097018480300903 + ], + [ + -39.89247131347656, + 21.058303833007812, + 0.25097018480300903 + ], + [ + -40.44189453125, + 21.058303833007812, + 0.25097018480300903 + ], + [ + -40.44189453125, + 21.56616973876953, + 1.3649351596832275 + ], + [ + -39.89247131347656, + 21.56616973876953, + 1.3649351596832275 + ], + [ + -39.89247131347656, + 21.058303833007812, + 1.3649351596832275 + ], + [ + -40.44189453125, + 21.058303833007812, + 1.3649351596832275 + ] + ], + "corners_2d": [ + [ + 634.2473290648877, + 382.64908761849426 + ], + [ + 652.528022500508, + 377.1950565646392 + ], + [ + 645.6537801696948, + 364.91320194193327 + ], + [ + 627.5569145747156, + 370.2371345623245 + ], + [ + 634.0677435147321, + 354.8447967662663 + ], + [ + 652.9169877672346, + 349.3729759887423 + ], + [ + 645.8271514520981, + 337.05766990371023 + ], + [ + 627.1732863690298, + 342.3949795680712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 239, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 24.309940338134766, + "z": 0.8055404424667358 + }, + "extent": { + "x": 0.21488648653030396, + "y": 0.1997985988855362, + "z": 0.5226115584373474 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.792522470432, + "ymin": 372.4138124289084, + "xmax": 839.1928375141005, + "ymax": 414.49169064773315 + }, + "corners_3d": [ + [ + -36.204917907714844, + 24.553436279296875, + 0.2829288840293884 + ], + [ + -35.81024169921875, + 24.49092674255371, + 0.2829288840293884 + ], + [ + -35.877471923828125, + 24.066444396972656, + 0.2829288840293884 + ], + [ + -36.27214813232422, + 24.12895393371582, + 0.2829288840293884 + ], + [ + -36.204917907714844, + 24.553436279296875, + 1.3281519412994385 + ], + [ + -35.81024169921875, + 24.49092674255371, + 1.3281519412994385 + ], + [ + -35.877471923828125, + 24.066444396972656, + 1.3281519412994385 + ], + [ + -36.27214813232422, + 24.12895393371582, + 1.3281519412994385 + ] + ], + "corners_2d": [ + [ + 821.7052207032527, + 414.49169064773315 + ], + [ + 833.3826570877234, + 408.6853160837623 + ], + [ + 823.410412334277, + 398.4369707846973 + ], + [ + 811.792522470432, + 404.1310756501363 + ], + [ + 827.1954258751507, + 388.5427312748525 + ], + [ + 839.1928375141005, + 382.707823771881 + ], + [ + 828.8659986952587, + 372.4138124289084 + ], + [ + 816.9311397768935, + 378.132550129778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 699, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 28.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3574585020542145, + "y": 0.5914367437362671, + "z": 0.8897466063499451 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 631.6939907300183, + "ymin": 555.8715110655016, + "xmax": 694.8161532671851, + "ymax": 641.8981954936069 + }, + "corners_3d": [ + [ + -42.99492645263672, + 28.64286994934082, + -0.23419630527496338 + ], + [ + -41.81367492675781, + 28.580963134765625, + -0.23419630527496338 + ], + [ + -41.85108947753906, + 27.86702537536621, + -0.23419630527496338 + ], + [ + -43.03234100341797, + 27.928932189941406, + -0.23419630527496338 + ], + [ + -42.99492645263672, + 28.64286994934082, + 1.5452969074249268 + ], + [ + -41.81367492675781, + 28.580963134765625, + 1.5452969074249268 + ], + [ + -41.85108947753906, + 27.86702537536621, + 1.5452969074249268 + ], + [ + -43.03234100341797, + 27.928932189941406, + 1.5452969074249268 + ] + ], + "corners_2d": [ + [ + 645.2867880188073, + 641.8981954936069 + ], + [ + 691.6289948493055, + 621.8595089116195 + ], + [ + 677.801262171308, + 596.761275067613 + ], + [ + 632.1747018528274, + 616.0103451675304 + ], + [ + 645.618620430224, + 602.2670907735657 + ], + [ + 694.8161532671851, + 581.6445085074773 + ], + [ + 680.0859402836696, + 555.8715110655016 + ], + [ + 631.6939907300183, + 575.6324763812692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 586, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 21.312236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3016674816608429, + "y": 0.49235594272613525, + "z": 0.8945294618606567 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 258.51048420590644, + "ymin": 430.19336637031927, + "xmax": 319.65020371198784, + "ymax": 501.86761537917397 + }, + "corners_3d": [ + [ + -50.174652099609375, + 21.587722778320312, + -0.23897916078567505 + ], + [ + -49.191287994384766, + 21.639259338378906, + -0.23897916078567505 + ], + [ + -49.15971374511719, + 21.03675079345703, + -0.23897916078567505 + ], + [ + -50.1430778503418, + 20.985214233398438, + -0.23897916078567505 + ], + [ + -50.174652099609375, + 21.587722778320312, + 1.5500798225402832 + ], + [ + -49.191287994384766, + 21.639259338378906, + 1.5500798225402832 + ], + [ + -49.15971374511719, + 21.03675079345703, + 1.5500798225402832 + ], + [ + -50.1430778503418, + 20.985214233398438, + 1.5500798225402832 + ] + ], + "corners_2d": [ + [ + 280.26256380359615, + 501.86761537917397 + ], + [ + 319.65020371198784, + 491.59138744434836 + ], + [ + 317.16848221438113, + 473.72296308130626 + ], + [ + 278.3813081125581, + 483.6783576499447 + ], + [ + 260.1599617001521, + 458.75867630477757 + ], + [ + 301.9173161062742, + 448.3198131515818 + ], + [ + 299.59339329182086, + 430.19336637031927 + ], + [ + 258.51048420590644, + 440.28864152572265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 152, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 13.142022132873535, + "z": 0.7987094521522522 + }, + "extent": { + "x": 0.33855101466178894, + "y": 0.5746899247169495, + "z": 0.9121838212013245 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 822.575416791589, + "ymin": 94.12152757005907, + "xmax": 867.3141628350808, + "ymax": 152.1468774688627 + }, + "corners_3d": [ + [ + -29.54241943359375, + 13.386503219604492, + -0.11347436904907227 + ], + [ + -28.407190322875977, + 13.566306114196777, + -0.11347436904907227 + ], + [ + -28.30126953125, + 12.897541046142578, + -0.11347436904907227 + ], + [ + -29.436498641967773, + 12.717738151550293, + -0.11347436904907227 + ], + [ + -29.54241943359375, + 13.386503219604492, + 1.7108932733535767 + ], + [ + -28.407190322875977, + 13.566306114196777, + 1.7108932733535767 + ], + [ + -28.30126953125, + 12.897541046142578, + 1.7108932733535767 + ], + [ + -29.436498641967773, + 12.717738151550293, + 1.7108932733535767 + ] + ], + "corners_2d": [ + [ + 829.1231525876166, + 152.1468774688627 + ], + [ + 858.7641952162415, + 148.09265065056445 + ], + [ + 851.8704566096899, + 137.9074815512161 + ], + [ + 822.575416791589, + 141.8585151611421 + ], + [ + 836.5537266880369, + 108.09701603016532 + ], + [ + 867.3141628350808, + 104.11594173705186 + ], + [ + 860.04111907633, + 94.12152757005907 + ], + [ + 829.6530516580299, + 97.99737885715206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4163, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 493.9922898558875, + "ymin": 0.0, + "xmax": 626.9280949671906, + "ymax": 69.83536481314638 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 498.1462784996512, + 46.52248222110677 + ], + [ + 512.36874248416, + 69.83536481314638 + ], + [ + 626.9280949671906, + 46.45873085965684 + ], + [ + 609.5365597086999, + 24.60557864936993 + ], + [ + 493.9922898558875, + 11.333327446890735 + ], + [ + 508.49297549375666, + 34.11994075213573 + ], + [ + 626.4671980276356, + 11.2491061699983 + ], + [ + 608.6077163776539, + -10.070407782862617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.90933575838005, + "ymin": 95.19335537962866, + "xmax": 127.32371172084845, + "ymax": 133.1686171646562 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 127.32371172084845, + 131.00212161619214 + ], + [ + 126.86496221239815, + 123.73003444966733 + ], + [ + 115.95474807675816, + 125.85627030689042 + ], + [ + 116.31182250690745, + 133.1686171646562 + ], + [ + 114.47444410083642, + 102.37244632742198 + ], + [ + 114.12706337160091, + 95.19335537962866 + ], + [ + 102.90933575838005, + 97.29205373109562 + ], + [ + 103.14919414523479, + 104.51188513447906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.9527546817452, + "ymin": 84.35963709881702, + "xmax": 572.2597718317394, + "ymax": 115.33666755252437 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 568.5020583432143, + 107.80352506611965 + ], + [ + 560.5544664821318, + 109.51057031336387 + ], + [ + 564.2596814427919, + 115.33666755252437 + ], + [ + 572.2597718317394, + 113.60333089193125 + ], + [ + 567.0638879595201, + 84.35963709881702 + ], + [ + 558.9527546817452, + 86.0471580497055 + ], + [ + 562.7207050221192, + 91.80777268762898 + ], + [ + 570.8865345228112, + 90.09373147640429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 118.5562046634135, + "xmax": 5.495157451296905, + "ymax": 157.41200125253587 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 4.790712164808383, + 155.1093351548667 + ], + [ + 5.495157451296905, + 147.38306535020033 + ], + [ + -6.094099834031567, + 149.64163614384842 + ], + [ + -6.91330795821807, + 157.41200125253587 + ], + [ + -11.6343277659372, + 126.19538640170302 + ], + [ + -10.75000288500894, + 118.5562046634135 + ], + [ + -22.684091691593494, + 120.78892503589148 + ], + [ + -23.690125723727306, + 128.4728317942339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.85954163982416, + "ymin": 76.7837943135512, + "xmax": 223.95954154222864, + "ymax": 114.05201131340337 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 223.95954154222864, + 111.98997173472611 + ], + [ + 222.63277030311048, + 105.06646132566806 + ], + [ + 212.2438526680848, + 107.09110470955653 + ], + [ + 213.47858412721263, + 114.05201131340337 + ], + [ + 213.7926122517233, + 83.61050105267333 + ], + [ + 212.52844847767062, + 76.7837943135512 + ], + [ + 201.85954163982416, + 78.77981541230776 + ], + [ + 203.02659581404384, + 85.64429610401851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.3220392520731, + "ymin": 234.01196197303108, + "xmax": 851.1789415762867, + "ymax": 531.8628283981126 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 802.4666376139079, + 483.9245146981036 + ], + [ + 794.2111384997892, + 471.0118192932552 + ], + [ + 656.3220392520731, + 517.8410878025729 + ], + [ + 663.2699602758257, + 531.8628283981126 + ], + [ + 851.1789415762867, + 247.2448877524046 + ], + [ + 839.7655788569305, + 234.01196197303108 + ], + [ + 661.4080149833816, + 282.43721623247654 + ], + [ + 670.6356262579252, + 297.17331997086603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.6432165110834, + "ymin": 0.0, + "xmax": 1030.7300970783867, + "ymax": 81.88241599082863 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 963.5218312325378, + 81.88241599082863 + ], + [ + 972.8645134360529, + 79.69976113956028 + ], + [ + 918.5701023957955, + 35.47668796270585 + ], + [ + 909.6432165110834, + 37.402134149705944 + ], + [ + 1019.9610954611916, + -125.96450109414627 + ], + [ + 1030.7300970783867, + -127.79807125825806 + ], + [ + 963.5836507274859, + -164.54135069855909 + ], + [ + 953.3567074923875, + -162.95755007323567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.7078403871403, + "ymin": 284.5424699223731, + "xmax": 693.8786770816798, + "ymax": 303.9771218772155 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 693.6457522158969, + 298.4521040204286 + ], + [ + 687.3580808487839, + 288.77336209434344 + ], + [ + 667.7078403871403, + 294.18576170844887 + ], + [ + 673.8282003651215, + 303.9771218772155 + ], + [ + 693.8786770816798, + 294.2193833380662 + ], + [ + 687.5615958212693, + 284.5424699223731 + ], + [ + 667.8276012299835, + 289.95374123556655 + ], + [ + 673.9759394468733, + 299.74374226383026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 1.2359601759457064, + "xmax": 319.77791204380895, + "ymax": 362.1695688300568 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -104.56230075035467, + 352.0782116565749 + ], + [ + -106.54811157896802, + 362.1695688300568 + ], + [ + 319.77791204380895, + 261.659843717651 + ], + [ + 317.7328279939692, + 253.46665912815143 + ], + [ + -314.50352678774334, + 92.32360725500456 + ], + [ + -319.7770709735805, + 101.93119786209348 + ], + [ + 239.68045888470658, + 8.616080417254523 + ], + [ + 238.02836005452934, + 1.2359601759457064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5687794315703, + "ymin": 284.43885239523127, + "xmax": 694.0210820625335, + "ymax": 304.0827327831777 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 693.7850305206366, + 298.49764600712535 + ], + [ + 687.4290829766973, + 288.71521277895647 + ], + [ + 667.5687794315703, + 294.1852455971865 + ], + [ + 673.7537997326402, + 304.0827327831777 + ], + [ + 694.0210820625335, + 294.21941502402956 + ], + [ + 687.6350813018009, + 284.43885239523127 + ], + [ + 667.6892201446508, + 289.9077300011679 + ], + [ + 673.9028152745196, + 299.80383127652954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.49736087265273, + "ymin": 0.0, + "xmax": 586.6856170027245, + "ymax": 181.60328012676268 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 574.9798817880583, + 181.60328012676268 + ], + [ + 586.6856170027245, + 178.90811333567956 + ], + [ + 494.31879687968, + 24.162825267111884 + ], + [ + 484.56224056639235, + 25.943630294367324 + ], + [ + 560.465084192964, + -62.103287066641315 + ], + [ + 574.83115598723, + -64.43120247509631 + ], + [ + 469.0312671490682, + -192.66487620992814 + ], + [ + 457.49736087265273, + -191.24739269977067 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00065/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00065/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92b056ed8c9be069b85c84ef057fc7bb8a3a0d7b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00065/meta.json @@ -0,0 +1,1931 @@ +{ + "frame_id": 65, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 32.5, + "sim_timestamp": 12440.472840686562 + }, + "drone_pose": { + "x": -46.90233952898073, + "y": 37.75680775845941, + "z": 20.000001857209458, + "pitch": -46.46627468134197, + "yaw": -68.32308538618649, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.254416823387146, + 0.6400718688964844, + 0.7249690890312195, + 21.600433349609375 + ], + [ + -0.92928147315979, + 0.3693723678588867, + 0.0, + 29.63914680480957 + ], + [ + -0.26778364181518555, + -0.6737003326416016, + 0.6887813806533813, + -51.7720832824707 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.838321743838456, + "y": 37.26574599296838, + "z": 20.000001142137545 + }, + "t1_image_uv": [ + 286.04522355670724, + -650.4340847158799 + ], + "t1_depth": 0.3306025164322878 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 20.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 26.47292151301153, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 210, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 20.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26848509907722473, + "y": 0.23512084782123566, + "z": 0.5568193793296814 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3519882002315, + "ymin": 337.100717143835, + "xmax": 651.7485572918854, + "ymax": 382.60362438664055 + }, + "corners_3d": [ + [ + -40.402305603027344, + 21.080720901489258, + 0.2511332631111145 + ], + [ + -39.93206024169922, + 21.08072280883789, + 0.2511332631111145 + ], + [ + -39.93206024169922, + 20.543752670288086, + 0.2511332631111145 + ], + [ + -40.402305603027344, + 20.543750762939453, + 0.2511332631111145 + ], + [ + -40.402305603027344, + 21.080720901489258, + 1.364772081375122 + ], + [ + -39.93206024169922, + 21.08072280883789, + 1.364772081375122 + ], + [ + -39.93206024169922, + 20.543752670288086, + 1.364772081375122 + ], + [ + -40.402305603027344, + 20.543750762939453, + 1.364772081375122 + ] + ], + "corners_2d": [ + [ + 635.7008122536524, + 382.60362438664055 + ], + [ + 651.3941618297108, + 377.9859518369491 + ], + [ + 644.2257057011548, + 364.9468134665666 + ], + [ + 628.7004336584672, + 369.44787926666555 + ], + [ + 635.5664743781524, + 354.8099005070592 + ], + [ + 651.7485572918854, + 350.1767049434011 + ], + [ + 644.3554213169409, + 337.100717143835 + ], + [ + 628.3519882002315, + 341.61333798087696 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 65, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 41, + "semantic_pixel_counts": { + "1": 441045, + "2": 234024, + "3": 212782, + "6": 6541, + "7": 936, + "10": 653, + "12": 1829, + "14": 4220, + "20": 3065, + "24": 16505 + }, + "instance_pixel_counts": { + "6215": 156821, + "6802": 4740, + "7314": 41832, + "8338": 6666, + "9356": 391, + "18000": 425, + "18512": 2536, + "21652": 61846, + "22676": 162145, + "23700": 24282, + "24212": 48340, + "24724": 104828, + "25856": 2287, + "26624": 2539, + "33370": 1708, + "35988": 5488, + "36500": 4338, + "37524": 1002, + "38036": 3484, + "38548": 1166, + "39052": 1831, + "39564": 13982, + "40265": 104, + "40588": 1513, + "41100": 817, + "41612": 5346, + "41818": 84217, + "42074": 126857, + "45457": 85, + "56576": 210, + "56832": 183, + "57088": 635, + "57344": 570, + "57600": 231, + "59904": 4220, + "61569": 2651, + "62613": 534, + "63123": 17646, + "64659": 1201, + "64661": 493, + "65171": 20757 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 210, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 20.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.25755736231803894, + "y": 0.2766662538051605, + "z": 0.5505279302597046 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.0780746030299, + "ymin": 337.12862875631134, + "xmax": 653.0158994909727, + "ymax": 382.5899560749059 + }, + "corners_3d": [ + [ + -40.44384765625, + 21.069793701171875, + 0.2574247121810913 + ], + [ + -39.89051818847656, + 21.069793701171875, + 0.2574247121810913 + ], + [ + -39.89051818847656, + 20.55467987060547, + 0.2574247121810913 + ], + [ + -40.44384765625, + 20.55467987060547, + 0.2574247121810913 + ], + [ + -40.44384765625, + 21.069793701171875, + 1.3584805727005005 + ], + [ + -39.89051818847656, + 21.069793701171875, + 1.3584805727005005 + ], + [ + -39.89051818847656, + 20.55467987060547, + 1.3584805727005005 + ], + [ + -40.44384765625, + 20.55467987060547, + 1.3584805727005005 + ] + ], + "corners_2d": [ + [ + 634.1627208011321, + 382.5899560749059 + ], + [ + 652.6278993841603, + 377.15907677343597 + ], + [ + 645.7359647509182, + 364.660273037461 + ], + [ + 627.4605745789255, + 369.9595019758573 + ], + [ + 633.9823895714866, + 355.11089903835506 + ], + [ + 653.0158994909727, + 349.6620555413675 + ], + [ + 645.9099971695225, + 337.12862875631134 + ], + [ + 627.0780746030299, + 342.4413934535934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 183, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 23.809940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.2262841910123825, + "y": 0.17980347573757172, + "z": 0.5231592655181885 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 812.1124324277661, + "ymin": 373.15606450530976, + "xmax": 838.8869202060135, + "ymax": 415.2557349127734 + }, + "corners_3d": [ + [ + -36.183387756347656, + 24.061565399169922, + 0.28237152099609375 + ], + [ + -35.82820510864258, + 24.005311965942383, + 0.28237152099609375 + ], + [ + -35.89900207519531, + 23.55831527709961, + 0.28237152099609375 + ], + [ + -36.25418472290039, + 23.61456871032715, + 0.28237152099609375 + ], + [ + -36.183387756347656, + 24.061565399169922, + 1.3286900520324707 + ], + [ + -35.82820510864258, + 24.005311965942383, + 1.3286900520324707 + ], + [ + -35.89900207519531, + 23.55831527709961, + 1.3286900520324707 + ], + [ + -36.25418472290039, + 23.61456871032715, + 1.3286900520324707 + ] + ], + "corners_2d": [ + [ + 822.4974484373821, + 415.2557349127734 + ], + [ + 833.0651627917871, + 410.0588529768984 + ], + [ + 822.622060590682, + 399.1996695611568 + ], + [ + 812.1124324277661, + 404.29041170217494 + ], + [ + 828.0283279364489, + 389.2882777997733 + ], + [ + 838.8869202060135, + 384.06513672335 + ], + [ + 828.0708418202461, + 373.15606450530976 + ], + [ + 817.2732970034943, + 378.26935563159395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 635, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 27.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33550047874450684, + "y": 0.3373425304889679, + "z": 0.8838537931442261 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 640.9265876282192, + "ymin": 561.4080448673675, + "xmax": 682.1953216288596, + "ymax": 636.9717236157974 + }, + "corners_3d": [ + [ + -42.74232864379883, + 28.107643127441406, + -0.22830349206924438 + ], + [ + -42.06856918334961, + 28.07233238220215, + -0.22830349206924438 + ], + [ + -42.10368728637695, + 27.402252197265625, + -0.22830349206924438 + ], + [ + -42.77744674682617, + 27.437562942504883, + -0.22830349206924438 + ], + [ + -42.74232864379883, + 28.107643127441406, + 1.5394041538238525 + ], + [ + -42.06856918334961, + 28.07233238220215, + 1.5394041538238525 + ], + [ + -42.10368728637695, + 27.402252197265625, + 1.5394041538238525 + ], + [ + -42.77744674682617, + 27.437562942504883, + 1.5394041538238525 + ] + ], + "corners_2d": [ + [ + 653.2249479834668, + 636.9717236157974 + ], + [ + 679.747776425906, + 625.6661366476454 + ], + [ + 667.0606450875447, + 601.8617293104883 + ], + [ + 640.9265876282192, + 612.7476627990673 + ], + [ + 654.0469625540402, + 597.4956750708941 + ], + [ + 682.1953216288596, + 585.8619368286204 + ], + [ + 668.693996471175, + 561.4080448673675 + ], + [ + 640.983031241577, + 572.5840258022012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 570, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 20.812236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3124780058860779, + "y": 0.566807210445404, + "z": 0.8955041170120239 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 254.91159260860945, + "ymin": 427.8715898249146, + "xmax": 322.11290058625775, + "ymax": 501.6048317042636 + }, + "corners_3d": [ + [ + -50.249568939208984, + 21.094621658325195, + -0.23995381593704224 + ], + [ + -49.11750793457031, + 21.15395164489746, + -0.23995381593704224 + ], + [ + -49.08479690551758, + 20.52985191345215, + -0.23995381593704224 + ], + [ + -50.21685791015625, + 20.470521926879883, + -0.23995381593704224 + ], + [ + -50.249568939208984, + 21.094621658325195, + 1.5510544776916504 + ], + [ + -49.11750793457031, + 21.15395164489746, + 1.5510544776916504 + ], + [ + -49.08479690551758, + 20.52985191345215, + 1.5510544776916504 + ], + [ + -50.21685791015625, + 20.470521926879883, + 1.5510544776916504 + ] + ], + "corners_2d": [ + [ + 276.7640449747691, + 501.6048317042636 + ], + [ + 322.11290058625775, + 489.9599694974766 + ], + [ + 319.6276377965943, + 471.46518499643594 + ], + [ + 274.99666800590336, + 482.73353475812416 + ], + [ + 256.42471644311604, + 458.4621911317879 + ], + [ + 304.50276294556903, + 446.6324778861556 + ], + [ + 302.183326696104, + 427.8715898249146 + ], + [ + 254.91159260860945, + 439.29805781030944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 231, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 12.642022132873535, + "z": 0.7961508631706238 + }, + "extent": { + "x": 0.37993285059928894, + "y": 0.47603514790534973, + "z": 0.9353611469268799 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 826.5199224884418, + "ymin": 93.6052895433723, + "xmax": 867.2535420262737, + "ymax": 153.31599141270917 + }, + "corners_3d": [ + [ + -29.451454162597656, + 12.942809104919434, + -0.1392102837562561 + ], + [ + -28.511104583740234, + 13.091745376586914, + -0.1392102837562561 + ], + [ + -28.392234802246094, + 12.341235160827637, + -0.1392102837562561 + ], + [ + -29.332584381103516, + 12.192298889160156, + -0.1392102837562561 + ], + [ + -29.451454162597656, + 12.942809104919434, + 1.7315120697021484 + ], + [ + -28.511104583740234, + 13.091745376586914, + 1.7315120697021484 + ], + [ + -28.392234802246094, + 12.341235160827637, + 1.7315120697021484 + ], + [ + -29.332584381103516, + 12.192298889160156, + 1.7315120697021484 + ] + ], + "corners_2d": [ + [ + 833.8310512593459, + 153.31599141270917 + ], + [ + 858.4644528067753, + 150.01746039045923 + ], + [ + 850.8293477175451, + 138.52896852846692 + ], + [ + 826.5199224884418, + 141.73330544069387 + ], + [ + 841.6625416938691, + 108.11377182000285 + ], + [ + 867.2535420262737, + 104.87550590932122 + ], + [ + 859.1847064869057, + 93.6052895433723 + ], + [ + 833.9430934171685, + 96.74743740412572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4220, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 499.75240758228676, + "ymin": 0.0, + "xmax": 633.6121884479028, + "ymax": 75.1020399736613 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 503.7809011482262, + 51.349131781699214 + ], + [ + 518.0670670663144, + 75.1020399736613 + ], + [ + 633.6121884479028, + 51.62299975463537 + ], + [ + 616.0901943040518, + 29.350071429640536 + ], + [ + 499.75240758228676, + 16.015603719558158 + ], + [ + 514.3256008973837, + 39.24452209658017 + ], + [ + 633.3405917104884, + 16.261152332752545 + ], + [ + 615.3364972419815, + -5.479152905779586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.57521915806512, + "ymin": 103.03345721655427, + "xmax": 129.17272513574687, + "ymax": 141.33230399004424 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 129.17272513574687, + 139.14405541897492 + ], + [ + 128.76518278730498, + 131.6899340494461 + ], + [ + 117.73594505239419, + 133.83700470538267 + ], + [ + 118.03921055751425, + 141.33230399004424 + ], + [ + 116.21088244236705, + 110.39667832638605 + ], + [ + 115.91854163428854, + 103.03345721655427 + ], + [ + 104.57521915806512, + 105.15398348446593 + ], + [ + 104.75722417868747, + 112.55891186462563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 565.3649725586656, + "ymin": 91.45199489633603, + "xmax": 578.6789682605031, + "ymax": 122.67694048750909 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 574.8877141216649, + 114.99309696645474 + ], + [ + 566.8565014993554, + 116.7142660778288 + ], + [ + 570.5939245266484, + 122.67694048750909 + ], + [ + 578.6789682605031, + 120.92894234876374 + ], + [ + 573.5629957548367, + 91.45199489633603 + ], + [ + 565.3649725586656, + 93.1542471077945 + ], + [ + 569.1673818109855, + 99.05259204834772 + ], + [ + 577.421510170024, + 97.32325878714983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 126.63799705147403, + "xmax": 6.078900836505682, + "ymax": 165.81736343138226 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 5.293683260266562, + 163.49188002802265 + ], + [ + 6.078900836505682, + 155.57325964756433 + ], + [ + -5.635190844748081, + 157.85365105866603 + ], + [ + -6.538065363314331, + 165.81736343138226 + ], + [ + -11.321118842702163, + 134.47218940378184 + ], + [ + -10.349719056503659, + 126.63799705147403 + ], + [ + -22.415961373874325, + 128.89366598760077 + ], + [ + -23.512213630966926, + 136.77363664606162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 204.63752710817278, + "ymin": 84.43143952414744, + "xmax": 226.8814639114088, + "ymax": 122.0228750448583 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 226.8814639114088, + 119.93991726551795 + ], + [ + 225.58354171341176, + 112.84235391311859 + ], + [ + 215.08015766143137, + 114.88705654983531 + ], + [ + 216.28365652690462, + 122.0228750448583 + ], + [ + 216.66016823461126, + 91.43388622676389 + ], + [ + 215.42691401438418, + 84.43143952414744 + ], + [ + 204.63752710817278, + 86.44841315140087 + ], + [ + 205.77110330331567, + 93.48953560422353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.1550667190551, + "ymin": 249.97090297330894, + "xmax": 863.8715111615538, + "ymax": 548.5863568205065 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 811.446563613634, + 499.8680335412797 + ], + [ + 803.0485459209217, + 486.5518985361369 + ], + [ + 663.1550667190551, + 534.1254822668864 + ], + [ + 670.2009733935563, + 548.5863568205065 + ], + [ + 863.8715111615538, + 263.7408198785073 + ], + [ + 852.1545695867455, + 249.97090297330894 + ], + [ + 670.5132944760524, + 299.61778922509984 + ], + [ + 679.9532469482821, + 314.9610047188056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.0758392690425, + "ymin": 0.0, + "xmax": 1043.5600552467029, + "ymax": 88.65252647420698 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 973.6894394644191, + 88.65252647420698 + ], + [ + 983.133619630702, + 86.45253223652202 + ], + [ + 928.0932024806104, + 41.24329003263415 + ], + [ + 919.0758392690425, + 43.18125912729272 + ], + [ + 1032.6591805342841, + -120.48337772813608 + ], + [ + 1043.5600552467029, + -122.33864842236852 + ], + [ + 975.2053325264924, + -160.03658529110862 + ], + [ + 964.8621991973519, + -158.43714054549025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.8351875258555, + "ymin": 301.65465884481466, + "xmax": 703.5633561729102, + "ymax": 321.6271983874017 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 703.2831115027734, + 315.9608820634234 + ], + [ + 696.8492841105907, + 305.88857943911023 + ], + [ + 676.8351875258555, + 311.4370576229978 + ], + [ + 683.0947083162388, + 321.6271983874017 + ], + [ + 703.5633561729102, + 311.7267755605967 + ], + [ + 697.0984016445177, + 301.65465884481466 + ], + [ + 676.997542523614, + 307.2029196027782 + ], + [ + 683.2866740609331, + 317.39339596106703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 8.504181325519596, + "xmax": 323.25969558255224, + "ymax": 371.2180559385872 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -104.9742661498874, + 360.9130436419595 + ], + [ + -107.06579803857187, + 371.2180559385872 + ], + [ + 323.25969558255224, + 270.0675085461404 + ], + [ + 321.2313509577374, + 261.69364834669074 + ], + [ + -317.76175112243413, + 100.65568235199754 + ], + [ + -323.25413767812915, + 110.52353354002051 + ], + [ + 242.97543832740615, + 16.08697730233041 + ], + [ + 241.35218167844266, + 8.504181325519596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.6932040065252, + "ymin": 301.5481959165242, + "xmax": 703.7088338919931, + "ymax": 321.7357573495546 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 703.4249275766036, + 316.0078279875197 + ], + [ + 696.9212247367601, + 305.8276308854799 + ], + [ + 676.6932040065252, + 311.4351736629442 + ], + [ + 683.0188333817246, + 321.7357573495546 + ], + [ + 703.7088338919931, + 311.7282002920477 + ], + [ + 697.1733230032798, + 301.5481959165242 + ], + [ + 676.8566716515397, + 307.15551377710244 + ], + [ + 683.2125431869287, + 317.4564432599374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 463.7860682745361, + "ymin": 0.0, + "xmax": 592.8807606142917, + "ymax": 189.17555090280473 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 581.056750733442, + 189.17555090280473 + ], + [ + 592.8807606142917, + 186.46186082497576 + ], + [ + 499.97362065406054, + 28.61053067473523 + ], + [ + 490.1413670241165, + 30.39598248314394 + ], + [ + 567.726244299354, + -55.73242250750366 + ], + [ + 582.2665532948474, + -58.087536006236576 + ], + [ + 475.4234015957603, + -189.40168169956985 + ], + [ + 463.7860682745361, + -187.9762688826745 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00066/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00066/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d144e3dbab5e8c5dad389b37ef43a290ef2f4cd3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00066/meta.json @@ -0,0 +1,1932 @@ +{ + "frame_id": 66, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.0, + "sim_timestamp": 12450.228910164209 + }, + "drone_pose": { + "x": -46.838321743838456, + "y": 37.26574599296838, + "z": 20.000001142137545, + "pitch": -46.49019042401722, + "yaw": -68.5205585107248, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2520983815193176, + 0.6406633257865906, + 0.7252565622329712, + 21.177532196044922 + ], + [ + -0.9305490851402283, + 0.3661673069000244, + 2.9802322387695312e-08, + 29.93985366821289 + ], + [ + -0.26556524634361267, + -0.6748868227005005, + 0.6884787678718567, + -51.35836410522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.804962772292804, + "y": 36.77063576040384, + "z": 20.000000685506684 + }, + "t1_image_uv": [ + 197.01160910565756, + -651.2801512337967 + ], + "t1_depth": 0.32560899581355623 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 20.312236785888672, + "z": 0.8079477441310883 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 26.462435285548846, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 20.312236785888672, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.2941943407058716, + "y": 0.2327844202518463, + "z": 0.5461294651031494 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1139706469563, + "ymin": 336.7833487701852, + "xmax": 652.0049929396915, + "ymax": 382.9568060551537 + }, + "corners_3d": [ + [ + -40.399967193603516, + 20.60643196105957, + 0.2618182897567749 + ], + [ + -39.93439865112305, + 20.60643196105957, + 0.2618182897567749 + ], + [ + -39.93439865112305, + 20.018041610717773, + 0.2618182897567749 + ], + [ + -40.399967193603516, + 20.018041610717773, + 0.2618182897567749 + ], + [ + -40.399967193603516, + 20.60643196105957, + 1.3540772199630737 + ], + [ + -39.93439865112305, + 20.60643196105957, + 1.3540772199630737 + ], + [ + -39.93439865112305, + 20.018041610717773, + 1.3540772199630737 + ], + [ + -40.399967193603516, + 20.018041610717773, + 1.3540772199630737 + ] + ], + "corners_2d": [ + [ + 636.0717218030253, + 382.9568060551537 + ], + [ + 651.6491970512914, + 378.4153360640962 + ], + [ + 643.856637780017, + 364.0952837219347 + ], + [ + 628.46285241231, + 368.51104432406225 + ], + [ + 635.9511968651453, + 355.7006593214913 + ], + [ + 652.0049929396915, + 351.1438219411052 + ], + [ + 643.9727417871852, + 336.7833487701852 + ], + [ + 628.1139706469563, + 341.2102730903283 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 66, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 444301, + "2": 232300, + "3": 210321, + "6": 6804, + "7": 953, + "10": 644, + "12": 2087, + "14": 4272, + "20": 3068, + "24": 16850 + }, + "instance_pixel_counts": { + "6215": 155569, + "6802": 4886, + "7314": 41236, + "8338": 6838, + "9356": 493, + "18000": 428, + "18512": 2532, + "21652": 63586, + "22676": 159287, + "23700": 25989, + "24212": 49802, + "24724": 102514, + "25856": 2453, + "26624": 2583, + "33370": 1729, + "35988": 5656, + "36500": 4178, + "37524": 1140, + "38036": 3585, + "38548": 1078, + "39052": 1892, + "39564": 13771, + "40265": 108, + "40588": 1590, + "41100": 842, + "41612": 5017, + "41818": 92037, + "42074": 116555, + "45457": 166, + "56576": 200, + "56832": 233, + "57088": 732, + "57344": 573, + "57600": 349, + "59904": 4272, + "61569": 2721, + "62613": 638, + "63123": 19338, + "64149": 8, + "64659": 1869, + "64661": 567, + "65171": 21916 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 20.312236785888672, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.2760998606681824, + "y": 0.2726672291755676, + "z": 0.558014452457428 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.9816853987764, + "ymin": 336.5348890579545, + "xmax": 653.126825685617, + "ymax": 383.184676231297 + }, + "corners_3d": [ + [ + -40.439849853515625, + 20.588336944580078, + 0.24993330240249634 + ], + [ + -39.89451599121094, + 20.588336944580078, + 0.24993330240249634 + ], + [ + -39.89451599121094, + 20.036136627197266, + 0.24993330240249634 + ], + [ + -40.439849853515625, + 20.036136627197266, + 0.24993330240249634 + ], + [ + -40.439849853515625, + 20.588336944580078, + 1.365962266921997 + ], + [ + -39.89451599121094, + 20.588336944580078, + 1.365962266921997 + ], + [ + -39.89451599121094, + 20.036136627197266, + 1.365962266921997 + ], + [ + -40.439849853515625, + 20.036136627197266, + 1.365962266921997 + ] + ], + "corners_2d": [ + [ + 634.4959613387093, + 383.184676231297 + ], + [ + 652.7297648137193, + 377.86996762368705 + ], + [ + 645.4043117830466, + 364.44132262188276 + ], + [ + 627.3723065770731, + 369.6178918705138 + ], + [ + 634.3233675569427, + 355.3348792010677 + ], + [ + 653.126825685617, + 350.00194161428357 + ], + [ + 645.5706133360178, + 336.5348890579545 + ], + [ + 626.9816853987764, + 341.72496586475836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 233, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 23.309940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.23161987960338593, + "y": 0.2985510528087616, + "z": 0.542792558670044 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 808.385753121767, + "ymin": 371.35289949864773, + "xmax": 842.7030380028777, + "ymax": 418.09265285723814 + }, + "corners_3d": [ + [ + -36.299835205078125, + 23.585412979125977, + 0.2627382278442383 + ], + [ + -35.710086822509766, + 23.49200439453125, + 0.2627382278442383 + ], + [ + -35.782554626464844, + 23.034467697143555, + 0.2627382278442383 + ], + [ + -36.3723030090332, + 23.12787628173828, + 0.2627382278442383 + ], + [ + -36.299835205078125, + 23.585412979125977, + 1.3483233451843262 + ], + [ + -35.710086822509766, + 23.49200439453125, + 1.3483233451843262 + ], + [ + -35.782554626464844, + 23.034467697143555, + 1.3483233451843262 + ], + [ + -36.3723030090332, + 23.12787628173828, + 1.3483233451843262 + ] + ], + "corners_2d": [ + [ + 818.9489841815625, + 418.09265285723814 + ], + [ + 836.551644640937, + 409.4979392975981 + ], + [ + 825.8878915177489, + 398.3776895675111 + ], + [ + 808.385753121767, + 406.792434660186 + ], + [ + 824.5962831733713, + 391.16642596885134 + ], + [ + 842.7030380028777, + 382.52591002252467 + ], + [ + 831.6426708925312, + 371.35289949864773 + ], + [ + 813.641790192598, + 379.80689412094404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 732, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 27.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3366039991378784, + "y": 0.49140501022338867, + "z": 0.8768942356109619 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 633.4294161865307, + "ymin": 559.2959456632933, + "xmax": 687.4136470239303, + "ymax": 639.6819391174243 + }, + "corners_3d": [ + [ + -42.896121978759766, + 27.61680793762207, + -0.22134393453598022 + ], + [ + -41.9146614074707, + 27.565372467041016, + -0.22134393453598022 + ], + [ + -41.949893951416016, + 26.89308738708496, + -0.22134393453598022 + ], + [ + -42.93135452270508, + 26.944522857666016, + -0.22134393453598022 + ], + [ + -42.896121978759766, + 27.61680793762207, + 1.5324444770812988 + ], + [ + -41.9146614074707, + 27.565372467041016, + 1.5324444770812988 + ], + [ + -41.949893951416016, + 26.89308738708496, + 1.5324444770812988 + ], + [ + -42.93135452270508, + 26.944522857666016, + 1.5324444770812988 + ] + ], + "corners_2d": [ + [ + 645.9462198809599, + 639.6819391174243 + ], + [ + 684.6874576926807, + 623.3197605905222 + ], + [ + 671.9721387388076, + 599.4697492752957 + ], + [ + 633.8048112061949, + 615.2215435579003 + ], + [ + 646.3139177998947, + 600.6232732830156 + ], + [ + 687.4136470239303, + 583.7881539215582 + ], + [ + 673.8839419479815, + 559.2959456632933 + ], + [ + 633.4294161865307, + 575.4656129951799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 573, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 20.312236785888672, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3142797648906708, + "y": 0.5282934308052063, + "z": 0.9038859605789185 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 256.1659887457091, + "ymin": 427.1539383843366, + "xmax": 320.32334904555523, + "ymax": 500.50531229717177 + }, + "corners_3d": [ + [ + -50.21120071411133, + 20.59843635559082, + -0.24834054708480835 + ], + [ + -49.156063079833984, + 20.65373420715332, + -0.24834054708480835 + ], + [ + -49.123165130615234, + 20.026037216186523, + -0.24834054708480835 + ], + [ + -50.17830276489258, + 19.970739364624023, + -0.24834054708480835 + ], + [ + -50.21120071411133, + 20.59843635559082, + 1.5594313144683838 + ], + [ + -49.156063079833984, + 20.65373420715332, + 1.5594313144683838 + ], + [ + -49.123165130615234, + 20.026037216186523, + 1.5594313144683838 + ], + [ + -50.17830276489258, + 19.970739364624023, + 1.5594313144683838 + ] + ], + "corners_2d": [ + [ + 278.07122366037265, + 500.50531229717177 + ], + [ + 320.32334904555523, + 489.7724940083008 + ], + [ + 317.9359410883826, + 471.154054859054 + ], + [ + 276.35752979809524, + 481.5378849802569 + ], + [ + 257.6193378986693, + 456.9481750443368 + ], + [ + 302.43679691987967, + 446.0434268522006 + ], + [ + 300.2260093221303, + 427.1539383843366 + ], + [ + 256.1659887457091, + 437.68468528720297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 349, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 12.142022132873535, + "z": 0.7786606550216675 + }, + "extent": { + "x": 0.37700071930885315, + "y": 0.35903075337409973, + "z": 0.932329535484314 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 830.7759924648219, + "ymin": 94.74188658606113, + "xmax": 865.333321485281, + "ymax": 153.41408238411452 + }, + "corners_3d": [ + [ + -29.335430145263672, + 12.458216667175293, + -0.15366888046264648 + ], + [ + -28.626209259033203, + 12.57054615020752, + -0.15366888046264648 + ], + [ + -28.508258819580078, + 11.825827598571777, + -0.15366888046264648 + ], + [ + -29.217479705810547, + 11.71349811553955, + -0.15366888046264648 + ], + [ + -29.335430145263672, + 12.458216667175293, + 1.7109901905059814 + ], + [ + -28.626209259033203, + 12.57054615020752, + 1.7109901905059814 + ], + [ + -28.508258819580078, + 11.825827598571777, + 1.7109901905059814 + ], + [ + -29.217479705810547, + 11.71349811553955, + 1.7109901905059814 + ] + ], + "corners_2d": [ + [ + 838.0238030635269, + 153.41408238411452 + ], + [ + 856.6339652674353, + 150.96000569185532 + ], + [ + 849.1425066724144, + 139.51764411266777 + ], + [ + 830.7759924648219, + 141.9021111242309 + ], + [ + 846.0011375737715, + 108.37961369014994 + ], + [ + 865.333321485281, + 105.9698453285568 + ], + [ + 857.4165019391496, + 94.74188658606113 + ], + [ + 838.3470410055509, + 97.08061393529618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4272, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 504.74799286514997, + "ymin": 0.0, + "xmax": 639.5651378393469, + "ymax": 80.74718602086091 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 508.66930122545534, + 56.56235657625439 + ], + [ + 523.0757009147387, + 80.74718602086091 + ], + [ + 639.5651378393469, + 57.07360931648009 + ], + [ + 621.8621878241003, + 34.394456770294255 + ], + [ + 504.74799286514997, + 21.090789000495192 + ], + [ + 519.4513909993509, + 44.75433170759692 + ], + [ + 639.4651316790435, + 21.568454951969613 + ], + [ + 621.2650353817284, + -0.5794755195063885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.69400449171962, + "ymin": 111.6620678159982, + "xmax": 130.51880794943094, + "ymax": 150.29976087799412 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 130.51880794943094, + 148.07836869358022 + ], + [ + 130.14400508103358, + 140.43568832007114 + ], + [ + 118.9877979488466, + 142.61474823805975 + ], + [ + 119.25564901508199, + 150.29976087799412 + ], + [ + 117.42746966200832, + 119.21623292042096 + ], + [ + 117.17148136306787, + 111.6620678159982 + ], + [ + 105.69400449171962, + 113.81551229982114 + ], + [ + 105.83675622595649, + 121.41259384806219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.3160237174823, + "ymin": 98.9118800943611, + "xmax": 584.6554207803766, + "ymax": 130.3845397961794 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 580.8155661746019, + 122.54445705120284 + ], + [ + 572.7036261082942, + 124.28680301521723 + ], + [ + 576.4884161856241, + 130.3845397961794 + ], + [ + 584.6554207803766, + 128.6147197790412 + ], + [ + 579.5980240417176, + 98.9118800943611 + ], + [ + 571.3160237174823, + 100.63584374299307 + ], + [ + 575.1683432727881, + 106.67050520699459 + ], + [ + 583.5077556118499, + 104.91879074747251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 135.6350201257461, + "xmax": 6.03639115305441, + "ymax": 175.15795791477436 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 5.187690380561094, + 172.79685523321905 + ], + [ + 6.03639115305441, + 164.67660096096168 + ], + [ + -5.8144391730435245, + 166.9913361938691 + ], + [ + -6.783846540505806, + 175.15795791477436 + ], + [ + -11.64186343042229, + 143.6738730339751 + ], + [ + -10.600704308008517, + 135.6350201257461 + ], + [ + -22.811880014791313, + 137.9261234290752 + ], + [ + -23.98121326968112, + 146.01209509950036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.9332470328102, + "ymin": 92.77279039621925, + "xmax": 229.35803463859776, + "ymax": 130.69902489125099 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 229.35803463859776, + 128.5847986962674 + ], + [ + 228.07011561442255, + 121.30863251945502 + ], + [ + 217.44714936139127, + 123.38353876986213 + ], + [ + 218.63824290865983, + 130.69902489125099 + ], + [ + 219.0701760358014, + 99.9557671072007 + ], + [ + 217.8486667255715, + 92.77279039621925 + ], + [ + 206.9332470328102, + 94.82078009606653 + ], + [ + 208.0524826438933, + 102.04354502194445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.3814951245297, + "ymin": 266.31071148687715, + "xmax": 877.076410070199, + "ymax": 565.7419146635082 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 820.7403612994955, + 516.0397954770953 + ], + [ + 812.1687242286101, + 502.32255516131863 + ], + [ + 670.3814951245297, + 550.8391603613665 + ], + [ + 677.5603515337546, + 565.7419146635082 + ], + [ + 877.076410070199, + 280.6224682584728 + ], + [ + 865.0088765556482, + 266.31071148687715 + ], + [ + 680.2250594093867, + 317.4048357601162 + ], + [ + 689.9304076336642, + 333.36866854370385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.6638317975991, + "ymin": 0.0, + "xmax": 1055.4665713881927, + "ymax": 95.43776813076016 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 983.0849267602891, + 95.43776813076016 + ], + [ + 992.6179276503797, + 93.21356024251526 + ], + [ + 936.7608934684536, + 47.074477648798336 + ], + [ + 927.6638317975991, + 49.03117604502927 + ], + [ + 1044.4498239800857, + -114.88273565591646 + ], + [ + 1055.4665713881927, + -116.76524709181194 + ], + [ + 985.8338707179901, + -155.3689570755164 + ], + [ + 975.387893062476, + -153.74895936348616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.5640689795081, + "ymin": 319.3373771290574, + "xmax": 713.8766922633419, + "ymax": 339.879286018875 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 713.5446116056122, + 334.0447270436227 + ], + [ + 706.9303714160517, + 323.57110901646297 + ], + [ + 686.5640689795081, + 329.2819298611366 + ], + [ + 692.997368079538, + 339.879286018875 + ], + [ + 713.8766922633419, + 329.8125956364506 + ], + [ + 707.2293596040003, + 319.3373771290574 + ], + [ + 686.7733018038981, + 325.04894598709524 + ], + [ + 693.2380939154065, + 335.648482312193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 16.43280832699611, + "xmax": 326.3839686466611, + "ymax": 381.43175166974476 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -106.08616426718993, + 370.89891467218814 + ], + [ + -108.26716708348602, + 381.43175166974476 + ], + [ + 326.3839686466611, + 279.0996323742209 + ], + [ + 324.3529927048465, + 270.54213357463095 + ], + [ + -322.1223235487663, + 110.17411035180328 + ], + [ + -327.8225471153348, + 120.32260280385552 + ], + [ + 245.82390432489416, + 24.223604259552758 + ], + [ + 244.20636048406004, + 16.43280832699611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.4190161912866, + "ymin": 319.22790462398115, + "xmax": 714.0253882485837, + "ymax": 339.99096804662145 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 713.6890611588352, + 334.09295856058077 + ], + [ + 707.0029805198399, + 323.50716350646275 + ], + [ + 686.4190161912866, + 329.2787589929783 + ], + [ + 692.9202456579407, + 339.99096804662145 + ], + [ + 714.0253882485837, + 329.8153316909633 + ], + [ + 707.3054912793001, + 319.22790462398115 + ], + [ + 686.6298392265767, + 325.0002612012494 + ], + [ + 693.1632333542511, + 335.7147008742309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 469.16050930882034, + "ymin": 0.0, + "xmax": 598.650098686579, + "ymax": 197.09356505769136 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 586.7124290075747, + 197.09356505769136 + ], + [ + 598.650098686579, + 194.3500285064329 + ], + [ + 504.8310426811522, + 33.445224645710994 + ], + [ + 494.9244908622088, + 35.242911683988495 + ], + [ + 574.507055801221, + -48.95471369349434 + ], + [ + 589.2166319557311, + -51.34693956268558 + ], + [ + 480.9003525233028, + -185.71130511277806 + ], + [ + 469.16050930882034, + -184.27192226241982 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00067/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00067/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..40e459ae2dbd103cf58272a5ee7af7fc68c5b128 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00067/meta.json @@ -0,0 +1,1932 @@ +{ + "frame_id": 67, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.5, + "sim_timestamp": 12460.163415287854 + }, + "drone_pose": { + "x": -46.804962772292804, + "y": 36.77063576040384, + "z": 20.000000685506684, + "pitch": -46.502181732622404, + "yaw": -68.6238561145895, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25088775157928467, + 0.640975296497345, + 0.7254005670547485, + 20.803852081298828 + ], + [ + -0.9312075972557068, + 0.36448919773101807, + 0.0, + 30.182641983032227 + ], + [ + -0.2644006311893463, + -0.6754985451698303, + 0.6883269548416138, + -50.980316162109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.80176425539471, + "y": 36.26920094276365, + "z": 20.00000040045929 + }, + "t1_image_uv": [ + 104.33238111921787, + -651.7048377239284 + ], + "t1_depth": 0.32221002337737703 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 19.812236785888672, + "z": 0.8079477441310883 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.457178859801573, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 19.812236785888672, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.28379881381988525, + "y": 0.19702941179275513, + "z": 0.5607987642288208 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.4801477702716, + "ymin": 336.9946402172464, + "xmax": 650.6273935441109, + "ymax": 382.70222669095426 + }, + "corners_3d": [ + [ + -40.36421203613281, + 20.09603500366211, + 0.24714899063110352 + ], + [ + -39.97015380859375, + 20.09603500366211, + 0.24714899063110352 + ], + [ + -39.97015380859375, + 19.528438568115234, + 0.24714899063110352 + ], + [ + -40.36421203613281, + 19.528438568115234, + 0.24714899063110352 + ], + [ + -40.36421203613281, + 20.09603500366211, + 1.3687465190887451 + ], + [ + -39.97015380859375, + 20.09603500366211, + 1.3687465190887451 + ], + [ + -39.97015380859375, + 19.528438568115234, + 1.3687465190887451 + ], + [ + -40.36421203613281, + 19.528438568115234, + 1.3687465190887451 + ] + ], + "corners_2d": [ + [ + 637.1151072311312, + 382.70222669095426 + ], + [ + 650.3039352724719, + 378.87655002882707 + ], + [ + 642.8356303467449, + 365.038673027386 + ], + [ + 629.7971904965704, + 368.76211729871784 + ], + [ + 637.024198706922, + 354.7122546192404 + ], + [ + 650.6273935441109, + 350.8732516897861 + ], + [ + 642.9234134355871, + 336.9946402172464 + ], + [ + 629.4801477702716, + 340.7278949994118 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 67, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 42, + "semantic_pixel_counts": { + "1": 447868, + "2": 231025, + "3": 207479, + "6": 7135, + "7": 969, + "10": 639, + "12": 2022, + "14": 4329, + "20": 2848, + "24": 17286 + }, + "instance_pixel_counts": { + "6215": 154657, + "6802": 5019, + "7314": 40632, + "8338": 7148, + "9356": 588, + "18000": 347, + "18512": 2392, + "21652": 65397, + "22676": 156466, + "23700": 27733, + "24212": 51239, + "24724": 100024, + "25856": 2636, + "26624": 2643, + "33370": 1777, + "35988": 5836, + "36500": 4066, + "37524": 1249, + "38036": 3706, + "38548": 987, + "39052": 1961, + "39564": 13552, + "40265": 109, + "40588": 1691, + "41100": 838, + "41612": 4680, + "41818": 100619, + "42074": 105083, + "45457": 259, + "56576": 200, + "56832": 234, + "57088": 644, + "57344": 587, + "57600": 357, + "59904": 4329, + "61569": 2825, + "62613": 734, + "63123": 21221, + "64149": 9, + "64659": 2728, + "64661": 699, + "65171": 23060 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 19.812236785888672, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.2539086937904358, + "y": 0.28769591450691223, + "z": 0.5464330911636353 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.7680268608087, + "ymin": 337.2298271604416, + "xmax": 653.3242642272546, + "ymax": 382.49394886501267 + }, + "corners_3d": [ + [ + -40.45487976074219, + 20.066144943237305, + 0.26151466369628906 + ], + [ + -39.879486083984375, + 20.066144943237305, + 0.26151466369628906 + ], + [ + -39.879486083984375, + 19.55832862854004, + 0.26151466369628906 + ], + [ + -40.45487976074219, + 19.55832862854004, + 0.26151466369628906 + ], + [ + -40.45487976074219, + 20.066144943237305, + 1.3543808460235596 + ], + [ + -39.879486083984375, + 20.066144943237305, + 1.3543808460235596 + ], + [ + -39.879486083984375, + 19.55832862854004, + 1.3543808460235596 + ], + [ + -40.45487976074219, + 19.55832862854004, + 1.3543808460235596 + ] + ], + "corners_2d": [ + [ + 633.6756934886473, + 382.49394886501267 + ], + [ + 652.9295766550327, + 376.9154895971876 + ], + [ + 646.2146097702287, + 364.55548055921804 + ], + [ + 627.1573456070334, + 370.000327926344 + ], + [ + 633.4815589185638, + 355.2218021512578 + ], + [ + 653.3242642272546, + 349.62465121427357 + ], + [ + 646.4019683608182, + 337.2298271604416 + ], + [ + 626.7680268608087, + 342.6888909847282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 234, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 22.809940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.20754030346870422, + "y": 0.18921388685703278, + "z": 0.5304862856864929 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 812.2068005551846, + "ymin": 374.0444889614226, + "xmax": 838.7569565454796, + "ymax": 415.8874524909885 + }, + "corners_3d": [ + [ + -36.195613861083984, + 23.044525146484375, + 0.2750445008277893 + ], + [ + -35.82184600830078, + 22.985326766967773, + 0.2750445008277893 + ], + [ + -35.886775970458984, + 22.575355529785156, + 0.2750445008277893 + ], + [ + -36.26054382324219, + 22.634553909301758, + 0.2750445008277893 + ], + [ + -36.195613861083984, + 23.044525146484375, + 1.33601713180542 + ], + [ + -35.82184600830078, + 22.985326766967773, + 1.33601713180542 + ], + [ + -35.886775970458984, + 22.575355529785156, + 1.33601713180542 + ], + [ + -36.26054382324219, + 22.634553909301758, + 1.33601713180542 + ] + ], + "corners_2d": [ + [ + 821.673650077944, + 415.8874524909885 + ], + [ + 832.8508191726098, + 410.45805482973867 + ], + [ + 823.326290297846, + 400.4447198009341 + ], + [ + 812.2068005551846, + 405.7719742076555 + ], + [ + 827.2667978257472, + 389.56324025951506 + ], + [ + 838.7569565454796, + 384.1055405064175 + ], + [ + 828.8862007141452, + 374.0444889614226 + ], + [ + 817.4567293040728, + 379.3964061993562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 644, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 26.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.31028807163238525, + "y": 0.39717406034469604, + "z": 0.8772984147071838 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 637.2599264383115, + "ymin": 561.8976896804709, + "xmax": 682.3807884805218, + "ymax": 637.238649491158 + }, + "corners_3d": [ + [ + -42.80339813232422, + 27.085596084594727, + -0.22174811363220215 + ], + [ + -42.01013946533203, + 27.044023513793945, + -0.22174811363220215 + ], + [ + -42.04261779785156, + 26.424299240112305, + -0.22174811363220215 + ], + [ + -42.83587646484375, + 26.465871810913086, + -0.22174811363220215 + ], + [ + -42.80339813232422, + 27.085596084594727, + 1.5328487157821655 + ], + [ + -42.01013946533203, + 27.044023513793945, + 1.5328487157821655 + ], + [ + -42.04261779785156, + 26.424299240112305, + 1.5328487157821655 + ], + [ + -42.83587646484375, + 26.465871810913086, + 1.5328487157821655 + ] + ], + "corners_2d": [ + [ + 648.6079796734815, + 637.238649491158 + ], + [ + 679.9406905726717, + 624.0808569856479 + ], + [ + 668.3195808064386, + 602.0149240731541 + ], + [ + 637.4165300862226, + 614.7192337625517 + ], + [ + 649.1396259626806, + 598.100183804466 + ], + [ + 682.3807884805218, + 584.5624834202807 + ], + [ + 670.0179910261116, + 561.8976896804709 + ], + [ + 637.2599264383115, + 574.940942152484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 587, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 19.812236785888672, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3059472441673279, + "y": 0.4011560082435608, + "z": 0.8929823040962219 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 261.5249838099035, + "ymin": 428.4912043232448, + "xmax": 314.9680389751903, + "ymax": 498.209414077086 + }, + "corners_3d": [ + [ + -50.08380126953125, + 20.096769332885742, + -0.23742711544036865 + ], + [ + -49.282588958740234, + 20.13875961303711, + -0.23742711544036865 + ], + [ + -49.25056457519531, + 19.5277042388916, + -0.23742711544036865 + ], + [ + -50.05177688598633, + 19.485713958740234, + -0.23742711544036865 + ], + [ + -50.08380126953125, + 20.096769332885742, + 1.5485374927520752 + ], + [ + -49.282588958740234, + 20.13875961303711, + 1.5485374927520752 + ], + [ + -49.25056457519531, + 19.5277042388916, + 1.5485374927520752 + ], + [ + -50.05177688598633, + 19.485713958740234, + 1.5485374927520752 + ] + ], + "corners_2d": [ + [ + 282.88301715942725, + 498.209414077086 + ], + [ + 314.9680389751903, + 490.11047482797 + ], + [ + 312.76777336176247, + 471.94129976728107 + ], + [ + 281.1815118630641, + 479.78365556853106 + ], + [ + 262.98336842093465, + 455.1507006625129 + ], + [ + 296.99088351654797, + 446.92385708014757 + ], + [ + 294.9725835259435, + 428.4912043232448 + ], + [ + 261.5249838099035, + 436.44330708828784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 357, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 11.642022132873535, + "z": 0.7565122246742249 + }, + "extent": { + "x": 0.38068845868110657, + "y": 0.31924498081207275, + "z": 0.9299584627151489 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 832.3559994081655, + "ymin": 95.53655731542648, + "xmax": 864.8852398971683, + "ymax": 153.91230004127402 + }, + "corners_3d": [ + [ + -29.296710968017578, + 11.968082427978516, + -0.17344623804092407 + ], + [ + -28.66608238220215, + 12.067964553833008, + -0.17344623804092407 + ], + [ + -28.546977996826172, + 11.315961837768555, + -0.17344623804092407 + ], + [ + -29.1776065826416, + 11.216079711914062, + -0.17344623804092407 + ], + [ + -29.296710968017578, + 11.968082427978516, + 1.6864707469940186 + ], + [ + -28.66608238220215, + 12.067964553833008, + 1.6864707469940186 + ], + [ + -28.546977996826172, + 11.315961837768555, + 1.6864707469940186 + ], + [ + -29.1776065826416, + 11.216079711914062, + 1.6864707469940186 + ] + ], + "corners_2d": [ + [ + 839.6610905237746, + 153.91230004127402 + ], + [ + 856.2209008431927, + 151.7452944473651 + ], + [ + 848.6965939198042, + 140.1697164703317 + ], + [ + 832.3559994081655, + 142.2746486070983 + ], + [ + 847.6842959781418, + 109.02566375861599 + ], + [ + 864.8852398971683, + 106.89739982944528 + ], + [ + 856.9341795371388, + 95.53655731542648 + ], + [ + 839.9695770013135, + 97.60146607109533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4329, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 509.02655944426726, + "ymin": 4.580318482714233, + "xmax": 644.8906389509483, + "ymax": 86.72899565679444 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 512.8584823371909, + 62.11910503786066 + ], + [ + 527.4435457379747, + 86.72899565679444 + ], + [ + 644.8360467742143, + 62.76439676500007 + ], + [ + 626.8999331811901, + 39.69175056369659 + ], + [ + 509.02655944426726, + 26.51461431762084 + ], + [ + 523.9198837740244, + 50.60638328921101 + ], + [ + 644.8906389509483, + 27.123545779968993 + ], + [ + 626.4413292477002, + 4.580318482714233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.31940191868318, + "ymin": 121.06576584943215, + "xmax": 131.4174406290831, + "ymax": 160.0598561240747 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.4174406290831, + 157.79314933181732 + ], + [ + 131.05605532305685, + 149.95424785428708 + ], + [ + 119.7643682322273, + 152.17720696685168 + ], + [ + 120.01604241664461, + 160.0598561240747 + ], + [ + 118.17942332189409, + 128.81887400715195 + ], + [ + 117.94022070426934, + 121.06576584943215 + ], + [ + 106.31940191868318, + 123.26399869971144 + ], + [ + 106.44236683515476, + 131.06150123608032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.8676464505628, + "ymin": 106.70011539468592, + "xmax": 590.2507406563027, + "ymax": 138.42174360291764 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 586.3465241126688, + 130.4191602459397 + ], + [ + 578.1567573617833, + 132.19016051654737 + ], + [ + 582.0047801199793, + 138.42174360291764 + ], + [ + 590.2507406563027, + 136.62250659530497 + ], + [ + 585.2307066294651, + 106.70011539468592 + ], + [ + 576.8676464505628, + 108.4532042348016 + ], + [ + 580.7860684338026, + 114.62307561127096 + ], + [ + 589.2077401136982, + 112.84144656063216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 145.5427747807404, + "xmax": 5.415126323556819, + "ymax": 185.43166997359785 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 4.5209272570606345, + 183.02126701430083 + ], + [ + 5.415126323556819, + 174.68866643994733 + ], + [ + -6.585125687405707, + 177.05111817418225 + ], + [ + -7.60325574260753, + 185.43166997359785 + ], + [ + -12.549460306558103, + 153.79743311476432 + ], + [ + -11.456552878788557, + 145.5427747807404 + ], + [ + -23.826309376097242, + 147.8826788453698 + ], + [ + -25.050913156748493, + 156.18611501796354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.80538538301295, + "ymin": 101.78776530789025, + "xmax": 231.44913173723467, + "ymax": 140.06258491827967 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 231.44913173723467, + 137.9060316286866 + ], + [ + 230.1514422688872, + 130.44578371374683 + ], + [ + 219.40336352493978, + 132.5617247160278 + ], + [ + 220.60180087401528, + 140.06258491827967 + ], + [ + 221.08274627845105, + 109.15702726077888 + ], + [ + 219.85285130304658, + 101.78776530789025 + ], + [ + 208.80538538301295, + 103.87754118525146 + ], + [ + 209.9303766953526, + 111.28793735481602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.1050382846153, + "ymin": 282.99761662318707, + "xmax": 890.933336754406, + "ymax": 583.3149131389068 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 830.4479802140215, + 532.4091634165649 + ], + [ + 821.6696327168484, + 518.2930742900337 + ], + [ + 678.1050382846153, + 567.9668842032893 + ], + [ + 685.4541942931077, + 583.3149131389068 + ], + [ + 890.933336754406, + 297.85645277931485 + ], + [ + 878.4641747694415, + 282.99761662318707 + ], + [ + 690.6904510741717, + 335.78858593192984 + ], + [ + 700.7192620434855, + 352.38814264713426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.4563218007097, + "ymin": 0.0, + "xmax": 1066.5040009023278, + "ymax": 102.18266371531638 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 991.7597856337995, + 102.18266371531638 + ], + [ + 1001.3685949556641, + 99.9269602854477 + ], + [ + 944.6220712281746, + 52.91515896689714 + ], + [ + 935.4563218007097, + 54.89713780761559 + ], + [ + 1055.387934545196, + -109.22764223015662 + ], + [ + 1066.5040009023278, + -111.1433529177612 + ], + [ + 995.5210681347473, + -150.6028094810224 + ], + [ + 984.9859637088998, + -148.95700341872418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.0400425599121, + "ymin": 337.57744590071786, + "xmax": 724.9673526628862, + "ymax": 358.7239781102058 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 724.5780350915389, + 352.6913216505904 + ], + [ + 717.7459627923739, + 341.80772473206423 + ], + [ + 697.0400425599121, + 347.7099663036486 + ], + [ + 703.6849614533521, + 358.7239781102058 + ], + [ + 724.9673526628862, + 348.46458610364016 + ], + [ + 718.0999364342694, + 337.57744590071786 + ], + [ + 697.3012930284507, + 343.48147423371097 + ], + [ + 703.9798758596897, + 354.49967441668207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 24.99716841659756, + "xmax": 329.209661559689, + "ymax": 392.8201393560026 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -107.85681384240854, + 382.0435824974423 + ], + [ + -110.11058295784699, + 392.8201393560026 + ], + [ + 329.209661559689, + 288.7365066942947 + ], + [ + 327.155848917541, + 279.9916514971479 + ], + [ + -327.57032718017604, + 120.89494426923721 + ], + [ + -333.4676622432653, + 131.34734757690757 + ], + [ + 248.28959258685967, + 33.00239161772737 + ], + [ + 246.65335501627544, + 24.99716841659756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.8917570474342, + "ymin": 337.4647799327354, + "xmax": 725.1194291752677, + "ymax": 358.8389791410213 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 724.7252209021606, + 352.7407095950771 + ], + [ + 717.8189438910578, + 341.7405644957701 + ], + [ + 696.8917570474342, + 347.70559907793137 + ], + [ + 703.606836463759, + 358.8389791410213 + ], + [ + 725.1194291752677, + 348.4685415465241 + ], + [ + 718.1770352493882, + 337.4647799327354 + ], + [ + 697.155129123653, + 343.43163646914866 + ], + [ + 703.904590623191, + 354.56929919278883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.66797012677677, + "ymin": 0.0, + "xmax": 604.0528810121194, + "ymax": 205.3210881235642 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 592.0061987192479, + 205.3210881235642 + ], + [ + 604.0528810121194, + 202.53575911732588 + ], + [ + 508.9365584147873, + 38.62243323497728 + ], + [ + 498.9570287232035, + 40.44026545830127 + ], + [ + 580.8755477104497, + -41.8148560269085 + ], + [ + 595.7494317413854, + -44.25485170914175 + ], + [ + 485.5095842452977, + -181.64791632261176 + ], + [ + 473.66797012677677, + -180.18818131978924 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00068/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00068/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d8520f608f74a9107b52aa85201df1c87839503 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00068/meta.json @@ -0,0 +1,1935 @@ +{ + "frame_id": 68, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.0, + "sim_timestamp": 12470.766713653924 + }, + "drone_pose": { + "x": -46.80176425539471, + "y": 36.26920094276365, + "z": 20.00000040045929, + "pitch": -46.506104388322015, + "yaw": -68.6315826598377, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2507830858230591, + 0.6409629583358765, + 0.7254476547241211, + 20.475353240966797 + ], + [ + -0.931256890296936, + 0.364363431930542, + 0.0, + 30.369293212890625 + ], + [ + -0.26432663202285767, + -0.6755781173706055, + 0.6882773637771606, + -50.6391716003418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.82846016873758, + "y": 35.7599948766767, + "z": 20.000000226926257 + }, + "t1_image_uv": [ + 8.192302431966482, + -651.8440444924959 + ], + "t1_depth": 0.31968744178744857 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 19.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.455453132389007, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 210, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 19.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.25944578647613525, + "y": 0.2596838176250458, + "z": 0.5491979122161865 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.6554386228668, + "ymin": 337.2888527085944, + "xmax": 652.440793890066, + "ymax": 382.4262259126889 + }, + "corners_3d": [ + [ + -40.4268684387207, + 19.57168197631836, + 0.2587547302246094 + ], + [ + -39.90749740600586, + 19.57168197631836, + 0.2587547302246094 + ], + [ + -39.90749740600586, + 19.052791595458984, + 0.2587547302246094 + ], + [ + -40.4268684387207, + 19.052791595458984, + 0.2587547302246094 + ], + [ + -40.4268684387207, + 19.57168197631836, + 1.3571505546569824 + ], + [ + -39.90749740600586, + 19.57168197631836, + 1.3571505546569824 + ], + [ + -39.90749740600586, + 19.052791595458984, + 1.3571505546569824 + ], + [ + -40.4268684387207, + 19.052791595458984, + 1.3571505546569824 + ] + ], + "corners_2d": [ + [ + 634.6883366496751, + 382.4262259126889 + ], + [ + 652.0702450135195, + 377.39072334197357 + ], + [ + 645.220896549516, + 364.7523888966566 + ], + [ + 628.0203611785937, + 369.6646903079046 + ], + [ + 634.5244495451846, + 355.0158085294385 + ], + [ + 652.440793890066, + 349.96326780229464 + ], + [ + 645.3791470003257, + 337.2888527085944 + ], + [ + 627.6554386228668, + 342.214043046392 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 68, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 451320, + "2": 229779, + "3": 204238, + "6": 7424, + "7": 970, + "10": 630, + "12": 2002, + "14": 4395, + "20": 2850, + "24": 17992 + }, + "instance_pixel_counts": { + "148": 1, + "6215": 153776, + "6802": 5171, + "7314": 40014, + "8338": 7409, + "9356": 654, + "9868": 18, + "18000": 369, + "18512": 2371, + "21652": 67323, + "22676": 153349, + "23700": 29424, + "24212": 52723, + "24724": 97349, + "25856": 2827, + "26624": 2672, + "33370": 1842, + "35988": 6017, + "36500": 4066, + "37524": 1357, + "38036": 3823, + "38548": 939, + "39052": 2027, + "39564": 13340, + "40265": 110, + "40588": 1874, + "41100": 812, + "41612": 4331, + "41818": 110023, + "42074": 92373, + "45457": 323, + "45969": 30, + "56576": 210, + "56832": 228, + "57088": 616, + "57344": 586, + "57600": 362, + "59904": 4395, + "61569": 2895, + "62613": 910, + "63123": 23183, + "64149": 29, + "64659": 3747, + "64661": 851, + "65171": 24221 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 210, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 19.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2683483958244324, + "y": 0.28906065225601196, + "z": 0.5586981773376465 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.5279615542703, + "ymin": 336.5523608695081, + "xmax": 653.5753574211342, + "ymax": 383.16430212797263 + }, + "corners_3d": [ + [ + -40.45624542236328, + 19.580585479736328, + 0.24925446510314941 + ], + [ + -39.87812042236328, + 19.580585479736328, + 0.24925446510314941 + ], + [ + -39.87812042236328, + 19.043888092041016, + 0.24925446510314941 + ], + [ + -40.45624542236328, + 19.043888092041016, + 0.24925446510314941 + ], + [ + -40.45624542236328, + 19.580585479736328, + 1.3666508197784424 + ], + [ + -39.87812042236328, + 19.580585479736328, + 1.3666508197784424 + ], + [ + -39.87812042236328, + 19.043888092041016, + 1.3666508197784424 + ], + [ + -40.45624542236328, + 19.043888092041016, + 1.3666508197784424 + ] + ], + "corners_2d": [ + [ + 633.8173765617717, + 383.16430212797263 + ], + [ + 653.1641525589582, + 377.5569498062015 + ], + [ + 646.0710870065965, + 364.4924190202277 + ], + [ + 626.933024441534, + 369.95796657835893 + ], + [ + 633.6231666906648, + 355.28133750148623 + ], + [ + 653.5753574211342, + 349.65460966669804 + ], + [ + 646.2582468111815, + 336.5523608695081 + ], + [ + 626.5279615542703, + 342.0324241262757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 228, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 22.309940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.18651002645492554, + "y": 0.2661438286304474, + "z": 0.5426950454711914 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.3563157301928, + "ymin": 373.1769382171512, + "xmax": 840.6539380745207, + "ymax": 416.79741171114165 + }, + "corners_3d": [ + [ + -36.27488708496094, + 22.53578758239746, + 0.2628357410430908 + ], + [ + -35.749149322509766, + 22.4525203704834, + 0.2628357410430908 + ], + [ + -35.80750274658203, + 22.08409309387207, + 0.2628357410430908 + ], + [ + -36.3332405090332, + 22.167360305786133, + 0.2628357410430908 + ], + [ + -36.27488708496094, + 22.53578758239746, + 1.3482258319854736 + ], + [ + -35.749149322509766, + 22.4525203704834, + 1.3482258319854736 + ], + [ + -35.80750274658203, + 22.08409309387207, + 1.3482258319854736 + ], + [ + -36.3332405090332, + 22.167360305786133, + 1.3482258319854736 + ] + ], + "corners_2d": [ + [ + 818.8489103087037, + 416.79741171114165 + ], + [ + 834.5646283109706, + 409.16885426530075 + ], + [ + 825.9991084590089, + 400.18714803515877 + ], + [ + 810.3563157301928, + 407.6866409720793 + ], + [ + 824.4878774755679, + 389.8710074302691 + ], + [ + 840.6539380745207, + 382.20192952719606 + ], + [ + 831.7695354617044, + 373.1769382171512 + ], + [ + 815.680294387122, + 380.71224362486896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 616, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 26.254947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3339892625808716, + "y": 0.5360985994338989, + "z": 0.8924331665039062 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 630.966754824235, + "ymin": 558.464734113599, + "xmax": 688.5884193967097, + "ymax": 640.7948333761162 + }, + "corners_3d": [ + [ + -42.94089126586914, + 26.61653709411621, + -0.23687797784805298 + ], + [ + -41.87016296386719, + 26.560420989990234, + -0.23687797784805298 + ], + [ + -41.90512466430664, + 25.89335823059082, + -0.23687797784805298 + ], + [ + -42.975852966308594, + 25.949474334716797, + -0.23687797784805298 + ], + [ + -42.94089126586914, + 26.61653709411621, + 1.5479884147644043 + ], + [ + -41.87016296386719, + 26.560420989990234, + 1.5479884147644043 + ], + [ + -41.90512466430664, + 25.89335823059082, + 1.5479884147644043 + ], + [ + -42.975852966308594, + 25.949474334716797, + 1.5479884147644043 + ] + ], + "corners_2d": [ + [ + 643.4461523109431, + 640.7948333761162 + ], + [ + 685.7468606645497, + 623.017728835561 + ], + [ + 673.1691011174148, + 599.3509870216269 + ], + [ + 631.4923256896518, + 616.4697528596685 + ], + [ + 643.6633825334505, + 601.081357661488 + ], + [ + 688.5884193967097, + 582.7801179248081 + ], + [ + 675.1888178309338, + 558.464734113599 + ], + [ + 630.966754824235, + 576.0470700774176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 586, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 19.312236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3023168742656708, + "y": 0.4919622838497162, + "z": 0.8966075778007507 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 257.64398667813373, + "ymin": 427.5892208999029, + "xmax": 318.563458498228, + "ymax": 499.0784614547808 + }, + "corners_3d": [ + [ + -50.174293518066406, + 19.58839225769043, + -0.24105727672576904 + ], + [ + -49.191715240478516, + 19.6398868560791, + -0.24105727672576904 + ], + [ + -49.160072326660156, + 19.036081314086914, + -0.24105727672576904 + ], + [ + -50.14265060424805, + 18.984586715698242, + -0.24105727672576904 + ], + [ + -50.174293518066406, + 19.58839225769043, + 1.5521578788757324 + ], + [ + -49.191715240478516, + 19.6398868560791, + 1.5521578788757324 + ], + [ + -49.160072326660156, + 19.036081314086914, + 1.5521578788757324 + ], + [ + -50.14265060424805, + 18.984586715698242, + 1.5521578788757324 + ] + ], + "corners_2d": [ + [ + 279.22194869559564, + 499.0784614547808 + ], + [ + 318.563458498228, + 489.1518665730201 + ], + [ + 316.3372289645524, + 471.22538304431987 + ], + [ + 277.6000545540778, + 480.84119546415934 + ], + [ + 259.0174063064003, + 455.8593265883461 + ], + [ + 300.726021857183, + 445.77532260712303 + ], + [ + 298.67384188301423, + 427.5892208999029 + ], + [ + 257.64398667813373, + 437.3403518463414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 362, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 11.142022132873535, + "z": 0.7517807483673096 + }, + "extent": { + "x": 0.3800390660762787, + "y": 0.35781919956207275, + "z": 0.9348117709159851 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 831.3942476256458, + "ymin": 95.40133235713034, + "xmax": 865.9794793120818, + "ymax": 154.24233925148303 + }, + "corners_3d": [ + [ + -29.33470916748047, + 11.461406707763672, + -0.18303102254867554 + ], + [ + -28.62788200378418, + 11.573357582092285, + -0.18303102254867554 + ], + [ + -28.50897979736328, + 10.822637557983398, + -0.18303102254867554 + ], + [ + -29.21580696105957, + 10.710686683654785, + -0.18303102254867554 + ], + [ + -29.33470916748047, + 11.461406707763672, + 1.6865925788879395 + ], + [ + -28.62788200378418, + 11.573357582092285, + 1.6865925788879395 + ], + [ + -28.50897979736328, + 10.822637557983398, + 1.6865925788879395 + ], + [ + -29.21580696105957, + 10.710686683654785, + 1.6865925788879395 + ] + ], + "corners_2d": [ + [ + 838.6701622124853, + 154.24233925148303 + ], + [ + 857.2294993903025, + 151.81445176802308 + ], + [ + 849.7083305726745, + 140.259109323073 + ], + [ + 831.3942476256458, + 142.61757797363325 + ], + [ + 846.6977265754994, + 109.1256914177512 + ], + [ + 865.9794793120818, + 106.74137119391105 + ], + [ + 858.0290847668446, + 95.40133235713034 + ], + [ + 839.011851412001, + 97.71479071262883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4395, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 512.6087469277833, + "ymin": 9.94015050146163, + "xmax": 649.6440705688303, + "ymax": 92.99989354567555 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 516.3694582442462, + 67.96978081466898 + ], + [ + 531.1960328968736, + 92.99989354567555 + ], + [ + 649.4516891572537, + 68.63877034023852 + ], + [ + 631.2262438235385, + 45.18401632575217 + ], + [ + 512.6087469277833, + 32.2354201157724 + ], + [ + 527.7563407153077, + 56.75114812772773 + ], + [ + 649.6440705688303, + 32.86776810383651 + ], + [ + 630.8881872490743, + 9.94015050146163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.47611263270244, + "ymin": 131.24875140387294, + "xmax": 131.89834643616285, + "ymax": 170.62095187734326 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.89834643616285, + 168.29531635613012 + ], + [ + 131.52931449521782, + 160.25072822314345 + ], + [ + 120.09246773349219, + 162.53090070338718 + ], + [ + 120.34893188333047, + 170.62095187734326 + ], + [ + 118.49450955867826, + 139.21068625081816 + ], + [ + 118.25074941866649, + 131.24875140387294 + ], + [ + 106.47611263270244, + 133.50507813088606 + ], + [ + 106.60051774456008, + 141.51319510553625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 582.0679774582389, + "ymin": 114.773634762542, + "xmax": 595.5139104657574, + "ymax": 146.74788878821576 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 591.5282090926419, + 138.57526307816116 + ], + [ + 583.2634661725846, + 140.38318456965092 + ], + [ + 587.1919588831569, + 146.74788878821576 + ], + [ + 595.5139104657574, + 144.91083485717692 + ], + [ + 590.5092455636211, + 114.773634762542 + ], + [ + 582.0679774582389, + 116.5640623517859 + ], + [ + 586.0701176113852, + 122.86855041775607 + ], + [ + 594.571078761293, + 121.04865760842412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 156.3819468312777, + "xmax": 4.228451311463914, + "ymax": 196.66361745910427 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 3.3082834333960136, + 194.18859334774774 + ], + [ + 4.228451311463914, + 185.630672973988 + ], + [ + -7.9354932223094465, + 188.05580711641517 + ], + [ + -8.98301647467838, + 196.66361745910427 + ], + [ + -14.03251286950865, + 164.865924206701 + ], + [ + -12.907407936478876, + 156.3819468312777 + ], + [ + -25.451143450933728, + 158.78565252712608 + ], + [ + -26.711697372996014, + 167.3204349110269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 210.28894572826954, + "ymin": 111.46835133250852, + "xmax": 233.19360985616652, + "ymax": 150.10948463595219 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 233.19360985616652, + 147.89824475829533 + ], + [ + 231.8645575820508, + 140.2469557908202 + ], + [ + 220.98495731347828, + 142.41603000964187 + ], + [ + 222.2123011812784, + 150.10948463595219 + ], + [ + 222.73572469069148, + 119.03119796862518 + ], + [ + 221.47544065240146, + 111.46835133250852 + ], + [ + 210.28894572826954, + 113.6119751606208 + ], + [ + 211.4416549443166, + 121.2175707768364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.4503856219933, + "ymin": 300.00051676036827, + "xmax": 905.611519635076, + "ymax": 601.2989241402372 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 840.6870380467827, + 548.9444402421811 + ], + [ + 831.6657744007406, + 534.4317520082056 + ], + [ + 686.4503856219933, + 585.5014640600083 + ], + [ + 694.0109814928967, + 601.2989241402372 + ], + [ + 905.611519635076, + 315.41240604319586 + ], + [ + 892.6837983557034, + 300.00051676036827 + ], + [ + 702.0891175411508, + 354.77395510183135 + ], + [ + 712.5068493396906, + 372.02669193364085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.4826041753423, + "ymin": 0.0, + "xmax": 1076.7106590645274, + "ymax": 108.81305278196484 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 999.7488035994477, + 108.81305278196484 + ], + [ + 1009.4198482656852, + 106.51784054661769 + ], + [ + 951.7056442408934, + 58.69133367440867 + ], + [ + 942.4826041753423, + 60.70578710952401 + ], + [ + 1065.5125893738923, + -103.60579027952764 + ], + [ + 1076.7106590645274, + -105.56137663525959 + ], + [ + 1004.2987600258728, + -145.82592030806643 + ], + [ + 993.6887360506305, + -144.14843543976298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.4408632861113, + "ymin": 356.3746011948096, + "xmax": 737.0175420286935, + "ymax": 378.16660497862915 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 736.564450546698, + 371.9016365884621 + ], + [ + 729.4724595912572, + 360.5980530107813 + ], + [ + 708.4408632861113, + 366.72502326438666 + ], + [ + 715.3400070833943, + 378.16660497862915 + ], + [ + 737.0175420286935, + 367.6838478169215 + ], + [ + 729.8876177880289, + 356.3746011948096 + ], + [ + 708.7603642710033, + 362.50449559588935 + ], + [ + 715.6956845742524, + 373.95245966028267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 34.18051367433486, + "xmax": 331.78233863518125, + "ymax": 405.4341531377682 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -110.27921209140891, + 394.3952508737632 + ], + [ + -112.58771265729649, + 405.4341531377682 + ], + [ + 331.78233863518125, + 298.9707499224407 + ], + [ + 329.6837592479773, + 290.0336605440392 + ], + [ + -334.1603611219725, + 132.8751395132406 + ], + [ + -340.2439062152441, + 143.65929803346563 + ], + [ + 250.41402346614245, + 42.40837895491762 + ], + [ + 248.73232045258464, + 34.18051367433486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.2891575465115, + "ymin": 356.25852855526796, + "xmax": 737.1731851987737, + "ymax": 378.28515189315397 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 736.714486817641, + 371.9520352535938 + ], + [ + 729.545478151503, + 360.527430020919 + ], + [ + 708.2891575465115, + 366.71956465824184 + ], + [ + 715.2611519517658, + 378.28515189315397 + ], + [ + 737.1731851987737, + 367.6889155429831 + ], + [ + 729.9654138466997, + 356.25852855526796 + ], + [ + 708.6113768828837, + 362.4536467348079 + ], + [ + 715.6203198480414, + 374.0257585067698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 477.32135682318824, + "ymin": 0.0, + "xmax": 609.1365331156509, + "ymax": 213.81946938838803 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 596.9854878111433, + 213.81946938838803 + ], + [ + 609.1365331156509, + 210.9792200488841 + ], + [ + 512.3076049923806, + 44.0900705099757 + ], + [ + 502.2561461749506, + 45.93666595401146 + ], + [ + 586.8855725879667, + -34.3649349000068 + ], + [ + 601.9190508902874, + -36.864663341479 + ], + [ + 489.26457031277846, + -177.28088222661097 + ], + [ + 477.32135682318824, + -175.7937273861669 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00069/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00069/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..12487013ec4bbd27a31cad48f8b324448b7ac9e1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00069/meta.json @@ -0,0 +1,2145 @@ +{ + "frame_id": 69, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.5, + "sim_timestamp": 12481.60196270165 + }, + "drone_pose": { + "x": -46.82846016873758, + "y": 35.7599948766767, + "z": 20.000000226926257, + "pitch": -46.50425705931917, + "yaw": -68.54280620459511, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25178444385528564, + 0.6405953168869019, + 0.7254254817962646, + 20.18985366821289 + ], + [ + -0.930691123008728, + 0.3658059239387512, + -2.9802322387695312e-08, + 30.501611709594727 + ], + [ + -0.26536497473716736, + -0.6751470565795898, + 0.6883006691932678, + -50.335906982421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.883955775331906, + "y": 35.241766724426476, + "z": 20.000000124199882 + }, + "t1_image_uv": [ + -88.2081976428426, + -651.779015259389 + ], + "t1_depth": 0.31800167558316994 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 18.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.456262203000367, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 18.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2682116627693176, + "y": 0.2890179455280304, + "z": 0.5588725805282593 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.5232807976921, + "ymin": 336.5452958377623, + "xmax": 653.5795869786684, + "ymax": 383.1712504799153 + }, + "corners_3d": [ + [ + -40.456199645996094, + 19.080448150634766, + 0.24908006191253662 + ], + [ + -39.87816619873047, + 19.080448150634766, + 0.24908006191253662 + ], + [ + -39.87816619873047, + 18.544025421142578, + 0.24908006191253662 + ], + [ + -40.456199645996094, + 18.544025421142578, + 0.24908006191253662 + ], + [ + -40.456199645996094, + 19.080448150634766, + 1.3668252229690552 + ], + [ + -39.87816619873047, + 19.080448150634766, + 1.3668252229690552 + ], + [ + -39.87816619873047, + 18.544025421142578, + 1.3668252229690552 + ], + [ + -40.456199645996094, + 18.544025421142578, + 1.3668252229690552 + ] + ], + "corners_2d": [ + [ + 633.8371532641047, + 383.1712504799153 + ], + [ + 653.1681595211235, + 377.5430086623916 + ], + [ + 646.0516297149268, + 364.4941454912618 + ], + [ + 626.9285916150266, + 369.98021154481904 + ], + [ + 633.6435146455786, + 355.2794578210415 + ], + [ + 653.5795869786684, + 349.6317861175818 + ], + [ + 646.2382366368146, + 336.5452958377623 + ], + [ + 626.5232807976921, + 342.04591853043127 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 69, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 454894, + "2": 228508, + "3": 200509, + "6": 7746, + "7": 970, + "10": 621, + "12": 1965, + "14": 4459, + "20": 3041, + "24": 18887 + }, + "instance_pixel_counts": { + "148": 98, + "6215": 152839, + "6802": 5322, + "7314": 39412, + "8338": 7768, + "9356": 641, + "9868": 113, + "18000": 469, + "18512": 2459, + "21652": 69360, + "22676": 150089, + "23700": 31156, + "24212": 54215, + "24724": 94399, + "25856": 3019, + "26624": 2702, + "33370": 1930, + "35988": 6205, + "36500": 4084, + "37524": 1496, + "38036": 3954, + "38548": 977, + "39052": 2105, + "39564": 13137, + "40265": 113, + "40588": 2003, + "41100": 765, + "41612": 3986, + "41818": 119866, + "42074": 78713, + "45457": 287, + "45969": 130, + "56576": 203, + "56832": 214, + "57088": 595, + "57344": 601, + "57600": 352, + "57856": 5, + "59904": 4454, + "61569": 2995, + "62613": 1130, + "63123": 25273, + "64149": 38, + "64659": 4971, + "64661": 990, + "65171": 25333, + "65173": 13 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 203, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 18.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2922021448612213, + "y": 0.2221527099609375, + "z": 0.5577053427696228 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.5001821572798, + "ymin": 336.6305219087773, + "xmax": 651.6162769190062, + "ymax": 383.0859702471653 + }, + "corners_3d": [ + [ + -40.38933563232422, + 19.10443878173828, + 0.2502472996711731 + ], + [ + -39.945030212402344, + 19.10443878173828, + 0.2502472996711731 + ], + [ + -39.945030212402344, + 18.520034790039062, + 0.2502472996711731 + ], + [ + -40.38933563232422, + 18.520034790039062, + 0.2502472996711731 + ], + [ + -40.38933563232422, + 19.10443878173828, + 1.3656580448150635 + ], + [ + -39.945030212402344, + 19.10443878173828, + 1.3656580448150635 + ], + [ + -39.945030212402344, + 18.520034790039062, + 1.3656580448150635 + ], + [ + -40.38933563232422, + 18.520034790039062, + 1.3656580448150635 + ] + ], + "corners_2d": [ + [ + 636.3982014037772, + 383.0859702471653 + ], + [ + 651.2646336136904, + 378.7548298308807 + ], + [ + 643.5371835564963, + 364.52083689055206 + ], + [ + 628.8449146232906, + 368.73291353003185 + ], + [ + 636.2852782179923, + 355.25225130584147 + ], + [ + 651.6162769190062, + 350.90603419872707 + ], + [ + 643.646030257566, + 336.6305219087773 + ], + [ + 628.5001821572798, + 340.8536027741983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 214, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 21.809940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.1801452785730362, + "y": 0.29060062766075134, + "z": 0.5570990443229675 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.7436681615851, + "ymin": 372.3951780209897, + "xmax": 841.3466120594431, + "ymax": 417.1261078321076 + }, + "corners_3d": [ + [ + -36.3000373840332, + 22.033327102661133, + 0.2484317421913147 + ], + [ + -35.725990295410156, + 21.942407608032227, + 0.2484317421913147 + ], + [ + -35.782352447509766, + 21.5865535736084, + 0.2484317421913147 + ], + [ + -36.35639953613281, + 21.677473068237305, + 0.2484317421913147 + ], + [ + -36.3000373840332, + 22.033327102661133, + 1.3626298904418945 + ], + [ + -35.725990295410156, + 21.942407608032227, + 1.3626298904418945 + ], + [ + -35.782352447509766, + 21.5865535736084, + 1.3626298904418945 + ], + [ + -36.35639953613281, + 21.677473068237305, + 1.3626298904418945 + ] + ], + "corners_2d": [ + [ + 817.9543729548361, + 417.1261078321076 + ], + [ + 835.0813300610881, + 408.7815587601188 + ], + [ + 826.7944013105166, + 400.12473584913107 + ], + [ + 809.7436681615851, + 408.33308906108607 + ], + [ + 823.7160248462625, + 389.48431671728076 + ], + [ + 841.3466120594431, + 381.0944915133796 + ], + [ + 832.7430108423179, + 372.3951780209897 + ], + [ + 815.1928200737354, + 380.6437085542399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 595, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 25.754947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.32698240876197815, + "y": 0.3976147472858429, + "z": 0.8837891221046448 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 637.3897087265328, + "ymin": 561.1137986351772, + "xmax": 683.2314615985391, + "ymax": 638.0032341491489 + }, + "corners_3d": [ + [ + -42.80296325683594, + 26.102291107177734, + -0.2282339334487915 + ], + [ + -42.00882339477539, + 26.060672760009766, + -0.2282339334487915 + ], + [ + -42.043052673339844, + 25.407604217529297, + -0.2282339334487915 + ], + [ + -42.83719253540039, + 25.449222564697266, + -0.2282339334487915 + ], + [ + -42.80296325683594, + 26.102291107177734, + 1.539344310760498 + ], + [ + -42.00882339477539, + 26.060672760009766, + 1.539344310760498 + ], + [ + -42.043052673339844, + 25.407604217529297, + 1.539344310760498 + ], + [ + -42.83719253540039, + 25.449222564697266, + 1.539344310760498 + ] + ], + "corners_2d": [ + [ + 649.3763998870354, + 638.0032341491489 + ], + [ + 680.7232689477224, + 624.7784016447429 + ], + [ + 668.4353643461146, + 601.542768026874 + ], + [ + 637.5399074828739, + 614.2881474853292 + ], + [ + 649.9602584026278, + 598.5952622550382 + ], + [ + 683.2314615985391, + 584.984855439808 + ], + [ + 670.1529274100121, + 561.1137986351772 + ], + [ + 637.3897087265328, + 574.2011011588985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 601, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 18.812236785888672, + "z": 0.6555649638175964 + }, + "extent": { + "x": 0.29436033964157104, + "y": 0.4410528540611267, + "z": 0.8768005967140198 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 260.0954275164726, + "ymin": 429.23907445936834, + "xmax": 316.4368925772108, + "ymax": 498.3163220655664 + }, + "corners_3d": [ + [ + -50.1230354309082, + 19.083110809326172, + -0.22123563289642334 + ], + [ + -49.24214172363281, + 19.129276275634766, + -0.22123563289642334 + ], + [ + -49.21133041381836, + 18.541362762451172, + -0.22123563289642334 + ], + [ + -50.09222412109375, + 18.495197296142578, + -0.22123563289642334 + ], + [ + -50.1230354309082, + 19.083110809326172, + 1.5323655605316162 + ], + [ + -49.24214172363281, + 19.129276275634766, + 1.5323655605316162 + ], + [ + -49.21133041381836, + 18.541362762451172, + 1.5323655605316162 + ], + [ + -50.09222412109375, + 18.495197296142578, + 1.5323655605316162 + ] + ], + "corners_2d": [ + [ + 281.14479444248667, + 498.3163220655664 + ], + [ + 316.4368925772108, + 489.37134046078086 + ], + [ + 314.2630281572905, + 471.89561044659047 + ], + [ + 279.49879185198125, + 480.5676796550712 + ], + [ + 261.510715651941, + 456.0474959576654 + ], + [ + 298.8789131288643, + 446.96370903198965 + ], + [ + 296.87222875823585, + 429.23907445936834 + ], + [ + 260.0954275164726, + 438.03097822515974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 352, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 10.642022132873535, + "z": 0.7521860599517822 + }, + "extent": { + "x": 0.37819579243659973, + "y": 0.4658956825733185, + "z": 0.934902012348175 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 828.0892411088292, + "ymin": 94.90050209764763, + "xmax": 868.2930890335879, + "ymax": 154.41284442567445 + }, + "corners_3d": [ + [ + -29.4411678314209, + 10.942679405212402, + -0.18271595239639282 + ], + [ + -28.52084732055664, + 11.088443756103516, + -0.18271595239639282 + ], + [ + -28.40252113342285, + 10.341364860534668, + -0.18271595239639282 + ], + [ + -29.32284164428711, + 10.195600509643555, + -0.18271595239639282 + ], + [ + -29.4411678314209, + 10.942679405212402, + 1.6870880126953125 + ], + [ + -28.52084732055664, + 11.088443756103516, + 1.6870880126953125 + ], + [ + -28.40252113342285, + 10.341364860534668, + 1.6870880126953125 + ], + [ + -29.32284164428711, + 10.195600509643555, + 1.6870880126953125 + ] + ], + "corners_2d": [ + [ + 835.3136481641317, + 154.41284442567445 + ], + [ + 859.4596398045769, + 151.23117203331577 + ], + [ + 851.9181778019304, + 139.75240545334498 + ], + [ + 828.0892411088292, + 142.84359103145763 + ], + [ + 843.2076071817598, + 109.2891649952129 + ], + [ + 868.2930890335879, + 106.16467791952613 + ], + [ + 860.3213093935465, + 94.90050209764763 + ], + [ + 835.57777711362, + 97.93262446191943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 911.8584385174142, + "ymin": 0.0, + "xmax": 1048.6754277593898, + "ymax": 16.048072179923565 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 911.8584385174142, + -4.117294634366715 + ], + [ + 937.5136057578384, + 16.048072179923565 + ], + [ + 1038.9832147509237, + -4.958898021093319 + ], + [ + 1011.1410756012641, + -23.893574859529224 + ], + [ + 918.4713023539805, + -35.130936444803524 + ], + [ + 944.9815046437285, + -15.449265515162836 + ], + [ + 1048.6754277593898, + -35.95170468648064 + ], + [ + 1019.886794705832, + -54.403920016073016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4454, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 515.5260405278281, + "ymin": 15.461237311963203, + "xmax": 653.759311263267, + "ymax": 99.52998635839424 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 519.2335320604136, + 74.08372190228687 + ], + [ + 534.3684221674198, + 99.52998635839424 + ], + [ + 653.4454788207689, + 74.65931786792703 + ], + [ + 634.8711810890995, + 50.83364713676747 + ], + [ + 515.5260405278281, + 38.22143701289434 + ], + [ + 530.9964005578621, + 63.15770474148866 + ], + [ + 653.759311263267, + 38.762584428840285 + ], + [ + 634.6359798452723, + 15.461237311963203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.2180439985624, + "ymin": 142.22675603909278, + "xmax": 132.01872547876883, + "ymax": 182.00156136173533 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 132.01872547876883, + 179.60199057537562 + ], + [ + 131.61909758297077, + 171.34088925266803 + ], + [ + 120.02665898001271, + 173.69294237824909 + ], + [ + 120.31075904627983, + 182.00156136173533 + ], + [ + 118.4294254963346, + 150.4088392377145 + ], + [ + 118.15782280228314, + 142.22675603909278 + ], + [ + 106.2180439985624, + 144.5558687296512 + ], + [ + 106.36704984302219, + 152.78627324643665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.9744760199369, + "ymin": 123.10331868034234, + "xmax": 600.5024915796653, + "ymax": 155.33521430742636 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 596.4169492893883, + 146.98418950718118 + ], + [ + 588.0803053477382, + 148.8379782619506 + ], + [ + 592.1077521910569, + 155.33521430742636 + ], + [ + 600.5024915796653, + 153.4512508311716 + ], + [ + 595.4908758452119, + 123.10331868034234 + ], + [ + 586.9744760199369, + 124.93998727090181 + ], + [ + 591.0792470526409, + 131.37865021046562 + ], + [ + 599.6562891611607, + 129.51144165972644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 168.1843784085839, + "xmax": 2.521533335188792, + "ymax": 208.8887049505695 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1.5966875519299037, + 206.33211704357836 + ], + [ + 2.521533335188792, + 197.53407393567085 + ], + [ + -9.821553168879632, + 200.0384297426706 + ], + [ + -10.877397397830237, + 208.8887049505695 + ], + [ + -16.045874074513904, + 176.9131236352005 + ], + [ + -14.909907187469003, + 168.1843784085839 + ], + [ + -27.644339538711165, + 170.66850512757173 + ], + [ + -28.919761332031953, + 179.45050214414442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 211.44417433826612, + "ymin": 121.81861570781084, + "xmax": 234.65399673129554, + "ymax": 160.84634946140966 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 234.65399673129554, + 158.56683426237228 + ], + [ + 233.27009044946476, + 150.7165065155282 + ], + [ + 222.2520928412901, + 152.9520085683469 + ], + [ + 223.53180653893088, + 160.84634946140966 + ], + [ + 224.09186102389543, + 129.58344362411313 + ], + [ + 222.77721421360138, + 121.81861570781084 + ], + [ + 211.44417433826612, + 124.02937121719629 + ], + [ + 212.64853455518346, + 131.8388665419542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.547933994695, + "ymin": 317.2827491933998, + "xmax": 921.2793724403737, + "ymax": 619.6780087793684 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 851.5745648778686, + 565.6072989914815 + ], + [ + 842.2713933689136, + 550.701083524685 + ], + [ + 695.547933994695, + 603.4270945476991 + ], + [ + 703.364709530885, + 619.6780087793684 + ], + [ + 921.2793724403737, + 333.253135546666 + ], + [ + 907.8307673765992, + 317.2827491933998 + ], + [ + 714.6122724794461, + 374.3570858861442 + ], + [ + 725.4916804644881, + 392.28146665269804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.7711310417533, + "ymin": 0.0, + "xmax": 1086.1189207900927, + "ymax": 115.27346238711411 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1007.083934625086, + 115.27346238711411 + ], + [ + 1016.8028832898751, + 112.9301837963163 + ], + [ + 958.0394881928064, + 64.34998373076712 + ], + [ + 948.7711310417533, + 66.40458765820438 + ], + [ + 1074.857218697994, + -98.07992730772838 + ], + [ + 1086.1189207900927, + -100.08259632755437 + ], + [ + 1012.1958636787449, + -141.09863790642436 + ], + [ + 1001.5258947462554, + -139.3831452825816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.41159287060736, + "ymin": 0.0, + "xmax": 456.4824479094208, + "ymax": 2.914607066570454 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 456.4824479094208, + -39.69933036838381 + ], + [ + 454.3560788517376, + -43.413405881800315 + ], + [ + 189.50722083102545, + -1.3328357848521932 + ], + [ + 190.05215711798974, + 2.914607066570454 + ], + [ + 427.9754379273239, + -243.27890571397097 + ], + [ + 425.7207402748735, + -246.14001538329546 + ], + [ + 114.41159287060736, + -213.40483287584289 + ], + [ + 114.4753157956236, + -210.06140285765161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.9551626412228, + "ymin": 375.71986083700943, + "xmax": 750.2190156979533, + "ymax": 398.2025277046943 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 749.6943636189324, + 391.6669812143933 + ], + [ + 742.2958085533379, + 379.93293836397294 + ], + [ + 720.9551626412228, + 386.3218707896837 + ], + [ + 728.1558227822032, + 398.2025277046943 + ], + [ + 750.2190156979533, + 387.4618798438302 + ], + [ + 742.7795463854227, + 375.71986083700943 + ], + [ + 721.3403664566737, + 382.1129794731707 + ], + [ + 728.5801127717681, + 394.0024165300335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 43.98070344015912, + "xmax": 334.1637373800815, + "ymax": 419.33070936321735 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -113.3175655922928, + 408.0085151041226 + ], + [ + -115.66123843420212, + 419.33070936321735 + ], + [ + 334.1637373800815, + 309.80242502183836 + ], + [ + 331.9967456657133, + 300.66750919878046 + ], + [ + -341.9004144490058, + 146.18608543683433 + ], + [ + -348.15858513382534, + 157.33404173415167 + ], + [ + 252.2646932808828, + 52.440690074625195 + ], + [ + 250.5082553830611, + 43.98070344015912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7998320692247, + "ymin": 375.60014570834124, + "xmax": 750.3784282141195, + "ymax": 398.3248715702571 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 749.8473675159637, + 391.7182249302659 + ], + [ + 742.3684848600415, + 379.8585803459113 + ], + [ + 720.7998320692247, + 386.3154429585411 + ], + [ + 728.0765437245476, + 398.3248715702571 + ], + [ + 750.3784282141195, + 387.4679347695168 + ], + [ + 742.8577370517888, + 375.60014570834124 + ], + [ + 721.1884292671831, + 382.06128076884977 + ], + [ + 728.5050616815699, + 394.0796840830043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.1480163946992, + "ymin": 0.0, + "xmax": 613.955843577832, + "ymax": 222.5616178795557 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 601.7054565633925, + 222.5616178795557 + ], + [ + 613.955843577832, + 219.6523050860912 + ], + [ + 514.97207605291, + 49.81618277128757 + ], + [ + 504.8497328316235, + 51.70075987624557 + ], + [ + 592.602213111851, + -26.638646672845596 + ], + [ + 607.7901963120175, + -29.211204651928256 + ], + [ + 492.19281444894534, + -172.65183331410003 + ], + [ + 480.1480163946992, + -171.12960651463504 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00070/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00070/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f53082116b0421213143351da173ab9e43a12207 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00070/meta.json @@ -0,0 +1,2249 @@ +{ + "frame_id": 70, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.0, + "sim_timestamp": 12491.082312139915 + }, + "drone_pose": { + "x": -46.883955775331906, + "y": 35.241766724426476, + "z": 20.000000124199882, + "pitch": -46.498869964446904, + "yaw": -68.35935023604954, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2538594603538513, + 0.6398493051528931, + 0.7253607511520386, + 19.944137573242188 + ], + [ + -0.9295151233673096, + 0.36878401041030884, + 2.9802322387695312e-08, + 30.582744598388672 + ], + [ + -0.26750144362449646, + -0.6742337942123413, + 0.6883689165115356, + -50.070098876953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.9666552959377, + "y": 34.71331098642703, + "z": 20.000000065292998 + }, + "t1_image_uv": [ + -182.62697870027478, + -651.5887029041667 + ], + "t1_depth": 0.3171379934891826 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 18.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.458622572842604, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 18.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26903197169303894, + "y": 0.23352599143981934, + "z": 0.556114912033081 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3970245782895, + "ymin": 337.1137285621724, + "xmax": 651.7039283679189, + "ymax": 382.59070336363664 + }, + "corners_3d": [ + [ + -40.40070724487305, + 18.581268310546875, + 0.25183773040771484 + ], + [ + -39.933658599853516, + 18.581268310546875, + 0.25183773040771484 + ], + [ + -39.933658599853516, + 18.04320526123047, + 0.25183773040771484 + ], + [ + -40.40070724487305, + 18.04320526123047, + 0.25183773040771484 + ], + [ + -40.40070724487305, + 18.581268310546875, + 1.364067554473877 + ], + [ + -39.933658599853516, + 18.581268310546875, + 1.364067554473877 + ], + [ + -39.933658599853516, + 18.04320526123047, + 1.364067554473877 + ], + [ + -40.40070724487305, + 18.04320526123047, + 1.364067554473877 + ] + ], + "corners_2d": [ + [ + 635.7516578712687, + 382.59070336363664 + ], + [ + 651.350931952185, + 378.0067354738518 + ], + [ + 644.1757666118966, + 364.9235472270988 + ], + [ + 628.74404795152, + 369.3915045300174 + ], + [ + 635.6189344188876, + 354.8343890855629 + ], + [ + 651.7039283679189, + 350.234721864012 + ], + [ + 644.3039257017425, + 337.1137285621724 + ], + [ + 628.3970245782895, + 341.5934307280408 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 70, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 458485, + "2": 227546, + "3": 196170, + "6": 8105, + "7": 1008, + "10": 612, + "12": 2064, + "14": 4693, + "20": 3045, + "24": 19872 + }, + "instance_pixel_counts": { + "148": 409, + "6215": 152139, + "6802": 5497, + "7314": 38794, + "8338": 8372, + "9356": 608, + "9868": 215, + "18000": 483, + "18512": 2450, + "21652": 71522, + "22676": 146610, + "23700": 32896, + "24212": 55722, + "24724": 91220, + "25856": 3259, + "26624": 2753, + "33370": 2069, + "35988": 6403, + "36500": 4141, + "37524": 1617, + "38036": 4090, + "38548": 1023, + "39052": 2168, + "39564": 12920, + "40265": 112, + "40588": 2055, + "41100": 692, + "41612": 3653, + "41818": 128163, + "42074": 65938, + "45457": 222, + "45969": 211, + "56576": 206, + "56832": 200, + "57088": 679, + "57344": 605, + "57600": 374, + "57856": 173, + "59904": 4520, + "61569": 3101, + "62613": 1371, + "63123": 27509, + "64149": 58, + "64659": 6330, + "64661": 1139, + "65171": 26267, + "65173": 30 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 18.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2565332055091858, + "y": 0.2968066334724426, + "z": 0.5497474670410156 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.3980948297819, + "ymin": 336.9744593985232, + "xmax": 653.694915066807, + "ymax": 382.74998007310916 + }, + "corners_3d": [ + [ + -40.4639892578125, + 18.568769454956055, + 0.2582051753997803 + ], + [ + -39.87037658691406, + 18.568769454956055, + 0.2582051753997803 + ], + [ + -39.87037658691406, + 18.05570411682129, + 0.2582051753997803 + ], + [ + -40.4639892578125, + 18.05570411682129, + 0.2582051753997803 + ], + [ + -40.4639892578125, + 18.568769454956055, + 1.3577001094818115 + ], + [ + -39.87037658691406, + 18.568769454956055, + 1.3577001094818115 + ], + [ + -39.87037658691406, + 18.05570411682129, + 1.3577001094818115 + ], + [ + -40.4639892578125, + 18.05570411682129, + 1.3577001094818115 + ] + ], + "corners_2d": [ + [ + 633.4619346355954, + 382.74998007310916 + ], + [ + 653.2868953832715, + 376.92715250984185 + ], + [ + 646.4224950723976, + 364.46645935243873 + ], + [ + 626.8006726089482, + 370.1486622372501 + ], + [ + 633.2599891531884, + 355.31272695891204 + ], + [ + 653.694915066807, + 349.47029113909343 + ], + [ + 646.6172579270075, + 336.9744593985232 + ], + [ + 626.3980948297819, + 342.6715328295712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 200, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 21.309940338134766, + "z": 0.8055307865142822 + }, + "extent": { + "x": 0.19377687573432922, + "y": 0.2217053323984146, + "z": 0.5315526723861694 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.6541767327839, + "ymin": 373.2418983292685, + "xmax": 839.5050541508751, + "ymax": 415.4011887525517 + }, + "corners_3d": [ + [ + -36.2298583984375, + 21.536014556884766, + 0.2739781141281128 + ], + [ + -35.79190444946289, + 21.466650009155273, + 0.2739781141281128 + ], + [ + -35.85253143310547, + 21.083866119384766, + 0.2739781141281128 + ], + [ + -36.29048538208008, + 21.153230667114258, + 0.2739781141281128 + ], + [ + -36.2298583984375, + 21.536014556884766, + 1.3370834589004517 + ], + [ + -35.79190444946289, + 21.466650009155273, + 1.3370834589004517 + ], + [ + -35.85253143310547, + 21.083866119384766, + 1.3370834589004517 + ], + [ + -36.29048538208008, + 21.153230667114258, + 1.3370834589004517 + ] + ], + "corners_2d": [ + [ + 820.5367819496105, + 415.4011887525517 + ], + [ + 833.5738522316578, + 409.00205312721647 + ], + [ + 824.6296963183703, + 399.69899523987544 + ], + [ + 811.6541767327839, + 405.98602943721085 + ], + [ + 826.1029264433764, + 389.02085690113114 + ], + [ + 839.5050541508751, + 382.5887088339226 + ], + [ + 830.2357158922448, + 373.2418983292685 + ], + [ + 816.8983348863601, + 379.5579503387953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 679, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 25.254947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.32966306805610657, + "y": 0.40064939856529236, + "z": 0.8728668689727783 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 638.2604809431475, + "ymin": 561.1071874426691, + "xmax": 684.4816962936616, + "ymax": 637.8534528800524 + }, + "corners_3d": [ + [ + -42.80585479736328, + 25.605127334594727, + -0.21731168031692505 + ], + [ + -42.005653381347656, + 25.563190460205078, + -0.21731168031692505 + ], + [ + -42.0401611328125, + 24.904767990112305, + -0.21731168031692505 + ], + [ + -42.840362548828125, + 24.946704864501953, + -0.21731168031692505 + ], + [ + -42.80585479736328, + 25.605127334594727, + 1.5284221172332764 + ], + [ + -42.005653381347656, + 25.563190460205078, + 1.5284221172332764 + ], + [ + -42.0401611328125, + 24.904767990112305, + 1.5284221172332764 + ], + [ + -42.840362548828125, + 24.946704864501953, + 1.5284221172332764 + ] + ], + "corners_2d": [ + [ + 650.3971041229657, + 637.8534528800524 + ], + [ + 681.9325296157391, + 624.433168026679 + ], + [ + 669.4397970556292, + 601.0466193974315 + ], + [ + 638.3593527931707, + 613.9769938936464 + ], + [ + 651.0362221563595, + 598.9308649567278 + ], + [ + 684.4816962936616, + 585.1244588948605 + ], + [ + 671.1947477003727, + 561.1071874426691 + ], + [ + 638.2604809431475, + 574.3796755717806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 605, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 18.312236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3029541075229645, + "y": 0.3439788818359375, + "z": 0.8666355609893799 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 264.40871392190587, + "ymin": 431.05104606660916, + "xmax": 312.75168134735634, + "ymax": 498.27383911520735 + }, + "corners_3d": [ + [ + -50.026546478271484, + 18.596773147583008, + -0.2110852599143982 + ], + [ + -49.33953094482422, + 18.63277816772461, + -0.2110852599143982 + ], + [ + -49.30781936645508, + 18.027700424194336, + -0.2110852599143982 + ], + [ + -49.994834899902344, + 17.991695404052734, + -0.2110852599143982 + ], + [ + -50.026546478271484, + 18.596773147583008, + 1.5221858024597168 + ], + [ + -49.33953094482422, + 18.63277816772461, + 1.5221858024597168 + ], + [ + -49.30781936645508, + 18.027700424194336, + 1.5221858024597168 + ], + [ + -49.994834899902344, + 17.991695404052734, + 1.5221858024597168 + ] + ], + "corners_2d": [ + [ + 285.20165330435105, + 498.27383911520735 + ], + [ + 312.75168134735634, + 491.21697253028583 + ], + [ + 310.49350515605533, + 473.19392675515206 + ], + [ + 283.3668824125972, + 480.0292969844228 + ], + [ + 266.0204986375535, + 456.49634729637216 + ], + [ + 295.1743484865422, + 449.3306044119495 + ], + [ + 293.08874615680145, + 431.05104606660916 + ], + [ + 264.40871392190587, + 437.980057078582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 374, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 10.142022132873535, + "z": 0.7522788047790527 + }, + "extent": { + "x": 0.3549157679080963, + "y": 0.561175525188446, + "z": 0.9211462736129761 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 824.7798630130009, + "ymin": 94.93820573631211, + "xmax": 869.337750996089, + "ymax": 153.74154737465028 + }, + "corners_3d": [ + [ + -29.531631469726562, + 10.404781341552734, + -0.16886746883392334 + ], + [ + -28.423099517822266, + 10.580355644226074, + -0.16886746883392334 + ], + [ + -28.312057495117188, + 9.879262924194336, + -0.16886746883392334 + ], + [ + -29.420589447021484, + 9.703688621520996, + -0.16886746883392334 + ], + [ + -29.531631469726562, + 10.404781341552734, + 1.6734250783920288 + ], + [ + -28.423099517822266, + 10.580355644226074, + 1.6734250783920288 + ], + [ + -28.312057495117188, + 9.879262924194336, + 1.6734250783920288 + ], + [ + -29.420589447021484, + 9.703688621520996, + 1.6734250783920288 + ] + ], + "corners_2d": [ + [ + 831.5718904792216, + 153.74154737465028 + ], + [ + 860.605350791496, + 149.86194827413706 + ], + [ + 853.456465953995, + 139.12001155852136 + ], + [ + 824.7798630130009, + 142.89606520404175 + ], + [ + 839.1932039493058, + 109.29193248408924 + ], + [ + 869.337750996089, + 105.48137178422499 + ], + [ + 861.7882171545751, + 94.93820573631211 + ], + [ + 832.028087384685, + 98.64311196843562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 173, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 916.155660229799, + "ymin": 0.0, + "xmax": 1053.8852576011768, + "ymax": 20.80099976865779 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 916.155660229799, + 0.3846760089397776 + ], + [ + 942.2531403961344, + 20.80099976865779 + ], + [ + 1044.0070452540454, + -0.660126539553346 + ], + [ + 1015.7241204465369, + -19.8125307580371 + ], + [ + 922.918933536187, + -30.734738838648127 + ], + [ + 949.8932254442332, + -10.801475313074661 + ], + [ + 1053.8852576011768, + -31.753998521355015 + ], + [ + 1024.6340871217162, + -50.42400857384774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4520, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 517.833626053218, + "ymin": 21.108402841728832, + "xmax": 657.293044335728, + "ymax": 106.29038275598043 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 521.5049588260648, + 80.43110026391872 + ], + [ + 537.0173244465074, + 106.29038275598043 + ], + [ + 656.8728875951404, + 80.79254492224811 + ], + [ + 637.888350369397, + 56.60660012253851 + ], + [ + 517.833626053218, + 44.441850870285236 + ], + [ + 533.697786388514, + 69.79625672416165 + ], + [ + 657.293044335728, + 44.773418853747785 + ], + [ + 637.7393726792935, + 21.108402841728832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.62115929881224, + "ymin": 154.00865941350804, + "xmax": 131.85640173636108, + "ymax": 194.2126366332432 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.85640173636108, + 191.72294611764613 + ], + [ + 131.40174153141623, + 183.2332250295384 + ], + [ + 119.64279099909606, + 185.67296733615717 + ], + [ + 119.97885784282664, + 194.2126366332432 + ], + [ + 118.06225323107162, + 162.4235769214815 + ], + [ + 117.73797641161309, + 154.00865941350804 + ], + [ + 105.62115929881224, + 156.42643410662535 + ], + [ + 105.81946877738733, + 164.89220282379284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 539.1180825982053, + "ymin": 0.0, + "xmax": 553.0198087604258, + "ymax": 4.453928079324669 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 549.3678302668671, + -2.170891114961705 + ], + [ + 541.1759207663916, + -0.6954656251985512 + ], + [ + 544.771453498653, + 4.453928079324669 + ], + [ + 553.0198087604258, + 2.9550921473984886 + ], + [ + 547.4849410994926, + -28.62197034735118 + ], + [ + 539.1180825982053, + -27.17716779506145 + ], + [ + 542.7724688958871, + -22.13358255108801 + ], + [ + 551.1982278224326, + -23.60179224431255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.6603257517306, + "ymin": 131.66219846095385, + "xmax": 605.2889707604771, + "ymax": 164.1578638303188 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 601.084419411522, + 155.6194252328583 + ], + [ + 592.6791462256051, + 157.52849401996488 + ], + [ + 596.8248557079538, + 164.1578638303188 + ], + [ + 605.2889707604771, + 162.21742112057188 + ], + [ + 600.2485842438651, + 131.66219846095385 + ], + [ + 591.6603257517306, + 133.5544902552257 + ], + [ + 595.8875110057361, + 140.12709406145504 + ], + [ + 604.5372158136678, + 138.20302692106875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 14950513883249703028, + "instance_id": 29944, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -54.59429931640625, + "y": 12.265962600708008, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 180.97291423602516, + "xmax": 0.3637691064440105, + "ymax": 222.13200579003586 + }, + "corners_3d": [ + [ + -54.45571517944336, + 12.45591926574707, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.076004981994629, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.076005935668945, + 5.545533180236816 + ], + [ + -54.73288345336914, + 12.455920219421387, + 5.545533180236816 + ], + [ + -54.45571517944336, + 12.45591926574707, + 6.416468620300293 + ], + [ + -54.45571517944336, + 12.076004981994629, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.076005935668945, + 6.416468620300293 + ], + [ + -54.73288345336914, + 12.455920219421387, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + -0.5430526496548964, + 219.47549440637198 + ], + [ + 0.3637691064440105, + 210.42080234522768 + ], + [ + -12.174753558440443, + 213.0222895758982 + ], + [ + -13.216449246146794, + 222.13200579003586 + ], + [ + -18.519628658709053, + 189.96371594576047 + ], + [ + -17.39557489405547, + 180.97291423602516 + ], + [ + -30.33839568471717, + 183.55550828761548 + ], + [ + -31.606181269841727, + 192.6024782223061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.3511316216265, + "ymin": 132.83762601516494, + "xmax": 235.91132654063443, + "ymax": 172.27419504596935 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 235.91132654063443, + 169.91180455912595 + ], + [ + 234.44760417981132, + 161.8534569756984 + ], + [ + 223.28407148313545, + 164.16966264573782 + ], + [ + 224.64109377849843, + 172.27419504596935 + ], + [ + 225.23307750243129, + 140.8138790424547 + ], + [ + 223.83855113595314, + 132.83762601516494 + ], + [ + 212.3511316216265, + 135.12981191107045 + ], + [ + 213.6326226480695, + 143.1529865185733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.5199986816518, + "ymin": 334.8163527787415, + "xmax": 938.0988548706699, + "ymax": 638.4373842697839 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 863.219798296161, + 582.3665358411685 + ], + [ + 853.5938386220206, + 567.0704775108804 + ], + [ + 705.5199986816518, + 621.7290505976739 + ], + [ + 713.6403532339202, + 638.4373842697839 + ], + [ + 938.0988548706699, + 351.35043809292216 + ], + [ + 924.0626723983899, + 334.8163527787415 + ], + [ + 728.4450968100032, + 394.53792305652763 + ], + [ + 739.8652291345456, + 413.1536097125459 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.3752319114677, + "ymin": 0.0, + "xmax": 1094.7905479639617, + "ymax": 121.52182480211337 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1013.8197715976637, + 121.52182480211337 + ], + [ + 1023.5719251370332, + 119.12165198221166 + ], + [ + 963.6766841502135, + 69.84979465191094 + ], + [ + 954.3752319114677, + 71.95246467682699 + ], + [ + 1083.4841253789896, + -92.70060030386998 + ], + [ + 1094.7905479639617, + -94.75786637815474 + ], + [ + 1019.2724276107849, + -136.4708186577406 + ], + [ + 1008.5578328551796, + -134.71072481524334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.13629582837541, + "ymin": 0.0, + "xmax": 457.20768579420275, + "ymax": 8.621143434645433 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 457.20768579420275, + -35.03631840212199 + ], + [ + 455.03266915588426, + -38.80083431275381 + ], + [ + 188.18957047061275, + 4.306494939108461 + ], + [ + 188.76323548642364, + 8.621143434645433 + ], + [ + 428.573024079971, + -239.63523768819198 + ], + [ + 426.26172323309623, + -242.54176682102695 + ], + [ + 112.13629582837541, + -208.92315766111915 + ], + [ + 112.22210780736907, + -205.5172451350245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.7651798929892, + "ymin": 395.6086342120931, + "xmax": 764.7564499812314, + "ymax": 418.8310484180759 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 764.1511384667007, + 411.98313217879866 + ], + [ + 756.3954932687957, + 399.80756398228414 + ], + [ + 734.7651798929892, + 406.4990971894274 + ], + [ + 742.3186606234669, + 418.8310484180759 + ], + [ + 764.7564499812314, + 407.79470336385907 + ], + [ + 756.9564634265697, + 395.6086342120931 + ], + [ + 735.2248232435966, + 402.305770242506 + ], + [ + 742.8207534243235, + 414.6491233853134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 54.39231213674418, + "xmax": 336.4296181415605, + "ymax": 434.5498417333022 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -116.91077488095482, + 422.92131929302656 + ], + [ + -119.26885979024178, + 434.5498417333022 + ], + [ + 336.4296181415605, + 321.22569161684424 + ], + [ + 334.16934339281477, + 311.8867107110022 + ], + [ + -350.76324159743774, + 160.8889732669397 + ], + [ + -357.1840328695698, + 172.43693305742178 + ], + [ + 253.92861917719972, + 63.09513467400279 + ], + [ + 252.0661799221984, + 54.39231213674418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.6060065183601, + "ymin": 395.48502056770155, + "xmax": 764.9198474326954, + "ymax": 418.95746203960226 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 764.3072258032362, + 412.03503857743925 + ], + [ + 756.4674054423855, + 399.72917627598633 + ], + [ + 734.6060065183601, + 406.4918357418866 + ], + [ + 742.2392941542461, + 418.95746203960226 + ], + [ + 764.9198474326954, + 407.8016062712464 + ], + [ + 757.0347169837767, + 395.48502056770155 + ], + [ + 735.0698102218272, + 402.2533992141406 + ], + [ + 742.7464542802581, + 414.73067927820074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.20445345562615, + "ymin": 0.0, + "xmax": 618.5793639334387, + "ymax": 231.52225933371693 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 606.2349769751096, + 231.52225933371693 + ], + [ + 618.5793639334387, + 228.52907363181305 + ], + [ + 516.982230666473, + 55.76971905482799 + ], + [ + 506.790040407402, + 57.70186695801027 + ], + [ + 598.1084883953339, + -18.666968885282415 + ], + [ + 613.4455558376211, + -21.326305409341558 + ], + [ + 494.35096801999964, + -167.80079137629343 + ], + [ + 482.20445345562615, + -166.23543231855854 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00071/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00071/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7c6bdbc568c648c5853a35abea6d8469124ff35 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00071/meta.json @@ -0,0 +1,2145 @@ +{ + "frame_id": 71, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.5, + "sim_timestamp": 12500.985731604742 + }, + "drone_pose": { + "x": -46.9666552959377, + "y": 34.71331098642703, + "z": 20.000000065292998, + "pitch": -46.492182772378534, + "yaw": -68.0845803102874, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.25695669651031494, + 0.6387029886245728, + 0.7252804040908813, + 19.734285354614258 + ], + [ + -0.9277358055114746, + 0.3732375502586365, + -2.9802322387695312e-08, + 30.616336822509766 + ], + [ + -0.27070191502571106, + -0.6728686094284058, + 0.6884535551071167, + -49.84053039550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.073496199121415, + "y": 34.17390182584992, + "z": 20.000000032735596 + }, + "t1_image_uv": [ + -269.676167568173, + -651.352392055124 + ], + "t1_depth": 0.3170688022598709 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 17.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.461553589763575, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 17.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2647168040275574, + "y": 0.2877856492996216, + "z": 0.5617659687995911 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.5709768788413, + "ymin": 336.5349970513467, + "xmax": 653.527445194166, + "ymax": 383.1752133551142 + }, + "corners_3d": [ + [ + -40.4549674987793, + 18.076953887939453, + 0.24618667364120483 + ], + [ + -39.879398345947266, + 18.076953887939453, + 0.24618667364120483 + ], + [ + -39.879398345947266, + 17.54751968383789, + 0.24618667364120483 + ], + [ + -40.4549674987793, + 17.54751968383789, + 0.24618667364120483 + ], + [ + -40.4549674987793, + 18.076953887939453, + 1.3697185516357422 + ], + [ + -39.879398345947266, + 18.076953887939453, + 1.3697185516357422 + ], + [ + -39.879398345947266, + 17.54751968383789, + 1.3697185516357422 + ], + [ + -40.4549674987793, + 17.54751968383789, + 1.3697185516357422 + ] + ], + "corners_2d": [ + [ + 633.936059086324, + 383.1752133551142 + ], + [ + 653.1157307544411, + 377.4605786264361 + ], + [ + 645.955230306728, + 364.62883550362704 + ], + [ + 626.9768119332315, + 370.20142300236967 + ], + [ + 633.7446158834484, + 355.1378642337613 + ], + [ + 653.527445194166, + 349.40357942992483 + ], + [ + 646.1397664415532, + 336.5349970513467 + ], + [ + 626.5709768788413, + 342.12234561477044 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 71, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 462516, + "2": 226903, + "3": 191441, + "6": 8435, + "7": 1106, + "10": 619, + "12": 2027, + "14": 4964, + "20": 2893, + "24": 20696 + }, + "instance_pixel_counts": { + "148": 975, + "6215": 151785, + "6802": 5661, + "7314": 38164, + "8338": 8983, + "9356": 554, + "9868": 336, + "18000": 584, + "18512": 2198, + "21652": 73807, + "22676": 143326, + "23700": 34554, + "24212": 57274, + "24724": 87876, + "25856": 3541, + "26624": 2808, + "33370": 2316, + "35988": 6624, + "36500": 4049, + "37524": 1741, + "38036": 4226, + "38548": 998, + "39052": 2248, + "39564": 12696, + "40265": 111, + "40588": 2148, + "41100": 605, + "41612": 3338, + "41818": 135126, + "42074": 53999, + "45457": 144, + "45969": 241, + "56576": 214, + "56832": 231, + "57088": 663, + "57344": 568, + "57600": 351, + "57856": 370, + "59904": 4594, + "61569": 3192, + "62613": 1628, + "63123": 29899, + "64149": 83, + "64659": 7818, + "64661": 1297, + "65171": 26987, + "65173": 50 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 17.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.29432737827301025, + "y": 0.19830505549907684, + "z": 0.5509594082832336 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.2334106482994, + "ymin": 336.9668356398643, + "xmax": 650.8804078674416, + "ymax": 382.7551683655984 + }, + "corners_3d": [ + [ + -40.36548614501953, + 18.106563568115234, + 0.25699323415756226 + ], + [ + -39.96887969970703, + 18.106563568115234, + 0.25699323415756226 + ], + [ + -39.96887969970703, + 17.51791000366211, + 0.25699323415756226 + ], + [ + -40.36548614501953, + 17.51791000366211, + 0.25699323415756226 + ], + [ + -40.36548614501953, + 18.106563568115234, + 1.3589119911193848 + ], + [ + -39.96887969970703, + 18.106563568115234, + 1.3589119911193848 + ], + [ + -39.96887969970703, + 17.51791000366211, + 1.3589119911193848 + ], + [ + -40.36548614501953, + 17.51791000366211, + 1.3589119911193848 + ] + ], + "corners_2d": [ + [ + 637.3272522740511, + 382.7551683655984 + ], + [ + 650.5550230519498, + 378.8116671685433 + ], + [ + 642.6256162581956, + 364.51962244684944 + ], + [ + 629.5521231605188, + 368.35425822065525 + ], + [ + 637.244533014676, + 355.2568590950533 + ], + [ + 650.8804078674416, + 351.29988531577726 + ], + [ + 642.7054003397361, + 336.9668356398643 + ], + [ + 629.2334106482994, + 340.8112702103663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 231, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 20.809940338134766, + "z": 0.8055258989334106 + }, + "extent": { + "x": 0.18490968644618988, + "y": 0.297499418258667, + "z": 0.5353012084960938 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.7078724594901, + "ymin": 371.60127994182386, + "xmax": 841.6540684671495, + "ymax": 415.7123403407736 + }, + "corners_3d": [ + [ + -36.30610656738281, + 21.039112091064453, + 0.2702246904373169 + ], + [ + -35.71843338012695, + 20.946033477783203, + 0.2702246904373169 + ], + [ + -35.776283264160156, + 20.580768585205078, + 0.2702246904373169 + ], + [ + -36.363956451416016, + 20.673847198486328, + 0.2702246904373169 + ], + [ + -36.30610656738281, + 21.039112091064453, + 1.3408271074295044 + ], + [ + -35.71843338012695, + 20.946033477783203, + 1.3408271074295044 + ], + [ + -35.776283264160156, + 20.580768585205078, + 1.3408271074295044 + ], + [ + -36.363956451416016, + 20.673847198486328, + 1.3408271074295044 + ] + ], + "corners_2d": [ + [ + 818.2201555211102, + 415.7123403407736 + ], + [ + 835.6301006936454, + 407.07273576633133 + ], + [ + 827.0410802089059, + 398.2524757631771 + ], + [ + 809.7078724594901, + 406.74810820347733 + ], + [ + 823.7542118810242, + 389.14620372840875 + ], + [ + 841.6540684671495, + 380.46228181724507 + ], + [ + 832.7511081006803, + 371.60127994182386 + ], + [ + 814.9319742043555, + 380.13607415391436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 663, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 24.754947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.32023191452026367, + "y": 0.3363696336746216, + "z": 0.8721559643745422 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 642.5191041938235, + "ymin": 562.3422771476919, + "xmax": 683.2645266685677, + "ymax": 636.2929444195569 + }, + "corners_3d": [ + [ + -42.742156982421875, + 25.092344284057617, + -0.21660077571868896 + ], + [ + -42.07033920288086, + 25.05713653564453, + -0.21660077571868896 + ], + [ + -42.103858947753906, + 24.417551040649414, + -0.21660077571868896 + ], + [ + -42.77567672729492, + 24.4527587890625, + -0.21660077571868896 + ], + [ + -42.742156982421875, + 25.092344284057617, + 1.5277111530303955 + ], + [ + -42.07033920288086, + 25.05713653564453, + 1.5277111530303955 + ], + [ + -42.103858947753906, + 24.417551040649414, + 1.5277111530303955 + ], + [ + -42.77567672729492, + 24.4527587890625, + 1.5277111530303955 + ] + ], + "corners_2d": [ + [ + 654.3963086237407, + 636.2929444195569 + ], + [ + 680.7865324199383, + 624.9186110166361 + ], + [ + 668.5430990949767, + 602.2235321422729 + ], + [ + 642.5191041938235, + 613.195199085161 + ], + [ + 655.2792324400754, + 597.3508038740184 + ], + [ + 683.2645266685677, + 585.6503127323278 + ], + [ + 670.2445657071145, + 562.3422771476919 + ], + [ + 642.6706624554732, + 573.6039858413047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 568, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 17.812236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3129833936691284, + "y": 0.5199200510978699, + "z": 0.9039027094841003 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 256.75349334492023, + "ymin": 429.2834192495266, + "xmax": 320.4951487158907, + "ymax": 502.66048107716813 + }, + "corners_3d": [ + [ + -50.2027702331543, + 18.097579956054688, + -0.24835240840911865 + ], + [ + -49.16435623168945, + 18.152002334594727, + -0.24835240840911865 + ], + [ + -49.131595611572266, + 17.526893615722656, + -0.24835240840911865 + ], + [ + -50.17000961303711, + 17.472471237182617, + -0.24835240840911865 + ], + [ + -50.2027702331543, + 18.097579956054688, + 1.559453010559082 + ], + [ + -49.16435623168945, + 18.152002334594727, + 1.559453010559082 + ], + [ + -49.131595611572266, + 17.526893615722656, + 1.559453010559082 + ], + [ + -50.17000961303711, + 17.472471237182617, + 1.559453010559082 + ] + ], + "corners_2d": [ + [ + 278.86774458862067, + 502.66048107716813 + ], + [ + 320.4951487158907, + 491.8174712775241 + ], + [ + 317.9241277577028, + 473.2547554875068 + ], + [ + 276.95498626283165, + 483.74687220778014 + ], + [ + 258.41889241798935, + 459.1393766641105 + ], + [ + 302.5829364739867, + 448.1203273298387 + ], + [ + 300.1771314049733, + 429.2834192495266 + ], + [ + 256.75349334492023, + 439.92630402526163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 351, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 9.642022132873535, + "z": 0.75237637758255 + }, + "extent": { + "x": 0.3785681128501892, + "y": 0.3438204824924469, + "z": 0.9323810935020447 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 828.3779917936929, + "ymin": 94.5285057262933, + "xmax": 862.0680815416581, + "ymax": 153.11710383781082 + }, + "corners_3d": [ + [ + -29.320653915405273, + 9.962143898010254, + -0.18000471591949463 + ], + [ + -28.641477584838867, + 10.069714546203613, + -0.18000471591949463 + ], + [ + -28.523035049438477, + 9.321900367736816, + -0.18000471591949463 + ], + [ + -29.202211380004883, + 9.214329719543457, + -0.18000471591949463 + ], + [ + -29.320653915405273, + 9.962143898010254, + 1.6847574710845947 + ], + [ + -28.641477584838867, + 10.069714546203613, + 1.6847574710845947 + ], + [ + -28.523035049438477, + 9.321900367736816, + 1.6847574710845947 + ], + [ + -29.202211380004883, + 9.214329719543457, + 1.6847574710845947 + ] + ], + "corners_2d": [ + [ + 835.7586390039558, + 153.11710383781082 + ], + [ + 853.5076514694565, + 150.69088789087954 + ], + [ + 845.895590532105, + 139.24224782380242 + ], + [ + 828.3779917936929, + 141.59959107744638 + ], + [ + 843.632133556592, + 108.14513092747771 + ], + [ + 862.0680815416581, + 105.76270758533917 + ], + [ + 854.0283282195717, + 94.5285057262933 + ], + [ + 835.8418616504804, + 96.84064406498453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 370, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 919.667616040284, + "ymin": 0.0, + "xmax": 1058.18175185134, + "ymax": 25.38544101604822 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 919.667616040284, + 4.742000534036038 + ], + [ + 946.2424850891409, + 25.38544101604822 + ], + [ + 1048.1423511350677, + 3.3929666745943905 + ], + [ + 1019.3952538185837, + -15.949722322594425 + ], + [ + 926.561345185891, + -26.477192198554746 + ], + [ + 954.0348371359198, + -6.315757415760231 + ], + [ + 1058.18175185134, + -27.79363875635113 + ], + [ + 1028.4452657952147, + -46.65442289137712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4594, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 519.5990269842391, + "ymin": 26.849247224132228, + "xmax": 660.3138201011495, + "ymax": 113.25354150289462 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 523.2499155986507, + 86.98332100584543 + ], + [ + 539.2103650694161, + 113.25354150289462 + ], + [ + 659.8008185868779, + 87.00796618385351 + ], + [ + 640.3436584842793, + 62.47160268839872 + ], + [ + 519.5990269842391, + 50.8671422317621 + ], + [ + 535.9296487815396, + 76.63842862386485 + ], + [ + 660.3138201011495, + 50.86871786965645 + ], + [ + 640.2657695362269, + 26.849247224132228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.77381006525479, + "ymin": 166.60163180280108, + "xmax": 131.5008386278879, + "ymax": 207.2629921430709 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.5008386278879, + 204.66588254430263 + ], + [ + 130.96538078061786, + 195.9341702630313 + ], + [ + 119.0286778773094, + 198.4784883409012 + ], + [ + 119.44237337633592, + 207.2629921430709 + ], + [ + 117.48314148093766, + 175.26342997582478 + ], + [ + 117.07996362773156, + 166.60163180280108 + ], + [ + 104.77381006525479, + 169.12507492245018 + ], + [ + 105.04752154986477, + 177.84068471998472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.2229556177926, + "ymin": 0.0, + "xmax": 556.2675895241304, + "ymax": 11.627303669880007 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 552.4972205914896, + 4.852505753089702 + ], + [ + 544.2384328069047, + 6.3775770468354835 + ], + [ + 547.9517161189576, + 11.627303669880007 + ], + [ + 556.2675895241304, + 10.077818934252377 + ], + [ + 550.6599245729765, + -21.7381485922528 + ], + [ + 542.2229556177926, + -20.244078791735546 + ], + [ + 545.9986007527507, + -15.099952943986466 + ], + [ + 554.4951637452339, + -16.61844884619353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 596.2064950768846, + "ymin": 140.42543540207043, + "xmax": 609.9531262152514, + "ymax": 173.19195709883624 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 605.609834173631, + 164.45651742593026 + ], + [ + 597.1393960369337, + 166.43062527829417 + ], + [ + 601.4232523880928, + 173.19195709883624 + ], + [ + 609.9531262152514, + 171.18511098652255 + ], + [ + 604.8631463627638, + 140.42543540207043 + ], + [ + 596.2064950768846, + 142.38309504562503 + ], + [ + 600.5764989735812, + 149.08965084299658 + ], + [ + 609.2952425130987, + 147.09881099591664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.10083254331522, + "ymin": 144.52332724574958, + "xmax": 237.0568620567953, + "ymax": 184.39254796009976 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 237.0568620567953, + 181.931752857804 + ], + [ + 235.48708348868047, + 173.65543327442833 + ], + [ + 224.1707557202938, + 176.0675183193809 + ], + [ + 225.63131159618456, + 184.39254796009976 + ], + [ + 226.25192002356232, + 152.72149252514902 + ], + [ + 224.75064179392928, + 144.52332724574958 + ], + [ + 213.10083254331522, + 146.91218387178165 + ], + [ + 214.4862971091111, + 155.15989232791523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.4822959694249, + "ymin": 352.57974950838513, + "xmax": 956.2259722992546, + "ymax": 657.5628182757973 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 875.7245180497127, + 599.1953671596418 + ], + [ + 865.733623963556, + 583.5136864299086 + ], + [ + 716.4822959694249, + 640.393187400822 + ], + [ + 724.955680691173, + 657.5628182757973 + ], + [ + 956.2259722992546, + 369.68265505107587 + ], + [ + 941.5318311286948, + 352.57974950838513 + ], + [ + 743.7689523195172, + 415.3200800077892 + ], + [ + 755.8146017394828, + 434.6480376887613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.3615852318377, + "ymin": 0.0, + "xmax": 1102.8038559150996, + "ymax": 127.52512434192863 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1020.0228399100354, + 127.52512434192863 + ], + [ + 1029.79338914428, + 125.05913858838525 + ], + [ + 968.6838792192459, + 75.15731771907298 + ], + [ + 959.3615852318377, + 77.31605427019753 + ], + [ + 1091.4718123347982, + -87.5101627909196 + ], + [ + 1102.8038559150996, + -89.62970234305516 + ], + [ + 1025.60604899659, + -131.98540079648456 + ], + [ + 1014.8622006753685, + -130.17397071553927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.67054841376489, + "ymin": 0.0, + "xmax": 457.09384963653736, + "ymax": 14.773534605083285 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 457.09384963653736, + -30.167299205000177 + ], + [ + 454.85993220556975, + -33.98227292949929 + ], + [ + 185.90637058895737, + 10.388538197294906 + ], + [ + 186.5196967967721, + 14.773534605083285 + ], + [ + 428.19164240726536, + -235.8136120939787 + ], + [ + 425.8125871057241, + -238.76601526228046 + ], + [ + 108.67054841376489, + -204.06955449771192 + ], + [ + 108.78947753407385, + -200.5976180693026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.0489561697592, + "ymin": 416.04023938542616, + "xmax": 780.8097420525784, + "ymax": 440.0551202159517 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 780.1132802118153, + 432.84978160872276 + ], + [ + 771.9465276401723, + 420.22096261162125 + ], + [ + 750.0489561697592, + 427.2588780377072 + ], + [ + 758.0101983516894, + 440.0551202159517 + ], + [ + 780.8097420525784, + 428.68231651695487 + ], + [ + 772.5947178692529, + 416.04023938542616 + ], + [ + 750.5931423417509, + 423.08536285457893 + ], + [ + 758.600710147952, + 435.89587542949033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 65.40975221071301, + "xmax": 338.6631991014954, + "ymax": 451.12522109063417 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -120.9829268273428, + 439.16532685942303 + ], + [ + -123.33354288378632, + 451.12522109063417 + ], + [ + 338.6631991014954, + 333.23237441661547 + ], + [ + 336.2837995093668, + 323.68249008218527 + ], + [ + -360.7032732941749, + 177.04537017324492 + ], + [ + -367.2743108700704, + 189.03392845006368 + ], + [ + 255.50363445238264, + 74.36738195397908 + ], + [ + 253.50214609869397, + 65.40975221071301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.8857117771516, + "ymin": 415.9124523734107, + "xmax": 780.97734979714, + "ymax": 440.1858967473299 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 780.2725614704104, + 432.902153115551 + ], + [ + 772.0172119301321, + 420.1382289542804 + ], + [ + 749.8857117771516, + 427.2509299870202 + ], + [ + 757.9311104150521, + 440.1858967473299 + ], + [ + 780.97734979714, + 428.6899161962848 + ], + [ + 772.6726746078111, + 415.9124523734107 + ], + [ + 750.4349317595153, + 423.0325119292516 + ], + [ + 758.527646533615, + 435.9820636517068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.56251618232477, + "ymin": 0.0, + "xmax": 623.0822124247405, + "ymax": 240.67797152499898 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 610.6494783081498, + 240.67797152499898 + ], + [ + 623.0822124247405, + 237.58564003657608 + ], + [ + 518.4030463176445, + 61.92087357912038 + ], + [ + 508.14203359108376, + 63.9104267979867 + ], + [ + 603.4966208736289, + -10.478387871986854 + ], + [ + 618.977030472195, + -13.23915376864295 + ], + [ + 495.81103783873635, + -162.76638044442086 + ], + [ + 483.56251618232477, + -161.14951033801185 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00072/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00072/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..352631b6218a99ca927545cddfb663e626b7282e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00072/meta.json @@ -0,0 +1,2145 @@ +{ + "frame_id": 72, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.0, + "sim_timestamp": 12510.696718464838 + }, + "drone_pose": { + "x": -47.073496199121415, + "y": 34.17390182584992, + "z": 20.000000032735596, + "pitch": -46.486417840838, + "yaw": -67.72664766226508, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26096928119659424, + 0.637152910232544, + 0.7252112030982971, + 19.554515838623047 + ], + [ + -0.9253861904144287, + 0.37902581691741943, + -2.9802322387695312e-08, + 30.608369827270508 + ], + [ + -0.2748737931251526, + -0.671100378036499, + 0.6885265111923218, + -49.643917083740234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.198821535790515, + "y": 33.624815489863806, + "z": 20.00000001550877 + }, + "t1_image_uv": [ + -341.0265750751081, + -651.148686121617 + ], + "t1_depth": 0.3171458741371972 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 17.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.464081212838565, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 218, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 17.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2799047827720642, + "y": 0.2508978247642517, + "z": 0.5614757537841797 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.5911453433912, + "ymin": 336.51529922744703, + "xmax": 652.5168209542386, + "ymax": 383.19652474468774 + }, + "corners_3d": [ + [ + -40.4180793762207, + 17.59214210510254, + 0.2464768886566162 + ], + [ + -39.91628646850586, + 17.59214210510254, + 0.2464768886566162 + ], + [ + -39.91628646850586, + 17.032331466674805, + 0.2464768886566162 + ], + [ + -40.4180793762207, + 17.032331466674805, + 0.2464768886566162 + ], + [ + -40.4180793762207, + 17.59214210510254, + 1.3694283962249756 + ], + [ + -39.91628646850586, + 17.59214210510254, + 1.3694283962249756 + ], + [ + -39.91628646850586, + 17.032331466674805, + 1.3694283962249756 + ], + [ + -40.4180793762207, + 17.032331466674805, + 1.3694283962249756 + ] + ], + "corners_2d": [ + [ + 635.4542641046801, + 383.19652474468774 + ], + [ + 652.1358785388609, + 378.13455769277306 + ], + [ + 644.4639854224308, + 364.5948685425958 + ], + [ + 627.9656426269989, + 369.5242175129349 + ], + [ + 635.310850628236, + 355.17336519864966 + ], + [ + 652.5168209542386, + 350.0939511581163 + ], + [ + 644.602208564268, + 336.51529922744703 + ], + [ + 627.5911453433912, + 341.45753547811097 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 72, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 466869, + "2": 226214, + "3": 186271, + "6": 8765, + "7": 1188, + "10": 603, + "12": 2027, + "14": 5271, + "20": 2949, + "24": 21443 + }, + "instance_pixel_counts": { + "148": 1842, + "6215": 151344, + "6802": 5824, + "7314": 37563, + "8338": 9638, + "9356": 479, + "9868": 464, + "18000": 607, + "18512": 2225, + "21652": 76266, + "22676": 139837, + "23700": 36244, + "24212": 58927, + "24724": 84391, + "25856": 3793, + "26624": 2857, + "33370": 2652, + "35988": 6844, + "36500": 3960, + "37524": 1841, + "38036": 4389, + "38548": 888, + "39052": 2331, + "39564": 12507, + "40265": 117, + "40588": 2254, + "41100": 509, + "41612": 3041, + "41818": 140570, + "42074": 43049, + "45457": 61, + "45969": 199, + "56576": 218, + "56832": 249, + "57088": 615, + "57344": 589, + "57600": 356, + "57856": 631, + "59904": 4640, + "61569": 3303, + "62613": 1925, + "63123": 32414, + "64149": 99, + "64659": 9504, + "64661": 1417, + "65171": 27444, + "65173": 80 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 218, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 17.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2726843059062958, + "y": 0.22246764600276947, + "z": 0.5586068034172058 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.6586722777421, + "ymin": 337.0408262826762, + "xmax": 651.4424720042203, + "ymax": 382.66041670514437 + }, + "corners_3d": [ + [ + -40.389652252197266, + 17.58492088317871, + 0.2493458390235901 + ], + [ + -39.9447135925293, + 17.58492088317871, + 0.2493458390235901 + ], + [ + -39.9447135925293, + 17.039552688598633, + 0.2493458390235901 + ], + [ + -40.389652252197266, + 17.039552688598633, + 0.2493458390235901 + ], + [ + -40.389652252197266, + 17.58492088317871, + 1.3665595054626465 + ], + [ + -39.9447135925293, + 17.58492088317871, + 1.3665595054626465 + ], + [ + -39.9447135925293, + 17.039552688598633, + 1.3665595054626465 + ], + [ + -40.389652252197266, + 17.039552688598633, + 1.3665595054626465 + ] + ], + "corners_2d": [ + [ + 636.3053780731472, + 382.66041670514437 + ], + [ + 651.0959427590553, + 378.1734867778862 + ], + [ + 643.631420532669, + 364.9757434967107 + ], + [ + 628.9991935521673, + 369.3481058327054 + ], + [ + 636.1894752968374, + 354.7788473204947 + ], + [ + 651.4424720042203, + 350.2765799479726 + ], + [ + 643.7433318289109, + 337.0408262826762 + ], + [ + 628.6586722777421, + 341.42460748096903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 249, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 20.3099422454834, + "z": 0.8055258989334106 + }, + "extent": { + "x": 0.20601685345172882, + "y": 0.23910951614379883, + "z": 0.5173629522323608 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.1479457658069, + "ymin": 371.5126070671863, + "xmax": 840.4243346754417, + "ymax": 414.071720776261 + }, + "corners_3d": [ + [ + -36.24513244628906, + 20.550827026367188, + 0.2881629467010498 + ], + [ + -35.77280044555664, + 20.476016998291016, + 0.2881629467010498 + ], + [ + -35.837257385253906, + 20.06905746459961, + 0.2881629467010498 + ], + [ + -36.30958938598633, + 20.14386749267578, + 0.2881629467010498 + ], + [ + -36.24513244628906, + 20.550827026367188, + 1.3228888511657715 + ], + [ + -35.77280044555664, + 20.476016998291016, + 1.3228888511657715 + ], + [ + -35.837257385253906, + 20.06905746459961, + 1.3228888511657715 + ], + [ + -36.30958938598633, + 20.14386749267578, + 1.3228888511657715 + ] + ], + "corners_2d": [ + [ + 820.7149364263971, + 414.071720776261 + ], + [ + 834.6335897912481, + 407.06118971082594 + ], + [ + 825.0002376946359, + 397.2731504520496 + ], + [ + 811.1479457658069, + 404.15417016536986 + ], + [ + 826.1282597316822, + 388.38926122664714 + ], + [ + 840.4243346754417, + 381.34420527934907 + ], + [ + 830.4519593520846, + 371.5126070671863 + ], + [ + 816.225541719607, + 378.42368399290245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 615, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 24.254947662353516, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.32887449860572815, + "y": 0.5380859375, + "z": 0.8961537480354309 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 636.196769068004, + "ymin": 557.8603633175265, + "xmax": 693.8732340612682, + "ymax": 640.476432732466 + }, + "corners_3d": [ + [ + -42.943145751953125, + 24.61153221130371, + -0.24059855937957764 + ], + [ + -41.868446350097656, + 24.55521011352539, + -0.24059855937957764 + ], + [ + -41.902870178222656, + 23.89836311340332, + -0.24059855937957764 + ], + [ + -42.977569580078125, + 23.95468521118164, + -0.24059855937957764 + ], + [ + -42.943145751953125, + 24.61153221130371, + 1.5517089366912842 + ], + [ + -41.868446350097656, + 24.55521011352539, + 1.5517089366912842 + ], + [ + -41.902870178222656, + 23.89836311340332, + 1.5517089366912842 + ], + [ + -42.977569580078125, + 23.95468521118164, + 1.5517089366912842 + ] + ], + "corners_2d": [ + [ + 648.6901027355453, + 640.476432732466 + ], + [ + 690.7140879604134, + 622.0422825864526 + ], + [ + 677.8524597945501, + 598.9457644059494 + ], + [ + 636.4188583078068, + 616.7124993576806 + ], + [ + 649.2397711894482, + 600.5666637643184 + ], + [ + 693.8732340612682, + 581.5892666810145 + ], + [ + 680.1650249814803, + 557.8603633175265 + ], + [ + 636.196769068004, + 576.1087947697445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 589, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 17.312236785888672, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3067968785762787, + "y": 0.39186522364616394, + "z": 0.8920617699623108 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 262.5681723520712, + "ymin": 432.72522191990623, + "xmax": 315.7387349060896, + "ymax": 502.6725286251541 + }, + "corners_3d": [ + [ + -50.07456588745117, + 17.59810447692871, + -0.2365114688873291 + ], + [ + -49.29191207885742, + 17.639122009277344, + -0.2365114688873291 + ], + [ + -49.25979995727539, + 17.026369094848633, + -0.2365114688873291 + ], + [ + -50.04245376586914, + 16.9853515625, + -0.2365114688873291 + ], + [ + -50.07456588745117, + 17.59810447692871, + 1.5476120710372925 + ], + [ + -49.29191207885742, + 17.639122009277344, + 1.5476120710372925 + ], + [ + -49.25979995727539, + 17.026369094848633, + 1.5476120710372925 + ], + [ + -50.04245376586914, + 16.9853515625, + 1.5476120710372925 + ] + ], + "corners_2d": [ + [ + 284.33401550187375, + 502.6725286251541 + ], + [ + 315.7387349060896, + 494.32923335233465 + ], + [ + 313.1372528293963, + 476.079154173941 + ], + [ + 282.21782388366773, + 484.1577743234512 + ], + [ + 264.4642360699175, + 459.72433367552037 + ], + [ + 297.7616784295062, + 451.246262103449 + ], + [ + 295.32042085333586, + 432.72522191990623 + ], + [ + 262.5681723520712, + 440.91975218731966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 356, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 9.142022132873535, + "z": 0.7524741291999817 + }, + "extent": { + "x": 0.3813745081424713, + "y": 0.3208721876144409, + "z": 0.9308669567108154 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 826.724322913361, + "ymin": 93.93991240921673, + "xmax": 859.1943407955122, + "ymax": 152.38131816895128 + }, + "corners_3d": [ + [ + -29.298425674438477, + 9.468505859375, + -0.17839282751083374 + ], + [ + -28.664583206176758, + 9.568897247314453, + -0.17839282751083374 + ], + [ + -28.545263290405273, + 8.81553840637207, + -0.17839282751083374 + ], + [ + -29.179105758666992, + 8.715147018432617, + -0.17839282751083374 + ], + [ + -29.298425674438477, + 9.468505859375, + 1.6833410263061523 + ], + [ + -28.664583206176758, + 9.568897247314453, + 1.6833410263061523 + ], + [ + -28.545263290405273, + 8.81553840637207, + 1.6833410263061523 + ], + [ + -29.179105758666992, + 8.715147018432617, + 1.6833410263061523 + ] + ], + "corners_2d": [ + [ + 834.2518107165533, + 152.38131816895128 + ], + [ + 850.766430515946, + 150.0598782817842 + ], + [ + 843.0234350326331, + 138.56456376920087 + ], + [ + 826.724322913361, + 140.81977420943176 + ], + [ + 842.0427599403001, + 107.49875909590168 + ], + [ + 859.1943407955122, + 105.21934493049119 + ], + [ + 851.0206613884294, + 93.93991240921673 + ], + [ + 834.1013508506956, + 96.15174999387864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 631, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 922.5073035282828, + "ymin": 0.0, + "xmax": 1061.6884302757585, + "ymax": 29.78326403222087 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 922.5073035282828, + 8.934487218812478 + ], + [ + 949.5932126102246, + 29.78326403222087 + ], + [ + 1051.509244367167, + 7.185752686925639 + ], + [ + 1022.275616540391, + -12.322029470375753 + ], + [ + 929.5144912870454, + -22.380113046478016 + ], + [ + 957.5209804514664, + -2.0118617914750985 + ], + [ + 1061.6884302757585, + -24.087091908039383 + ], + [ + 1031.4447499178598, + -43.113876554399326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4640, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 520.9238648695741, + "ymin": 32.65454840879204, + "xmax": 662.9232412972775, + "ymax": 120.3903994515446 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 524.5675823298843, + 93.70975174798991 + ], + [ + 541.044992963382, + 120.3903994515446 + ], + [ + 662.3281520583698, + 93.27910940877814 + ], + [ + 642.3378096784135, + 68.40053268115025 + ], + [ + 520.9238648695741, + 57.46590785855045 + ], + [ + 537.7920025655535, + 83.65447055681216 + ], + [ + 662.9232412972775, + 57.020963056289816 + ], + [ + 642.3184829485132, + 32.65454840879204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.7875861018997, + "ymin": 179.9932662266491, + "xmax": 131.06216863949788, + "ymax": 221.14057805245773 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.06216863949788, + 218.41820540190022 + ], + [ + 130.41985304819195, + 209.4300556434472 + ], + [ + 118.29429175812334, + 212.09635406982997 + ], + [ + 118.81157868663445, + 221.14057805245773 + ], + [ + 116.80394914658189, + 188.9171645600712 + ], + [ + 116.29529282434214, + 179.9932662266491 + ], + [ + 103.7875861018997, + 182.63996565499517 + ], + [ + 104.16315324969241, + 191.62109630739866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 545.0370495604744, + "ymin": 0.0, + "xmax": 559.2452934824237, + "ymax": 18.98240809504017 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 555.3395275336717, + 12.049284398338614 + ], + [ + 547.0155229000824, + 13.631624876114302 + ], + [ + 550.8636832324737, + 18.98240809504017 + ], + [ + 559.2452934824237, + 17.37452355442764 + ], + [ + 553.5425465433156, + -14.682182749431831 + ], + [ + 545.0370495604744, + -13.13131041146488 + ], + [ + 548.9514958907176, + -7.885774713206899 + ], + [ + 557.517157296301, + -9.46222173688551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 600.7112132559931, + "ymin": 149.3696805717087, + "xmax": 614.5908393651858, + "ymax": 182.41477128652014 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 610.0893593804896, + 173.47241023472182 + ], + [ + 601.5572573884398, + 175.52124277452654 + ], + [ + 605.9988664503985, + 182.41477128652014 + ], + [ + 614.5908393651858, + 180.33166925925067 + ], + [ + 609.4327561996757, + 149.3696805717087 + ], + [ + 600.7112132559931, + 151.40240065287458 + ], + [ + 605.2441943635285, + 158.2433454901704 + ], + [ + 614.0283109732126, + 156.17586854538405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.80380651361605, + "ymin": 156.85889332600522, + "xmax": 238.1991650735207, + "ymax": 197.1850918412714 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 238.1991650735207, + 194.6099730701104 + ], + [ + 236.4968684201176, + 186.10485904265704 + ], + [ + 225.02066951057833, + 188.62836917321954 + ], + [ + 226.61121504000482, + 197.1850918412714 + ], + [ + 227.25905087108998, + 165.2904022721025 + ], + [ + 225.62386370704013, + 156.85889332600522 + ], + [ + 213.80380651361605, + 159.36008281163612 + ], + [ + 215.32038103484916, + 167.84414610567492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.5185889923152, + "ymin": 370.5724241378837, + "xmax": 975.7860044366903, + "ymax": 677.0465191449075 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 889.1636751905035, + 616.085368974908 + ], + [ + 878.7661589546784, + 600.0220055417755 + ], + [ + 728.5185889923152, + 659.4112584808106 + ], + [ + 737.3945115898572, + 677.0465191449075 + ], + [ + 975.7860044366903, + 388.25030317847444 + ], + [ + 960.3619917623608, + 370.5724241378837 + ], + [ + 760.727245785579, + 436.7170375664639 + ], + [ + 773.486371874367, + 456.78035463983633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.8357975310626, + "ymin": 0.0, + "xmax": 1110.283706930098, + "ymax": 133.2723122162772 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1025.7950560581562, + 133.2723122162772 + ], + [ + 1035.569862507175, + 130.7319562074761 + ], + [ + 973.1672976027385, + 80.25738604719777 + ], + [ + 963.8357975310626, + 82.47986959723704 + ], + [ + 1098.9443078731963, + -82.53141627725745 + ], + [ + 1110.283706930098, + -84.72070061820403 + ], + [ + 1031.3233653967397, + -127.66942804201 + ], + [ + 1020.5648597568515, + -125.80010947735536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.13034964833184, + "ymin": 0.0, + "xmax": 456.2486338374938, + "ymax": 21.329851355361484 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 456.2486338374938, + -25.13014820930607 + ], + [ + 453.9458635176733, + -28.995844945269482 + ], + [ + 182.76607380514452, + 16.87112049353209 + ], + [ + 183.4297417673435, + 21.329851355361484 + ], + [ + 426.95056662779695, + -231.86035531252276 + ], + [ + 424.4928162630149, + -234.85935078362638 + ], + [ + 104.13034964833184, + -198.89113089989792 + ], + [ + 104.2932193844515, + -195.34930426879214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.9465273484764, + "ymin": 437.02546075558143, + "xmax": 798.5197928654626, + "ymax": 461.8883625845906 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 797.7203774140683, + 454.2785766582906 + ], + [ + 789.0866828619739, + 441.18355906635475 + ], + [ + 766.9465273484764, + 448.61351419843345 + ], + [ + 775.3724103164126, + 461.8883625845906 + ], + [ + 798.5197928654626, + 450.1367507875641 + ], + [ + 789.8333414938277, + 437.02546075558143 + ], + [ + 767.5866495533066, + 444.46445544446937 + ], + [ + 776.0633012523188, + 457.75671632259514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 77.01599780832214, + "xmax": 340.9593006236819, + "ymax": 469.0481343472902 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -125.42669001062859, + 456.7304191367085 + ], + [ + -127.7477442912957, + 469.0481343472902 + ], + [ + 340.9593006236819, + 345.79970075600744 + ], + [ + 338.43506816673715, + 336.0315448290512 + ], + [ + -371.62367257059384, + 194.68221058046188 + ], + [ + -378.3330076113167, + 207.15583356562271 + ], + [ + 257.1053947992081, + 86.24159960176644 + ], + [ + 254.9313076040287, + 77.01599780832214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.7789790252655, + "ymin": 436.89321089718896, + "xmax": 798.6918408982333, + "ymax": 462.02381111448017 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 797.8829534858869, + 454.3312100817599 + ], + [ + 789.1556472563517, + 441.09614503303305 + ], + [ + 766.7789790252655, + 448.605027873183 + ], + [ + 775.2939834392691, + 462.02381111448017 + ], + [ + 798.6918408982333, + 450.144894471818 + ], + [ + 789.9106265622293, + 436.89321089718896 + ], + [ + 767.4251287271679, + 444.4113227035293 + ], + [ + 775.9919882580544, + 457.8479017320928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.337070347398, + "ymin": 0.0, + "xmax": 627.5543774245481, + "ymax": 250.00657196895406 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 615.0390115165507, + 250.00657196895406 + ], + [ + 627.5543774245481, + 246.80003726040724 + ], + [ + 519.3353543369419, + 68.23778531342123 + ], + [ + 509.0064738528056, + 70.29437741376046 + ], + [ + 608.8782391975865, + -2.0992328822756576 + ], + [ + 624.4962140853726, + -4.9762024168544485 + ], + [ + 496.6880783535544, + -157.58826752429184 + ], + [ + 484.337070347398, + -155.9115434161289 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00073/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00073/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..94c6aca8bf07d29611c7eb7a06cafeee01a6b211 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00073/meta.json @@ -0,0 +1,2147 @@ +{ + "frame_id": 73, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.5, + "sim_timestamp": 12522.318780024769 + }, + "drone_pose": { + "x": -47.198821535790515, + "y": 33.624815489863806, + "z": 20.00000001550877, + "pitch": -46.48237559560965, + "yaw": -67.30352524131632, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.26568716764450073, + 0.6352554559707642, + 0.7251626253128052, + 19.39722442626953 + ], + [ + -0.9225618839263916, + 0.3858492374420166, + 0.0, + 30.569725036621094 + ], + [ + -0.27980339527130127, + -0.6690073609352112, + 0.6885776519775391, + -49.47319412231445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.33363375677536, + "y": 33.06990438071501, + "z": 20.000000006860805 + }, + "t1_image_uv": [ + -386.0594433038111, + -651.005868058422 + ], + "t1_depth": 0.3166924463874673 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 16.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 26.4658539829929, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 16.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.25446775555610657, + "y": 0.2936938405036926, + "z": 0.5459131598472595 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.4503959971005, + "ymin": 337.0735310277459, + "xmax": 653.6368059695143, + "ymax": 382.6574441629174 + }, + "corners_3d": [ + [ + -40.46087646484375, + 17.06670379638672, + 0.2620394825935364 + ], + [ + -39.87348937988281, + 17.06670379638672, + 0.2620394825935364 + ], + [ + -39.87348937988281, + 16.557769775390625, + 0.2620394825935364 + ], + [ + -40.46087646484375, + 16.557769775390625, + 0.2620394825935364 + ], + [ + -40.46087646484375, + 17.06670379638672, + 1.3538658618927002 + ], + [ + -39.87348937988281, + 17.06670379638672, + 1.3538658618927002 + ], + [ + -39.87348937988281, + 16.557769775390625, + 1.3538658618927002 + ], + [ + -40.46087646484375, + 16.557769775390625, + 1.3538658618927002 + ] + ], + "corners_2d": [ + [ + 633.7700525372421, + 382.6574441629174 + ], + [ + 653.2336048428433, + 376.63331549258936 + ], + [ + 646.1197533981779, + 364.3742135808029 + ], + [ + 626.8485322640478, + 370.25506001387714 + ], + [ + 633.5790918450599, + 355.4105280849669 + ], + [ + 653.6368059695143, + 349.36648794327607 + ], + [ + 646.3039186365467, + 337.0735310277459 + ], + [ + 626.4503959971005, + 342.96950317240817 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 73, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 470994, + "2": 225813, + "3": 180674, + "6": 9072, + "7": 1311, + "10": 592, + "12": 2088, + "14": 5689, + "20": 3076, + "24": 22291 + }, + "instance_pixel_counts": { + "148": 2969, + "6215": 151036, + "6796": 207, + "6802": 6018, + "7314": 36955, + "8338": 10270, + "9356": 356, + "9868": 601, + "18000": 615, + "18512": 2343, + "21652": 78851, + "22676": 136090, + "23700": 37914, + "24212": 60637, + "24724": 80686, + "25856": 4065, + "26624": 2927, + "33370": 3035, + "35988": 7080, + "36500": 3875, + "37524": 1948, + "38036": 4572, + "38548": 774, + "39052": 2417, + "39564": 12299, + "40265": 118, + "40588": 2412, + "41100": 418, + "41612": 2761, + "41818": 144430, + "42074": 33209, + "45457": 1, + "45969": 62, + "56576": 206, + "56832": 222, + "57088": 722, + "57344": 580, + "57600": 358, + "57856": 987, + "59904": 4702, + "61569": 3391, + "62613": 2308, + "63123": 34751, + "63635": 44, + "64149": 168, + "64659": 11254, + "64661": 1439, + "65171": 27798, + "65173": 127 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 16.812236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2667309641838074, + "y": 0.28858762979507446, + "z": 0.5601852536201477 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.4489163278531, + "ymin": 336.46417033597874, + "xmax": 653.6479075798851, + "ymax": 383.2527773481926 + }, + "corners_3d": [ + [ + -40.455772399902344, + 17.078968048095703, + 0.2477673888206482 + ], + [ + -39.87859344482422, + 17.078968048095703, + 0.2477673888206482 + ], + [ + -39.87859344482422, + 16.54550552368164, + 0.2477673888206482 + ], + [ + -40.455772399902344, + 16.54550552368164, + 0.2477673888206482 + ], + [ + -40.455772399902344, + 17.078968048095703, + 1.3681378364562988 + ], + [ + -39.87859344482422, + 17.078968048095703, + 1.3681378364562988 + ], + [ + -39.87859344482422, + 16.54550552368164, + 1.3681378364562988 + ], + [ + -40.455772399902344, + 16.54550552368164, + 1.3681378364562988 + ] + ], + "corners_2d": [ + [ + 634.1113629461926, + 383.2527773481926 + ], + [ + 653.2338471703544, + 377.3301979955869 + ], + [ + 645.7817498690329, + 364.47950299026445 + ], + [ + 626.8572104247751, + 370.25456749894 + ], + [ + 633.9260248325514, + 355.29409177261675 + ], + [ + 653.6479075798851, + 349.35131876431615 + ], + [ + 645.9603187275701, + 336.46417033597874 + ], + [ + 626.4489163278531, + 342.25437037999745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 222, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 19.8099422454834, + "z": 0.8055210113525391 + }, + "extent": { + "x": 0.2246362417936325, + "y": 0.31056705117225647, + "z": 0.5270121097564697 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 808.74423774645, + "ymin": 368.7597479950725, + "xmax": 843.1662797524704, + "ymax": 414.7960990310646 + }, + "corners_3d": [ + [ + -36.31279754638672, + 20.08039665222168, + 0.27850890159606934 + ], + [ + -35.699310302734375, + 19.98322868347168, + 0.27850890159606934 + ], + [ + -35.76959228515625, + 19.539487838745117, + 0.27850890159606934 + ], + [ + -36.383079528808594, + 19.636655807495117, + 0.27850890159606934 + ], + [ + -36.31279754638672, + 20.08039665222168, + 1.3325331211090088 + ], + [ + -35.699310302734375, + 19.98322868347168, + 1.3325331211090088 + ], + [ + -35.76959228515625, + 19.539487838745117, + 1.3325331211090088 + ], + [ + -36.383079528808594, + 19.636655807495117, + 1.3325331211090088 + ] + ], + "corners_2d": [ + [ + 819.2502175898579, + 414.7960990310646 + ], + [ + 837.1988217027829, + 405.59214891837235 + ], + [ + 826.6029286452556, + 395.01173421744613 + ], + [ + 808.74423774645, + 404.0314899917807 + ], + [ + 824.7232242018333, + 388.6364941971412 + ], + [ + 843.1662797524704, + 379.3867649849125 + ], + [ + 832.191504297173, + 368.7597479950725 + ], + [ + 813.8428577534595, + 377.8188270921448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 722, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 23.754947662353516, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.3325170874595642, + "y": 0.5281811356544495, + "z": 0.9001977443695068 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 638.9729948516274, + "ymin": 557.5073195325673, + "xmax": 696.031807798894, + "ymax": 640.4207964522766 + }, + "corners_3d": [ + [ + -42.93306350708008, + 24.114652633666992, + -0.24465233087539673 + ], + [ + -41.87814712524414, + 24.05936622619629, + -0.24465233087539673 + ], + [ + -41.9129524230957, + 23.39524269104004, + -0.24465233087539673 + ], + [ + -42.96786880493164, + 23.450529098510742, + -0.24465233087539673 + ], + [ + -42.93306350708008, + 24.114652633666992, + 1.5557432174682617 + ], + [ + -41.87814712524414, + 24.05936622619629, + 1.5557432174682617 + ], + [ + -41.9129524230957, + 23.39524269104004, + 1.5557432174682617 + ], + [ + -42.96786880493164, + 23.450529098510742, + 1.5557432174682617 + ] + ], + "corners_2d": [ + [ + 651.6812569545666, + 640.4207964522766 + ], + [ + 692.7322440609611, + 622.0491397423275 + ], + [ + 679.5107606631217, + 598.7880982341765 + ], + [ + 639.0332083472738, + 616.4898533720177 + ], + [ + 652.4233951171227, + 600.322546413075 + ], + [ + 696.031807798894, + 581.4074630134628 + ], + [ + 681.9350846925583, + 557.5073195325673 + ], + [ + 638.9729948516274, + 575.6904656365451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 580, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 16.812236785888672, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.30534422397613525, + "y": 0.34245359897613525, + "z": 0.8667015433311462 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 265.26707798543526, + "ymin": 435.90937766222544, + "xmax": 314.0766515087527, + "ymax": 503.6662590932873 + }, + "corners_3d": [ + [ + -50.025146484375, + 17.099239349365234, + -0.21114635467529297 + ], + [ + -49.34117889404297, + 17.135086059570312, + -0.21114635467529297 + ], + [ + -49.30921936035156, + 16.52523422241211, + -0.21114635467529297 + ], + [ + -49.993186950683594, + 16.48938751220703, + -0.21114635467529297 + ], + [ + -50.025146484375, + 17.099239349365234, + 1.5222567319869995 + ], + [ + -49.34117889404297, + 17.135086059570312, + 1.5222567319869995 + ], + [ + -49.30921936035156, + 16.52523422241211, + 1.5222567319869995 + ], + [ + -49.993186950683594, + 16.48938751220703, + 1.5222567319869995 + ] + ], + "corners_2d": [ + [ + 286.5868126268677, + 503.6662590932873 + ], + [ + 314.0766515087527, + 496.1940664820921 + ], + [ + 311.32969852305956, + 477.9964924325151 + ], + [ + 284.2611084356681, + 485.2327607609943 + ], + [ + 267.3942034645343, + 461.96428950006504 + ], + [ + 296.4976349430334, + 454.3734964037384 + ], + [ + 293.89863470378157, + 435.90937766222544 + ], + [ + 265.26707798543526, + 443.2478556470143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 358, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 8.642022132873535, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3854382336139679, + "y": 0.5345187187194824, + "z": 0.9431242346763611 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 818.041063342969, + "ymin": 95.81163387535275, + "xmax": 861.5484513718613, + "ymax": 156.25420081208122 + }, + "corners_3d": [ + [ + -29.51007843017578, + 8.93909740447998, + -0.3430231809616089 + ], + [ + -28.45420265197754, + 9.106331825256348, + -0.3430231809616089 + ], + [ + -28.33361053466797, + 8.34494686126709, + -0.3430231809616089 + ], + [ + -29.38948631286621, + 8.177712440490723, + -0.3430231809616089 + ], + [ + -29.51007843017578, + 8.93909740447998, + 1.5432252883911133 + ], + [ + -28.45420265197754, + 9.106331825256348, + 1.5432252883911133 + ], + [ + -28.33361053466797, + 8.34494686126709, + 1.5432252883911133 + ], + [ + -29.38948631286621, + 8.177712440490723, + 1.5432252883911133 + ] + ], + "corners_2d": [ + [ + 825.6419007273917, + 156.25420081208122 + ], + [ + 852.9655620075846, + 152.26917029579784 + ], + [ + 845.0083546367566, + 140.70522673370883 + ], + [ + 818.041063342969, + 144.5760697229628 + ], + [ + 833.1622182702113, + 111.07307954033726 + ], + [ + 861.5484513718613, + 107.15947008704757 + ], + [ + 853.1468900182895, + 95.81163387535275 + ], + [ + 825.1449718789502, + 99.60867285680678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 987, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 924.8740064498543, + "ymin": 0.0, + "xmax": 1064.6271685400197, + "ymax": 34.02254219436696 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 924.8740064498543, + 12.985857166992105 + ], + [ + 952.4996448861123, + 34.02254219436696 + ], + [ + 1054.3235639567129, + 10.758632396892722 + ], + [ + 1024.5843679280274, + -8.893981270567565 + ], + [ + 931.9828331136916, + -18.42114259534287 + ], + [ + 960.5512790937655, + 2.1368793697798765 + ], + [ + 1064.6271685400197, + -20.595786877036062 + ], + [ + 1033.857528966327, + -39.768674447400656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4702, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 521.9776835157646, + "ymin": 38.51333736814598, + "xmax": 665.2858503987745, + "ymax": 127.67703745907912 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 525.6227103851173, + 100.58485103288155 + ], + [ + 542.6769330855782, + 127.67703745907912 + ], + [ + 664.6147296648073, + 99.59776788587948 + ], + [ + 644.0388963986856, + 74.38269497529302 + ], + [ + 521.9776835157646, + 64.21284184776727 + ], + [ + 539.4453117830724, + 90.82069615239635 + ], + [ + 665.2858503987745, + 63.22165623546573 + ], + [ + 644.0703340713541, + 38.51333736814598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.82317536051175, + "ymin": 194.12243517663637, + "xmax": 130.69261993448237, + "ymax": 235.78091674180368 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 130.69261993448237, + 232.91653605089675 + ], + [ + 129.91967685329075, + 223.6574365340838 + ], + [ + 117.59552254094706, + 226.46202746811548 + ], + [ + 118.24008532606422, + 235.78091674180368 + ], + [ + 116.18167026910191, + 203.32377805368867 + ], + [ + 115.54322856992974, + 194.12243517663637 + ], + [ + 102.82317536051175, + 196.90895183302712 + ], + [ + 103.32479378378855, + 206.17140369458525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.7245903994387, + "ymin": 0.0, + "xmax": 562.1119884294052, + "ymax": 26.49822444353873 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 558.055742899893, + 19.398899535653698 + ], + [ + 549.6681117701144, + 21.04528476190984 + ], + [ + 553.6663432889153, + 26.49822444353873 + ], + [ + 562.1119884294052, + 24.825046956357937 + ], + [ + 556.2970960932216, + -7.4745162324502985 + ], + [ + 547.7245903994387, + -5.860124330962378 + ], + [ + 551.7934467676937, + -0.5119332361647366 + ], + [ + 560.4265723686995, + -2.153168316330323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 605.3014699714199, + "ymin": 158.4795425257777, + "xmax": 619.324269976718, + "ymax": 191.81016128113157 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 614.6473837944126, + 182.6515358492239 + ], + [ + 606.0569159859043, + 184.78368626419928 + ], + [ + 610.6736442865596, + 191.81016128113157 + ], + [ + 619.324269976718, + 189.642056734094 + ], + [ + 614.0846008431525, + 158.4795425257777 + ], + [ + 605.3014699714199, + 160.5959487577559 + ], + [ + 610.0153389912751, + 167.5722403343781 + ], + [ + 618.861370826112, + 165.41934197148066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.60924525899458, + "ymin": 169.79257283519343, + "xmax": 239.47966007834913, + "ymax": 210.59732858140032 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 239.47966007834913, + 207.89307909297298 + ], + [ + 237.62076175906708, + 199.14820791244173 + ], + [ + 225.97865716207832, + 201.79758622430373 + ], + [ + 227.72327795738744, + 210.59732858140032 + ], + [ + 228.4002096614385, + 178.46903879582152 + ], + [ + 226.60632035169817, + 169.79257283519343 + ], + [ + 214.60924525899458, + 172.42071089911562 + ], + [ + 216.28171078469984, + 181.15312422608673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.6319862465414, + "ymin": 388.82859408309804, + "xmax": 996.8159557361668, + "ymax": 696.8877591722508 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 903.5450783089726, + 633.062652275351 + ], + [ + 892.7033628168524, + 616.6197196950731 + ], + [ + 741.6319862465414, + 678.7811228533294 + ], + [ + 750.9555762917481, + 696.8877591722508 + ], + [ + 996.8159557361668, + 407.0903210303181 + ], + [ + 980.59372014884, + 388.82859408309804 + ], + [ + 779.3564113715498, + 458.74684612976375 + ], + [ + 792.9136406058913, + 479.5715585047893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.9735289172139, + "ymin": 0.0, + "xmax": 1117.4325864068892, + "ymax": 138.80617669207402 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1031.3003595460084, + 138.80617669207402 + ], + [ + 1041.0673791313081, + 136.18424332214883 + ], + [ + 977.3043677467623, + 85.18314063192202 + ], + [ + 967.9735289172139, + 87.47583525749673 + ], + [ + 1106.1014755589745, + -77.73285718688885 + ], + [ + 1117.4325864068892, + -79.99830530247652 + ], + [ + 1036.6358411621263, + -123.50056285636333 + ], + [ + 1025.8750992828373, + -121.56774163233615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.77755616886611, + "ymin": 0.0, + "xmax": 454.87802120276064, + "ymax": 28.228688676715876 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 454.87802120276064, + -19.956061123738323 + ], + [ + 452.4978332835901, + -23.872911768105723 + ], + [ + 178.9934305240859, + 23.692997274638344 + ], + [ + 179.71671652541465, + 28.228688676715876 + ], + [ + 425.08576723017615, + -227.8049317533471 + ], + [ + 422.5397476913279, + -230.85137858523035 + ], + [ + 98.77755616886611, + -193.43912388296678 + ], + [ + 98.99386240850333, + -189.82365213293838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.4915859860087, + "ymin": 458.58415440491865, + "xmax": 817.9186327309827, + "ymax": 484.3504987862734 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 817.00363143878, + 476.29084470533286 + ], + [ + 807.8494930705882, + 462.7148187243328 + ], + [ + 785.4915859860087, + 470.58083974482804 + ], + [ + 794.4366854391172, + 484.3504987862734 + ], + [ + 817.9186327309827, + 472.17974796116164 + ], + [ + 808.7066701996522, + 458.58415440491865 + ], + [ + 786.2398599782651, + 466.46130672546525 + ], + [ + 795.2407668339063, + 480.25181949864566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 89.16820822894147, + "xmax": 343.4312089381092, + "ymax": 488.2015256353549 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -130.0681118198238, + 475.50017090850565 + ], + [ + -132.33969021785765, + 488.2015256353549 + ], + [ + 343.4312089381092, + 358.8717408534023 + ], + [ + 340.73918862255186, + 348.8779099832606 + ], + [ + -383.29429670992954, + 213.72454622788274 + ], + [ + -390.1321975025917, + 226.72869315382832 + ], + [ + 258.8837034657514, + 98.67531610601577 + ], + [ + 256.5061513841317, + 89.16820822894147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.3195102296125, + "ymin": 458.4471532052364, + "xmax": 818.0953425556896, + "ymax": 484.49092798434896 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 817.1695857743357, + 476.3435537214086 + ], + [ + 807.9162535256816, + 462.62238697796727 + ], + [ + 785.3195102296125, + 470.5719426951971 + ], + [ + 794.3592867741809, + 484.49092798434896 + ], + [ + 818.0953425556896, + 472.18830415042834 + ], + [ + 808.7829250831514, + 458.4471532052364 + ], + [ + 786.0749344450597, + 466.40807409214756 + ], + [ + 795.1717136141485, + 480.34837171800973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.7310675369679, + "ymin": 0.0, + "xmax": 632.1100528256011, + "ymax": 259.4922578259944 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 619.5173987786026, + 259.4922578259944 + ], + [ + 632.1100528256011, + 256.15828246774964 + ], + [ + 519.9519458296, + 74.69469874807453 + ], + [ + 509.5561436236409, + 76.82669015915826 + ], + [ + 614.3964006599494, + 6.456292561361295 + ], + [ + 630.1464528610038, + 3.449713683465575 + ], + [ + 497.1849342359864, + -152.29118857444087 + ], + [ + 484.7310675369679, + -150.54721022927885 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00074/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00074/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ef5359292d1eff6c2faa479fcfb044c7641844a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00074/meta.json @@ -0,0 +1,2146 @@ +{ + "frame_id": 74, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.0, + "sim_timestamp": 12532.170376739698 + }, + "drone_pose": { + "x": -47.33363375677536, + "y": 33.06990438071501, + "z": 20.000000006860805, + "pitch": -46.479330800443115, + "yaw": -66.84592705668723, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2707673907279968, + 0.633148729801178, + 0.7251260280609131, + 19.252052307128906 + ], + [ + -0.9194508194923401, + 0.39320510625839233, + 0.0, + 30.517690658569336 + ], + [ + -0.2851233184337616, + -0.6667177081108093, + 0.688616156578064, + -49.316532135009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.466462255100524, + "y": 32.514524496446704, + "z": 20.000000002790703 + }, + "t1_image_uv": [ + -395.52632327711035, + -650.8982970152671 + ], + "t1_depth": 0.31567245346489015 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 16.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.46718956048594, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 16.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2897131145000458, + "y": 0.18856750428676605, + "z": 0.5580805540084839 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.4710795443817, + "ymin": 336.9564524031043, + "xmax": 650.636420667234, + "ymax": 382.7490913206828 + }, + "corners_3d": [ + [ + -40.355751037597656, + 16.60194969177246, + 0.249872088432312 + ], + [ + -39.978614807128906, + 16.60194969177246, + 0.249872088432312 + ], + [ + -39.978614807128906, + 16.022523880004883, + 0.249872088432312 + ], + [ + -40.355751037597656, + 16.022523880004883, + 0.249872088432312 + ], + [ + -40.355751037597656, + 16.60194969177246, + 1.3660331964492798 + ], + [ + -39.978614807128906, + 16.60194969177246, + 1.3660331964492798 + ], + [ + -39.978614807128906, + 16.022523880004883, + 1.3660331964492798 + ], + [ + -40.355751037597656, + 16.022523880004883, + 1.3660331964492798 + ] + ], + "corners_2d": [ + [ + 637.8569949862588, + 382.7490913206828 + ], + [ + 650.314474937455, + 378.8016673684233 + ], + [ + 642.1059279508321, + 364.86550744486374 + ], + [ + 629.786647012636, + 368.7066047640578 + ], + [ + 637.7898409045589, + 354.893677779644 + ], + [ + 650.636420667234, + 350.9327410346394 + ], + [ + 642.1707432698053, + 336.9564524031043 + ], + [ + 629.4710795443817, + 340.8074316006372 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 74, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 475205, + "2": 225854, + "3": 174678, + "6": 9414, + "7": 1390, + "10": 588, + "12": 2024, + "14": 6176, + "20": 3067, + "24": 23204 + }, + "instance_pixel_counts": { + "148": 4178, + "6215": 151007, + "6796": 710, + "6802": 6210, + "7314": 36329, + "8332": 83, + "8338": 10786, + "9356": 191, + "9868": 568, + "18000": 698, + "18512": 2249, + "21652": 81591, + "22676": 132363, + "23700": 39656, + "24212": 62462, + "24724": 76630, + "25856": 4306, + "26624": 2994, + "33370": 3436, + "35988": 7334, + "36500": 3834, + "37524": 2032, + "38036": 4768, + "38548": 783, + "39052": 2508, + "39564": 12088, + "40265": 120, + "40588": 2544, + "41100": 337, + "41612": 2493, + "41818": 146908, + "42074": 24334, + "56576": 205, + "56832": 232, + "57088": 617, + "57344": 579, + "57600": 391, + "57856": 1402, + "59904": 4774, + "61569": 3504, + "62613": 2607, + "63123": 36738, + "63635": 319, + "64149": 204, + "64659": 13174, + "64661": 1462, + "65171": 28094, + "65173": 180 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 16.312236785888672, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26776123046875, + "y": 0.22911742329597473, + "z": 0.5530579090118408 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4116195453905, + "ymin": 337.1955528812478, + "xmax": 651.6843555229586, + "ymax": 382.51427626990295 + }, + "corners_3d": [ + [ + -40.39630126953125, + 16.579998016357422, + 0.2548947334289551 + ], + [ + -39.93806457519531, + 16.579998016357422, + 0.2548947334289551 + ], + [ + -39.93806457519531, + 16.044475555419922, + 0.2548947334289551 + ], + [ + -40.39630126953125, + 16.044475555419922, + 0.2548947334289551 + ], + [ + -40.39630126953125, + 16.579998016357422, + 1.3610105514526367 + ], + [ + -39.93806457519531, + 16.579998016357422, + 1.3610105514526367 + ], + [ + -39.93806457519531, + 16.044475555419922, + 1.3610105514526367 + ], + [ + -40.39630126953125, + 16.044475555419922, + 1.3610105514526367 + ] + ], + "corners_2d": [ + [ + 636.202118157932, + 382.51427626990295 + ], + [ + 651.3341517122043, + 377.7228817425332 + ], + [ + 643.7329752874141, + 364.8530499274556 + ], + [ + 628.7561786765598, + 369.52502495085315 + ], + [ + 636.0842072224785, + 354.90927787048923 + ], + [ + 651.6843555229586, + 350.1017829407365 + ], + [ + 643.8468300088286, + 337.1955528812478 + ], + [ + 628.4116195453905, + 341.87958766194805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 232, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 19.3099422454834, + "z": 0.8055161237716675 + }, + "extent": { + "x": 0.23160035908222198, + "y": 0.20122987031936646, + "z": 0.5213005542755127 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.9107171735682, + "ymin": 369.2194148727913, + "xmax": 840.2204373496598, + "ymax": 412.07766388766277 + }, + "corners_3d": [ + [ + -36.20371627807617, + 19.570171356201172, + 0.2842155694961548 + ], + [ + -35.80621337890625, + 19.507211685180664, + 0.2842155694961548 + ], + [ + -35.8786735534668, + 19.049713134765625, + 0.2842155694961548 + ], + [ + -36.27617645263672, + 19.112672805786133, + 0.2842155694961548 + ], + [ + -36.20371627807617, + 19.570171356201172, + 1.3268166780471802 + ], + [ + -35.80621337890625, + 19.507211685180664, + 1.3268166780471802 + ], + [ + -35.8786735534668, + 19.049713134765625, + 1.3268166780471802 + ], + [ + -36.27617645263672, + 19.112672805786133, + 1.3268166780471802 + ] + ], + "corners_2d": [ + [ + 822.8583560665245, + 412.07766388766277 + ], + [ + 834.3996030903975, + 406.04871057385367 + ], + [ + 823.3948014677533, + 395.18576647338796 + ], + [ + 811.9107171735682, + 401.0910833415154 + ], + [ + 828.3657872904139, + 386.18814535340965 + ], + [ + 840.2204373496598, + 380.12990545855865 + ], + [ + 828.8280131236106, + 369.2194148727913 + ], + [ + 817.0333114879129, + 375.1497460817788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 617, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 23.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.33122557401657104, + "y": 0.536883533000946, + "z": 0.8999902009963989 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 641.2019196623451, + "ymin": 557.0863773918325, + "xmax": 699.0299173244607, + "ymax": 640.4051292334361 + }, + "corners_3d": [ + [ + -42.94182205200195, + 23.61381721496582, + -0.24443989992141724 + ], + [ + -41.86952590942383, + 23.557621002197266, + -0.24443989992141724 + ], + [ + -41.90419387817383, + 22.89607810974121, + -0.24443989992141724 + ], + [ + -42.97649002075195, + 22.952274322509766, + -0.24443989992141724 + ], + [ + -42.94182205200195, + 23.61381721496582, + 1.5555405616760254 + ], + [ + -41.86952590942383, + 23.557621002197266, + 1.5555405616760254 + ], + [ + -41.90419387817383, + 22.89607810974121, + 1.5555405616760254 + ], + [ + -42.97649002075195, + 22.952274322509766, + 1.5555405616760254 + ] + ], + "corners_2d": [ + [ + 654.0500727193493, + 640.4051292334361 + ], + [ + 695.5565278154513, + 621.4317876417514 + ], + [ + 682.1414316369469, + 598.370893446523 + ], + [ + 641.2019196623451, + 616.6577444049398 + ], + [ + 654.9424131276063, + 600.3129417033674 + ], + [ + 699.0299173244607, + 580.7792990311023 + ], + [ + 684.7254289707477, + 557.0863773918325 + ], + [ + 641.2767640669613, + 575.8700076997628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 579, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 16.312236785888672, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3095703125, + "y": 0.4656127691268921, + "z": 0.890941321849823 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 260.13734353480095, + "ymin": 435.9661165011417, + "xmax": 319.85334894270005, + "ymax": 508.0647686166953 + }, + "corners_3d": [ + [ + -50.14835739135742, + 16.597015380859375, + -0.23538613319396973 + ], + [ + -49.21841049194336, + 16.645751953125, + -0.23538613319396973 + ], + [ + -49.18600845336914, + 16.02745819091797, + -0.23538613319396973 + ], + [ + -50.1159553527832, + 15.97872257232666, + -0.23538613319396973 + ], + [ + -50.14835739135742, + 16.597015380859375, + 1.5464965105056763 + ], + [ + -49.21841049194336, + 16.645751953125, + 1.5464965105056763 + ], + [ + -49.18600845336914, + 16.02745819091797, + 1.5464965105056763 + ], + [ + -50.1159553527832, + 15.97872257232666, + 1.5464965105056763 + ] + ], + "corners_2d": [ + [ + 282.46890246322897, + 508.0647686166953 + ], + [ + 319.85334894270005, + 497.6395007625833 + ], + [ + 316.78252821548415, + 479.2236663059116 + ], + [ + 279.975445638029, + 489.31585268976005 + ], + [ + 262.42608979567575, + 465.2581866009 + ], + [ + 302.07667287622553, + 454.66047926178663 + ], + [ + 299.1388163387863, + 435.9661165011417 + ], + [ + 260.13734353480095, + 446.2068200972246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 391, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 8.142022132873535, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.38502562046051025, + "y": 0.31225675344467163, + "z": 0.9066632390022278 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 820.9875544270667, + "ymin": 96.65020831334903, + "xmax": 852.6032407692293, + "ymax": 153.7222334277633 + }, + "corners_3d": [ + [ + -29.29048728942871, + 8.473459243774414, + -0.3065621852874756 + ], + [ + -28.673664093017578, + 8.571155548095703, + -0.3065621852874756 + ], + [ + -28.55320167541504, + 7.810584545135498, + -0.3065621852874756 + ], + [ + -29.170024871826172, + 7.712889194488525, + -0.3065621852874756 + ], + [ + -29.29048728942871, + 8.473459243774414, + 1.50676429271698 + ], + [ + -28.673664093017578, + 8.571155548095703, + 1.50676429271698 + ], + [ + -28.55320167541504, + 7.810584545135498, + 1.50676429271698 + ], + [ + -29.170024871826172, + 7.712889194488525, + 1.50676429271698 + ] + ], + "corners_2d": [ + [ + 828.7703820348064, + 153.7222334277633 + ], + [ + 844.6814391001266, + 151.32448631997414 + ], + [ + 836.692956068319, + 139.80360509706708 + ], + [ + 820.9875544270667, + 142.13289111205992 + ], + [ + 836.0990613333181, + 110.3200880130295 + ], + [ + 852.6032407692293, + 107.96388365981511 + ], + [ + 844.1920842817894, + 96.65020831334903 + ], + [ + 827.9090022133206, + 98.93658766037657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 1402, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 927.0764271975927, + "ymin": 0.0, + "xmax": 1067.3465041951624, + "ymax": 38.18696977781673 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 927.0764271975927, + 16.97198252354167 + ], + [ + 955.2611466759329, + 38.18696977781673 + ], + [ + 1056.9243251294477, + 14.218721390130213 + ], + [ + 1026.6665069529217, + -5.567295276718539 + ], + [ + 934.2831501787018, + -14.525625016713718 + ], + [ + 963.4333290421565, + 6.212834798538836 + ], + [ + 1067.3465041951624, + -17.21461837495201 + ], + [ + 1036.0377992190522, + -36.52242389282816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4774, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 523.0092255962832, + "ymin": 44.432971911752134, + "xmax": 667.640586952217, + "ymax": 135.09100707687406 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 526.656429763575, + 107.58389246931796 + ], + [ + 544.3283070789541, + 135.09100707687406 + ], + [ + 666.8924033318632, + 105.974921555279 + ], + [ + 645.6956176700891, + 80.42489375340472 + ], + [ + 523.0092255962832, + 71.08448916985935 + ], + [ + 541.1189861876898, + 98.11580429377062 + ], + [ + 667.640586952217, + 69.48221693603392 + ], + [ + 645.7773423547337, + 44.432971911752134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.07989759495103, + "ymin": 208.85292634959842, + "xmax": 130.57410716408913, + "ymax": 251.03990589662112 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 130.57410716408913, + 248.02034061096447 + ], + [ + 129.65298017689798, + 238.47699269602992 + ], + [ + 117.1233364209636, + 241.43267862822216 + ], + [ + 117.91265792763386, + 251.03990589662112 + ], + [ + 115.80631574294853, + 218.34583429618775 + ], + [ + 115.02005496703941, + 208.85292634959842 + ], + [ + 102.07989759495103, + 211.79236596876473 + ], + [ + 102.72550421518395, + 221.35065710918454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.511602323101, + "ymin": 0.0, + "xmax": 565.0847929281252, + "ymax": 34.15937134950417 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 560.8672740810267, + 26.88745422242846 + ], + [ + 552.417327226843, + 28.602692852531845 + ], + [ + 556.5765062442176, + 34.15937134950417 + ], + [ + 565.0847929281252, + 32.41600097798897 + ], + [ + 559.1498536356132, + -0.12798524315019222 + ], + [ + 550.511602323101, + 1.554721304467705 + ], + [ + 554.7461117059976, + 7.00727865967491 + ], + [ + 563.4453532236363, + 5.296366672880993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 610.1288581317045, + "ymin": 167.7470807531575, + "xmax": 624.297356292342, + "ymax": 201.36797943414848 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 619.4327282344985, + 191.98537090328526 + ], + [ + 610.7864560333115, + 194.20694946637605 + ], + [ + 615.5907498788121, + 201.36797943414848 + ], + [ + 624.297356292342, + 199.1086424340773 + ], + [ + 618.9710025828358, + 167.7470807531575 + ], + [ + 610.1288581317045, + 169.95334450906392 + ], + [ + 615.036535279385, + 177.06678640817492 + ], + [ + 623.9417926645359, + 174.8221705987836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.69288710175425, + "ymin": 183.21812880939626, + "xmax": 241.05911832911494, + "ymax": 224.51635756691982 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 241.05911832911494, + 221.6714953101306 + ], + [ + 239.02577849237707, + 212.67661262670322 + ], + [ + 227.21369013344156, + 215.46303103990516 + ], + [ + 229.13022503690695, + 224.51635756691982 + ], + [ + 229.8427052524866, + 192.15044438927603 + ], + [ + 227.87164355311143, + 183.21812880939626 + ], + [ + 215.69288710175425, + 185.9846118756107 + ], + [ + 217.5397003502992, + 194.9765960427605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.6995515412874, + "ymin": 407.44185290752904, + "xmax": 1019.2193831083191, + "ymax": 717.1080824340017 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 918.7761550799017, + 650.2121261427444 + ], + [ + 907.4614966987945, + 633.3870383241035 + ], + [ + 755.6995515412874, + 698.5207689241195 + ], + [ + 765.505531832431, + 717.1080824340017 + ], + [ + 1019.2193831083191, + 426.30247412102835 + ], + [ + 1002.1407719399081, + 407.44185290752904 + ], + [ + 799.5201590214604, + 481.4455814985889 + ], + [ + 813.9475791407579, + 503.06299055096224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.0388710424513, + "ymin": 0.0, + "xmax": 1124.5530467632777, + "ymax": 144.23774818724738 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1036.781481812588, + 144.23774818724738 + ], + [ + 1046.5327999726962, + 141.52961900796976 + ], + [ + 981.3626025233266, + 90.02732369754318 + ], + [ + 972.0388710424513, + 92.39434143089261 + ], + [ + 1113.240679187786, + -73.01567821967649 + ], + [ + 1124.5530467632777, + -75.36159881794879 + ], + [ + 1041.863103623482, + -119.39700796466082 + ], + [ + 1031.1083507447865, + -117.39696472198148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.05683970076848, + "ymin": 0.0, + "xmax": 453.30935620181526, + "ymax": 35.37268950808857 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 453.30935620181526, + -14.675523848296734 + ], + [ + 450.8460701871724, + -18.644079618986098 + ], + [ + 174.95690135425127, + 30.75747072745031 + ], + [ + 175.74602553138698, + 35.37268950808857 + ], + [ + 422.97815729877004, + -223.6642075845432 + ], + [ + 420.3372778940414, + -226.75899038388934 + ], + [ + 93.05683970076848, + -187.78217396356376 + ], + [ + 93.33309883140419, + -184.08998232070815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.5468793388964, + "ymin": 480.760749355487, + "xmax": 838.8650769313165, + "ymax": 507.4824674619465 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 837.821901165373, + 498.93412917286184 + ], + [ + 828.1019563487313, + 484.85876335094815 + ], + [ + 805.5468793388964, + 493.19833924794807 + ], + [ + 815.0574845729728, + 507.4824674619465 + ], + [ + 838.8650769313165, + 494.8592846717843 + ], + [ + 829.0816702951022, + 480.760749355487 + ], + [ + 806.4154813874652, + 489.1138333192936 + ], + [ + 815.987515976972, + 503.422582835876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 101.78095471792943, + "xmax": 346.1971235711167, + "ymax": 508.30853579888446 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -134.67021696417873, + 495.2011892574371 + ], + [ + -136.87832186523872, + 508.30853579888446 + ], + [ + 346.1971235711167, + 372.3444662636516 + ], + [ + 343.3208752861482, + 362.11797535058207 + ], + [ + -395.33320972700426, + 233.934887345206 + ], + [ + -402.29523931739027, + 247.51150597964084 + ], + [ + 261.00762305958415, + 111.58250096974953 + ], + [ + 258.4032088475316, + 101.78095471792943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3700752235854, + "ymin": 480.61872688704324, + "xmax": 839.0466502367728, + "ymax": 507.62816699918824 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 837.9912978783466, + 498.98678001906967 + ], + [ + 828.1660962978995, + 484.7609910106259 + ], + [ + 805.3700752235854, + 493.1891033898414 + ], + [ + 814.9814138553426, + 507.62816699918824 + ], + [ + 839.0466502367728, + 494.86817909449877 + ], + [ + 829.1566037308891, + 480.61872688704324 + ], + [ + 806.2470788716012, + 489.0606317236984 + ], + [ + 815.9211636113176, + 503.52485772587426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.0523568116282, + "ymin": 0.0, + "xmax": 636.8836064077018, + "ymax": 269.12558399513523 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 624.2177525240749, + 269.12558399513523 + ], + [ + 636.8836064077018, + 265.6549260609236 + ], + [ + 520.5108710824543, + 81.26756924533527 + ], + [ + 510.0490218529213, + 83.480581169907 + ], + [ + 620.2201569236422, + 15.185532471052 + ], + [ + 636.0979618274649, + 12.039372391552206 + ], + [ + 497.60912750842135, + -146.88844030078246 + ], + [ + 485.0523568116282, + -145.07201002211167 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00075/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00075/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6f097f85d8dd4edef71780419b32f6016db8dbfb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00075/meta.json @@ -0,0 +1,2148 @@ +{ + "frame_id": 75, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.5, + "sim_timestamp": 12541.719213939505 + }, + "drone_pose": { + "x": -47.466462255100524, + "y": 32.514524496446704, + "z": 20.000000002790703, + "pitch": -46.476383248237816, + "yaw": -66.39357874211527, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.27577245235443115, + 0.631025493144989, + 0.7250906229019165, + 19.10562515258789 + ], + [ + -0.916317880153656, + 0.40045177936553955, + 0.0, + 30.473865509033203 + ], + [ + -0.2903638184070587, + -0.6644134521484375, + 0.6886534690856934, + -49.15869903564453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.585374895896905, + "y": 31.964018482032255, + "z": 20.000000001022336 + }, + "t1_image_uv": [ + -365.23170086130995, + -650.7941636701212 + ], + "t1_depth": 0.31459050334222094 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 15.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 26.46848268861125, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 15.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2539440989494324, + "y": 0.28648924827575684, + "z": 0.5469860434532166 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.6311007215539, + "ymin": 337.064812651842, + "xmax": 653.4524321079532, + "ymax": 382.6640139170383 + }, + "corners_3d": [ + [ + -40.453670501708984, + 16.066179275512695, + 0.26096659898757935 + ], + [ + -39.88069534301758, + 16.066179275512695, + 0.26096659898757935 + ], + [ + -39.88069534301758, + 15.5582914352417, + 0.26096659898757935 + ], + [ + -40.453670501708984, + 15.5582914352417, + 0.26096659898757935 + ], + [ + -40.453670501708984, + 16.066179275512695, + 1.3549387454986572 + ], + [ + -39.88069534301758, + 16.066179275512695, + 1.3549387454986572 + ], + [ + -39.88069534301758, + 15.5582914352417, + 1.3549387454986572 + ], + [ + -40.453670501708984, + 15.5582914352417, + 1.3549387454986572 + ] + ], + "corners_2d": [ + [ + 634.2015330666865, + 382.6640139170383 + ], + [ + 653.0540258095159, + 376.5671499959633 + ], + [ + 645.6960600479325, + 364.41931264991047 + ], + [ + 627.0246457482878, + 370.3724288607176 + ], + [ + 634.0234825337469, + 355.36305357468046 + ], + [ + 653.4524321079532, + 349.2460915468213 + ], + [ + 645.867785139187, + 337.064812651842 + ], + [ + 626.6311007215539, + 343.0332187376668 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 75, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 479088, + "2": 226109, + "3": 168685, + "6": 9772, + "7": 1425, + "10": 574, + "12": 2065, + "14": 6717, + "20": 3022, + "24": 24143 + }, + "instance_pixel_counts": { + "148": 5450, + "6215": 150925, + "6796": 1065, + "6802": 6360, + "7314": 35674, + "8332": 320, + "8338": 11279, + "9356": 75, + "9868": 364, + "18000": 746, + "18512": 2155, + "21652": 84430, + "22676": 128183, + "23700": 41437, + "24212": 64413, + "24724": 72288, + "25856": 4487, + "26624": 3072, + "33370": 4208, + "35988": 7615, + "36500": 3875, + "37524": 2118, + "38036": 4960, + "38548": 821, + "39052": 2609, + "39564": 11864, + "40265": 121, + "40588": 2698, + "41100": 278, + "41612": 2318, + "41818": 147876, + "42074": 16601, + "43409": 276, + "44945": 4, + "56576": 213, + "56832": 204, + "57088": 729, + "57344": 568, + "57600": 351, + "57856": 1877, + "59904": 4840, + "61569": 3638, + "62613": 2800, + "63123": 38548, + "63635": 841, + "64149": 254, + "64659": 15102, + "64661": 1487, + "65171": 28396, + "65173": 213 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 15.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.25779417157173157, + "y": 0.2834094166755676, + "z": 0.5644886493682861 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 626.6732568163678, + "ymin": 336.55441642604956, + "xmax": 653.4134421661817, + "ymax": 383.1489588745509 + }, + "corners_3d": [ + [ + -40.450592041015625, + 16.070030212402344, + 0.24346399307250977 + ], + [ + -39.88377380371094, + 16.070030212402344, + 0.24346399307250977 + ], + [ + -39.88377380371094, + 15.554441452026367, + 0.24346399307250977 + ], + [ + -40.450592041015625, + 15.554441452026367, + 0.24346399307250977 + ], + [ + -40.450592041015625, + 16.070030212402344, + 1.372441291809082 + ], + [ + -39.88377380371094, + 16.070030212402344, + 1.372441291809082 + ], + [ + -39.88377380371094, + 15.554441452026367, + 1.372441291809082 + ], + [ + -40.450592041015625, + 15.554441452026367, + 1.372441291809082 + ] + ], + "corners_2d": [ + [ + 634.3611933682149, + 383.1489588745509 + ], + [ + 653.0036232635989, + 377.11689849956394 + ], + [ + 645.5386269342605, + 364.7847622518446 + ], + [ + 627.0778741168726, + 370.6725397041657 + ], + [ + 634.182406241418, + 354.9742180722409 + ], + [ + 653.4134421661817, + 348.9216055504906 + ], + [ + 645.7110215445348, + 336.55441642604956 + ], + [ + 626.6732568163678, + 342.4577628962244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 204, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 18.8099422454834, + "z": 0.8055161237716675 + }, + "extent": { + "x": 0.2188696414232254, + "y": 0.27962037920951843, + "z": 0.5242896676063538 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 810.0836933647566, + "ymin": 367.18520303482256, + "xmax": 842.3165862582828, + "ymax": 411.93636635943864 + }, + "corners_3d": [ + [ + -36.28313446044922, + 19.069860458374023, + 0.2812264561653137 + ], + [ + -35.730777740478516, + 18.98237419128418, + 0.2812264561653137 + ], + [ + -35.79925537109375, + 18.550024032592773, + 0.2812264561653137 + ], + [ + -36.35161209106445, + 18.637510299682617, + 0.2812264561653137 + ], + [ + -36.28313446044922, + 19.069860458374023, + 1.329805850982666 + ], + [ + -35.730777740478516, + 18.98237419128418, + 1.329805850982666 + ], + [ + -35.79925537109375, + 18.550024032592773, + 1.329805850982666 + ], + [ + -36.35161209106445, + 18.637510299682617, + 1.329805850982666 + ] + ], + "corners_2d": [ + [ + 820.5081744782601, + 411.93636635943864 + ], + [ + 836.4169223524622, + 403.4775804260549 + ], + [ + 825.9211669982699, + 393.3086302398096 + ], + [ + 810.0836933647566, + 401.6043831478022 + ], + [ + 825.9748148972941, + 385.896894840195 + ], + [ + 842.3165862582828, + 377.3975232535068 + ], + [ + 831.4501097538099, + 367.18520303482256 + ], + [ + 815.1830518441699, + 375.51589229777767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 729, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 22.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3379785120487213, + "y": 0.49779173731803894, + "z": 0.8770983815193176 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 645.0324804601802, + "ymin": 557.7553709611537, + "xmax": 700.1966883608136, + "ymax": 639.3232436228318 + }, + "corners_3d": [ + [ + -42.902427673339844, + 23.118515014648438, + -0.22154808044433594 + ], + [ + -41.90821075439453, + 23.066410064697266, + -0.22154808044433594 + ], + [ + -41.94358825683594, + 22.391380310058594, + -0.22154808044433594 + ], + [ + -42.93780517578125, + 22.443485260009766, + -0.22154808044433594 + ], + [ + -42.902427673339844, + 23.118515014648438, + 1.5326486825942993 + ], + [ + -41.90821075439453, + 23.066410064697266, + 1.5326486825942993 + ], + [ + -41.94358825683594, + 22.391380310058594, + 1.5326486825942993 + ], + [ + -42.93780517578125, + 22.443485260009766, + 1.5326486825942993 + ] + ], + "corners_2d": [ + [ + 658.4291044265108, + 639.3232436228318 + ], + [ + 696.7410605921322, + 621.4446913219844 + ], + [ + 682.8202774987632, + 597.9874240168111 + ], + [ + 645.0324804601802, + 615.2083103566256 + ], + [ + 659.5682157345751, + 600.2321442771781 + ], + [ + 700.1966883608136, + 581.8394773035102 + ], + [ + 685.3771520618031, + 557.7553709611537 + ], + [ + 645.3373737527933, + 575.4311672374757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 568, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 15.812235832214355, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.30500486493110657, + "y": 0.5572961568832397, + "z": 0.8823435306549072 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 256.75368653101026, + "ymin": 437.38735716419626, + "xmax": 324.03357775818324, + "ymax": 511.1275537722531 + }, + "corners_3d": [ + [ + -50.23967742919922, + 16.087656021118164, + -0.22679322957992554 + ], + [ + -49.12661361694336, + 16.14598846435547, + -0.22679322957992554 + ], + [ + -49.094688415527344, + 15.536815643310547, + -0.22679322957992554 + ], + [ + -50.2077522277832, + 15.478482246398926, + -0.22679322957992554 + ], + [ + -50.23967742919922, + 16.087656021118164, + 1.5378937721252441 + ], + [ + -49.12661361694336, + 16.14598846435547, + 1.5378937721252441 + ], + [ + -49.094688415527344, + 15.536815643310547, + 1.5378937721252441 + ], + [ + -50.2077522277832, + 15.478482246398926, + 1.5378937721252441 + ] + ], + "corners_2d": [ + [ + 279.24463883192254, + 511.1275537722531 + ], + [ + 324.03357775818324, + 498.3354406050186 + ], + [ + 320.74995798109774, + 480.2112676034618 + ], + [ + 276.6391961283973, + 492.6008430537698 + ], + [ + 259.164010407714, + 468.78876822782763 + ], + [ + 306.65030591487505, + 455.78465264062095 + ], + [ + 303.4780408008002, + 437.38735716419626 + ], + [ + 256.75368653101026, + 449.96018559808186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 351, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 7.642021179199219, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3801196217536926, + "y": 0.376585990190506, + "z": 0.9354447722434998 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 816.5244671083458, + "ymin": 94.9357406852028, + "xmax": 851.5006235977057, + "ymax": 153.73372278416977 + }, + "corners_3d": [ + [ + -29.35325813293457, + 7.958549976348877, + -0.33534371852874756 + ], + [ + -28.609359741210938, + 8.076372146606445, + -0.33534371852874756 + ], + [ + -28.49043083190918, + 7.3254923820495605, + -0.33534371852874756 + ], + [ + -29.234329223632812, + 7.207670211791992, + -0.33534371852874756 + ], + [ + -29.35325813293457, + 7.958549976348877, + 1.535545825958252 + ], + [ + -28.609359741210938, + 8.076372146606445, + 1.535545825958252 + ], + [ + -28.49043083190918, + 7.3254923820495605, + 1.535545825958252 + ], + [ + -29.234329223632812, + 7.207670211791992, + 1.535545825958252 + ] + ], + "corners_2d": [ + [ + 824.2858631841219, + 153.73372278416977 + ], + [ + 843.3879870236087, + 150.75827803556172 + ], + [ + 835.3851172763243, + 139.43822408978312 + ], + [ + 816.5244671083458, + 142.33006828712055 + ], + [ + 831.6649431066639, + 108.96635567728077 + ], + [ + 851.5006235977057, + 106.04439838230738 + ], + [ + 843.0641498552433, + 94.9357406852028 + ], + [ + 823.4886280626395, + 97.77239143996013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 1877, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 929.4984539139607, + "ymin": 0.0, + "xmax": 1070.2866762970948, + "ymax": 42.3915821090074 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 929.4984539139607, + 20.99640027154453 + ], + [ + 958.2497063859927, + 42.3915821090074 + ], + [ + 1059.7392707160252, + 17.71156401960002 + ], + [ + 1028.9569129447468, + -2.2091361935164855 + ], + [ + 936.8097552782892, + -10.591669501493755 + ], + [ + 966.5497739201003, + 10.329252499839754 + ], + [ + 1070.2866762970948, + -13.800712102389923 + ], + [ + 1038.4324589807284, + -33.24480343137333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4840, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 524.3072065810156, + "ymin": 50.42430356000716, + "xmax": 670.2668210614971, + "ymax": 142.60276470971476 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 527.9482840071845, + 114.67319050374752 + ], + [ + 546.2519035163797, + 142.60276470971476 + ], + [ + 669.4319862489468, + 112.42762031687667 + ], + [ + 647.6019881445671, + 86.53740728647205 + ], + [ + 524.3072065810156, + 78.0485980480156 + ], + [ + 543.0744252654157, + 105.51149650680242 + ], + [ + 670.2668210614971, + 75.82010833455467 + ], + [ + 647.7424647360033, + 50.42430356000716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.73849635047134, + "ymin": 223.9832971671685, + "xmax": 130.8645494543003, + "ymax": 266.7056660233405 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 130.8645494543003, + 263.52345907339617 + ], + [ + 129.78752055341556, + 253.68435965121313 + ], + [ + 117.04901486032406, + 256.7983301343503 + ], + [ + 117.99073795517438, + 266.7056660233405 + ], + [ + 115.84480056523694, + 233.780029343047 + ], + [ + 114.90269562051071, + 223.9832971671685 + ], + [ + 101.73849635047134, + 227.08318623246248 + ], + [ + 102.53602162797529, + 236.94986501256835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 553.6476989284223, + "ymin": 7.341002629520631, + "xmax": 568.4023325761796, + "ymax": 41.94634238147688 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 564.0188855134774, + 34.49735778538496 + ], + [ + 555.5071527242201, + 36.28343965239793 + ], + [ + 559.8319647549331, + 41.94634238147688 + ], + [ + 568.4023325761796, + 40.13073626401973 + ], + [ + 562.3511935826573, + 7.341002629520631 + ], + [ + 553.6476989284223, + 9.094055723517386 + ], + [ + 558.0528242072864, + 14.653564701683933 + ], + [ + 566.8176477730452, + 12.870888393702671 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 615.3410742062697, + "ymin": 177.16742007742567, + "xmax": 629.6488376418848, + "ymax": 211.08083738698434 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 624.5910616683507, + 201.46848978551122 + ], + [ + 615.8900144435535, + 203.78207588225362 + ], + [ + 620.8873238518091, + 211.08083738698434 + ], + [ + 629.6488376418848, + 208.7276172030266 + ], + [ + 624.2411997221205, + 177.16742007742567 + ], + [ + 615.3410742062697, + 179.4662116593572 + ], + [ + 620.4483612237551, + 186.72015793255918 + ], + [ + 629.4117654929903, + 184.3810785875832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.20693194945665, + "ymin": 196.9818366068696, + "xmax": 243.07071214391988, + "ymax": 238.7797642753075 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 243.07071214391988, + 235.78800685781206 + ], + [ + 240.8547929638096, + 226.53376284443806 + ], + [ + 228.87081753577195, + 229.46328644150694 + ], + [ + 230.96737817881842, + 238.7797642753075 + ], + [ + 231.72645892228877, + 206.17993819057358 + ], + [ + 229.56964893671017, + 196.9818366068696 + ], + [ + 217.20693194945665, + 199.8929942145893 + ], + [ + 219.23663161147937, + 209.15471959572793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.4745905075464, + "ymin": 426.58545325130046, + "xmax": 1042.781196924036, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 934.6719444460182, + 667.6914465060655 + ], + [ + 922.8677452120457, + 650.4732264100983 + ], + [ + 770.4745905075464, + 718.6913282931496 + ], + [ + 780.7826079873681, + 737.7754156693505 + ], + [ + 1042.781196924036, + 446.0713709160161 + ], + [ + 1024.802637569123, + 426.58545325130046 + ], + [ + 820.9104412094862, + 504.899475572774 + ], + [ + 836.2603002721112, + 527.3507054549532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.3564950984126, + "ymin": 0.0, + "xmax": 1132.0230721403595, + "ymax": 149.72477724109208 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1042.5365232937343, + 149.72477724109208 + ], + [ + 1052.27020394664, + 146.92920831809585 + ], + [ + 985.6716199973926, + 94.9198491672226 + ], + [ + 976.3564950984126, + 97.36221030840744 + ], + [ + 1120.7323308310665, + -68.23884647291447 + ], + [ + 1132.0230721403595, + -70.66679393150412 + ], + [ + 1047.4028437672137, + -115.24400301247817 + ], + [ + 1036.6561945730905, + -113.17551906034134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.52408455848649, + "ymin": 0.0, + "xmax": 451.94358029706336, + "ymax": 42.62085720630688 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 451.94358029706336, + -9.333589729526864 + ], + [ + 449.39557252355206, + -13.354655602823982 + ], + [ + 171.11024575937398, + 37.924433231001444 + ], + [ + 171.9669782515922, + 42.62085720630688 + ], + [ + 421.0975061571181, + -219.4655077034447 + ], + [ + 418.3594534008773, + -222.60960344253454 + ], + [ + 87.52408455848649, + -182.02372639341604 + ], + [ + 87.86236553031904, + -178.2527261637117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.8059599143211, + "ymin": 503.65499911180154, + "xmax": 861.0492527457591, + "ymax": 531.3797849481464 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 859.8662277540013, + 522.314250728378 + ], + [ + 849.5477662774517, + 507.71462202645785 + ], + [ + 826.8059599143211, + 516.55506443512 + ], + [ + 836.9153513188628, + 531.3797849481464 + ], + [ + 861.0492527457591, + 518.2817484291935 + ], + [ + 850.6611645178806, + 503.65499911180154 + ], + [ + 827.8061379215725, + 512.5116297832305 + ], + [ + 837.9831177469728, + 527.3651088800176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 114.72957924218383, + "xmax": 349.3458648753105, + "ymax": 528.9573569224043 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -138.9940901191694, + 515.4271709803978 + ], + [ + -141.13422309079465, + 528.9573569224043 + ], + [ + 349.3458648753105, + 386.0760959094511 + ], + [ + 346.278656965372, + 375.61023018893985 + ], + [ + -407.30088430701335, + 254.92610985683513 + ], + [ + -414.391435201145, + 269.10992546732354 + ], + [ + 263.61532251581883, + 124.83770766694914 + ], + [ + 260.7724603071888, + 114.72957924218383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.6242475783502, + "ymin": 503.5077077682365, + "xmax": 861.2358752781154, + "ymax": 531.5310212076209 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 860.0391247352759, + 522.3667980101072 + ], + [ + 849.6089971041888, + 507.6112032143339 + ], + [ + 826.6242475783502, + 516.5454697869711 + ], + [ + 836.8407874789875, + 531.5310212076209 + ], + [ + 861.2358752781154, + 518.2910014128588 + ], + [ + 850.7346043876181, + 503.5077077682365 + ], + [ + 827.6341971787605, + 512.4585039692239 + ], + [ + 837.9197754613416, + 527.4734456692889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.6655256847739, + "ymin": 0.0, + "xmax": 642.5167518341949, + "ymax": 278.9009484563571 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 629.2673198880118, + 278.9009484563571 + ], + [ + 642.0047517080266, + 275.28999539210827 + ], + [ + 521.3157637710212, + 87.92291142351223 + ], + [ + 510.78831867469484, + 90.21871022560583 + ], + [ + 626.5128346579978, + 24.089387069202928 + ], + [ + 642.5167518341949, + 20.798674562487065 + ], + [ + 498.3251782381763, + -141.40046108803392 + ], + [ + 485.6655256847739, + -139.50955295237281 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00076/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00076/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7f8df7bc00178c741aff86968fdb57bc199322f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00076/meta.json @@ -0,0 +1,2253 @@ +{ + "frame_id": 76, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.0, + "sim_timestamp": 12554.693792428123 + }, + "drone_pose": { + "x": -47.585374895896905, + "y": 31.964018482032255, + "z": 20.000000001022336, + "pitch": -46.47356286987627, + "yaw": -65.98753535091883, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2802520990371704, + 0.6290879249572754, + 0.7250567078590393, + 18.942943572998047 + ], + [ + -0.913456916809082, + 0.406935453414917, + 0.0, + 30.459897994995117 + ], + [ + -0.2950512766838074, + -0.6623080372810364, + 0.6886892318725586, + -48.98393630981445 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.679074869172375, + "y": 31.423964711247905, + "z": 20.000000000327315 + }, + "t1_image_uv": [ + -295.12173836532884, + -650.694528824574 + ], + "t1_depth": 0.3134817086415895 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 15.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.469720210800766, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 15.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2933972179889679, + "y": 0.2154553234577179, + "z": 0.5573719143867493 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.409452637806, + "ymin": 336.5844508068124, + "xmax": 651.7014950649003, + "ymax": 383.1355750964507 + }, + "corners_3d": [ + [ + -40.38263702392578, + 15.605632781982422, + 0.25058072805404663 + ], + [ + -39.95172882080078, + 15.605632781982422, + 0.25058072805404663 + ], + [ + -39.95172882080078, + 15.018838882446289, + 0.25058072805404663 + ], + [ + -40.38263702392578, + 15.018838882446289, + 0.25058072805404663 + ], + [ + -40.38263702392578, + 15.605632781982422, + 1.3653244972229004 + ], + [ + -39.95172882080078, + 15.605632781982422, + 1.3653244972229004 + ], + [ + -39.95172882080078, + 15.018838882446289, + 1.3653244972229004 + ], + [ + -40.38263702392578, + 15.018838882446289, + 1.3653244972229004 + ] + ], + "corners_2d": [ + [ + 637.2091125484208, + 383.1355750964507 + ], + [ + 651.3479293360218, + 378.4682886758285 + ], + [ + 642.7404419030794, + 364.4591784265568 + ], + [ + 628.7564440689965, + 368.9999858105582 + ], + [ + 637.1217505986178, + 355.3165856296919 + ], + [ + 651.7014950649003, + 350.63338472367167 + ], + [ + 642.824627482726, + 336.5844508068124 + ], + [ + 628.409452637806, + 341.13686141681103 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 76, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 483262, + "2": 226162, + "3": 162586, + "6": 10194, + "7": 1485, + "10": 574, + "12": 2021, + "14": 7292, + "20": 3092, + "24": 24932 + }, + "instance_pixel_counts": { + "148": 6741, + "6215": 150502, + "6796": 1269, + "6802": 6608, + "7314": 34981, + "8332": 519, + "8338": 11773, + "9356": 7, + "9868": 114, + "18000": 793, + "18512": 2176, + "21652": 87398, + "22676": 124149, + "23700": 43070, + "24212": 66510, + "24724": 67894, + "25856": 4750, + "26624": 3146, + "33370": 5162, + "35988": 7903, + "36500": 3777, + "37524": 2215, + "38036": 5159, + "38548": 828, + "39052": 2700, + "39564": 11627, + "40265": 123, + "40588": 2845, + "41100": 240, + "41612": 2098, + "41818": 147291, + "42074": 10133, + "43409": 755, + "44945": 124, + "56576": 209, + "56832": 219, + "57088": 609, + "57344": 599, + "57600": 385, + "57856": 2382, + "59904": 4910, + "61569": 3783, + "62613": 2999, + "63123": 40122, + "63125": 9, + "63635": 1579, + "64149": 313, + "64659": 17071, + "64661": 1508, + "65171": 28728, + "65173": 221 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 15.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.28001219034194946, + "y": 0.1886407434940338, + "z": 0.5526849031448364 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.507907748067, + "ymin": 337.3035307385506, + "xmax": 650.5917733806817, + "ymax": 382.4038576973847 + }, + "corners_3d": [ + [ + -40.3558235168457, + 15.59224796295166, + 0.2552677392959595 + ], + [ + -39.97854232788086, + 15.59224796295166, + 0.2552677392959595 + ], + [ + -39.97854232788086, + 15.03222370147705, + 0.2552677392959595 + ], + [ + -40.3558235168457, + 15.03222370147705, + 0.2552677392959595 + ], + [ + -40.3558235168457, + 15.59224796295166, + 1.3606375455856323 + ], + [ + -39.97854232788086, + 15.59224796295166, + 1.3606375455856323 + ], + [ + -39.97854232788086, + 15.03222370147705, + 1.3606375455856323 + ], + [ + -40.3558235168457, + 15.03222370147705, + 1.3606375455856323 + ] + ], + "corners_2d": [ + [ + 637.8967395642894, + 382.4038576973847 + ], + [ + 650.2743999956609, + 378.3199320724507 + ], + [ + 642.0676833907346, + 364.94231018509004 + ], + [ + 629.8194225515239, + 368.92053526878976 + ], + [ + 637.8315045836897, + 354.8167438546031 + ], + [ + 650.5917733806817, + 350.7190897492601 + ], + [ + 642.1306979164974, + 337.3035307385506 + ], + [ + 629.507907748067, + 341.29191217546776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 219, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 18.3099422454834, + "z": 0.8055112361907959 + }, + "extent": { + "x": 0.23169557750225067, + "y": 0.29013490676879883, + "z": 0.536243736743927 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 809.54173641328, + "ymin": 365.4354296527815, + "xmax": 843.0926192939944, + "ymax": 411.7115509206705 + }, + "corners_3d": [ + [ + -36.29151153564453, + 18.58417320251465, + 0.2692674994468689 + ], + [ + -35.718387603759766, + 18.493398666381836, + 0.2692674994468689 + ], + [ + -35.79087829589844, + 18.03571128845215, + 0.2692674994468689 + ], + [ + -36.3640022277832, + 18.12648582458496, + 0.2692674994468689 + ], + [ + -36.29151153564453, + 18.58417320251465, + 1.3417549133300781 + ], + [ + -35.718387603759766, + 18.493398666381836, + 1.3417549133300781 + ], + [ + -35.79087829589844, + 18.03571128845215, + 1.3417549133300781 + ], + [ + -36.3640022277832, + 18.12648582458496, + 1.3417549133300781 + ] + ], + "corners_2d": [ + [ + 820.6564346974737, + 411.7115509206705 + ], + [ + 837.0431057745993, + 402.8510232237364 + ], + [ + 825.8538895350255, + 392.16075869612695 + ], + [ + 809.54173641328, + 400.8416433665911 + ], + [ + 826.2509442999958, + 385.07511913258213 + ], + [ + 843.0926192939944, + 376.17152986948406 + ], + [ + 831.5002203349453, + 365.4354296527815 + ], + [ + 814.7366855942453, + 374.15302411103414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 609, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 22.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.34840819239616394, + "y": 0.5693078637123108, + "z": 0.8812152743339539 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 644.2788281314185, + "ymin": 555.719912965445, + "xmax": 705.6694984248372, + "ymax": 640.9592319231508 + }, + "corners_3d": [ + [ + -42.97330093383789, + 22.632673263549805, + -0.22566497325897217 + ], + [ + -41.836246490478516, + 22.573083877563477, + -0.22566497325897217 + ], + [ + -41.87271499633789, + 21.877222061157227, + -0.22566497325897217 + ], + [ + -43.009769439697266, + 21.936811447143555, + -0.22566497325897217 + ], + [ + -42.97330093383789, + 22.632673263549805, + 1.5367655754089355 + ], + [ + -41.836246490478516, + 22.573083877563477, + 1.5367655754089355 + ], + [ + -41.87271499633789, + 21.877222061157227, + 1.5367655754089355 + ], + [ + -43.009769439697266, + 21.936811447143555, + 1.5367655754089355 + ] + ], + "corners_2d": [ + [ + 658.28193287956, + 640.9592319231508 + ], + [ + 701.8866926840776, + 620.2223286279043 + ], + [ + 687.2796621159663, + 596.1915538121972 + ], + [ + 644.2788281314185, + 616.1455190339398 + ], + [ + 659.4187777428707, + 601.727992041984 + ], + [ + 705.6694984248372, + 580.3918898246022 + ], + [ + 690.1117003803461, + 555.719912965445 + ], + [ + 644.5394801581463, + 576.2022845459767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 599, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 15.312235832214355, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.30314207077026367, + "y": 0.42208921909332275, + "z": 0.8939863443374634 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 262.72132620684545, + "ymin": 440.5411466510692, + "xmax": 319.34629514243215, + "ymax": 511.85283555668616 + }, + "corners_3d": [ + [ + -50.10456085205078, + 15.59287166595459, + -0.2384360432624817 + ], + [ + -49.26153564453125, + 15.637052536010742, + -0.2384360432624817 + ], + [ + -49.22980499267578, + 15.031599998474121, + -0.2384360432624817 + ], + [ + -50.07283020019531, + 14.987419128417969, + -0.2384360432624817 + ], + [ + -50.10456085205078, + 15.59287166595459, + 1.5495367050170898 + ], + [ + -49.26153564453125, + 15.637052536010742, + 1.5495367050170898 + ], + [ + -49.22980499267578, + 15.031599998474121, + 1.5495367050170898 + ], + [ + -50.07283020019531, + 14.987419128417969, + 1.5495367050170898 + ] + ], + "corners_2d": [ + [ + 285.41655573433457, + 511.85283555668616 + ], + [ + 319.34629514243215, + 501.9509836552743 + ], + [ + 315.9794647487775, + 483.88259677220776 + ], + [ + 282.557624804675, + 493.4751555021299 + ], + [ + 265.4050134804266, + 468.9611557597659 + ], + [ + 301.4123943138409, + 458.89125816279306 + ], + [ + 298.15696129526793, + 440.5411466510692 + ], + [ + 262.72132620684545, + 450.27926882155737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 385, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 7.142021179199219, + "z": 0.6000717878341675 + }, + "extent": { + "x": 0.3821728527545929, + "y": 0.5363940596580505, + "z": 0.9406825304031372 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 809.977442377227, + "ymin": 93.4234212450142, + "xmax": 853.1386166886125, + "ymax": 153.80897942513042 + }, + "corners_3d": [ + [ + -29.51141929626465, + 7.435578346252441, + -0.3406107425689697 + ], + [ + -28.451839447021484, + 7.603399276733398, + -0.3406107425689697 + ], + [ + -28.3322696685791, + 6.848464012145996, + -0.3406107425689697 + ], + [ + -29.391849517822266, + 6.680643081665039, + -0.3406107425689697 + ], + [ + -29.51141929626465, + 7.435578346252441, + 1.5407543182373047 + ], + [ + -28.451839447021484, + 7.603399276733398, + 1.5407543182373047 + ], + [ + -28.3322696685791, + 6.848464012145996, + 1.5407543182373047 + ], + [ + -29.391849517822266, + 6.680643081665039, + 1.5407543182373047 + ] + ], + "corners_2d": [ + [ + 817.8224924070286, + 153.80897942513042 + ], + [ + 844.9337539787457, + 149.46409876144017 + ], + [ + 836.7469796313355, + 138.14570864338984 + ], + [ + 809.977442377227, + 142.36821606982951 + ], + [ + 824.9821259156538, + 108.79357652327496 + ], + [ + 853.1386166886125, + 104.52758945824314 + ], + [ + 844.5082529421416, + 93.4234212450142 + ], + [ + 816.7200269303984, + 97.56453944589089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 2382, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 932.5286675481866, + "ymin": 0.0, + "xmax": 1073.9012913162785, + "ymax": 46.75121412026607 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 932.5286675481866, + 25.160142829078268 + ], + [ + 961.8423243618527, + 46.75121412026607 + ], + [ + 1063.2084051297818, + 21.382708051440773 + ], + [ + 1031.9018678514517, + 1.311149406432719 + ], + [ + 939.9623654051247, + -6.5205211293148295 + ], + [ + 970.2890705815407, + 14.598564710263588 + ], + [ + 1073.9012913162785, + -10.211856547685443 + ], + [ + 1041.5007929046424, + -29.808350204161343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 4910, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 526.1395861991077, + "ymin": 56.491084820777814, + "xmax": 673.4285760822066, + "ymax": 150.17525252560318 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 529.7574918471878, + 121.80931800015406 + ], + [ + 548.677768264361, + 150.17525252560318 + ], + [ + 672.4891031089741, + 118.9687749907317 + ], + [ + 650.0383863435579, + 92.72400694319657 + ], + [ + 526.1395861991077, + 85.06259302881335 + ], + [ + 545.5497409735246, + 112.97139609290608 + ], + [ + 673.4285760822066, + 82.24808622809775 + ], + [ + 650.2549076696431, + 56.491084820777814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.90439576896551, + "ymin": 239.28792954429832, + "xmax": 131.6468899558127, + "ymax": 282.5423938531164 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 131.6468899558127, + 279.19682725980635 + ], + [ + 130.4180377492071, + 269.05193858618674 + ], + [ + 117.4704347238353, + 272.3247762790336 + ], + [ + 118.56038102599825, + 282.5423938531164 + ], + [ + 116.38703208068614, + 249.39919501533345 + ], + [ + 115.2931289704843, + 239.28792954429832 + ], + [ + 101.90439576896551, + 242.54919659347854 + ], + [ + 102.8496773222854, + 252.73512569081254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 557.3524816553672, + "ymin": 14.908929853004167, + "xmax": 572.2737052422311, + "ymax": 49.833413213223764 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 567.726415753303, + 42.20449774980614 + ], + [ + 559.1520539733217, + 44.06034435897379 + ], + [ + 563.6403753352257, + 49.833413213223764 + ], + [ + 572.2737052422311, + 47.9466380097727 + ], + [ + 566.1220904467494, + 14.908929853004167 + ], + [ + 557.3524816553672, + 16.731350064126104 + ], + [ + 561.9262668960007, + 22.401823736546874 + ], + [ + 570.7575827958403, + 20.54834828450896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.0492044034041, + "ymin": 186.73868004179283, + "xmax": 635.4816723204775, + "ymax": 220.94515149173566 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 630.2328970442068, + 211.0987758933494 + ], + [ + 621.4758259939784, + 213.5031269387346 + ], + [ + 626.6639597597076, + 220.94515149173566 + ], + [ + 635.4816723204775, + 218.49927068290796 + ], + [ + 630.0085956620925, + 186.73868004179283 + ], + [ + 621.0492044034041, + 189.12887615396613 + ], + [ + 626.3541173042781, + 196.52902959453527 + ], + [ + 635.3769972971797, + 194.0965861928433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 523.7738950409935, + "ymin": 0.0, + "xmax": 538.2924457034703, + "ymax": 6.698107320236318 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 534.2845597744675, + -0.024740450294416405 + ], + [ + 526.1499855230028, + 1.6115205278861708 + ], + [ + 530.1045965935689, + 6.698107320236318 + ], + [ + 538.2924457034703, + 5.03626070742331 + ], + [ + 532.0838903588491, + -26.501212544704742 + ], + [ + 523.7738950409935, + -24.89877305554029 + ], + [ + 527.7927792078121, + -19.91625427089417 + ], + [ + 536.1583944009269, + -21.54427905307881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 219.2325797910126, + "ymin": 210.91395113672255, + "xmax": 245.5774054207833, + "ymax": 253.20958108051866 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 245.5774054207833, + 250.07066638343065 + ], + [ + 243.18220270302538, + 240.54808946294725 + ], + [ + 231.0260251870924, + 243.62087473291507 + ], + [ + 233.29923793063148, + 253.20958108051866 + ], + [ + 234.1191623943052, + 220.3873379506357 + ], + [ + 231.77974743438745, + 210.91395113672255 + ], + [ + 219.2325797910126, + 213.97022779064514 + ], + [ + 221.44193374889937, + 223.5113134514068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.63257156379, + "ymin": 446.51133898361456, + "xmax": 1067.2255925228012, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 950.9951923551572, + 685.7224620365514 + ], + [ + 938.6975220551521, + 668.0885533956567 + ], + [ + 785.63257156379, + 739.4093995457667 + ], + [ + 796.4457579033794, + 759.0163729400765 + ], + [ + 1067.2255925228012, + 466.6656022075415 + ], + [ + 1048.3182364260351, + 446.51133898361456 + ], + [ + 843.1103195321555, + 529.2683339890991 + ], + [ + 859.412639161002, + 552.6098724665586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.2536604443133, + "ymin": 0.0, + "xmax": 1140.2347123426407, + "ymax": 155.4364796840036 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1048.8676433239812, + 155.4364796840036 + ], + [ + 1058.5886275829725, + 152.5556143632726 + ], + [ + 990.5643887930389, + 99.99561554671578 + ], + [ + 981.2536604443133, + 102.51120514669361 + ], + [ + 1128.9596942364858, + -63.25459705176138 + ], + [ + 1140.2347123426407, + -65.76340371275842 + ], + [ + 1053.6627115955275, + -110.9269300941395 + ], + [ + 1042.919161714722, + -108.79129774115012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 82.72521405810528, + "ymin": 0.0, + "xmax": 451.1726225588292, + "ymax": 49.80416109849921 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 451.1726225588292, + -3.9933422464352475 + ], + [ + 448.5427050545298, + -8.068213489197603 + ], + [ + 167.89497077491546, + 45.025638472320054 + ], + [ + 168.8160484264584, + 49.80416109849921 + ], + [ + 419.90496693676437, + -215.2581219158243 + ], + [ + 417.0721625702714, + -218.45280186399827 + ], + [ + 82.72521405810528, + -176.29837525710116 + ], + [ + 83.1224318780445, + -172.44741135099503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.8559035019795, + "ymin": 527.4417865159359, + "xmax": 884.0582385017884, + "ymax": 556.2155814740197 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 882.7251192288736, + 546.6154848767537 + ], + [ + 871.7894297350016, + 531.4564762535539 + ], + [ + 848.8559035019795, + 540.814070280201 + ], + [ + 859.582835820128, + 556.2155814740197 + ], + [ + 884.0582385017884, + 542.6322888788802 + ], + [ + 873.0462814827481, + 527.4417865159359 + ], + [ + 849.9974143639316, + 536.8185719619808 + ], + [ + 860.7985741512643, + 552.2534228903503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 127.87533416374015, + "xmax": 352.9084195960069, + "ymax": 549.6827721518281 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -142.8671922981698, + 535.7189098766273 + ], + [ + -144.94644203003577, + 549.6827721518281 + ], + [ + 352.9084195960069, + 399.91721488789193 + ], + [ + 349.65461335861096, + 389.20485151843604 + ], + [ + -418.8241213876804, + 276.23686345491757 + ], + [ + -426.0591650638944, + 291.05379837164617 + ], + [ + 266.76914494599043, + 138.3020766919949 + ], + [ + 263.69031191155705, + 127.87533416374015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.6691067907849, + "ymin": 527.288987770343, + "xmax": 884.2500995509987, + "ymax": 556.3726110740464 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 882.901592911444, + 546.6679940987251 + ], + [ + 871.8476291246378, + 531.3471060427752 + ], + [ + 848.6691067907849, + 540.8039797273427 + ], + [ + 859.509802367076, + 556.3726110740464 + ], + [ + 884.2500995509987, + 542.6420413473085 + ], + [ + 873.1182080540557, + 527.288987770343 + ], + [ + 849.8218615337554, + 536.765458084272 + ], + [ + 860.7383781586045, + 552.3681611995802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.91506466124287, + "ymin": 0.0, + "xmax": 649.5289681579721, + "ymax": 288.81755719125977 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 634.7592354047872, + 288.81755719125977 + ], + [ + 647.5701536901776, + 285.06876927423644 + ], + [ + 522.6525179113486, + 94.61593342570558 + ], + [ + 512.059014072768, + 96.99210852011714 + ], + [ + 633.3963163980442, + 33.16952399400623 + ], + [ + 649.5289681579721, + 29.734739802240313 + ], + [ + 499.6781267209633, + -135.8636164333434 + ], + [ + 486.91506466124287, + -133.89967469325774 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00077/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00077/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a579ef5777acdba303c0d02a8515889a69180c4e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00077/meta.json @@ -0,0 +1,2251 @@ +{ + "frame_id": 77, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.5, + "sim_timestamp": 12563.71927373414 + }, + "drone_pose": { + "x": -47.679074869172375, + "y": 31.423964711247905, + "z": 20.000000000327315, + "pitch": -46.470695382152094, + "yaw": -65.667320768514, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2837783694267273, + 0.6275449991226196, + 0.7250223159790039, + 18.74979591369629 + ], + [ + -0.9111684560775757, + 0.41203415393829346, + 0.0, + 30.49591636657715 + ], + [ + -0.2987339496612549, + -0.6606174111366272, + 0.688725471496582, + -48.77708053588867 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.73705479607733, + "y": 30.902205338757707, + "z": 20.000000000087432 + }, + "t1_image_uv": [ + -186.7561457118884, + -650.5932375352759 + ], + "t1_depth": 0.3109739887058002 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 14.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.470978589501954, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 14.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2788452208042145, + "y": 0.25957274436950684, + "z": 0.5600984692573547 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.1073989367186, + "ymin": 336.3769251883183, + "xmax": 652.9932028939156, + "ymax": 383.3436963708549 + }, + "corners_3d": [ + [ + -40.426753997802734, + 15.091080665588379, + 0.24785417318344116 + ], + [ + -39.90761184692383, + 15.091080665588379, + 0.24785417318344116 + ], + [ + -39.90761184692383, + 14.533390998840332, + 0.24785417318344116 + ], + [ + -40.426753997802734, + 14.533390998840332, + 0.24785417318344116 + ], + [ + -40.426753997802734, + 15.091080665588379, + 1.3680510520935059 + ], + [ + -39.90761184692383, + 15.091080665588379, + 1.3680510520935059 + ], + [ + -39.90761184692383, + 14.533390998840332, + 1.3680510520935059 + ], + [ + -40.426753997802734, + 14.533390998840332, + 1.3680510520935059 + ] + ], + "corners_2d": [ + [ + 635.6153986706836, + 383.3436963708549 + ], + [ + 652.5990901567079, + 377.6549278852967 + ], + [ + 644.3041904620623, + 364.3884933473627 + ], + [ + 627.495522655857, + 369.931020441375 + ], + [ + 635.4774610689611, + 355.3888654775072 + ], + [ + 652.9932028939156, + 349.6807664171664 + ], + [ + 644.4370393151971, + 336.3769251883183 + ], + [ + 627.1073989367186, + 341.9337745472508 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 77, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 487573, + "2": 225691, + "3": 157058, + "6": 10526, + "7": 1611, + "10": 555, + "12": 2035, + "14": 7954, + "20": 3144, + "24": 25453 + }, + "instance_pixel_counts": { + "148": 7824, + "6215": 149243, + "6796": 1415, + "6802": 6807, + "7314": 34256, + "8332": 727, + "8338": 12285, + "18000": 807, + "18512": 2208, + "21652": 90386, + "22676": 120011, + "23700": 44922, + "24212": 68748, + "24724": 63494, + "25856": 4967, + "26624": 3232, + "33370": 6246, + "35988": 8194, + "36500": 3540, + "37524": 2265, + "38036": 5374, + "38548": 711, + "39052": 2801, + "39564": 11372, + "40265": 129, + "40588": 3003, + "41100": 220, + "41612": 1911, + "41818": 145317, + "42074": 5495, + "43409": 1311, + "44945": 340, + "56576": 201, + "56832": 230, + "57088": 640, + "57344": 593, + "57600": 371, + "57856": 2938, + "59904": 5016, + "61569": 3938, + "62613": 3182, + "63123": 41503, + "63125": 41, + "63635": 2467, + "64149": 354, + "64659": 19081, + "64661": 1525, + "65171": 29137, + "65173": 267 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 201, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 14.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2694140672683716, + "y": 0.232379749417305, + "z": 0.5564393401145935 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1609635184785, + "ymin": 336.98290541264697, + "xmax": 651.933051498133, + "ymax": 382.7260140379393 + }, + "corners_3d": [ + [ + -40.39956283569336, + 15.081649780273438, + 0.2515133023262024 + ], + [ + -39.9348030090332, + 15.081649780273438, + 0.2515133023262024 + ], + [ + -39.9348030090332, + 14.542821884155273, + 0.2515133023262024 + ], + [ + -40.39956283569336, + 14.542821884155273, + 0.2515133023262024 + ], + [ + -40.39956283569336, + 15.081649780273438, + 1.3643920421600342 + ], + [ + -39.9348030090332, + 15.081649780273438, + 1.3643920421600342 + ], + [ + -39.9348030090332, + 14.542821884155273, + 1.3643920421600342 + ], + [ + -40.39956283569336, + 14.542821884155273, + 1.3643920421600342 + ] + ], + "corners_2d": [ + [ + 636.3700117305887, + 382.7260140379393 + ], + [ + 651.5734003495693, + 377.6353642754144 + ], + [ + 643.5670231250222, + 364.81016038351686 + ], + [ + 628.5150531826158, + 369.7743031666336 + ], + [ + 636.2566314938803, + 354.952026885453 + ], + [ + 651.933051498133, + 349.8442624348135 + ], + [ + 643.6764457244647, + 336.98290541264697 + ], + [ + 628.1609635184785, + 341.95985925057386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 17.8099422454834, + "z": 0.8055063486099243 + }, + "extent": { + "x": 0.20731934905052185, + "y": 0.2325579971075058, + "z": 0.5173595547676086 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 811.9202690233658, + "ymin": 366.5599655728691, + "xmax": 840.7701192333323, + "ymax": 409.01777521726683 + }, + "corners_3d": [ + [ + -36.23845672607422, + 18.051088333129883, + 0.2881467938423157 + ], + [ + -35.77906799316406, + 17.978328704833984, + 0.2881467938423157 + ], + [ + -35.84393310546875, + 17.568796157836914, + 0.2881467938423157 + ], + [ + -36.303321838378906, + 17.641555786132812, + 0.2881467938423157 + ], + [ + -36.23845672607422, + 18.051088333129883, + 1.3228659629821777 + ], + [ + -35.77906799316406, + 17.978328704833984, + 1.3228659629821777 + ], + [ + -35.84393310546875, + 17.568796157836914, + 1.3228659629821777 + ], + [ + -36.303321838378906, + 17.641555786132812, + 1.3228659629821777 + ] + ], + "corners_2d": [ + [ + 821.9375251421619, + 409.01777521726683 + ], + [ + 835.0007463350339, + 401.8732167364393 + ], + [ + 824.9321136451024, + 392.3415223159004 + ], + [ + 811.9202690233658, + 399.3568256809305 + ], + [ + 827.358033953825, + 383.3085358247212 + ], + [ + 840.7701192333323, + 376.1310719438271 + ], + [ + 830.3525867784083, + 366.5599655728691 + ], + [ + 816.9942528629985, + 373.6037777592888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 640, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 21.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.36279296875, + "y": 0.5291296243667603, + "z": 0.9094696640968323 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 647.2571113826043, + "ymin": 554.9847188694073, + "xmax": 706.3213985608992, + "ymax": 641.1981427484448 + }, + "corners_3d": [ + [ + -42.93242645263672, + 22.144935607910156, + -0.2539193630218506 + ], + [ + -41.87561798095703, + 22.089550018310547, + -0.2539193630218506 + ], + [ + -41.91358947753906, + 21.364959716796875, + -0.2539193630218506 + ], + [ + -42.97039794921875, + 21.420345306396484, + -0.2539193630218506 + ], + [ + -42.93242645263672, + 22.144935607910156, + 1.565019965171814 + ], + [ + -41.87561798095703, + 22.089550018310547, + 1.565019965171814 + ], + [ + -41.91358947753906, + 21.364959716796875, + 1.565019965171814 + ], + [ + -42.97039794921875, + 21.420345306396484, + 1.565019965171814 + ] + ], + "corners_2d": [ + [ + 662.0389282881049, + 641.1981427484448 + ], + [ + 702.3797170982558, + 621.7154135509875 + ], + [ + 687.0252019683182, + 596.759728878807 + ], + [ + 647.2571113826043, + 615.480043324803 + ], + [ + 663.4542296492024, + 600.6930310665923 + ], + [ + 706.3213985608992, + 580.6287147686389 + ], + [ + 689.9347648108152, + 554.9847188694073 + ], + [ + 647.713288825363, + 574.2154093874514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 593, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 14.812235832214355, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.3077417016029358, + "y": 0.5678125023841858, + "z": 0.8850775957107544 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 256.93343852875364, + "ymin": 440.42599639237517, + "xmax": 325.5755787235731, + "ymax": 515.1910306973266 + }, + "corners_3d": [ + [ + -50.25032424926758, + 15.089838981628418, + -0.22952240705490112 + ], + [ + -49.11625289916992, + 15.149272918701172, + -0.22952240705490112 + ], + [ + -49.084041595458984, + 14.534632682800293, + -0.22952240705490112 + ], + [ + -50.21811294555664, + 14.475198745727539, + -0.22952240705490112 + ], + [ + -50.25032424926758, + 15.089838981628418, + 1.540632724761963 + ], + [ + -49.11625289916992, + 15.149272918701172, + 1.540632724761963 + ], + [ + -49.084041595458984, + 14.534632682800293, + 1.540632724761963 + ], + [ + -50.21811294555664, + 14.475198745727539, + 1.540632724761963 + ] + ], + "corners_2d": [ + [ + 279.8922902288544, + 515.1910306973266 + ], + [ + 325.5755787235731, + 501.6369223755954 + ], + [ + 321.92436613229927, + 483.34100082020643 + ], + [ + 276.9326043663631, + 496.4656317266197 + ], + [ + 259.71419162228966, + 472.787752562462 + ], + [ + 308.17345318219844, + 459.00377081076033 + ], + [ + 304.61490458430944, + 440.42599639237517 + ], + [ + 256.93343852875364, + 453.7495057295449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 371, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 6.642021179199219, + "z": 0.600027859210968 + }, + "extent": { + "x": 0.33961424231529236, + "y": 0.561875581741333, + "z": 0.9152712821960449 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 807.8951415821884, + "ymin": 93.97788002819948, + "xmax": 851.1424875207614, + "ymax": 152.13858058234544 + }, + "corners_3d": [ + [ + -29.529930114746094, + 6.889557361602783, + -0.3152434229850769 + ], + [ + -28.420013427734375, + 7.0653510093688965, + -0.3152434229850769 + ], + [ + -28.313758850097656, + 6.394484996795654, + -0.3152434229850769 + ], + [ + -29.423675537109375, + 6.218691349029541, + -0.3152434229850769 + ], + [ + -29.529930114746094, + 6.889557361602783, + 1.5152990818023682 + ], + [ + -28.420013427734375, + 7.0653510093688965, + 1.5152990818023682 + ], + [ + -28.313758850097656, + 6.394484996795654, + 1.5152990818023682 + ], + [ + -29.423675537109375, + 6.218691349029541, + 1.5152990818023682 + ] + ], + "corners_2d": [ + [ + 814.9301618257923, + 152.13858058234544 + ], + [ + 843.2444742771884, + 147.5084044849782 + ], + [ + 835.8940126550278, + 137.48756593098645 + ], + [ + 807.8951415821884, + 142.00187161433777 + ], + [ + 821.7688689008016, + 108.36116040363669 + ], + [ + 851.1424875207614, + 103.81337880790062 + ], + [ + 843.4071438043921, + 93.97788002819948 + ], + [ + 814.3727396798624, + 98.40750401818605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 2938, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 936.5280290181281, + "ymin": 0.0, + "xmax": 1078.6180999388703, + "ymax": 51.38723064497049 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 936.5280290181281, + 29.570086095867055 + ], + [ + 966.3890886216587, + 51.38723064497049 + ], + [ + 1067.7462069182698, + 25.383220316199186 + ], + [ + 1035.9212629897684, + 5.129193783974188 + ], + [ + 944.1126654440845, + -2.2074195501581926 + ], + [ + 975.0123774249784, + 19.13990375657187 + ], + [ + 1078.6180999388703, + -6.300117728129521 + ], + [ + 1045.6753289358062, + -26.080426558393697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5016, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 528.7356374506559, + "ymin": 62.64330357754915, + "xmax": 677.354582944978, + "ymax": 157.7775520262275 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 532.3054918326388, + 128.95406868034362 + ], + [ + 551.7974254813632, + 157.7775520262275 + ], + [ + 676.2848970746431, + 125.61842577005021 + ], + [ + 653.2509109737363, + 98.99466203612894 + ], + [ + 528.7356374506559, + 92.08906400701454 + ], + [ + 548.7435224547532, + 120.46520255248751 + ], + [ + 677.354582944978, + 88.7860760881174 + ], + [ + 653.5688349838665, + 62.64330357754915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.60755222519333, + "ymin": 254.535491913041, + "xmax": 132.9295197855435, + "ymax": 298.30871110217356 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 132.9295197855435, + 294.8065522310533 + ], + [ + 131.5659892086847, + 284.34724911257916 + ], + [ + 118.41179467070344, + 287.77220494995044 + ], + [ + 119.63267348750378, + 298.30871110217356 + ], + [ + 117.44647381791867, + 264.97047109304134 + ], + [ + 116.21824864180644, + 254.535491913041 + ], + [ + 102.60755222519333, + 257.9517066015053 + ], + [ + 103.68295366949178, + 268.46606112968686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 561.8004605836546, + "ymin": 22.55967716698234, + "xmax": 576.8638183127358, + "ymax": 57.80242261037694 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 572.1617461269269, + 49.99220003260439 + ], + [ + 563.5221897513998, + 51.91354645235424 + ], + [ + 568.1648429349138, + 57.80242261037694 + ], + [ + 576.8638183127358, + 55.84877397877034 + ], + [ + 570.6387882310183, + 22.55967716698234 + ], + [ + 561.8004605836546, + 24.447351413965578 + ], + [ + 566.5337685253794, + 30.23447161463588 + ], + [ + 575.4343041121963, + 28.314338615686154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.3188000464704, + "ymin": 196.47050627529038, + "xmax": 641.8979296939783, + "ymax": 230.96916436293026 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 636.4245965409261, + 220.88565324532428 + ], + [ + 627.607509381354, + 223.3755881237202 + ], + [ + 632.9764231540039, + 230.96916436293026 + ], + [ + 641.854469876891, + 228.43583606671274 + ], + [ + 636.3415427636306, + 196.47050627529038 + ], + [ + 627.3188000464704, + 198.947066889026 + ], + [ + 632.8113389187133, + 206.50188606424902 + ], + [ + 641.8979296939783, + 203.98114767136255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.0728364648576, + "ymin": 0.0, + "xmax": 541.7422133971104, + "ymax": 13.822474929603686 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 537.6023149996869, + 6.947213879437413 + ], + [ + 529.4060111613074, + 8.63942771447472 + ], + [ + 533.4922062342872, + 13.822474929603686 + ], + [ + 541.7422133971104, + 12.103581989477561 + ], + [ + 535.4477176942459, + -19.670079273128295 + ], + [ + 527.0728364648576, + -18.01211131857201 + ], + [ + 531.2271950994298, + -12.932837620066664 + ], + [ + 539.6581687033307, + -14.617502129819911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.7795835534257, + "ymin": 224.8449485451076, + "xmax": 248.57198413215968, + "ymax": 267.62826156183536 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 248.57198413215968, + 264.34851784555565 + ], + [ + 246.01329412740705, + 254.54880239178277 + ], + [ + 233.6856806674018, + 257.7585420736251 + ], + [ + 236.11959667487258, + 267.62826156183536 + ], + [ + 237.01642641987905, + 234.60287752517792 + ], + [ + 234.51041491373581, + 224.8449485451076 + ], + [ + 221.7795835534257, + 228.04032229755038 + ], + [ + 224.15241852652503, + 237.87001461995195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.7897871203538, + "ymin": 467.53409500785625, + "xmax": 1092.2273773980687, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 967.4680574522631, + 704.5756716266941 + ], + [ + 954.6853471805919, + 686.4897217125856 + ], + [ + 800.7897871203538, + 760.8373577383637 + ], + [ + 812.0943686158707, + 781.0057109490007 + ], + [ + 1092.2273773980687, + 488.42042526750447 + ], + [ + 1072.3762533330525, + 467.53409500785625 + ], + [ + 865.6163121588229, + 554.7733825475102 + ], + [ + 882.877868490614, + 579.0815016374789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.0314902511245, + "ymin": 0.0, + "xmax": 1149.5560870234333, + "ymax": 161.55323723960143 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1056.053225265474, + 161.55323723960143 + ], + [ + 1065.7736159979759, + 158.59248165916375 + ], + [ + 996.3479729706814, + 105.39816713777296 + ], + [ + 987.0314902511245, + 107.9818211672341 + ], + [ + 1138.2817063406205, + -57.902781792793235 + ], + [ + 1149.5560870234333, + -60.48866779298686 + ], + [ + 1061.0228279088992, + -106.32156770123771 + ], + [ + 1050.2699406659053, + -104.12252307396716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 79.1690441614254, + "ymin": 0.0, + "xmax": 451.35424864067886, + "ymax": 56.75128144914686 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 451.35424864067886, + 1.2844893987657997 + ], + [ + 448.6497914519495, + -2.846038424978019 + ], + [ + 165.71602869253627, + 51.89055515110948 + ], + [ + 166.69288624590513, + 56.75128144914686 + ], + [ + 419.824645732431, + -211.08844227836732 + ], + [ + 416.9044411728032, + -214.3353131169024 + ], + [ + 79.1690441614254, + -170.74308362278305 + ], + [ + 79.61659739476943, + -166.81199595697296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.1994502967677, + "ymin": 552.3581681972616, + "xmax": 907.3979710177775, + "ymax": 582.2273485047975 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 905.9064063251102, + 572.0868290341443 + ], + [ + 894.3492502878519, + 556.3202848702217 + ], + [ + 871.1994502967677, + 566.1999085309453 + ], + [ + 882.5475315755384, + 582.2273485047975 + ], + [ + 907.3979710177775, + 568.1611030358758 + ], + [ + 895.7574870072197, + 552.3581681972616 + ], + [ + 872.4900521507766, + 562.2603275283502 + ], + [ + 883.9194156152328, + 578.3262358770843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 141.08116619073422, + "xmax": 356.85756475493565, + "ymax": 569.9952344969981 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -146.18806050318858, + 555.5934056994201 + ], + [ + -148.22652688273251, + 569.9952344969981 + ], + [ + 356.85756475493565, + 413.7246258766763 + ], + [ + 353.43333719554363, + 402.75786508425216 + ], + [ + -429.6012621601826, + 297.3575199552207 + ], + [ + -437.0102897538752, + 312.82279731082264 + ], + [ + 270.456115917682, + 151.8387038827286 + ], + [ + 267.15929945133024, + 141.08116619073422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.007380470714, + "ymin": 552.1996210440941, + "xmax": 907.5952814706619, + "ymax": 582.3904303081822 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 906.0865744797995, + 572.1394923722956 + ], + [ + 894.4044893509073, + 556.2046446847879 + ], + [ + 871.007380470714, + 566.1890490354529 + ], + [ + 882.4758728058907, + 582.3904303081822 + ], + [ + 907.5952814706619, + 568.171635948377 + ], + [ + 895.8280554039865, + 552.1996210440941 + ], + [ + 872.3107787807032, + 562.2070373718104 + ], + [ + 883.8622994710862, + 578.4477313777982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.1034356036506, + "ymin": 0.0, + "xmax": 657.2102525994859, + "ymax": 298.88662190339886 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 640.7447213966052, + 298.88662190339886 + ], + [ + 653.6352262828876, + 295.0086791618671 + ], + [ + 524.7701546370101, + 101.30644674918932 + ], + [ + 514.1089406970165, + 103.75629363632402 + ], + [ + 640.9409920485609, + 42.43938609564873 + ], + [ + 657.2102525994859, + 38.86670534823526 + ], + [ + 501.9713046959647, + -130.30967365086605 + ], + [ + 489.1034356036506, + -128.27776766134463 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00078/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00078/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0798ec3d2701521ba64ecfa67879242c2abf2e29 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00078/meta.json @@ -0,0 +1,2252 @@ +{ + "frame_id": 78, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 39.0, + "sim_timestamp": 12572.987294026883 + }, + "drone_pose": { + "x": -47.73705479607733, + "y": 30.902205338757707, + "z": 20.000000000087432, + "pitch": -46.464155343145556, + "yaw": -65.47315979086076, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.28593766689300537, + 0.6266549229621887, + 0.7249436378479004, + 18.515966415405273 + ], + [ + -0.9097669720649719, + 0.415119469165802, + 2.9802322387695312e-08, + 30.601486206054688 + ], + [ + -0.3009381592273712, + -0.6595296859741211, + 0.6888082027435303, + -48.52299118041992 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.75069440651631, + "y": 30.40900884745941, + "z": 20.00000000001801 + }, + "t1_image_uv": [ + -43.103508615431, + -650.3622529364163 + ], + "t1_depth": 0.3051639402602288 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 14.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 26.47384934155965, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 14.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2829992473125458, + "y": 0.19750426709651947, + "z": 0.5597727298736572 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.1069690596878, + "ymin": 336.94484052762886, + "xmax": 650.9944864892896, + "ymax": 382.75749291218546 + }, + "corners_3d": [ + [ + -40.364688873291016, + 14.595234870910645, + 0.24817991256713867 + ], + [ + -39.96967697143555, + 14.595234870910645, + 0.24817991256713867 + ], + [ + -39.96967697143555, + 14.029236793518066, + 0.24817991256713867 + ], + [ + -40.364688873291016, + 14.029236793518066, + 0.24817991256713867 + ], + [ + -40.364688873291016, + 14.595234870910645, + 1.3677253723144531 + ], + [ + -39.96967697143555, + 14.595234870910645, + 1.3677253723144531 + ], + [ + -39.96967697143555, + 14.029236793518066, + 1.3677253723144531 + ], + [ + -40.364688873291016, + 14.029236793518066, + 1.3677253723144531 + ] + ], + "corners_2d": [ + [ + 637.7588202482372, + 382.75749291218546 + ], + [ + 650.6610182297547, + 378.39669575985084 + ], + [ + 642.2024974073618, + 364.93896182991523 + ], + [ + 629.4344021181382, + 369.1861779789231 + ], + [ + 637.6884114178807, + 354.8164267591769 + ], + [ + 650.9944864892896, + 350.44085555474646 + ], + [ + 642.2704607662416, + 336.94484052762886 + ], + [ + 629.1069690596878, + 341.2029456071358 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 78, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 492037, + "2": 224892, + "3": 151869, + "6": 10990, + "7": 1719, + "10": 558, + "12": 1975, + "14": 8667, + "20": 3009, + "24": 25884 + }, + "instance_pixel_counts": { + "148": 8780, + "6215": 147546, + "6796": 1572, + "6802": 6951, + "7314": 33484, + "8332": 936, + "8338": 12771, + "18000": 828, + "18512": 2052, + "21652": 93296, + "22676": 115945, + "23700": 46768, + "24212": 71114, + "24724": 59075, + "25856": 5342, + "26112": 21, + "26624": 3323, + "33370": 7379, + "35988": 8427, + "36500": 3279, + "37524": 2307, + "38036": 5606, + "38548": 595, + "39052": 2889, + "39564": 11086, + "40265": 129, + "40588": 3165, + "41100": 216, + "41612": 1738, + "41818": 141921, + "42074": 2569, + "43409": 1858, + "44945": 680, + "56576": 209, + "56832": 230, + "57088": 585, + "57344": 601, + "57600": 350, + "57856": 3580, + "59904": 5087, + "61569": 4023, + "62613": 3337, + "63123": 42673, + "63125": 76, + "63635": 3488, + "64149": 405, + "64659": 21187, + "64661": 1541, + "65171": 29711, + "65173": 311 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 14.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26010987162590027, + "y": 0.2580554187297821, + "z": 0.5495983362197876 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 627.4243016930615, + "ymin": 337.0955498276753, + "xmax": 652.6620141570172, + "ymax": 382.6264077665124 + }, + "corners_3d": [ + [ + -40.42523956298828, + 14.572345733642578, + 0.2583543062210083 + ], + [ + -39.90912628173828, + 14.572345733642578, + 0.2583543062210083 + ], + [ + -39.90912628173828, + 14.052125930786133, + 0.2583543062210083 + ], + [ + -40.42523956298828, + 14.052125930786133, + 0.2583543062210083 + ], + [ + -40.42523956298828, + 14.572345733642578, + 1.3575509786605835 + ], + [ + -39.90912628173828, + 14.572345733642578, + 1.3575509786605835 + ], + [ + -39.90912628173828, + 14.052125930786133, + 1.3575509786605835 + ], + [ + -40.42523956298828, + 14.052125930786133, + 1.3575509786605835 + ] + ], + "corners_2d": [ + [ + 635.4300334739501, + 382.6264077665124 + ], + [ + 652.2852911787678, + 376.93458036158864 + ], + [ + 644.4901046791789, + 364.58088861375666 + ], + [ + 627.7959805523348, + 370.1362755699714 + ], + [ + 635.289097106683, + 355.19383165189157 + ], + [ + 652.6620141570172, + 349.4832570844993 + ], + [ + 644.6260858473373, + 337.0955498276753 + ], + [ + 627.4243016930615, + 342.66510315377354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 230, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 17.3099422454834, + "z": 0.8055014610290527 + }, + "extent": { + "x": 0.2141381949186325, + "y": 0.18648988008499146, + "z": 0.5177587866783142 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 813.0781713159433, + "ymin": 366.61534493364456, + "xmax": 839.6471297737035, + "ymax": 407.9963060742692 + }, + "corners_3d": [ + [ + -36.191890716552734, + 17.550617218017578, + 0.2877426743507385 + ], + [ + -35.82350158691406, + 17.492271423339844, + 0.2877426743507385 + ], + [ + -35.890499114990234, + 17.06926727294922, + 0.2877426743507385 + ], + [ + -36.258888244628906, + 17.127613067626953, + 0.2877426743507385 + ], + [ + -36.191890716552734, + 17.550617218017578, + 1.3232603073120117 + ], + [ + -35.82350158691406, + 17.492271423339844, + 1.3232603073120117 + ], + [ + -35.890499114990234, + 17.06926727294922, + 1.3232603073120117 + ], + [ + -36.258888244628906, + 17.127613067626953, + 1.3232603073120117 + ] + ], + "corners_2d": [ + [ + 823.4660155002362, + 407.9963060742692 + ], + [ + 833.9048971769478, + 402.2423275744779 + ], + [ + 823.4755626392725, + 392.4170871318009 + ], + [ + 813.0781713159433, + 398.0638610594411 + ], + [ + 828.9296987288913, + 382.2615584230164 + ], + [ + 839.6471297737035, + 376.48123901716616 + ], + [ + 828.8567406912606, + 366.61534493364456 + ], + [ + 818.1827020609832, + 372.2848168916131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 585, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 21.254947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3328515589237213, + "y": 0.4525415003299713, + "z": 0.8749919533729553 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 651.8323394723551, + "ymin": 558.0444959820139, + "xmax": 703.628759456559, + "ymax": 637.8363005553679 + }, + "corners_3d": [ + [ + -42.85750961303711, + 21.611026763916016, + -0.21944165229797363 + ], + [ + -41.95366668701172, + 21.56365966796875, + -0.21944165229797363 + ], + [ + -41.98850631713867, + 20.898868560791016, + -0.21944165229797363 + ], + [ + -42.89234924316406, + 20.94623565673828, + -0.21944165229797363 + ], + [ + -42.85750961303711, + 21.611026763916016, + 1.530542254447937 + ], + [ + -41.95366668701172, + 21.56365966796875, + 1.530542254447937 + ], + [ + -41.98850631713867, + 20.898868560791016, + 1.530542254447937 + ], + [ + -42.89234924316406, + 20.94623565673828, + 1.530542254447937 + ] + ], + "corners_2d": [ + [ + 665.5539764744381, + 637.8363005553679 + ], + [ + 699.986677839626, + 621.0898563675421 + ], + [ + 685.8198586012992, + 598.1830511841537 + ], + [ + 651.8323394723551, + 614.3276835850913 + ], + [ + 667.1271752180054, + 598.7856850106465 + ], + [ + 703.628759456559, + 581.5609590953914 + ], + [ + 688.5486988475815, + 558.0444959820139 + ], + [ + 652.5466866369211, + 574.6134627787874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 601, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 14.312235832214355, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.30955076217651367, + "y": 0.46490660309791565, + "z": 0.8908166885375977 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 261.45192529472587, + "ymin": 442.29887879241375, + "xmax": 321.8690833930566, + "ymax": 515.1176411429925 + }, + "corners_3d": [ + [ + -50.14765167236328, + 14.597030639648438, + -0.23526638746261597 + ], + [ + -49.219112396240234, + 14.6456937789917, + -0.23526638746261597 + ], + [ + -49.18671417236328, + 14.027441024780273, + -0.23526638746261597 + ], + [ + -50.11525344848633, + 13.978777885437012, + -0.23526638746261597 + ], + [ + -50.14765167236328, + 14.597030639648438, + 1.5463669300079346 + ], + [ + -49.219112396240234, + 14.6456937789917, + 1.5463669300079346 + ], + [ + -49.18671417236328, + 14.027441024780273, + 1.5463669300079346 + ], + [ + -50.11525344848633, + 13.978777885437012, + 1.5463669300079346 + ] + ], + "corners_2d": [ + [ + 284.464093872876, + 515.1176411429925 + ], + [ + 321.8690833930566, + 503.90738685622637 + ], + [ + 318.168414379082, + 485.46594636113133 + ], + [ + 281.33138303056757, + 496.31917193657 + ], + [ + 264.41699985501737, + 472.4320492499208 + ], + [ + 304.1132587079026, + 461.0296074971471 + ], + [ + 300.50877140119894, + 442.29887879241375 + ], + [ + 261.45192529472587, + 453.318314134235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 350, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 6.142021179199219, + "z": 0.6000766754150391 + }, + "extent": { + "x": 0.3401721119880676, + "y": 0.5562444925308228, + "z": 0.9160320162773132 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 806.825299557232, + "ymin": 93.66161983619162, + "xmax": 849.7403932345526, + "ymax": 151.84905324804555 + }, + "corners_3d": [ + [ + -29.524456024169922, + 6.390989303588867, + -0.31595534086227417 + ], + [ + -28.425662994384766, + 6.56502103805542, + -0.31595534086227417 + ], + [ + -28.319232940673828, + 5.89305305480957, + -0.31595534086227417 + ], + [ + -29.418025970458984, + 5.719021320343018, + -0.31595534086227417 + ], + [ + -29.524456024169922, + 6.390989303588867, + 1.516108751296997 + ], + [ + -28.425662994384766, + 6.56502103805542, + 1.516108751296997 + ], + [ + -28.319232940673828, + 5.89305305480957, + 1.516108751296997 + ], + [ + -29.418025970458984, + 5.719021320343018, + 1.516108751296997 + ] + ], + "corners_2d": [ + [ + 813.9128931730987, + 151.84905324804555 + ], + [ + 841.8936599119154, + 147.2137648840254 + ], + [ + 834.4950951920619, + 137.19702403905535 + ], + [ + 806.825299557232, + 141.7162846772546 + ], + [ + 820.7129539098668, + 108.04493178506948 + ], + [ + 849.7403932345526, + 103.4924332567856 + ], + [ + 841.9557010587098, + 93.66161983619162 + ], + [ + 813.2626619187412, + 98.095807577843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 3580, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 941.8353241819755, + "ymin": 0.0, + "xmax": 1084.8398761387734, + "ymax": 56.47106559425953 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 941.8353241819755, + 34.38400809277266 + ], + [ + 972.2164010412364, + 56.47106559425953 + ], + [ + 1073.743432635502, + 29.918153847939266 + ], + [ + 1041.412388610818, + 9.435324269629064 + ], + [ + 949.6091643861319, + 2.5051012318413655 + ], + [ + 981.0560475907791, + 24.12421220374563 + ], + [ + 1084.8398761387734, + -1.8617724236215167 + ], + [ + 1051.364838895994, + -21.87184607873627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5087, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 532.305996060676, + "ymin": 68.93037679654503, + "xmax": 682.249820898325, + "ymax": 165.40769844643032 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 535.7950533598818, + 136.10008994418448 + ], + [ + 555.7803233219204, + 165.40769844643032 + ], + [ + 681.0173733448798, + 132.4328724750406 + ], + [ + 657.4653461626672, + 105.39706831287259 + ], + [ + 532.305996060676, + 99.12295665053983 + ], + [ + 552.8320912969509, + 127.99290224658245 + ], + [ + 682.249820898325, + 95.49183794471281 + ], + [ + 657.9176811556218, + 68.93037679654503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.84567188707047, + "ymin": 269.46881683982167, + "xmax": 134.68439557017086, + "ymax": 313.7346236399476 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 134.68439557017086, + 310.09178014704855 + ], + [ + 133.21838553889228, + 299.3124795171842 + ], + [ + 119.86356922485311, + 302.87386204530975 + ], + [ + 121.18298056687127, + 313.7346236399476 + ], + [ + 119.00142521608609, + 280.2334095333731 + ], + [ + 117.67185395369393, + 269.46881683982167 + ], + [ + 103.84567188707047, + 273.0245106739478 + ], + [ + 105.01800534671713, + 283.87297808505133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 567.1370136475265, + "ymin": 30.31111137549442, + "xmax": 582.3076475132397, + "ymax": 65.86655382969144 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.4677639920619, + 57.87619334157512 + ], + [ + 568.7588737973449, + 59.855026016888075 + ], + [ + 573.5386794160286, + 65.86655382969144 + ], + [ + 582.3076475132397, + 63.85412777512431 + ], + [ + 576.0482250773091, + 30.31111137549442 + ], + [ + 567.1370136475265, + 32.2562229664735 + ], + [ + 572.0125342725377, + 38.16682272792622 + ], + [ + 580.9866709170516, + 36.187929791308875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 634.1751817131118, + "ymin": 206.39628398930196, + "xmax": 648.9938079751508, + "ymax": 241.18319821054413 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 643.1931933075767, + 230.86166422690025 + ], + [ + 634.3092854619985, + 233.4274160733986 + ], + [ + 639.8400957520208, + 241.18319821054413 + ], + [ + 648.7855397543799, + 238.5722832806581 + ], + [ + 643.2682184749775, + 206.39628398930196 + ], + [ + 634.1751817131118, + 208.94958722536467 + ], + [ + 639.8362936960262, + 216.6698641473434 + ], + [ + 648.9938079751508, + 214.07054515007323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 531.391320561617, + "ymin": 0.0, + "xmax": 546.1754551303865, + "ymax": 20.99411668644308 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 541.9192913901148, + 13.968683785898747 + ], + [ + 533.6585774362545, + 15.709463472456207 + ], + [ + 537.8604412983952, + 20.99411668644308 + ], + [ + 546.1754551303865, + 19.225641187281326 + ], + [ + 539.8337388149323, + -12.784786278364038 + ], + [ + 531.391320561617, + -11.078490327385339 + ], + [ + 535.6651213139735, + -5.897357656870895 + ], + [ + 544.1642785104099, + -7.631385832317562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.8191067632767, + "ymin": 238.59326788221063, + "xmax": 252.00577860165424, + "ymax": 281.84351216063646 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 252.00577860165424, + 278.4372582728421 + ], + [ + 249.31377230723547, + 268.35304451965277 + ], + [ + 236.8170284396018, + 271.68560210360255 + ], + [ + 239.38123464321586, + 281.84351216063646 + ], + [ + 240.3727643887832, + 248.64338094933942 + ], + [ + 237.73099460950556, + 238.59326788221063 + ], + [ + 224.8191067632767, + 241.91383240507946 + ], + [ + 227.32432928366586, + 252.03959479467608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.4733206527011, + "ymin": 489.9976825764405, + "xmax": 1117.3486039033965, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 983.7386567034521, + 724.5511135340762 + ], + [ + 970.4928393163666, + 705.961765959032 + ], + [ + 815.4733206527011, + 783.1513676334271 + ], + [ + 827.2365805499577, + 803.9330055109394 + ], + [ + 1117.3486039033965, + 511.70218964959236 + ], + [ + 1096.5548440241566, + 489.9976825764405 + ], + [ + 887.7841041999523, + 581.6407559365948 + ], + [ + 905.9838896842059, + 607.0127352880114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 993.9640791331368, + "ymin": 0.0, + "xmax": 1160.3152364647653, + "ymax": 168.30133984305849 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1064.3419166363808, + 168.30133984305849 + ], + [ + 1074.0811693656078, + 165.26979496205618 + ], + [ + 1003.3024929238466, + 111.31834090424616 + ], + [ + 993.9640791331368, + 113.96143985927893 + ], + [ + 1149.0170409902123, + -51.965282928496265 + ], + [ + 1160.3152364647653, + -54.621377340910726 + ], + [ + 1069.8275368305635, + -101.24350924263382 + ], + [ + 1059.0454151271113, + -98.98766711647613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.39487497451569, + "ymin": 0.0, + "xmax": 452.84272344997294, + "ymax": 63.31601004450522 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 452.84272344997294, + 6.480219836632216 + ], + [ + 450.0761578471869, + 2.2919967335066644 + ], + [ + 164.9894650950655, + 58.37435138847968 + ], + [ + 166.0076542754711, + 63.31601004450522 + ], + [ + 421.28305808162816, + -206.944848113362 + ], + [ + 418.28836346351017, + -210.2454285174506 + ], + [ + 77.39487497451569, + -165.45229110112382 + ], + [ + 77.87806666920403, + -161.4426251847542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2012769395043, + "ymin": 578.6502054123663, + "xmax": 930.4359063748728, + "ymax": 609.6593372307216 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 928.7804777656306, + 598.9871452077855 + ], + [ + 916.6147958392901, + 582.5510073726346 + ], + [ + 893.2012769395043, + 592.9430770800768 + ], + [ + 905.1560854120714, + 609.6593372307216 + ], + [ + 930.4359063748728, + 595.1282628620908 + ], + [ + 918.17950596391, + 578.6502054123663 + ], + [ + 894.6456865091765, + 589.0684906917897 + ], + [ + 906.6891468739026, + 605.8290047119439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 154.2047901572443, + "xmax": 361.12310974328363, + "ymax": 589.3363623574189 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -148.87832942627597, + 574.5013046493074 + ], + [ + -150.9111197473768, + 589.3363623574189 + ], + [ + 361.12310974328363, + 427.35017591234384 + ], + [ + 357.5580013659468, + 416.121141839225 + ], + [ + -439.290493040264, + 317.674484904757 + ], + [ + -446.91783942155985, + 333.78696527510056 + ], + [ + 274.6187787603209, + 165.30380000662788 + ], + [ + 271.1399534746876, + 154.2047901572443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.0037356694933, + "ymin": 578.4856783035448, + "xmax": 930.6388971928234, + "ymax": 609.8287201041342 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 928.9645091125295, + 599.0403028216124 + ], + [ + 916.6673767705258, + 582.428776786353 + ], + [ + 893.0037356694933, + 592.9310190145478 + ], + [ + 905.0854375468872, + 609.8287201041342 + ], + [ + 930.6388971928234, + 595.1400188044767 + ], + [ + 918.2490733997552, + 578.4856783035448 + ], + [ + 894.462541331924, + 589.0146906360205 + ], + [ + 906.6348005916836, + 605.9576166372211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 492.5196256737669, + "ymin": 0.0, + "xmax": 665.5887811585965, + "ymax": 309.1408697159885 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 647.2369817135708, + 309.1408697159885 + ], + [ + 660.2175429660994, + 305.1495909342901 + ], + [ + 527.9018245870857, + 107.98744703642706 + ], + [ + 517.1702906828772, + 110.49935612933032 + ], + [ + 649.1698223724296, + 51.942553520122374 + ], + [ + 665.5887811585965, + 48.24501644835999 + ], + [ + 505.4939864976225, + -124.72216765943233 + ], + [ + 492.5196256737669, + -122.63165075799571 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00079/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00079/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac488cb7e8d4063483e2dbfb74cf8fb950be80cb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00079/meta.json @@ -0,0 +1,2257 @@ +{ + "frame_id": 79, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 39.5, + "sim_timestamp": 12583.015627098503 + }, + "drone_pose": { + "x": -47.75069440651631, + "y": 30.40900884745941, + "z": 20.00000000001801, + "pitch": -46.44556241570899, + "yaw": -65.44306447761471, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2863645553588867, + 0.6267186403274536, + 0.7247200012207031, + 18.237598419189453 + ], + [ + -0.9095487594604492, + 0.4155973196029663, + 0.0, + 30.793682098388672 + ], + [ + -0.30119168758392334, + -0.6591681838035583, + 0.6890434622764587, + -48.20763397216797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.71750799166089, + "y": 29.952827543170546, + "z": 20.00000000000245 + }, + "t1_image_uv": [ + 121.96834864474374, + -649.7058791009088 + ], + "t1_depth": 0.2954007234262908 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 13.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.48201600107739, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 13.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.29011717438697815, + "y": 0.18784545361995697, + "z": 0.5594119429588318 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 629.3235911486705, + "ymin": 336.895029853561, + "xmax": 650.7817333995863, + "ymax": 382.81051295810335 + }, + "corners_3d": [ + [ + -40.35503005981445, + 14.1023530960083, + 0.2485406994819641 + ], + [ + -39.97933578491211, + 14.1023530960083, + 0.2485406994819641 + ], + [ + -39.97933578491211, + 13.52211856842041, + 0.2485406994819641 + ], + [ + -40.35503005981445, + 13.52211856842041, + 0.2485406994819641 + ], + [ + -40.35503005981445, + 14.1023530960083, + 1.3673646450042725 + ], + [ + -39.97933578491211, + 14.1023530960083, + 1.3673646450042725 + ], + [ + -39.97933578491211, + 13.52211856842041, + 1.3673646450042725 + ], + [ + -40.35503005981445, + 13.52211856842041, + 1.3673646450042725 + ] + ], + "corners_2d": [ + [ + 638.1887467156387, + 382.81051295810335 + ], + [ + 650.4550371415517, + 378.65930593233605 + ], + [ + 641.7797569495029, + 364.8718218964209 + ], + [ + 629.6440297309751, + 368.9122444262568 + ], + [ + 638.1319135116241, + 354.8864208598694 + ], + [ + 650.7817333995863, + 350.7212742637452 + ], + [ + 641.8346017319429, + 336.895029853561 + ], + [ + 629.3235911486705, + 340.94561144061277 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 79, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 496936, + "2": 223885, + "3": 146485, + "5": 5, + "6": 11085, + "7": 1829, + "10": 555, + "12": 2033, + "14": 9321, + "20": 2982, + "24": 26308, + "25": 176 + }, + "instance_pixel_counts": { + "148": 9787, + "3424": 176, + "6215": 145705, + "6796": 1648, + "6802": 7047, + "7308": 39, + "7314": 32730, + "8332": 1169, + "8338": 13270, + "15184": 5, + "18000": 838, + "18512": 2013, + "21652": 96075, + "22676": 111730, + "23700": 48873, + "24212": 73641, + "24724": 54663, + "25856": 5629, + "26112": 58, + "26624": 3414, + "33370": 8465, + "35988": 8654, + "36500": 2983, + "37524": 2366, + "38036": 5806, + "38548": 539, + "39052": 2994, + "39564": 10770, + "40265": 131, + "40588": 3336, + "41100": 230, + "41612": 1557, + "41818": 137252, + "42074": 768, + "43409": 2253, + "44945": 1137, + "56576": 213, + "56832": 243, + "57088": 608, + "57344": 589, + "57600": 380, + "57856": 4109, + "59904": 5212, + "61569": 3813, + "62613": 3416, + "63123": 43730, + "63125": 127, + "63635": 4555, + "64149": 488, + "64659": 23408, + "64661": 1582, + "65171": 30474, + "65173": 347 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 13.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.26976683735847473, + "y": 0.22046813368797302, + "z": 0.5494389533996582 + }, + "yaw": -89.99999237060547 + }, + "bbox_2d": { + "xmin": 628.5400145754317, + "ymin": 337.2800119928175, + "xmax": 651.5534204181866, + "ymax": 382.4369011951938 + }, + "corners_3d": [ + [ + -40.38764953613281, + 14.082002639770508, + 0.2585136890411377 + ], + [ + -39.94671630859375, + 14.082002639770508, + 0.2585136890411377 + ], + [ + -39.94671630859375, + 13.542469024658203, + 0.2585136890411377 + ], + [ + -40.38764953613281, + 13.542469024658203, + 0.2585136890411377 + ], + [ + -40.38764953613281, + 14.082002639770508, + 1.357391595840454 + ], + [ + -39.94671630859375, + 14.082002639770508, + 1.357391595840454 + ], + [ + -39.94671630859375, + 13.542469024658203, + 1.357391595840454 + ], + [ + -40.38764953613281, + 13.542469024658203, + 1.357391595840454 + ] + ], + "corners_2d": [ + [ + 636.8149686761219, + 382.4369011951938 + ], + [ + 651.2097733746801, + 377.56930838236786 + ], + [ + 643.1304474442143, + 364.75751855178896 + ], + [ + 628.8782063187659, + 369.5041743992031 + ], + [ + 636.7168513831685, + 355.0104103131867 + ], + [ + 651.5534204181866, + 350.1269051619563 + ], + [ + 643.2251814207784, + 337.2800119928175 + ], + [ + 628.5400145754317, + 342.03852803838555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 243, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 16.8099422454834, + "z": 0.8055014610290527 + }, + "extent": { + "x": 0.2257678359746933, + "y": 0.18904969096183777, + "z": 0.5212615728378296 + }, + "yaw": -99.00000762939453 + }, + "bbox_2d": { + "xmin": 812.6654874310699, + "ymin": 366.1367375470864, + "xmax": 839.9795719788319, + "ymax": 408.29896486031413 + }, + "corners_3d": [ + [ + -36.19260025024414, + 17.062503814697266, + 0.28423988819122314 + ], + [ + -35.819156646728516, + 17.00335693359375, + 0.28423988819122314 + ], + [ + -35.88978958129883, + 16.55738067626953, + 0.28423988819122314 + ], + [ + -36.26323318481445, + 16.616527557373047, + 0.28423988819122314 + ], + [ + -36.19260025024414, + 17.062503814697266, + 1.3267630338668823 + ], + [ + -35.819156646728516, + 17.00335693359375, + 1.3267630338668823 + ], + [ + -35.88978958129883, + 16.55738067626953, + 1.3267630338668823 + ], + [ + -36.26323318481445, + 16.616527557373047, + 1.3267630338668823 + ] + ], + "corners_2d": [ + [ + 823.6186776374541, + 408.29896486031413 + ], + [ + 834.1921008846717, + 402.46282155124743 + ], + [ + 823.1947606915255, + 392.1161384508843 + ], + [ + 812.6654874310699, + 397.83775258364426 + ], + [ + 829.122294677775, + 382.3889745060903 + ], + [ + 839.9795719788319, + 376.5260813689615 + ], + [ + 828.5992071162636, + 366.1367375470864 + ], + [ + 817.7881136131184, + 371.88119008396035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 608, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 20.754947662353516, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3630908131599426, + "y": 0.5844451785087585, + "z": 0.9057839512825012 + }, + "yaw": -93.00000762939453 + }, + "bbox_2d": { + "xmin": 646.3521978020477, + "ymin": 553.7132431460536, + "xmax": 709.7932674326598, + "ymax": 641.8963373083253 + }, + "corners_3d": [ + [ + -42.987648010253906, + 21.148128509521484, + -0.25023365020751953 + ], + [ + -41.82036209106445, + 21.08695411682129, + -0.25023365020751953 + ], + [ + -41.858367919921875, + 20.361766815185547, + -0.25023365020751953 + ], + [ + -43.02565383911133, + 20.422941207885742, + -0.25023365020751953 + ], + [ + -42.987648010253906, + 21.148128509521484, + 1.561334252357483 + ], + [ + -41.82036209106445, + 21.08695411682129, + 1.561334252357483 + ], + [ + -41.858367919921875, + 20.361766815185547, + 1.561334252357483 + ], + [ + -43.02565383911133, + 20.422941207885742, + 1.561334252357483 + ] + ], + "corners_2d": [ + [ + 661.2459186403298, + 641.8963373083253 + ], + [ + 705.6688099282892, + 620.2337695702677 + ], + [ + 690.1503429423918, + 595.3726068696316 + ], + [ + 646.3521978020477, + 616.1883645519175 + ], + [ + 662.6045274761492, + 601.5558272390415 + ], + [ + 709.7932674326598, + 579.2517792677166 + ], + [ + 693.2346782284116, + 553.7132431460536 + ], + [ + 646.7498095077488, + 575.0918748697259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 589, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 13.812235832214355, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.29914793372154236, + "y": 0.3478149473667145, + "z": 0.8705649375915527 + }, + "yaw": -86.99999237060547 + }, + "bbox_2d": { + "xmin": 266.8475149737755, + "ymin": 444.57764495881463, + "xmax": 317.07962109820903, + "ymax": 512.9951525569743 + }, + "corners_3d": [ + [ + -50.03017807006836, + 14.09277057647705, + -0.21501952409744263 + ], + [ + -49.33550262451172, + 14.12917709350586, + -0.21501952409744263 + ], + [ + -49.3041877746582, + 13.53170108795166, + -0.21501952409744263 + ], + [ + -49.998863220214844, + 13.495294570922852, + -0.21501952409744263 + ], + [ + -50.03017807006836, + 14.09277057647705, + 1.5261104106903076 + ], + [ + -49.33550262451172, + 14.12917709350586, + 1.5261104106903076 + ], + [ + -49.3041877746582, + 13.53170108795166, + 1.5261104106903076 + ], + [ + -49.998863220214844, + 13.495294570922852, + 1.5261104106903076 + ] + ], + "corners_2d": [ + [ + 289.09138169624026, + 512.9951525569743 + ], + [ + 317.07962109820903, + 504.60278258280084 + ], + [ + 313.56019466333163, + 486.74429421856996 + ], + [ + 285.98287560309024, + 494.8780787374535 + ], + [ + 269.8073185412454, + 471.24357673132045 + ], + [ + 299.46871803893333, + 462.71131529987093 + ], + [ + 296.04756150011394, + 444.57764495881463 + ], + [ + 266.8475149737755, + 452.83297027485617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 380, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 5.642021179199219, + "z": 0.6000766754150391 + }, + "extent": { + "x": 0.3810144066810608, + "y": 0.4476568400859833, + "z": 0.9379531145095825 + }, + "yaw": -80.99998474121094 + }, + "bbox_2d": { + "xmin": 808.8077635149706, + "ymin": 93.073043926698, + "xmax": 847.2319731067032, + "ymax": 152.60122108645453 + }, + "corners_3d": [ + [ + -29.423593521118164, + 5.948315620422363, + -0.33787643909454346 + ], + [ + -28.539302825927734, + 6.08837366104126, + -0.33787643909454346 + ], + [ + -28.420095443725586, + 5.335726737976074, + -0.33787643909454346 + ], + [ + -29.304386138916016, + 5.195668697357178, + -0.33787643909454346 + ], + [ + -29.423593521118164, + 5.948315620422363, + 1.5380297899246216 + ], + [ + -28.539302825927734, + 6.08837366104126, + 1.5380297899246216 + ], + [ + -28.420095443725586, + 5.335726737976074, + 1.5380297899246216 + ], + [ + -29.304386138916016, + 5.195668697357178, + 1.5380297899246216 + ] + ], + "corners_2d": [ + [ + 816.7807856107099, + 152.60122108645453 + ], + [ + 839.2920049319184, + 148.86016059658493 + ], + [ + 831.0392344537241, + 137.6360350596914 + ], + [ + 808.8077635149706, + 141.27243133439023 + ], + [ + 823.8582030058227, + 107.7564318055243 + ], + [ + 847.2319731067032, + 104.08376094641537 + ], + [ + 838.539227521559, + 93.073043926698 + ], + [ + 815.4667888233516, + 96.63895013798032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4109, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 948.731930844639, + "ymin": 0.0, + "xmax": 1092.9016573876531, + "ymax": 62.230769718653676 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 948.731930844639, + 39.81909797616305 + ], + [ + 979.5917394398662, + 62.230769718653676 + ], + [ + 1081.5260427516837, + 35.25300432708548 + ], + [ + 1048.7092077885925, + 14.482883656977606 + ], + [ + 956.7405970375924, + 7.836464063898177 + ], + [ + 988.6949258576647, + 29.781509553986837 + ], + [ + 1092.9016573876531, + 3.3699765730070226 + ], + [ + 1058.9120419375374, + -16.92771120892354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5212, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 537.024931234868, + "ymin": 75.45227507669665, + "xmax": 688.2740489059282, + "ymax": 173.10286706488006 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 540.3931036027146, + 143.28320851906162 + ], + [ + 560.7582444442318, + 173.10286706488006 + ], + [ + 686.8407911570472, + 139.51318209661937 + ], + [ + 662.86545933356, + 112.02728914744421 + ], + [ + 537.024931234868, + 106.20423278783466 + ], + [ + 557.9533570080839, + 135.59521505874775 + ], + [ + 688.2740489059282, + 102.46989827357453 + ], + [ + 663.491626367608, + 75.45227507669665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.59645529039278, + "ymin": 283.80903632149654, + "xmax": 136.85902350938755, + "ymax": 328.5255748054388 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 136.85902350938755, + 324.76848620858675 + ], + [ + 135.33883556082776, + 313.66914224156045 + ], + [ + 121.79389501395929, + 317.34096991164546 + ], + [ + 123.16328689613351, + 328.5255748054388 + ], + [ + 121.00787574293452, + 294.9031923425603 + ], + [ + 119.6265247636237, + 283.80903632149654 + ], + [ + 105.59645529039278, + 287.4782666542654 + ], + [ + 106.81590001129086, + 298.66032875401845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.4627234049167, + "ymin": 38.2237536082784, + "xmax": 588.6948815148055, + "ymax": 74.07806527996775 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 583.7427090184735, + 65.91282485378804 + ], + [ + 574.9593134856239, + 67.9368899946187 + ], + [ + 579.8504493702403, + 74.07806527996775 + ], + [ + 588.6948815148055, + 72.01926003085799 + ], + [ + 582.4519601685805, + 38.2237536082784 + ], + [ + 573.4627234049167, + 40.21427442513834 + ], + [ + 578.4542858427894, + 46.255255010617816 + ], + [ + 587.5074766857447, + 44.229774522401954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.5562187129652, + "ymin": 216.57285781646493, + "xmax": 656.6323831566638, + "ymax": 251.63877589650693 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 650.5161809874595, + 241.0821864578864 + ], + [ + 641.5562187129652, + 243.70884182255764 + ], + [ + 647.2205438424519, + 251.63877589650693 + ], + [ + 656.2429981143116, + 248.96535506233494 + ], + [ + 650.7660160308627, + 216.57285781646493 + ], + [ + 641.5933017312469, + 219.18811108547408 + ], + [ + 647.3941655408009, + 227.0858455164082 + ], + [ + 656.6323831566638, + 224.4229068117152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 536.8956506345348, + "ymin": 0.0, + "xmax": 551.7463078540444, + "ymax": 28.265218638188742 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 547.397308854337, + 21.09579773946973 + ], + [ + 539.0691041790222, + 22.873964453902545 + ], + [ + 543.3629668678435, + 28.265218638188742 + ], + [ + 551.7463078540444, + 26.45846916285967 + ], + [ + 545.408580758341, + -5.784436949495898 + ], + [ + 536.8956506345348, + -4.040767806830502 + ], + [ + 541.2649347827092, + 1.2471063295819818 + ], + [ + 549.8354983937352, + -0.5252012031814957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.29229834938377, + "ymin": 251.967555081399, + "xmax": 255.79702793373355, + "ymax": 295.6502239882659 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 255.79702793373355, + 292.1409674737453 + ], + [ + 253.01732410854146, + 281.768485120348 + ], + [ + 240.35617117357526, + 285.20073210572326 + ], + [ + 243.00471772648427, + 295.6502239882659 + ], + [ + 244.11054719292315, + 262.3135981878799 + ], + [ + 241.37982362733607, + 251.967555081399 + ], + [ + 228.29229834938377, + 255.39028617224062 + ], + [ + 230.88276068722968, + 265.8154791108806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.1332017436512, + "ymin": 514.2213754645119, + "xmax": 1142.0204814075068, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 999.3813305980871, + 745.9398173820309 + ], + [ + 985.7087509300532, + 726.7811605230274 + ], + [ + 829.1332017436512, + 806.5045835792407 + ], + [ + 841.3019599699005, + 827.9640708050815 + ], + [ + 1142.0204814075068, + 536.8513827474428 + ], + [ + 1120.304313326821, + 514.2213754645119 + ], + [ + 908.8308171483029, + 610.0402192972961 + ], + [ + 927.9151651769805, + 636.5920672581719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.265555369998, + "ymin": 0.0, + "xmax": 1172.7529210173502, + "ymax": 175.95028033756842 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1073.9193421827913, + 175.95028033756842 + ], + [ + 1083.7038224165917, + 172.86118772045717 + ], + [ + 1011.6476288586588, + 117.99653934222133 + ], + [ + 1002.265555369998, + 120.6866138303231 + ], + [ + 1161.3977205643027, + -45.163342057030036 + ], + [ + 1172.7529210173502, + -47.87910112392183 + ], + [ + 1080.3409200826986, + -95.44004548875063 + ], + [ + 1069.5028925519582, + -93.13739217547607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.94680954629644, + "ymin": 0.0, + "xmax": 455.963745582353, + "ymax": 69.40432040116315 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 455.963745582353, + 11.636235816174008 + ], + [ + 453.15278962868155, + 7.388726651677359 + ], + [ + 166.11949677108902, + 64.38518066170644 + ], + [ + 167.15851500947838, + 69.40432040116315 + ], + [ + 424.6804323941186, + -202.732051863916 + ], + [ + 421.6300597137754, + -206.08708238542408 + ], + [ + 77.94680954629644, + -160.44783740443108 + ], + [ + 78.44475168992733, + -156.36379180965923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 914.0903838151952, + "ymin": 606.5127113337271, + "xmax": 952.4007025769279, + "ymax": 638.6996589028189 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 950.5802837426141, + 627.5230717406221 + ], + [ + 937.8391255327706, + 610.3427306360047 + ], + [ + 914.0903838151952, + 621.2193813869424 + ], + [ + 926.6163958167745, + 638.6996589028189 + ], + [ + 952.4007025769279, + 623.7412252632255 + ], + [ + 939.5612458549904, + 606.5127113337271 + ], + [ + 915.6889474573134, + 617.4195441576494 + ], + [ + 928.3111416422535, + 634.9506096190831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 167.0991893106999, + "xmax": 365.59681965450466, + "ymax": 607.1007743787726 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -150.8727396479959, + 591.8491990380214 + ], + [ + -152.9508343008257, + 607.1007743787726 + ], + [ + 365.59681965450466, + 440.64400578092835 + ], + [ + 361.93455493595854, + 429.146381814811 + ], + [ + -447.48803440660276, + 336.48202595247955 + ], + [ + -455.3921888800412, + 353.2172590202339 + ], + [ + 279.16396739913733, + 178.5460212666706 + ], + [ + 275.5586301802851, + 167.0991893106999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 913.8871802563642, + "ymin": 606.3420081387064, + "xmax": 952.6096082686563, + "ymax": 638.8755549825008 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 950.7683961971195, + 627.5772274668213 + ], + [ + 937.8896103842085, + 610.2136170486093 + ], + [ + 913.8871802563642, + 621.205527862981 + ], + [ + 926.5461704825155, + 638.8755549825008 + ], + [ + 952.6096082686563, + 623.7548200895815 + ], + [ + 939.6303867202021, + 606.3420081387064 + ], + [ + 915.5017393533465, + 617.3647398555427 + ], + [ + 928.2589798846776, + 635.0866689877344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.41708463752667, + "ymin": 0.0, + "xmax": 674.6312846652897, + "ymax": 319.63382735810444 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 654.2025759579838, + 319.63382735810444 + ], + [ + 667.2875761284066, + 315.55291281349895 + ], + [ + 532.2458962777825, + 114.69911273251563 + ], + [ + 521.441034232299, + 117.25613336611423 + ], + [ + 658.0453446934363, + 61.753099876906845 + ], + [ + 674.6312846652897, + 57.951774854106816 + ], + [ + 510.49885453952686, + -119.0180765048101 + ], + [ + 497.41708463752667, + -116.8831500825421 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00080/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00080/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52521260dc3fa2efffcee5210221909f4edb7da3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00080/meta.json @@ -0,0 +1,2362 @@ +{ + "frame_id": 80, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.0, + "sim_timestamp": 12592.438917813124 + }, + "drone_pose": { + "x": -47.71750799166089, + "y": 29.952827543170546, + "z": 20.00000000000245, + "pitch": -46.404623292153246, + "yaw": -65.59480790871633, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.28491759300231934, + 0.6279462575912476, + 0.7242276072502136, + 17.919769287109375 + ], + [ + -0.9106463193893433, + 0.4131869077682495, + 0.0, + 31.077648162841797 + ], + [ + -0.2992413640022278, + -0.6595151424407959, + 0.6895610094070435, + -47.824615478515625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.643406130614025, + "y": 29.536225670379565, + "z": 20.000000000000146 + }, + "t1_image_uv": [ + 284.63438004258813, + -648.2622098164202 + ], + "t1_depth": 0.2827164982366801 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -40.16718292236328, + "y": 13.312236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 26.500025501687823, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 13.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.22016842663288116, + "y": 0.3330199718475342, + "z": 0.5606784820556641 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.6481842999158, + "ymin": 337.3570136545717, + "xmax": 654.284469824112, + "ymax": 382.33207653880334 + }, + "corners_3d": [ + [ + -40.558345794677734, + 13.232438087463379, + 0.24727416038513184 + ], + [ + -40.08738327026367, + 13.703398704528809, + 0.24727416038513184 + ], + [ + -39.77602005004883, + 13.392033576965332, + 0.24727416038513184 + ], + [ + -40.24698257446289, + 12.921072959899902, + 0.24727416038513184 + ], + [ + -40.558345794677734, + 13.232438087463379, + 1.36863112449646 + ], + [ + -40.08738327026367, + 13.703398704528809, + 1.36863112449646 + ], + [ + -39.77602005004883, + 13.392033576965332, + 1.36863112449646 + ], + [ + -40.24698257446289, + 12.921072959899902, + 1.36863112449646 + ] + ], + "corners_2d": [ + [ + 626.0823609622461, + 376.12993213266975 + ], + [ + 648.4292974924489, + 382.33207653880334 + ], + [ + 653.8542964363755, + 371.4697362669946 + ], + [ + 631.7091856034126, + 365.39725741494175 + ], + [ + 625.6481842999158, + 348.11835312693853 + ], + [ + 648.6939011336362, + 354.3402699059469 + ], + [ + 654.284469824112, + 343.44484686602823 + ], + [ + 631.4533376080711, + 337.3570136545717 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 80, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 502121, + "2": 222150, + "3": 141004, + "5": 18, + "6": 11367, + "7": 1907, + "10": 546, + "12": 2013, + "14": 9695, + "20": 3007, + "24": 27221, + "25": 551 + }, + "instance_pixel_counts": { + "148": 10893, + "3424": 551, + "6215": 143190, + "6796": 1682, + "6802": 7226, + "7308": 122, + "7314": 31817, + "8332": 1447, + "8338": 13800, + "15184": 18, + "18000": 851, + "18512": 2023, + "21652": 98821, + "22676": 106965, + "23700": 51220, + "24212": 76187, + "24724": 50322, + "25856": 5886, + "26112": 96, + "26624": 3498, + "33370": 9514, + "35988": 8991, + "36500": 2897, + "37524": 2596, + "38036": 6037, + "38548": 561, + "39052": 3074, + "39564": 10428, + "40265": 133, + "40588": 3502, + "41100": 257, + "41612": 1388, + "41818": 131481, + "42074": 9, + "43409": 2549, + "43921": 29, + "44945": 1639, + "56576": 208, + "56832": 227, + "57088": 637, + "57344": 566, + "57600": 375, + "57856": 4370, + "59904": 5325, + "61569": 3794, + "62613": 3472, + "63123": 44704, + "63125": 146, + "63635": 5599, + "64149": 530, + "64659": 25934, + "64661": 1633, + "65171": 31476, + "65173": 358 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 13.312235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2453039288520813, + "y": 0.20229245722293854, + "z": 0.5554578304290771 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.817588034556, + "ymin": 338.07177771455696, + "xmax": 650.0974690456229, + "ymax": 381.6080322505719 + }, + "corners_3d": [ + [ + -40.483680725097656, + 13.342649459838867, + 0.25249481201171875 + ], + [ + -40.19759750366211, + 13.628734588623047, + 0.25249481201171875 + ], + [ + -39.850685119628906, + 13.281822204589844, + 0.25249481201171875 + ], + [ + -40.13676834106445, + 12.995737075805664, + 0.25249481201171875 + ], + [ + -40.483680725097656, + 13.342649459838867, + 1.363410472869873 + ], + [ + -40.19759750366211, + 13.628734588623047, + 1.363410472869873 + ], + [ + -39.850685119628906, + 13.281822204589844, + 1.363410472869873 + ], + [ + -40.13676834106445, + 12.995737075805664, + 1.363410472869873 + ] + ], + "corners_2d": [ + [ + 630.1233510394638, + 377.8358848747139 + ], + [ + 643.7068064570701, + 381.6080322505719 + ], + [ + 649.796710012037, + 369.53383191426263 + ], + [ + 636.3498853903916, + 365.8494571575965 + ], + [ + 629.817588034556, + 350.0907971069669 + ], + [ + 643.8219973879741, + 353.87499967614735 + ], + [ + 650.0974690456229, + 341.7652453265642 + ], + [ + 636.238244912, + 338.07177771455696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 227, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -36.041194915771484, + "y": 16.3099422454834, + "z": 0.8054965734481812 + }, + "extent": { + "x": 0.23233641684055328, + "y": 0.2512689232826233, + "z": 0.5443367958068848 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.2056957480867, + "ymin": 366.27556156885606, + "xmax": 838.928101981095, + "ymax": 408.7735449391407 + }, + "corners_3d": [ + [ + -36.381038665771484, + 16.3502140045166, + 0.2611597776412964 + ], + [ + -35.97447967529297, + 16.645599365234375, + 0.2611597776412964 + ], + [ + -35.701351165771484, + 16.269670486450195, + 0.2611597776412964 + ], + [ + -36.10791015625, + 15.974286079406738, + 0.2611597776412964 + ], + [ + -36.381038665771484, + 16.3502140045166, + 1.349833369255066 + ], + [ + -35.97447967529297, + 16.645599365234375, + 1.349833369255066 + ], + [ + -35.701351165771484, + 16.269670486450195, + 1.349833369255066 + ], + [ + -36.10791015625, + 15.974286079406738, + 1.349833369255066 + ] + ], + "corners_2d": [ + [ + 813.2056957480867, + 405.94918408528576 + ], + [ + 831.8480526370768, + 408.7735449391407 + ], + [ + 832.9670031480044, + 396.1635789096274 + ], + [ + 814.5435181965676, + 393.4061385955308 + ], + [ + 818.6080278382105, + 378.8729510068503 + ], + [ + 837.8483775481232, + 381.7108384859418 + ], + [ + 838.928101981095, + 369.0441471958499 + ], + [ + 819.9208081859547, + 366.27556156885606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 637, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -42.42300796508789, + "y": 20.25494956970215, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.4309106469154358, + "y": 0.3644329607486725, + "z": 0.9026181101799011 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 654.6577632042655, + "ymin": 556.3498628088397, + "xmax": 698.6127861290271, + "ymax": 638.7019864812445 + }, + "corners_3d": [ + [ + -42.98217010498047, + 20.33132553100586, + -0.24706780910491943 + ], + [ + -42.44051742553711, + 20.819032669067383, + -0.24706780910491943 + ], + [ + -41.86384582519531, + 20.178573608398438, + -0.24706780910491943 + ], + [ + -42.40549850463867, + 19.690866470336914, + -0.24706780910491943 + ], + [ + -42.98217010498047, + 20.33132553100586, + 1.5581684112548828 + ], + [ + -42.44051742553711, + 20.819032669067383, + 1.5581684112548828 + ], + [ + -41.86384582519531, + 20.178573608398438, + 1.5581684112548828 + ], + [ + -42.40549850463867, + 19.690866470336914, + 1.5581684112548828 + ] + ], + "corners_2d": [ + [ + 654.6577632042655, + 629.8364208733092 + ], + [ + 685.2115207705067, + 638.7019864812445 + ], + [ + 695.2022892362554, + 606.2556572979113 + ], + [ + 665.34656457631, + 597.8300220689974 + ], + [ + 655.5814408342377, + 589.2406106752433 + ], + [ + 688.0815995194594, + 598.3695026342345 + ], + [ + 698.6127861290271, + 564.9982465882736 + ], + [ + 666.9013585282005, + 556.3498628088397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 566, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.66718292236328, + "y": 13.312235832214355, + "z": 0.6555503010749817 + }, + "extent": { + "x": 0.3865039050579071, + "y": 0.26793456077575684, + "z": 0.8675654530525208 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 263.9215856660743, + "ymin": 442.0071365784422, + "xmax": 319.3468329089364, + "ymax": 513.8417780196089 + }, + "corners_3d": [ + [ + -50.13369369506836, + 13.371743202209473, + -0.21201515197753906 + ], + [ + -49.77512741088867, + 13.76997184753418, + -0.21201515197753906 + ], + [ + -49.2006721496582, + 13.252728462219238, + -0.21201515197753906 + ], + [ + -49.55923843383789, + 12.854499816894531, + -0.21201515197753906 + ], + [ + -50.13369369506836, + 13.371743202209473, + 1.5231157541275024 + ], + [ + -49.77512741088867, + 13.76997184753418, + 1.5231157541275024 + ], + [ + -49.2006721496582, + 13.252728462219238, + 1.5231157541275024 + ], + [ + -49.55923843383789, + 12.854499816894531, + 1.5231157541275024 + ] + ], + "corners_2d": [ + [ + 283.32051911822987, + 506.7864371917526 + ], + [ + 300.61117743751305, + 513.8417780196089 + ], + [ + 319.3468329089364, + 490.86183729044706 + ], + [ + 302.28454083826153, + 484.0819543217903 + ], + [ + 263.9215856660743, + 465.0569413542378 + ], + [ + 282.0337197527548, + 472.22963011416243 + ], + [ + 302.1606085709745, + 448.88498032690586 + ], + [ + 284.2972900232588, + 442.0071365784422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 375, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.921844482421875, + "y": 5.142021179199219, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.38419920206069946, + "y": 0.45025360584259033, + "z": 0.9323643445968628 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 809.5211300836639, + "ymin": 92.80827810520981, + "xmax": 847.8738907801708, + "ymax": 154.15063532200247 + }, + "corners_3d": [ + [ + -29.4973201751709, + 5.003584861755371, + -0.3322486877441406 + ], + [ + -28.968015670776367, + 5.732110500335693, + -0.3322486877441406 + ], + [ + -28.34636878967285, + 5.280457496643066, + -0.3322486877441406 + ], + [ + -28.875673294067383, + 4.551931858062744, + -0.3322486877441406 + ], + [ + -29.4973201751709, + 5.003584861755371, + 1.532480001449585 + ], + [ + -28.968015670776367, + 5.732110500335693, + 1.532480001449585 + ], + [ + -28.34636878967285, + 5.280457496643066, + 1.532480001449585 + ], + [ + -28.875673294067383, + 4.551931858062744, + 1.532480001449585 + ] + ], + "corners_2d": [ + [ + 809.5211300836639, + 147.235201884186 + ], + [ + 832.303744415912, + 154.15063532200247 + ], + [ + 840.0184749060966, + 143.80577130385205 + ], + [ + 817.4614415522157, + 137.06674994864295 + ], + [ + 816.208773024325, + 102.78221081951921 + ], + [ + 839.9587418126603, + 109.57110303412276 + ], + [ + 847.8738907801708, + 99.4172601433392 + ], + [ + 824.3693589871586, + 92.80827810520981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4370, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 957.2886446108542, + "ymin": 0.0, + "xmax": 1102.8946258188737, + "ymax": 68.86505300151833 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 957.2886446108542, + 46.07075042158323 + ], + [ + 988.5766310391472, + 68.86505300151833 + ], + [ + 1091.1837425525157, + 41.612391162309166 + ], + [ + 1057.9071170392194, + 20.492136060723567 + ], + [ + 965.5787723120608, + 13.98612362318977 + ], + [ + 997.9913224678114, + 36.31431946292986 + ], + [ + 1102.8946258188737, + 9.623408553956722 + ], + [ + 1068.4138446140323, + -11.02388469559753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5325, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 542.9205988239921, + "ymin": 82.32670595185817, + "xmax": 695.4383474442852, + "ymax": 180.93194359169874 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 546.1251147584068, + 150.5761689296173 + ], + [ + 566.7344358105283, + 180.93194359169874 + ], + [ + 693.7656228128792, + 146.97143574185483 + ], + [ + 669.4805148318036, + 118.998560464923 + ], + [ + 542.9205988239921, + 113.4097748539252 + ], + [ + 564.1122598935225, + 143.34452881530393 + ], + [ + 695.4383474442852, + 109.83632994242595 + ], + [ + 670.3213644118061, + 82.32670595185817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 107.78309505090499, + "ymin": 297.36697587677645, + "xmax": 139.3549678514982, + "ymax": 342.4805063319775 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 139.3549678514982, + 338.64341506083747 + ], + [ + 137.83962733876945, + 327.2302250168279 + ], + [ + 124.11883211377312, + 330.9789118924237 + ], + [ + 125.47890782461707, + 342.4805063319775 + ], + [ + 123.37364943552097, + 308.78394045053096 + ], + [ + 122.0011612698504, + 297.36697587677645 + ], + [ + 107.78309505090499, + 301.11597309725516 + ], + [ + 108.98874119256288, + 312.62419429483543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 580.7498059854447, + "ymin": 46.38225834666832, + "xmax": 595.9917101382198, + "ymax": 82.5129855415629 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 590.9584701818163, + 74.1822728537503 + ], + [ + 582.0953183405416, + 76.23628327372876 + ], + [ + 587.0662064436495, + 82.5129855415629 + ], + [ + 595.9917101382198, + 80.42328238875808 + ], + [ + 589.822213621541, + 46.38225834666832 + ], + [ + 580.7498059854447, + 48.40312121284353 + ], + [ + 585.8252950295002, + 54.58018059625357 + ], + [ + 594.9630557920923, + 52.52337535389091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.2457248069593, + "ymin": 227.06201188459778, + "xmax": 664.7034734340168, + "ymax": 262.3923154470793 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 658.2920558096667, + 251.60771198896867 + ], + [ + 649.2457248069593, + 254.27670521907288 + ], + [ + 655.0088921566881, + 262.3923154470793 + ], + [ + 664.1191291983612, + 259.67517960768583 + ], + [ + 658.7311927900968, + 227.06201188459778 + ], + [ + 649.4683609049765, + 229.72071915703248 + ], + [ + 655.373633518912, + 237.80737951432218 + ], + [ + 664.7034734340168, + 235.09954618168967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 543.6018002100311, + "ymin": 1.4250294636201488, + "xmax": 558.4636834154832, + "ymax": 35.7209067242992 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 554.0503361315, + 28.417544273912483 + ], + [ + 545.6518637867362, + 30.21924162200844 + ], + [ + 550.0089556700532, + 35.7209067242992 + ], + [ + 558.4636834154832, + 33.889911157685845 + ], + [ + 552.1878273365584, + 1.4250294636201488 + ], + [ + 543.6018002100311, + 3.1924446873792363 + ], + [ + 548.0373628626983, + 8.590688398592874 + ], + [ + 556.6822097633941, + 6.79390102812232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 516.1393806861028, + "ymin": 0.0, + "xmax": 530.6667873960959, + "ymax": 1.0730105619463188 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 526.6865478808444, + -5.5127324109474785 + ], + [ + 518.6410633829497, + -3.8874053941697753 + ], + [ + 522.5695102451048, + 1.0730105619463188 + ], + [ + 530.6667873960959, + -0.5774035739667625 + ], + [ + 524.3567269974524, + -31.821587449197978 + ], + [ + 516.1393806861028, + -30.23065493655747 + ], + [ + 520.1297864287092, + -25.374186154114227 + ], + [ + 528.4011848734476, + -26.990186426769412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.09040305311072, + "ymin": 264.8439407913876, + "xmax": 259.8211870993319, + "ymax": 308.91353791397387 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 259.8211870993319, + 305.3315780376204 + ], + [ + 257.00977546264056, + 294.6717012029254 + ], + [ + 244.1912464877018, + 298.1738787875624 + ], + [ + 246.86776063056743, + 308.91353791397387 + ], + [ + 248.10757859253818, + 275.4846642142969 + ], + [ + 245.3454730656906, + 264.8439407913876 + ], + [ + 232.09040305311072, + 268.3390174527557 + ], + [ + 234.70814090261518, + 279.06183360112834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.3262432119858, + "ymin": 540.3867296798423, + "xmax": 1165.7238090517687, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1014.0341603361783, + 768.9186332867826 + ], + [ + 999.9805675131599, + 749.1155473505418 + ], + [ + 841.3262432119858, + 830.9747418450504 + ], + [ + 853.8333885684262, + 853.1843761033026 + ], + [ + 1165.7238090517687, + 564.0633130045005 + ], + [ + 1143.1196054306024, + 540.3867296798423 + ], + [ + 928.0901741050614, + 640.027093455472 + ], + [ + 947.9802294075469, + 667.8860201458778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.9659206703532, + "ymin": 0.0, + "xmax": 1186.8821793649913, + "ymax": 184.70920211737206 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1084.7967758514578, + 184.70920211737206 + ], + [ + 1094.6564940483445, + 181.5787176893628 + ], + [ + 1021.4161702064359, + 125.63125259803545 + ], + [ + 1011.9659206703532, + 128.35315606614873 + ], + [ + 1175.4321697022601, + -37.26328346758203 + ], + [ + 1186.8821793649913, + -40.025338144782665 + ], + [ + 1092.5956524912913, + -88.68505576317932 + ], + [ + 1081.6717064663233, + -86.34811371107003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.10329967073176, + "ymin": 0.0, + "xmax": 460.8414233297343, + "ymax": 75.02640886294017 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 460.8414233297343, + 16.851052684251556 + ], + [ + 458.007039388448, + 12.543669870298288 + ], + [ + 169.29129970169146, + 69.93545007311172 + ], + [ + 170.32703083217456, + 75.02640886294017 + ], + [ + 430.1813112002927, + -198.29799781489078 + ], + [ + 427.0978256511266, + -201.70695340368195 + ], + [ + 81.10329967073176, + -155.65688036954032 + ], + [ + 81.59148486326012, + -151.505321812687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.2117718361189, + "ymin": 636.0221652098908, + "xmax": 972.634399167233, + "ymax": 669.416607769166 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 970.6522088328247, + 657.7785529132002 + ], + [ + 957.3839835464368, + 639.7717831109464 + ], + [ + 933.2117718361189, + 651.0897451387524 + ], + [ + 946.2572897163623, + 669.416607769166 + ], + [ + 972.634399167233, + 654.084147740766 + ], + [ + 959.2602461894644, + 636.0221652098908 + ], + [ + 934.9604587780046, + 647.3744820678646 + ], + [ + 948.1096966314944, + 665.7594759844837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 179.6708649769078, + "xmax": 370.13962026540446, + "ymax": 622.8848947102747 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -152.18419507417389, + 607.2441049476345 + ], + [ + -154.36880722964713, + 622.8848947102747 + ], + [ + 370.13962026540446, + 453.51974448627755 + ], + [ + 366.43317635720183, + 441.74989416206427 + ], + [ + -453.93110847084677, + 353.2551948502758 + ], + [ + -462.17792810288825, + 370.56642002755706 + ], + [ + 283.9537599756691, + 191.465978591983 + ], + [ + 280.2908051675796, + 179.6708649769078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.0027352188524, + "ymin": 635.8451333348751, + "xmax": 972.8494423018185, + "ymax": 669.5991845975791 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 970.844654846841, + 657.8343352747372 + ], + [ + 957.4331293250402, + 639.6355357257476 + ], + [ + 933.0027352188524, + 651.0733770960842 + ], + [ + 946.1867406371712, + 669.5991845975791 + ], + [ + 972.8494423018185, + 654.1003250846145 + ], + [ + 959.3296863224544, + 635.8451333348751 + ], + [ + 934.7689695345214, + 647.3180570059916 + ], + [ + 948.0589256059728, + 665.9032705302893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.86554643270523, + "ymin": 0.0, + "xmax": 684.2106844108798, + "ymax": 330.42341512490486 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 661.5390507820355, + 330.42341512490486 + ], + [ + 674.7447661638661, + 326.28200774555086 + ], + [ + 537.8471082093688, + 121.52129472176668 + ], + [ + 526.9662216556052, + 124.10292223500525 + ], + [ + 667.4389511572294, + 71.9491318874139 + ], + [ + 684.2106844108798, + 68.07117885524332 + ], + [ + 517.0541410170308, + -113.07263980720683 + ], + [ + 503.86554643270523, + -110.91095470716346 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00081/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00081/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9c3799910ecee836932e318b4fdb56e825ead06d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00081/meta.json @@ -0,0 +1,2359 @@ +{ + "frame_id": 81, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.5, + "sim_timestamp": 12603.352621694328 + }, + "drone_pose": { + "x": -47.643406130614025, + "y": 29.536225670379565, + "z": 20.000000000000146, + "pitch": -46.00751035308758, + "yaw": -64.50198247394187, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2989957928657532, + 0.6269136667251587, + 0.7194309234619141, + 18.37322235107422 + ], + [ + -0.9026002883911133, + 0.43047982454299927, + -2.9802322387695312e-08, + 30.288196563720703 + ], + [ + -0.30970048904418945, + -0.6493585109710693, + 0.6945640444755554, + -47.8260612487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.53782193497053, + "y": 29.15579296531706, + "z": 20.0 + }, + "t1_image_uv": [ + 396.6181548655268, + -634.369911914916 + ], + "t1_depth": 0.2700676947552977 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -39.66718292236328, + "y": 12.812236785888672, + "z": 0.8079575192928314 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.676702109850215, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 217, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": 12.812235832214355, + "z": 0.8079575300216675 + }, + "extent": { + "x": 0.18895505368709564, + "y": 0.28057920932769775, + "z": 0.552854061126709 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.4053935256723, + "ymin": 337.37873298895573, + "xmax": 650.6912925373686, + "ymax": 382.34253186347513 + }, + "corners_3d": [ + [ + -39.856136322021484, + 12.531656265258789, + 0.2551034688949585 + ], + [ + -39.856136322021484, + 13.092815399169922, + 0.2551034688949585 + ], + [ + -39.47822952270508, + 13.092815399169922, + 0.2551034688949585 + ], + [ + -39.47822952270508, + 12.531656265258789, + 0.2551034688949585 + ], + [ + -39.856136322021484, + 12.531656265258789, + 1.3608115911483765 + ], + [ + -39.856136322021484, + 13.092815399169922, + 1.3608115911483765 + ], + [ + -39.47822952270508, + 13.092815399169922, + 1.3608115911483765 + ], + [ + -39.47822952270508, + 12.531656265258789, + 1.3608115911483765 + ] + ], + "corners_2d": [ + [ + 629.715309352528, + 369.1896392309639 + ], + [ + 638.220132374649, + 382.34253186347513 + ], + [ + 650.3757776995175, + 378.0805850813315 + ], + [ + 641.7495435550073, + 365.03702494505814 + ], + [ + 629.4053935256723, + 341.53809551447534 + ], + [ + 638.1657739614793, + 354.719210802964 + ], + [ + 650.6912925373686, + 350.4469784570391 + ], + [ + 641.8020390872518, + 337.37873298895573 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 81, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 495375, + "2": 220297, + "3": 147327, + "5": 157, + "6": 11577, + "7": 2094, + "10": 531, + "12": 1956, + "14": 9809, + "20": 2897, + "24": 27646, + "25": 1934 + }, + "instance_pixel_counts": { + "148": 12052, + "3424": 1934, + "6215": 141020, + "6796": 1708, + "6802": 7443, + "7308": 365, + "7314": 30604, + "8332": 2017, + "8338": 14137, + "15184": 157, + "18000": 847, + "18512": 1915, + "21652": 102531, + "22676": 99472, + "23700": 52938, + "24212": 73940, + "24724": 40988, + "25856": 6291, + "26112": 201, + "26624": 3437, + "33370": 10370, + "35988": 9475, + "36500": 2713, + "37524": 2772, + "38036": 6063, + "38548": 592, + "39052": 3160, + "39564": 9970, + "40265": 135, + "40588": 3628, + "41818": 136957, + "43409": 2702, + "43921": 647, + "44945": 2896, + "56576": 217, + "56832": 217, + "57088": 638, + "57344": 487, + "57600": 397, + "57856": 4394, + "59904": 5415, + "61569": 3742, + "62613": 3573, + "63123": 46057, + "63125": 213, + "63635": 8815, + "64149": 645, + "64659": 29485, + "64661": 1469, + "65171": 29097, + "65173": 131 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 217, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": 12.812235832214355, + "z": 0.8079575300216675 + }, + "extent": { + "x": 0.2539709210395813, + "y": 0.26163449883461, + "z": 0.556438148021698 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.5518543364171, + "ymin": 337.0092354421672, + "xmax": 652.5318559535029, + "ymax": 382.71596691862965 + }, + "corners_3d": [ + [ + -39.9211540222168, + 12.5506010055542, + 0.2515193819999695 + ], + [ + -39.9211540222168, + 13.073870658874512, + 0.2515193819999695 + ], + [ + -39.413211822509766, + 13.073870658874512, + 0.2515193819999695 + ], + [ + -39.413211822509766, + 12.5506010055542, + 0.2515193819999695 + ], + [ + -39.9211540222168, + 12.5506010055542, + 1.3643956184387207 + ], + [ + -39.9211540222168, + 13.073870658874512, + 1.3643956184387207 + ], + [ + -39.413211822509766, + 13.073870658874512, + 1.3643956184387207 + ], + [ + -39.413211822509766, + 12.5506010055542, + 1.3643956184387207 + ] + ], + "corners_2d": [ + [ + 627.9187386620392, + 370.433673317122 + ], + [ + 635.8288283249403, + 382.71596691862965 + ], + [ + 652.1600934641259, + 376.9926034512181 + ], + [ + 644.0978617226041, + 364.8473258778601 + ], + [ + 627.5518543364171, + 342.60486794548217 + ], + [ + 635.7005620049293, + 354.914222379827 + ], + [ + 652.5318559535029, + 349.1771117070001 + ], + [ + 644.221593030003, + 337.0092354421672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 217, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -35.541194915771484, + "y": 15.809941291809082, + "z": 0.8050082921981812 + }, + "extent": { + "x": 0.1888171285390854, + "y": 0.21412353217601776, + "z": 0.5252750515937805 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 811.8927597740733, + "ymin": 363.79069593373237, + "xmax": 838.3755220897631, + "ymax": 405.39376590646555 + }, + "corners_3d": [ + [ + -35.76118469238281, + 15.627991676330566, + 0.27973324060440063 + ], + [ + -35.694190979003906, + 16.050966262817383, + 0.27973324060440063 + ], + [ + -35.321205139160156, + 15.991890907287598, + 0.27973324060440063 + ], + [ + -35.38819885253906, + 15.568916320800781, + 0.27973324060440063 + ], + [ + -35.76118469238281, + 15.627991676330566, + 1.3302834033966064 + ], + [ + -35.694190979003906, + 16.050966262817383, + 1.3302834033966064 + ], + [ + -35.321205139160156, + 15.991890907287598, + 1.3302834033966064 + ], + [ + -35.38819885253906, + 15.568916320800781, + 1.3302834033966064 + ] + ], + "corners_2d": [ + [ + 811.8927597740733, + 395.7606821488844 + ], + [ + 822.3827105546358, + 405.39376590646555 + ], + [ + 832.6882675216211, + 399.53461557721425 + ], + [ + 822.1619391681131, + 390.009295012389 + ], + [ + 816.9471648226659, + 369.55966616483136 + ], + [ + 827.7972050292462, + 379.2264444784635 + ], + [ + 838.3755220897631, + 373.34616659026574 + ], + [ + 827.4875236156771, + 363.79069593373237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 638, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -41.92300796508789, + "y": 19.75494956970215, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.5926538109779358, + "y": 0.36432188749313354, + "z": 0.9000509977340698 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 651.0374121555914, + "ymin": 549.6698276170897, + "xmax": 714.9967314894312, + "ymax": 638.1887729758462 + }, + "corners_3d": [ + [ + -42.53391647338867, + 19.422143936157227, + -0.24449580907821655 + ], + [ + -42.49578094482422, + 20.149789810180664, + -0.24449580907821655 + ], + [ + -41.31209945678711, + 20.08775520324707, + -0.24449580907821655 + ], + [ + -41.35023498535156, + 19.360109329223633, + -0.24449580907821655 + ], + [ + -42.53391647338867, + 19.422143936157227, + 1.5556061267852783 + ], + [ + -42.49578094482422, + 20.149789810180664, + 1.5556061267852783 + ], + [ + -41.31209945678711, + 20.08775520324707, + 1.5556061267852783 + ], + [ + -41.35023498535156, + 19.360109329223633, + 1.5556061267852783 + ] + ], + "corners_2d": [ + [ + 651.0374121555914, + 612.958210246183 + ], + [ + 666.4394035833978, + 638.1887729758462 + ], + [ + 710.6571237843376, + 615.8541756847903 + ], + [ + 694.6585825242936, + 591.493003976475 + ], + [ + 651.7136396867932, + 571.6729360236861 + ], + [ + 668.0940793122475, + 597.5951511474045 + ], + [ + 714.9967314894312, + 574.6450248137579 + ], + [ + 697.946247038143, + 549.6698276170897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 487, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -49.16718292236328, + "y": 12.812235832214355, + "z": 0.6552377939224243 + }, + "extent": { + "x": 0.49833738803863525, + "y": 0.30337217450141907, + "z": 0.9000928997993469 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 263.93603321889543, + "ymin": 444.68981477648686, + "xmax": 327.0025621404517, + "ymax": 518.7264444718795 + }, + "corners_3d": [ + [ + -49.64896011352539, + 12.483198165893555, + -0.2448551058769226 + ], + [ + -49.68071365356445, + 13.089111328125, + -0.2448551058769226 + ], + [ + -48.68540573120117, + 13.141273498535156, + -0.2448551058769226 + ], + [ + -48.65365219116211, + 12.535360336303711, + -0.2448551058769226 + ], + [ + -49.64896011352539, + 12.483198165893555, + 1.555330753326416 + ], + [ + -49.68071365356445, + 13.089111328125, + 1.555330753326416 + ], + [ + -48.68540573120117, + 13.141273498535156, + 1.555330753326416 + ], + [ + -48.65365219116211, + 12.535360336303711, + 1.555330753326416 + ] + ], + "corners_2d": [ + [ + 283.6896817065676, + 500.51751893379196 + ], + [ + 287.1576882886043, + 518.7264444718795 + ], + [ + 327.0025621404517, + 506.2752498358552 + ], + [ + 322.94890266778316, + 488.4544042989372 + ], + [ + 263.93603321889543, + 456.9254480849425 + ], + [ + 267.2647527418879, + 475.42212228352537 + ], + [ + 309.5572135950972, + 462.7706077552186 + ], + [ + 305.5688392024307, + 444.68981477648686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 397, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.421844482421875, + "y": 4.642021656036377, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.2983459532260895, + "y": 0.3791470229625702, + "z": 0.9072459936141968 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 805.6565550879346, + "ymin": 96.55377073482259, + "xmax": 835.7276722947727, + "ymax": 152.90178619927107 + }, + "corners_3d": [ + [ + -28.65720558166504, + 4.2208709716796875, + -0.3071303367614746 + ], + [ + -28.775829315185547, + 4.969829082489014, + -0.3071303367614746 + ], + [ + -28.18648338317871, + 5.063172340393066, + -0.3071303367614746 + ], + [ + -28.067859649658203, + 4.31421422958374, + -0.3071303367614746 + ], + [ + -28.65720558166504, + 4.2208709716796875, + 1.507361650466919 + ], + [ + -28.775829315185547, + 4.969829082489014, + 1.507361650466919 + ], + [ + -28.18648338317871, + 5.063172340393066, + 1.507361650466919 + ], + [ + -28.067859649658203, + 4.31421422958374, + 1.507361650466919 + ] + ], + "corners_2d": [ + [ + 805.6565550879346, + 141.9060392262814 + ], + [ + 813.8015456650071, + 152.90178619927107 + ], + [ + 828.5846471355354, + 150.31140218647846 + ], + [ + 820.2602789489803, + 139.38739343117874 + ], + [ + 811.8614027302244, + 99.02210568916661 + ], + [ + 820.4071889352459, + 109.80523937060616 + ], + [ + 835.7276722947727, + 107.26391223295059 + ], + [ + 826.9894007609506, + 96.55377073482259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4394, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 943.1290831672966, + "ymin": 0.0, + "xmax": 1087.3838791527257, + "ymax": 77.96256210866625 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 943.1290831672966, + 55.346555974413434 + ], + [ + 974.8196780450223, + 77.96256210866625 + ], + [ + 1076.1557162125064, + 49.6006637011788 + ], + [ + 1042.5952513235854, + 28.723345889696418 + ], + [ + 950.9999371102977, + 23.370962277543413 + ], + [ + 983.8061100133448, + 45.51734317506214 + ], + [ + 1087.3838791527257, + 17.750390772603055 + ], + [ + 1052.6352082691444, + -2.6511345480233217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5415, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 529.2085861485482, + "ymin": 95.16506481996134, + "xmax": 682.785600533475, + "ymax": 195.72427362872673 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 532.8581630104605, + 165.14093696640265 + ], + [ + 554.1513969246175, + 195.72427362872673 + ], + [ + 681.5178979687071, + 159.85602190376042 + ], + [ + 656.5914542779988, + 131.80330344433847 + ], + [ + 529.2085861485482, + 127.98027140857883 + ], + [ + 551.09046922266, + 158.14269975133493 + ], + [ + 682.785600533475, + 122.75194505126893 + ], + [ + 657.0221179667261, + 95.16506481996134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 88.12829945072008, + "ymin": 324.56682740607243, + "xmax": 121.04525395672033, + "ymax": 370.37160691612155 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 121.04525395672033, + 366.2014420040703 + ], + [ + 119.3920941909521, + 354.4069639894537 + ], + [ + 105.31274007260242, + 358.4791946211154 + ], + [ + 106.80414641532286, + 370.37160691612155 + ], + [ + 104.23251602237224, + 336.3759395338064 + ], + [ + 102.730976622085, + 324.56682740607243 + ], + [ + 88.12829945072008, + 328.6430914798367 + ], + [ + 89.45569766790095, + 340.55343721012537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 567.1418353167917, + "ymin": 61.517738748351974, + "xmax": 582.9087600531327, + "ymax": 97.84394728122697 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 577.713984723843, + 89.32858783062119 + ], + [ + 568.8004886183876, + 91.50763761629611 + ], + [ + 573.9332344701893, + 97.84394728122697 + ], + [ + 582.9087600531327, + 95.62674695726253 + ], + [ + 576.267435922875, + 61.517738748351974 + ], + [ + 567.1418353167917, + 63.66186238202846 + ], + [ + 572.3804021765802, + 69.89831690090216 + ], + [ + 581.571046880953, + 67.71576934724044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 639.16332339878, + "ymin": 243.17162381138257, + "xmax": 654.6468663525771, + "ymax": 278.75389512881856 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 648.2666554093879, + 267.71354499167614 + ], + [ + 639.1830601557986, + 270.5491361079717 + ], + [ + 645.1525043272917, + 278.75389512881856 + ], + [ + 654.2993242089108, + 275.8667332136108 + ], + [ + 648.4657317563468, + 243.17162381138257 + ], + [ + 639.16332339878, + 245.99671269039612 + ], + [ + 645.2781417907645, + 254.17349352765495 + ], + [ + 654.6468663525771, + 251.29576827306406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.8216466195868, + "ymin": 16.16854471193767, + "xmax": 544.1921756473878, + "ymax": 50.62733903946145 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 539.6414588555224, + 43.16919157564422 + ], + [ + 531.1907876984668, + 45.078768424292434 + ], + [ + 535.6854243962225, + 50.62733903946145 + ], + [ + 544.1921756473878, + 48.6864910971326 + ], + [ + 537.462591828046, + 16.16854471193767 + ], + [ + 528.8216466195868, + 18.04194387482596 + ], + [ + 533.3951914972199, + 23.486695854663594 + ], + [ + 542.0947993552102, + 21.581942672284413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 500.5168531412839, + "ymin": 0.0, + "xmax": 515.5385124202987, + "ymax": 15.694596551723805 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 511.43723537033, + 8.97400924389035 + ], + [ + 503.33873928575053, + 10.69545303369273 + ], + [ + 507.3883129035703, + 15.694596551723805 + ], + [ + 515.5385124202987, + 13.94640453837701 + ], + [ + 508.78980336938275, + -17.34002702792469 + ], + [ + 500.5168531412839, + -15.654901888981101 + ], + [ + 504.628382701011, + -10.760176289733806 + ], + [ + 512.9553157266455, + -12.47203167654726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.517065926462, + "ymin": 289.301985331934, + "xmax": 244.3479671620043, + "ymax": 333.96947535170193 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 244.3479671620043, + 330.0954269934315 + ], + [ + 241.3521760250904, + 319.1321441828389 + ], + [ + 228.26139678717152, + 322.91844597472675 + ], + [ + 231.11810014672722, + 333.96947535170193 + ], + [ + 232.00687793242412, + 300.253549553804 + ], + [ + 229.0633459099144, + 289.301985331934 + ], + [ + 215.517065926462, + 293.0833622697786 + ], + [ + 218.31151427528016, + 304.1253141883268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.203439013641, + "ymin": 563.1009149684328, + "xmax": 1171.4699925476023, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1017.2219709322856, + 790.2999191680501 + ], + [ + 1002.5834456026162, + 770.1780040377064 + ], + [ + 844.203439013641, + 857.9164147419381 + ], + [ + 857.35743554188, + 880.6511210015683 + ], + [ + 1171.4699925476023, + 587.271071550761 + ], + [ + 1147.9123308184721, + 563.1009149684328 + ], + [ + 933.3972807355199, + 670.576836611335 + ], + [ + 954.3888697053727, + 699.332450138261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.5717531241784, + "ymin": 0.0, + "xmax": 1172.5050627228206, + "ymax": 193.6496546444965 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1073.4722982888889, + 193.6496546444965 + ], + [ + 1083.2026582458172, + 190.38050349089946 + ], + [ + 1008.9185644548756, + 134.80578130984375 + ], + [ + 999.5717531241784, + 137.64843558285096 + ], + [ + 1161.230396306579, + -27.666404285673025 + ], + [ + 1172.5050627228206, + -30.544414242507855 + ], + [ + 1077.31562069453, + -78.7759050278836 + ], + [ + 1066.5281708859502, + -76.34023642961392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.28888418110171, + "ymin": 0.0, + "xmax": 444.7389927183644, + "ymax": 92.37290684256692 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 444.7389927183644, + 30.544807980290443 + ], + [ + 441.81575480913557, + 26.215159218971905 + ], + [ + 149.72071160875794, + 87.20375383008172 + ], + [ + 150.82328357349883, + 92.37290684256692 + ], + [ + 411.31203798078974, + -184.51804539654336 + ], + [ + 408.1468203304571, + -187.94493547911043 + ], + [ + 57.28888418110171, + -138.9582436949234 + ], + [ + 57.81303932228036, + -134.7344602777173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.5745506870587, + "ymin": 665.4375395445275, + "xmax": 978.8150093045658, + "ymax": 700.298245665976 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 976.7700378849579, + 687.6851385745324 + ], + [ + 962.7952697707736, + 669.1353572090857 + ], + [ + 938.5745506870587, + 681.3953567465355 + ], + [ + 952.3346795200479, + 700.298245665976 + ], + [ + 978.8150093045658, + 684.047018854614 + ], + [ + 964.7277150715457, + 665.4375395445275 + ], + [ + 940.3789095486454, + 677.7366395839952 + ], + [ + 954.2494773442684, + 696.7025294292689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 202.98525668966815, + "xmax": 358.7070505570965, + "ymax": 661.1493538250885 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -177.28835509146745, + 644.8137666645594 + ], + [ + -179.49887955879365, + 661.1493538250885 + ], + [ + 358.7070505570965, + 476.9373384974068 + ], + [ + 354.77477734234327, + 464.89544852779454 + ], + [ + -497.0230245837315, + 393.652678150509 + ], + [ + -505.82278653618687, + 412.0084896139026 + ], + [ + 267.7721563765902, + 215.12338786846837 + ], + [ + 263.88618141865805, + 202.98525668966815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.3611066448434, + "ymin": 665.2528813009983, + "xmax": 979.0344495412733, + "ymax": 700.4889940988709 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 976.9661677873261, + 687.738444368905 + ], + [ + 962.8405703325079, + 668.9909750295662 + ], + [ + 938.3611066448434, + 681.3807891225451 + ], + [ + 952.2674258031969, + 700.4889940988709 + ], + [ + 979.0344495412733, + 684.061323126957 + ], + [ + 964.7938810990208, + 665.2528813009983 + ], + [ + 940.1835723003394, + 677.6826239744535 + ], + [ + 954.2027071337699, + 696.8552122334372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 487.12869682274567, + "ymin": 0.0, + "xmax": 672.6809526166377, + "ymax": 346.6466889283324 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 652.4144571320263, + 346.6466889283324 + ], + [ + 665.6646928387984, + 342.24509074836897 + ], + [ + 524.0432335311182, + 135.76403305745174 + ], + [ + 513.1015175995017, + 138.49855662116204 + ], + [ + 655.827845663905, + 88.14402811914425 + ], + [ + 672.6809526166377, + 84.01603557740754 + ], + [ + 500.41098335798284, + -98.82337162559048 + ], + [ + 487.12869682274567, + -96.53259806730978 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00082/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00082/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4bf6ba9d9b68758e87669197b86474edac37a880 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00082/meta.json @@ -0,0 +1,2360 @@ +{ + "frame_id": 82, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.0, + "sim_timestamp": 12615.94054300082 + }, + "drone_pose": { + "x": -47.53782193497053, + "y": 29.15579296531706, + "z": 20.0, + "pitch": -46.26549231419738, + "yaw": -62.87994837373304, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3151416778564453, + 0.6153095960617065, + 0.7225509285926819, + 18.469970703125 + ], + [ + -0.8900532722473145, + 0.4558565020561218, + 0.0, + 29.02033805847168 + ], + [ + -0.32937949895858765, + -0.6431088447570801, + 0.6913176774978638, + -48.23468780517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.40269282185766, + "y": 28.782639858754074, + "z": 20.0 + }, + "t1_image_uv": [ + 464.2443644633963, + -643.3720666900899 + ], + "t1_depth": 0.27218950565088756 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -39.16718292236328, + "y": 12.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 26.561515548931432, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 192, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": 12.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.27705320715904236, + "y": 0.2878747284412384, + "z": 0.5462168455123901 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.1859868971827, + "ymin": 336.2463021911195, + "xmax": 653.9091446208822, + "ymax": 383.5218700704633 + }, + "corners_3d": [ + [ + -39.444236755371094, + 12.524360656738281, + 0.26173579692840576 + ], + [ + -39.444236755371094, + 13.10011100769043, + 0.26173579692840576 + ], + [ + -38.89012908935547, + 13.10011100769043, + 0.26173579692840576 + ], + [ + -38.89012908935547, + 12.524360656738281, + 0.26173579692840576 + ], + [ + -39.444236755371094, + 12.524360656738281, + 1.354169487953186 + ], + [ + -39.444236755371094, + 13.10011100769043, + 1.354169487953186 + ], + [ + -38.89012908935547, + 13.10011100769043, + 1.354169487953186 + ], + [ + -38.89012908935547, + 12.524360656738281, + 1.354169487953186 + ] + ], + "corners_2d": [ + [ + 626.5891495107303, + 370.0710006335742 + ], + [ + 635.8508202036168, + 383.5218700704633 + ], + [ + 653.5004912721889, + 376.84740278961516 + ], + [ + 644.0685320480952, + 363.5696870026859 + ], + [ + 626.1859868971827, + 342.76134435328635 + ], + [ + 635.7243798394647, + 356.24859833913797 + ], + [ + 653.9091446208822, + 349.55473109742513 + ], + [ + 644.1900339060675, + 336.2463021911195 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 82, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 482009, + "2": 223661, + "3": 156916, + "5": 180, + "6": 11572, + "7": 2211, + "10": 552, + "12": 1875, + "14": 9930, + "20": 2837, + "24": 27717, + "25": 2140 + }, + "instance_pixel_counts": { + "148": 9856, + "3424": 2140, + "6215": 143609, + "6796": 1779, + "6802": 7664, + "7308": 431, + "7314": 30639, + "8332": 1988, + "8338": 14462, + "15184": 180, + "18000": 849, + "18512": 1852, + "21652": 107108, + "22676": 96589, + "23700": 54256, + "24212": 68789, + "24724": 33397, + "25856": 6506, + "26112": 223, + "26624": 3316, + "33370": 10946, + "35988": 9879, + "36500": 2907, + "37524": 2752, + "38036": 5750, + "38548": 456, + "39052": 3254, + "39564": 9542, + "40265": 136, + "40588": 3746, + "41818": 145895, + "42074": 75, + "43409": 2806, + "43921": 807, + "44945": 2934, + "56576": 192, + "56832": 233, + "57088": 603, + "57344": 522, + "57600": 325, + "57856": 4375, + "59904": 5555, + "61569": 3738, + "62613": 3719, + "63123": 48170, + "63125": 252, + "63635": 10166, + "64149": 630, + "64659": 28740, + "64661": 1217, + "65171": 24938, + "65173": 155 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 192, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": 12.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.20231077075004578, + "y": 0.2756158113479614, + "z": 0.5554115772247314 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8265554472323, + "ymin": 337.1633308777073, + "xmax": 651.2641847679569, + "ymax": 382.54961497965985 + }, + "corners_3d": [ + [ + -39.3694953918457, + 12.536620140075684, + 0.25254106521606445 + ], + [ + -39.3694953918457, + 13.087851524353027, + 0.25254106521606445 + ], + [ + -38.96487045288086, + 13.087851524353027, + 0.25254106521606445 + ], + [ + -38.96487045288086, + 12.536620140075684, + 0.25254106521606445 + ], + [ + -39.3694953918457, + 12.536620140075684, + 1.3633642196655273 + ], + [ + -39.3694953918457, + 13.087851524353027, + 1.3633642196655273 + ], + [ + -38.96487045288086, + 13.087851524353027, + 1.3633642196655273 + ], + [ + -38.96487045288086, + 12.536620140075684, + 1.3633642196655273 + ] + ], + "corners_2d": [ + [ + 629.1578647887933, + 369.69452629531384 + ], + [ + 638.0451918581408, + 382.54961497965985 + ], + [ + 650.9275525423711, + 377.6786482814663 + ], + [ + 641.9212325279499, + 364.94458140997955 + ], + [ + 628.8265554472323, + 341.92355245108166 + ], + [ + 637.9846762157933, + 354.81329745287366 + ], + [ + 651.2641847679569, + 349.9280224941494 + ], + [ + 641.9796570970381, + 337.1633308777073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 233, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -35.041194915771484, + "y": 15.809941291809082, + "z": 0.8045346736907959 + }, + "extent": { + "x": 0.27382567524909973, + "y": 0.23061706125736237, + "z": 0.5308603644371033 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 810.1128281288012, + "ymin": 358.25524402502936, + "xmax": 842.2004481608928, + "ymax": 403.6436905716324 + }, + "corners_3d": [ + [ + -35.34772491455078, + 15.624999046325684, + 0.2736743092536926 + ], + [ + -35.27557373046875, + 16.080554962158203, + 0.2736743092536926 + ], + [ + -34.73466491699219, + 15.99488353729248, + 0.2736743092536926 + ], + [ + -34.80681610107422, + 15.539327621459961, + 0.2736743092536926 + ], + [ + -35.34772491455078, + 15.624999046325684, + 1.335395097732544 + ], + [ + -35.27557373046875, + 16.080554962158203, + 1.335395097732544 + ], + [ + -34.73466491699219, + 15.99488353729248, + 1.335395097732544 + ], + [ + -34.80681610107422, + 15.539327621459961, + 1.335395097732544 + ] + ], + "corners_2d": [ + [ + 810.1128281288012, + 393.4364705362481 + ], + [ + 821.763927714891, + 403.6436905716324 + ], + [ + 836.3216924505882, + 394.7878901265931 + ], + [ + 824.6274538048592, + 384.75178040280696 + ], + [ + 815.1999430827995, + 366.9691315222059 + ], + [ + 827.254589786071, + 377.2162497598759 + ], + [ + 842.2004481608928, + 368.32548702125274 + ], + [ + 830.1010009407829, + 358.25524402502936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 603, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -41.42300796508789, + "y": 19.75494956970215, + "z": 0.6555551886558533 + }, + "extent": { + "x": 0.47844114899635315, + "y": 0.35378965735435486, + "z": 0.9018465876579285 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 664.2594737325425, + "ymin": 552.5514989967886, + "xmax": 719.9611438530844, + "ymax": 636.7437427557409 + }, + "corners_3d": [ + [ + -41.919307708740234, + 19.426685333251953, + -0.2462913990020752 + ], + [ + -41.88227844238281, + 20.13329315185547, + -0.2462913990020752 + ], + [ + -40.92670822143555, + 20.083213806152344, + -0.2462913990020752 + ], + [ + -40.96373748779297, + 19.376605987548828, + -0.2462913990020752 + ], + [ + -41.919307708740234, + 19.426685333251953, + 1.5574017763137817 + ], + [ + -41.88227844238281, + 20.13329315185547, + 1.5574017763137817 + ], + [ + -40.92670822143555, + 20.083213806152344, + 1.5574017763137817 + ], + [ + -40.96373748779297, + 19.376605987548828, + 1.5574017763137817 + ] + ], + "corners_2d": [ + [ + 664.2594737325425, + 612.548559182448 + ], + [ + 680.2469515182238, + 636.7437427557409 + ], + [ + 715.2869643077386, + 617.6837483297893 + ], + [ + 698.8804888089476, + 594.1970887387263 + ], + [ + 665.7591070483777, + 571.3816691417925 + ], + [ + 682.7858262151983, + 596.2600380976778 + ], + [ + 719.9611438530844, + 576.656902880417 + ], + [ + 702.4638475747527, + 552.5514989967886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 522, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -48.66718292236328, + "y": 12.812235832214355, + "z": 0.6544955968856812 + }, + "extent": { + "x": 0.5583105087280273, + "y": 0.3146783411502838, + "z": 0.9009863138198853 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 261.56317353664105, + "ymin": 451.9590775575236, + "xmax": 331.02327425757755, + "ymax": 529.4058350880771 + }, + "corners_3d": [ + [ + -49.20825958251953, + 12.468769073486328, + -0.2464907169342041 + ], + [ + -49.24119567871094, + 13.09726333618164, + -0.2464907169342041 + ], + [ + -48.12610626220703, + 13.155702590942383, + -0.2464907169342041 + ], + [ + -48.093170166015625, + 12.52720832824707, + -0.2464907169342041 + ], + [ + -49.20825958251953, + 12.468769073486328, + 1.5554819107055664 + ], + [ + -49.24119567871094, + 13.09726333618164, + 1.5554819107055664 + ], + [ + -48.12610626220703, + 13.155702590942383, + 1.5554819107055664 + ], + [ + -48.093170166015625, + 12.52720832824707, + 1.5554819107055664 + ] + ], + "corners_2d": [ + [ + 281.78161585345435, + 510.2962506056267 + ], + [ + 286.1470124505332, + 529.4058350880771 + ], + [ + 331.02327425757755, + 514.1742432917698 + ], + [ + 325.99177900400736, + 495.55387090024135 + ], + [ + 261.56317353664105, + 466.9373962534977 + ], + [ + 265.82514033331375, + 486.38499820758045 + ], + [ + 313.5221719785896, + 470.88104282687937 + ], + [ + 308.50772108949025, + 451.9590775575236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 325, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -27.921844482421875, + "y": 4.642021656036377, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.5895446538925171, + "y": 0.34142211079597473, + "z": 0.9019351005554199 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 789.6804908333643, + "ymin": 90.92280167071294, + "xmax": 833.2313817618829, + "ymax": 148.91254742512055 + }, + "corners_3d": [ + [ + -28.450719833374023, + 4.212577819824219, + -0.30181944370269775 + ], + [ + -28.557540893554688, + 4.887014865875244, + -0.30181944370269775 + ], + [ + -27.392969131469727, + 5.071465492248535, + -0.30181944370269775 + ], + [ + -27.286148071289062, + 4.39702844619751, + -0.30181944370269775 + ], + [ + -28.450719833374023, + 4.212577819824219, + 1.502050757408142 + ], + [ + -28.557540893554688, + 4.887014865875244, + 1.502050757408142 + ], + [ + -27.392969131469727, + 5.071465492248535, + 1.502050757408142 + ], + [ + -27.286148071289062, + 4.39702844619751, + 1.502050757408142 + ] + ], + "corners_2d": [ + [ + 789.6804908333643, + 139.0474499356493 + ], + [ + 797.2972354974187, + 148.91254742512055 + ], + [ + 826.20355600268, + 143.30791354186124 + ], + [ + 818.2826149454747, + 133.58103733651268 + ], + [ + 795.2980936167539, + 96.2829773220343 + ], + [ + 803.2779631196283, + 105.96346895031706 + ], + [ + 833.2313817618829, + 100.46259056879848 + ], + [ + 824.9251842461327, + 90.92280167071294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4375, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 920.4437749872097, + "ymin": 0.0, + "xmax": 1063.101583682469, + "ymax": 73.48455372243927 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 920.4437749872097, + 51.0992377664258 + ], + [ + 952.5464843652844, + 73.48455372243927 + ], + [ + 1052.4427176726458, + 43.42847657101822 + ], + [ + 1018.6531019152193, + 22.85399160013111 + ], + [ + 927.7744204386033, + 19.015587644685695 + ], + [ + 960.986730296305, + 40.943314529406905 + ], + [ + 1063.101583682469, + 11.51012621175056 + ], + [ + 1028.1382425021761, + -8.599613076872174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5555, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 506.38424233050773, + "ymin": 96.09383125491615, + "xmax": 661.5077668901101, + "ymax": 199.70960136641725 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 510.8337877392466, + 168.8837823316439 + ], + [ + 533.1030646814072, + 199.70960136641725 + ], + [ + 660.910440077703, + 161.0330783437353 + ], + [ + 635.1366413994699, + 132.9130747481866 + ], + [ + 506.38424233050773, + 131.53226291746228 + ], + [ + 529.2575279282069, + 161.96569719681597 + ], + [ + 661.5077668901101, + 123.76959639736523 + ], + [ + 634.8838749961795, + 96.09383125491615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 58.01368376999767, + "ymin": 344.75441118481115, + "xmax": 93.12345883408045, + "ymax": 391.40457727299275 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 93.12345883408045, + 386.7658529772239 + ], + [ + 91.1751432243999, + 374.5536180482328 + ], + [ + 76.66956198111029, + 379.0827687882998 + ], + [ + 78.45184120940633, + 391.40457727299275 + ], + [ + 74.87185201941622, + 357.00478268903055 + ], + [ + 73.08281379307891, + 344.75441118481115 + ], + [ + 58.01368376999767, + 349.29657501873834 + ], + [ + 59.6233580519056, + 361.6605336049061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 543.8403225246458, + "ymin": 64.90119638271017, + "xmax": 560.4721968344223, + "ymax": 101.69181637840654 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 555.055414820057, + 92.91567097425911 + ], + [ + 546.0671834441875, + 95.2823592802892 + ], + [ + 551.4235352468258, + 101.69181637840654 + ], + [ + 560.4721968344223, + 99.28394433234928 + ], + [ + 553.0482421961568, + 64.90119638271017 + ], + [ + 543.8403225246458, + 67.2318084898472 + ], + [ + 549.3050002300483, + 73.54534233912784 + ], + [ + 558.5763776621533, + 71.17320159431802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 620.7005763838806, + "ymin": 248.00546695111206, + "xmax": 636.5645993485732, + "ymax": 283.9370448491948 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 630.2758545071383, + 272.60254345097985 + ], + [ + 621.1627796902092, + 275.6702376564508 + ], + [ + 627.390803319299, + 283.9370448491948 + ], + [ + 636.5645993485732, + 280.81400824009717 + ], + [ + 630.0380719223197, + 248.00546695111206 + ], + [ + 620.7005763838806, + 251.06403280713238 + ], + [ + 627.0785633202345, + 259.3087356933516 + ], + [ + 636.4798225157961, + 256.19362185949524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 503.8497797554676, + "ymin": 18.991332366545066, + "xmax": 520.0871537702565, + "ymax": 53.91424926579401 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 515.338227352563, + 46.22174710436235 + ], + [ + 506.80218325912557, + 48.29734930401855 + ], + [ + 511.4962001086981, + 53.91424926579401 + ], + [ + 520.0871537702565, + 51.80485054418699 + ], + [ + 512.5835051990077, + 18.991332366545066 + ], + [ + 503.8497797554676, + 21.02916415905463 + ], + [ + 508.6241942179978, + 26.545211279903242 + ], + [ + 517.4154401370915, + 24.473454467237673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 474.2927129969629, + "ymin": 0.0, + "xmax": 490.1780790532854, + "ymax": 18.542860844273036 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 485.895677933811, + 11.607123996853716 + ], + [ + 477.7051724983403, + 13.479299767652265 + ], + [ + 481.9367687230106, + 18.542860844273036 + ], + [ + 490.1780790532854, + 16.641751783051006 + ], + [ + 482.6648634979184, + -14.953485168682732 + ], + [ + 474.2927129969629, + -13.119460957291949 + ], + [ + 478.5871208818313, + -8.157984634758748 + ], + [ + 487.0123913018483, + -10.020954667737385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.12293221908982, + "ymin": 305.5891370651964, + "xmax": 219.74536503471722, + "ymax": 351.0164686030475 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 219.74536503471722, + 346.7320338160126 + ], + [ + 216.4284778115782, + 335.4453527708366 + ], + [ + 203.01837706340302, + 339.63245703292336 + ], + [ + 206.19431716766718, + 351.0164686030475 + ], + [ + 206.28220873354422, + 316.88209591834664 + ], + [ + 203.01864421696678, + 305.5891370651964 + ], + [ + 189.12293221908982, + 309.7776081053955 + ], + [ + 192.23497119219456, + 321.1710738405322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.1881996343798, + "ymin": 569.5047298554956, + "xmax": 1166.739781895026, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1012.5359832665833, + 794.1931678756612 + ], + [ + 997.4440190568307, + 774.1745246050309 + ], + [ + 841.1881996343798, + 868.2756151910507 + ], + [ + 854.9417737613994, + 891.0616338039408 + ], + [ + 1166.739781895026, + 593.7229307931859 + ], + [ + 1142.5043006284213, + 569.5047298554956 + ], + [ + 930.6662703944887, + 685.8278750282809 + ], + [ + 952.6325997048584, + 714.9700265878917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 978.6754428560316, + "ymin": 0.0, + "xmax": 1148.6868486855608, + "ymax": 188.74495249278647 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1053.4430678384945, + 188.74495249278647 + ], + [ + 1063.0056653566876, + 185.28208870522815 + ], + [ + 987.8953430052416, + 130.40752226467362 + ], + [ + 978.6754428560316, + 133.42609907964453 + ], + [ + 1137.6085164978476, + -33.09926471632724 + ], + [ + 1148.6868486855608, + -36.15333723510554 + ], + [ + 1052.825316508237, + -83.86896648686997 + ], + [ + 1042.1774653857638, + -81.27704712965851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 16.62912602378333, + "ymin": 0.0, + "xmax": 418.3586579742563, + "ymax": 100.55617000086545 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 418.3586579742563, + 32.9343591154518 + ], + [ + 415.2902120032204, + 28.557005749285565 + ], + [ + 117.81242337665901, + 95.26312363043183 + ], + [ + 119.05595343961295, + 100.55617000086545 + ], + [ + 379.6682846190794, + -184.49577167508824 + ], + [ + 376.36207250952737, + -187.9803450596445 + ], + [ + 16.62912602378333, + -134.01097644277013 + ], + [ + 17.248898529481153, + -129.64757776528916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.9170053680308, + "ymin": 679.2856905466963, + "xmax": 976.5909030144093, + "ymax": 715.3762801983437 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 974.5247690829428, + 701.6712430434427 + ], + [ + 959.9399623329821, + 682.9126337457405 + ], + [ + 935.9170053680308, + 696.2361694070894 + ], + [ + 950.3071847393522, + 715.3762801983437 + ], + [ + 976.5909030144093, + 698.1085437930305 + ], + [ + 961.8882889484286, + 679.2856905466963 + ], + [ + 937.7372544279075, + 692.6545226206281 + ], + [ + 952.2433932011278, + 711.862567707551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 217.4189466904434, + "xmax": 340.56890988997475, + "ymax": 695.6732181700281 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -210.17340419737945, + 678.6214565412764 + ], + [ + -212.165624963769, + 695.6732181700281 + ], + [ + 340.56890988997475, + 491.4377078067364 + ], + [ + 336.2838388323054, + 479.167011784772 + ], + [ + -558.2887135037668, + 432.99172958038884 + ], + [ + -567.4739245615128, + 452.66392168092233 + ], + [ + 241.09021344260702, + 229.95449262935276 + ], + [ + 236.82986226971383, + 217.4189466904434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.7011180051397, + "ymin": 679.0945984492362, + "xmax": 976.8125683781066, + "ymax": 715.5738450771953 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 974.7228694343962, + 701.7194938347994 + ], + [ + 959.9807989156711, + 682.7611126405162 + ], + [ + 935.7011180051397, + 696.2257213625035 + ], + [ + 950.2443537418606, + 715.5738450771953 + ], + [ + 976.8125683781066, + 698.118594505961 + ], + [ + 961.9501327200419, + 679.0945984492362 + ], + [ + 937.5396144906556, + 692.605463605832 + ], + [ + 952.2013070994606, + 712.0230129915785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.951905747994, + "ymin": 0.0, + "xmax": 651.7567187300372, + "ymax": 351.7075496909509 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 635.9316168121505, + 351.7075496909509 + ], + [ + 649.1981581688301, + 346.9518014703259 + ], + [ + 501.2320646725741, + 139.07365480241063 + ], + [ + 490.1999991690294, + 142.03940429871648 + ], + [ + 634.7929995220887, + 92.32563116837798 + ], + [ + 651.7567187300372, + 87.8315007025713 + ], + [ + 472.4172476756818, + -97.52596534027145 + ], + [ + 458.951905747994, + -95.02543228560717 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00083/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00083/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e19696d8e05f8be84ad23d802ce8bd662c20573b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00083/meta.json @@ -0,0 +1,2360 @@ +{ + "frame_id": 83, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.5, + "sim_timestamp": 12626.908721206011 + }, + "drone_pose": { + "x": -47.40269282185766, + "y": 28.782639858754074, + "z": 20.0, + "pitch": -46.514449713454475, + "yaw": -61.322170685621174, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3302426338195801, + 0.6037549376487732, + 0.7255479097366333, + 18.521093368530273 + ], + [ + -0.8773319125175476, + 0.4798840880393982, + 2.9802322387695312e-08, + 27.77556800842285 + ], + [ + -0.3481788635253906, + -0.6365463733673096, + 0.6881716251373291, + -48.58953094482422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.238887204481806, + "y": 28.38951894146674, + "z": 20.0 + }, + "t1_image_uv": [ + 491.96848682386315, + -652.1400120190375 + ], + "t1_depth": 0.29144428104316167 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -38.66718292236328, + "y": 12.812236785888672, + "z": 0.8079526317119599 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.451797475796706, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -38.66718292236328, + "y": 12.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.2128295600414276, + "y": 0.27607297897338867, + "z": 0.559444785118103 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.27810274381, + "ymin": 336.81237302905356, + "xmax": 651.8089501801813, + "ymax": 382.89327955368947 + }, + "corners_3d": [ + [ + -38.88001251220703, + 12.536163330078125, + 0.24850785732269287 + ], + [ + -38.88001251220703, + 13.088308334350586, + 0.24850785732269287 + ], + [ + -38.45435333251953, + 13.088308334350586, + 0.24850785732269287 + ], + [ + -38.45435333251953, + 12.536163330078125, + 0.24850785732269287 + ], + [ + -38.88001251220703, + 12.536163330078125, + 1.367397427558899 + ], + [ + -38.88001251220703, + 13.088308334350586, + 1.367397427558899 + ], + [ + -38.45435333251953, + 13.088308334350586, + 1.367397427558899 + ], + [ + -38.45435333251953, + 12.536163330078125, + 1.367397427558899 + ] + ], + "corners_2d": [ + [ + 628.6311448214126, + 370.0922950820919 + ], + [ + 638.043996036406, + 382.89327955368947 + ], + [ + 651.450724011236, + 377.45649568468224 + ], + [ + 641.921757752211, + 364.7888161214322 + ], + [ + 628.27810274381, + 342.1301099686363 + ], + [ + 637.9824708271466, + 354.972570803835 + ], + [ + 651.8089501801813, + 349.5169507787845 + ], + [ + 641.9811157674259, + 336.81237302905356 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 83, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 468329, + "2": 227346, + "3": 166615, + "5": 221, + "6": 11363, + "7": 2333, + "10": 524, + "12": 1991, + "14": 10098, + "20": 2793, + "24": 27542, + "25": 2445 + }, + "instance_pixel_counts": { + "148": 7353, + "3424": 2445, + "6215": 146043, + "6796": 1837, + "6802": 8038, + "7308": 520, + "7314": 30447, + "8332": 1990, + "8338": 14823, + "15184": 221, + "18000": 864, + "18512": 1793, + "21652": 111988, + "22676": 93216, + "23700": 55328, + "24212": 63104, + "24724": 26266, + "25856": 6728, + "26112": 251, + "26624": 3190, + "33370": 11587, + "35988": 10307, + "36500": 2840, + "37524": 2754, + "38036": 5468, + "38548": 304, + "39052": 3362, + "39564": 9415, + "40265": 136, + "40588": 3914, + "41818": 154702, + "42074": 326, + "43409": 2910, + "43921": 1006, + "44945": 3041, + "56576": 211, + "56832": 219, + "57088": 626, + "57344": 580, + "57600": 355, + "57856": 4375, + "59904": 5723, + "61569": 3527, + "62613": 3888, + "63123": 50446, + "63125": 285, + "63635": 11747, + "64149": 607, + "64659": 28379, + "64661": 948, + "65171": 20502, + "65173": 141 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -38.66718292236328, + "y": 12.812235832214355, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.29447630047798157, + "y": 0.25466427206993103, + "z": 0.5450747013092041 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.0091688584992, + "ymin": 336.65472196432364, + "xmax": 654.0516111148718, + "ymax": 383.0916042388796 + }, + "corners_3d": [ + [ + -38.9616584777832, + 12.557571411132812, + 0.2628779411315918 + ], + [ + -38.9616584777832, + 13.066900253295898, + 0.2628779411315918 + ], + [ + -38.37270736694336, + 13.066900253295898, + 0.2628779411315918 + ], + [ + -38.37270736694336, + 12.557571411132812, + 0.2628779411315918 + ], + [ + -38.9616584777832, + 12.557571411132812, + 1.35302734375 + ], + [ + -38.9616584777832, + 13.066900253295898, + 1.35302734375 + ], + [ + -38.37270736694336, + 13.066900253295898, + 1.35302734375 + ], + [ + -38.37270736694336, + 12.557571411132812, + 1.35302734375 + ] + ], + "corners_2d": [ + [ + 626.4204912121812, + 371.2589235887373 + ], + [ + 635.0858484492379, + 383.0916042388796 + ], + [ + 653.6367592222732, + 375.57598692518695 + ], + [ + 644.8230824881149, + 363.91352164922125 + ], + [ + 626.0091688584992, + 344.0195832944907 + ], + [ + 634.9352253819347, + 355.8903476354953 + ], + [ + 654.0516111148718, + 348.34957766263216 + ], + [ + 644.9680932264121, + 336.65472196432364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 219, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -34.541194915771484, + "y": 15.809941291809082, + "z": 0.8040610551834106 + }, + "extent": { + "x": 0.20879516005516052, + "y": 0.1998113989830017, + "z": 0.5315096974372864 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 813.4003395083523, + "ymin": 356.32518953523, + "xmax": 840.4619002815033, + "ymax": 398.38266086374256 + }, + "corners_3d": [ + [ + -34.7786750793457, + 15.645252227783203, + 0.27255135774612427 + ], + [ + -34.716163635253906, + 16.039955139160156, + 0.27255135774612427 + ], + [ + -34.303714752197266, + 15.974630355834961, + 0.27255135774612427 + ], + [ + -34.36622619628906, + 15.579927444458008, + 0.27255135774612427 + ], + [ + -34.7786750793457, + 15.645252227783203, + 1.3355708122253418 + ], + [ + -34.716163635253906, + 16.039955139160156, + 1.3355708122253418 + ], + [ + -34.303714752197266, + 15.974630355834961, + 1.3355708122253418 + ], + [ + -34.36622619628906, + 15.579927444458008, + 1.3355708122253418 + ] + ], + "corners_2d": [ + [ + 813.4003395083523, + 389.72600199764213 + ], + [ + 823.7921509689586, + 398.38266086374256 + ], + [ + 834.5992100850293, + 391.38573517865325 + ], + [ + 824.1875804016963, + 382.84353748622317 + ], + [ + 818.6158125926873, + 363.23301587195965 + ], + [ + 829.3675099009184, + 371.9254731089896 + ], + [ + 840.4619002815033, + 364.89927598223943 + ], + [ + 829.6898187818992, + 356.32518953523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 626, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -40.92300796508789, + "y": 19.75494956970215, + "z": 0.6555454134941101 + }, + "extent": { + "x": 0.5339282155036926, + "y": 0.3576391637325287, + "z": 0.9116343259811401 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 670.5771609951915, + "ymin": 551.3132389838079, + "xmax": 731.4173397126744, + "ymax": 639.0456250907423 + }, + "corners_3d": [ + [ + -41.47492218017578, + 19.425745010375977, + -0.25608891248703003 + ], + [ + -41.4374885559082, + 20.14004135131836, + -0.25608891248703003 + ], + [ + -40.37109375, + 20.08415412902832, + -0.25608891248703003 + ], + [ + -40.40852737426758, + 19.369857788085938, + -0.25608891248703003 + ], + [ + -41.47492218017578, + 19.425745010375977, + 1.5671796798706055 + ], + [ + -41.4374885559082, + 20.14004135131836, + 1.5671796798706055 + ], + [ + -40.37109375, + 20.08415412902832, + 1.5671796798706055 + ], + [ + -40.40852737426758, + 19.369857788085938, + 1.5671796798706055 + ] + ], + "corners_2d": [ + [ + 670.5771609951915, + 614.7951066539761 + ], + [ + 687.6395066554282, + 639.0456250907423 + ], + [ + 725.9871820471801, + 616.6716517507268 + ], + [ + 708.5070578818578, + 593.246665516632 + ], + [ + 672.5050966478057, + 573.4490362422958 + ], + [ + 690.7044425630833, + 598.4174114214646 + ], + [ + 731.4173397126744, + 575.3789787198543 + ], + [ + 712.7485146461725, + 551.3132389838079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 580, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": 12.812235832214355, + "z": 0.6526010632514954 + }, + "extent": { + "x": 0.4530273377895355, + "y": 0.29884642362594604, + "z": 0.8951204419136047 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 266.8821582465884, + "ymin": 462.27376793382274, + "xmax": 328.46789976144606, + "ymax": 536.5308690095183 + }, + "corners_3d": [ + [ + -48.60395050048828, + 12.490089416503906, + -0.24251937866210938 + ], + [ + -48.635231018066406, + 13.086962699890137, + -0.24251937866210938 + ], + [ + -47.73041534423828, + 13.134382247924805, + -0.24251937866210938 + ], + [ + -47.699134826660156, + 12.537508964538574, + -0.24251937866210938 + ], + [ + -48.60395050048828, + 12.490089416503906, + 1.5477215051651 + ], + [ + -48.635231018066406, + 13.086962699890137, + 1.5477215051651 + ], + [ + -47.73041534423828, + 13.134382247924805, + 1.5477215051651 + ], + [ + -47.699134826660156, + 12.537508964538574, + 1.5477215051651 + ] + ], + "corners_2d": [ + [ + 286.9694658031733, + 518.2676688077261 + ], + [ + 291.9264964954566, + 536.5308690095183 + ], + [ + 328.46789976144606, + 523.1641672028054 + ], + [ + 323.01054551130983, + 505.306314592275 + ], + [ + 266.8821582465884, + 475.4633106533651 + ], + [ + 271.7943235432889, + 494.07627641786326 + ], + [ + 310.6634411212617, + 480.4503401927634 + ], + [ + 305.184935517135, + 462.27376793382274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 355, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -27.421844482421875, + "y": 4.642021656036377, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.5332531332969666, + "y": 0.35972288250923157, + "z": 0.9297102689743042 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 781.7865285947964, + "ymin": 85.47948843745456, + "xmax": 822.9577109673658, + "ymax": 145.22409507145485 + }, + "corners_3d": [ + [ + -27.89225959777832, + 4.20330810546875, + -0.32962870597839355 + ], + [ + -28.004804611206055, + 4.913896560668945, + -0.32962870597839355 + ], + [ + -26.95142936706543, + 5.080735206604004, + -0.32962870597839355 + ], + [ + -26.838884353637695, + 4.370146751403809, + -0.32962870597839355 + ], + [ + -27.89225959777832, + 4.20330810546875, + 1.5297918319702148 + ], + [ + -28.004804611206055, + 4.913896560668945, + 1.5297918319702148 + ], + [ + -26.95142936706543, + 5.080735206604004, + 1.5297918319702148 + ], + [ + -26.838884353637695, + 4.370146751403809, + 1.5297918319702148 + ] + ], + "corners_2d": [ + [ + 781.7865285947964, + 134.9079965411348 + ], + [ + 790.1839064711041, + 145.22409507145485 + ], + [ + 816.0657956803058, + 139.72178983545484 + ], + [ + 807.3930478619438, + 129.54666656179847 + ], + [ + 787.3015652710804, + 90.73535836788398 + ], + [ + 796.1051614622509, + 100.85637370656889 + ], + [ + 822.9577109673658, + 95.45683557377026 + ], + [ + 813.8580292973346, + 85.47948843745456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4375, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 898.438200562706, + "ymin": 0.0, + "xmax": 1039.7022593759505, + "ymax": 69.73313003662662 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 898.438200562706, + 47.5515071590238 + ], + [ + 930.961136471145, + 69.73313003662662 + ], + [ + 1029.5879468101916, + 38.01605167149006 + ], + [ + 995.5506042773104, + 17.71338849848439 + ], + [ + 905.2428017414873, + 15.350425876412373 + ], + [ + 938.8715262694456, + 37.086510341548774 + ], + [ + 1039.7022593759505, + 6.0176470684760375 + ], + [ + 1004.5028745120189, + -13.831195067806789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5723, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 483.78139658913045, + "ymin": 97.69192007783153, + "xmax": 640.6408647077825, + "ymax": 204.4011016240031 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 489.0489143271458, + 173.31623947805335 + ], + [ + 512.2827591461723, + 204.4011016240031 + ], + [ + 640.6408647077825, + 162.89814207935737 + ], + [ + 614.02878293584, + 134.69284959789204 + ], + [ + 483.78139658913045, + 135.77896968101987 + ], + [ + 507.6354020833226, + 166.50134801262456 + ], + [ + 640.5617015179172, + 125.47532829111441 + ], + [ + 613.0853518444328, + 97.69192007783153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 27.235984608008266, + "ymin": 366.4207314479839, + "xmax": 64.65563933196995, + "ymax": 413.90679788305437 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 64.65563933196995, + 408.7727640961583 + ], + [ + 62.417475135676796, + 396.12192723975176 + ], + [ + 47.46199073951834, + 401.13396042706495 + ], + [ + 49.52962390427763, + 413.90679788305437 + ], + [ + 44.869200591860476, + 379.1358653345909 + ], + [ + 42.79897084846925, + 366.4207314479839 + ], + [ + 27.235984608008266, + 371.4569908801944 + ], + [ + 29.121326850444802, + 384.29896789124217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.6478027600657, + "ymin": 69.04007729556588, + "xmax": 538.1693623543276, + "ymax": 106.30291551769932 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 532.5326864283403, + 97.25725245519658 + ], + [ + 523.4603379127944, + 99.81526568027084 + ], + [ + 529.0381466586654, + 106.30291551769932 + ], + [ + 538.1693623543276, + 103.70064867976237 + ], + [ + 529.9481358495499, + 69.04007729556588 + ], + [ + 520.6478027600657, + 71.56118311093672 + ], + [ + 526.3365579135595, + 77.9570848221149 + ], + [ + 535.698804279432, + 75.39129920130415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 602.3586586707805, + "ymin": 253.65474174294658, + "xmax": 618.9657745714012, + "ymax": 289.9370194337067 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 612.4245505537787, + 278.2999676926855 + ], + [ + 603.2741667786703, + 281.60256053626085 + ], + [ + 609.757141006876, + 289.9370194337067 + ], + [ + 618.9657745714012, + 286.5753126121663 + ], + [ + 611.7396365437539, + 253.65474174294658 + ], + [ + 602.3586586707805, + 256.95000341132743 + ], + [ + 608.9963431498097, + 265.26854541143575 + ], + [ + 618.4385672064508, + 261.91281317606206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.00132553836875, + "ymin": 22.531705148365177, + "xmax": 496.13114921866025, + "ymax": 57.92715676266653 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 491.18573905811184, + 49.992569401298226 + ], + [ + 482.5552105880208, + 52.23760557871606 + ], + [ + 487.44684882224533, + 57.92715676266653 + ], + [ + 496.13114921866025, + 55.64576465951825 + ], + [ + 487.8376116869882, + 22.531705148365177 + ], + [ + 479.00132553836875, + 24.737630084556997 + ], + [ + 483.97493175556815, + 30.32948415079818 + ], + [ + 492.8676344895807, + 28.08702165243301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 448.2020983588872, + "ymin": 0.0, + "xmax": 464.97727095142386, + "ymax": 22.090089557033252 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 460.51521277519134, + 14.932174120534398 + ], + [ + 452.2237949109953, + 16.95827586729638 + ], + [ + 456.63591589074343, + 22.090089557033252 + ], + [ + 464.97727095142386, + 20.03283784034801 + ], + [ + 456.68298658313665, + -11.876761143136378 + ], + [ + 448.2020983588872, + -9.890436242044927 + ], + [ + 452.6779451443035, + -4.858218459483396 + ], + [ + 461.2111264121776, + -6.875742525061014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 162.28219493893948, + "ymin": 323.1392189306011, + "xmax": 194.7797045829165, + "ymax": 369.32113180945504 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 194.7797045829165, + 364.60661315576175 + ], + [ + 191.14584593455118, + 352.9813974109191 + ], + [ + 177.39870605122167, + 357.5884789896244 + ], + [ + 180.88967799290913, + 369.32113180945504 + ], + [ + 180.1267077282053, + 334.7905276078608 + ], + [ + 176.54765164120653, + 323.1392189306011 + ], + [ + 162.28219493893948, + 327.7555924332868 + ], + [ + 165.7071548143133, + 339.518127599404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.9703245506807, + "ymin": 577.2939920129762, + "xmax": 1161.9597791989781, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1007.7532652929926, + 799.2280162322452 + ], + [ + 992.2216789062011, + 779.2935592089109 + ], + [ + 837.9703245506807, + 879.7435322607041 + ], + [ + 852.3069587866158, + 902.5962651564936 + ], + [ + 1161.9597791989781, + 601.5947004282064 + ], + [ + 1137.0527808486145, + 577.2939920129762 + ], + [ + 927.6752767710555, + 702.6618747690071 + ], + [ + 950.6077947392882, + 732.2308522403721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 958.4156173276797, + "ymin": 0.0, + "xmax": 1125.699111451896, + "ymax": 184.6894999001865 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1034.0663991388092, + 184.6894999001865 + ], + [ + 1043.4780793652603, + 181.03693290305563 + ], + [ + 967.5231880768861, + 126.78684260667558 + ], + [ + 958.4156173276797, + 129.9783234454661 + ], + [ + 1114.7936719100583, + -37.755831456001204 + ], + [ + 1125.699111451896, + -40.983943438082974 + ], + [ + 1029.103213799678, + -88.25965944512666 + ], + [ + 1018.5749009104146, + -85.51277756936008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 392.26263899253263, + "ymax": 109.50130285693126 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 392.26263899253263, + 35.942050052844706 + ], + [ + 389.0501331776024, + 31.514724347137474 + ], + [ + 85.89771484723838, + 104.08050317362415 + ], + [ + 87.28057171700459, + 109.50130285693126 + ], + [ + 348.15168018204383, + -183.8857629402894 + ], + [ + 344.70547806187017, + -187.4310498293446 + ], + [ + -24.47940092607439, + -128.27929093613085 + ], + [ + -23.768888265751002, + -123.7696402561163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.0043714023095, + "ymin": 694.6703895999642, + "xmax": 974.1249833285324, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 972.0378028060652, + 717.2100898473317 + ], + [ + 956.849250840907, + 698.2178216807627 + ], + [ + 933.0043714023095, + 712.6343528864647 + ], + [ + 948.0183824576843, + 732.037225237939 + ], + [ + 974.1249833285324, + 713.7318357356712 + ], + [ + 958.8131612618993, + 694.6703895999642 + ], + [ + 934.8399957834054, + 709.139128069133 + ], + [ + 949.9756756385428, + 728.6152883129315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 233.12142857429473, + "xmax": 322.3751037907591, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -243.70735670549846, + 714.2911107368811 + ], + [ + -245.4881589749325, + 732.0928032691638 + ], + [ + 322.3751037907591, + 506.8998785890601 + ], + [ + 317.7416625203508, + 494.39298794804677 + ], + [ + -622.7077436136296, + 475.7270635971835 + ], + [ + -632.3613979861298, + 496.8405132074612 + ], + [ + 213.89031327937772, + 246.07654177413406 + ], + [ + 209.2618379648576, + 233.12142857429473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.7859726726487, + "ymin": 694.4726228641678, + "xmax": 974.348948604465, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 972.2379474892732, + 717.2532199147801 + ], + [ + 956.8857664852449, + 698.0588338112095 + ], + [ + 932.7859726726487, + 712.6280060725455 + ], + [ + 947.9598385556427, + 732.2418655393222 + ], + [ + 974.348948604465, + 713.7376624582286 + ], + [ + 958.8708228307662, + 694.4726228641678 + ], + [ + 934.6399773822153, + 709.0951096475249 + ], + [ + 949.9381344235162, + 728.7838666883067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.87005495388485, + "ymin": 0.0, + "xmax": 632.8994934994478, + "ymax": 357.56009775056543 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 619.6066232105456, + 357.56009775056543 + ], + [ + 632.8994934994478, + 352.4480065772161 + ], + [ + 478.67777323303005, + 143.0562593159784 + ], + [ + 467.5461954746432, + 146.25596583472426 + ], + [ + 613.794515375723, + 97.35933040473316 + ], + [ + 630.8889974347957, + 92.4901677432614 + ], + [ + 444.53560872244043, + -95.56516101390008 + ], + [ + 430.87005495388485, + -92.84932943840624 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00084/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00084/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..501694646c9636c0ab0c0e4c0925573a63d92b7f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00084/meta.json @@ -0,0 +1,2359 @@ +{ + "frame_id": 84, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.0, + "sim_timestamp": 12635.87576723774 + }, + "drone_pose": { + "x": -47.238887204481806, + "y": 28.38951894146674, + "z": 20.0, + "pitch": -46.79463936732513, + "yaw": -59.784864888083185, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34453147649765015, + 0.5916047692298889, + 0.7289046049118042, + 18.492563247680664 + ], + [ + -0.8641418814659119, + 0.5032482743263245, + 0.0, + 26.53412628173828 + ], + [ + -0.36681997776031494, + -0.629876971244812, + 0.6846152544021606, + -48.90237808227539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.04550373584547, + "y": 27.954912860291188, + "z": 20.0 + }, + "t1_image_uv": [ + 486.97731598260987, + -662.1045141158543 + ], + "t1_depth": 0.32374171534440227 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -38.16718292236328, + "y": 12.812236785888672, + "z": 0.8075375896692276 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.33055546904885, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 156, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -38.16718292236328, + "y": 12.812235832214355, + "z": 0.8075376152992249 + }, + "extent": { + "x": 0.27277830243110657, + "y": 0.25957822799682617, + "z": 0.5475718975067139 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.4685163953956, + "ymin": 336.58802956097213, + "xmax": 653.5937783306077, + "ymax": 383.1439139032959 + }, + "corners_3d": [ + [ + -38.43996047973633, + 12.552658081054688, + 0.259965717792511 + ], + [ + -38.43996047973633, + 13.071813583374023, + 0.259965717792511 + ], + [ + -37.894405364990234, + 13.071813583374023, + 0.259965717792511 + ], + [ + -37.894405364990234, + 12.552658081054688, + 0.259965717792511 + ], + [ + -38.43996047973633, + 12.552658081054688, + 1.355109453201294 + ], + [ + -38.43996047973633, + 13.071813583374023, + 1.355109453201294 + ], + [ + -37.894405364990234, + 13.071813583374023, + 1.355109453201294 + ], + [ + -37.894405364990234, + 12.552658081054688, + 1.355109453201294 + ] + ], + "corners_2d": [ + [ + 626.8717217828145, + 371.1603013407871 + ], + [ + 636.1905084502944, + 383.1439139032959 + ], + [ + 653.18690671409, + 375.77739295248267 + ], + [ + 643.7395442465132, + 363.96114248361675 + ], + [ + 626.4685163953956, + 343.8103384134261 + ], + [ + 636.0721094120815, + 355.8393434431076 + ], + [ + 653.5937783306077, + 348.4439040690019 + ], + [ + 643.8535712777764, + 336.58802956097213 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 84, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 454316, + "2": 231994, + "3": 176275, + "5": 268, + "6": 10521, + "7": 2471, + "10": 557, + "12": 1980, + "14": 10263, + "20": 2803, + "24": 27386, + "25": 2766 + }, + "instance_pixel_counts": { + "148": 4504, + "3424": 2766, + "6215": 149056, + "6796": 1908, + "6802": 8399, + "7308": 610, + "7314": 29875, + "8332": 2022, + "8338": 15278, + "15184": 268, + "18000": 856, + "18512": 1811, + "21652": 117564, + "22676": 89084, + "23700": 56471, + "24212": 56862, + "24724": 19409, + "25856": 7026, + "26112": 289, + "26624": 3057, + "33370": 12262, + "35988": 10811, + "36500": 2764, + "37524": 2758, + "38036": 5154, + "38548": 255, + "39052": 3463, + "39564": 9729, + "40265": 136, + "40588": 4220, + "41818": 163352, + "42074": 661, + "43409": 3038, + "43921": 1237, + "44945": 3159, + "56576": 156, + "56832": 220, + "57088": 623, + "57344": 623, + "57600": 358, + "57856": 4376, + "59904": 5887, + "61569": 2620, + "62613": 4065, + "63123": 53020, + "63125": 315, + "63635": 13535, + "64149": 607, + "64659": 28187, + "64661": 657, + "65171": 15680 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 156, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -38.16718292236328, + "y": 12.812235832214355, + "z": 0.8075376152992249 + }, + "extent": { + "x": 0.2888830304145813, + "y": 0.2676659822463989, + "z": 0.5593512058258057 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.7990096955684, + "ymin": 335.8904516100311, + "xmax": 654.2655498640304, + "ymax": 383.8366707442264 + }, + "corners_3d": [ + [ + -38.4560661315918, + 12.544569969177246, + 0.2481864094734192 + ], + [ + -38.4560661315918, + 13.079901695251465, + 0.2481864094734192 + ], + [ + -37.878299713134766, + 13.079901695251465, + 0.2481864094734192 + ], + [ + -37.878299713134766, + 12.544569969177246, + 0.2481864094734192 + ], + [ + -38.4560661315918, + 12.544569969177246, + 1.3668887615203857 + ], + [ + -38.4560661315918, + 13.079901695251465, + 1.3668887615203857 + ], + [ + -37.878299713134766, + 13.079901695251465, + 1.3668887615203857 + ], + [ + -37.878299713134766, + 12.544569969177246, + 1.3668887615203857 + ] + ], + "corners_2d": [ + [ + 626.2311414499062, + 371.47508365669717 + ], + [ + 635.8332625732749, + 383.8366707442264 + ], + [ + 653.8295393844825, + 376.03277235184834 + ], + [ + 644.0870974617912, + 363.8538858814287 + ], + [ + 625.7990096955684, + 343.5365965019641 + ], + [ + 635.7008769697692, + 355.94617595312553 + ], + [ + 654.2655498640304, + 348.1108955110058 + ], + [ + 644.2143945788135, + 335.8904516100311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 220, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -34.041194915771484, + "y": 15.809941291809082, + "z": 0.8035873174667358 + }, + "extent": { + "x": 0.30840209126472473, + "y": 0.2215435802936554, + "z": 0.5267611742019653 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 811.0551301275557, + "ymin": 350.6976531006579, + "xmax": 844.3810088060859, + "ymax": 396.95461615828606 + }, + "corners_3d": [ + [ + -34.38045883178711, + 15.63936996459961, + 0.2768261432647705 + ], + [ + -34.31114196777344, + 16.077001571655273, + 0.2768261432647705 + ], + [ + -33.70193099975586, + 15.980512619018555, + 0.2768261432647705 + ], + [ + -33.77124786376953, + 15.54288101196289, + 0.2768261432647705 + ], + [ + -34.38045883178711, + 15.63936996459961, + 1.3303484916687012 + ], + [ + -34.31114196777344, + 16.077001571655273, + 1.3303484916687012 + ], + [ + -33.70193099975586, + 15.980512619018555, + 1.3303484916687012 + ], + [ + -33.77124786376953, + 15.54288101196289, + 1.3303484916687012 + ] + ], + "corners_2d": [ + [ + 811.0551301275557, + 387.50838653238765 + ], + [ + 822.892757506027, + 396.95461615828606 + ], + [ + 838.4318389118357, + 386.2371214460085 + ], + [ + 826.5757385793133, + 376.9802772806056 + ], + [ + 816.189926588123, + 361.2675070800885 + ], + [ + 828.4338070046233, + 370.75661077219536 + ], + [ + 844.3810088060859, + 359.9908634561703 + ], + [ + 832.1185918439273, + 350.6976531006579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 623, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -40.42300796508789, + "y": 19.75494956970215, + "z": 0.8079526424407959 + }, + "extent": { + "x": 0.4507995545864105, + "y": 0.3251098692417145, + "z": 0.8856784701347351 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 682.9584449114246, + "ymin": 551.2997877125661, + "xmax": 736.992898119059, + "ymax": 633.1623509559796 + }, + "corners_3d": [ + [ + -40.89020538330078, + 19.45387840270996, + -0.07772582769393921 + ], + [ + -40.85617446899414, + 20.103206634521484, + -0.07772582769393921 + ], + [ + -39.955810546875, + 20.056020736694336, + -0.07772582769393921 + ], + [ + -39.98984146118164, + 19.406692504882812, + -0.07772582769393921 + ], + [ + -40.89020538330078, + 19.45387840270996, + 1.6936311721801758 + ], + [ + -40.85617446899414, + 20.103206634521484, + 1.6936311721801758 + ], + [ + -39.955810546875, + 20.056020736694336, + 1.6936311721801758 + ], + [ + -39.98984146118164, + 19.406692504882812, + 1.6936311721801758 + ] + ], + "corners_2d": [ + [ + 682.9584449114246, + 611.3433239042159 + ], + [ + 699.425688045385, + 633.1623509559796 + ], + [ + 731.3196331517283, + 613.3221852417856 + ], + [ + 714.5712740571337, + 592.1610018548945 + ], + [ + 685.6228561568267, + 571.00817757662 + ], + [ + 703.1785862680356, + 593.4703973846508 + ], + [ + 736.992898119059, + 573.043404076024 + ], + [ + 719.1224857032939, + 551.2997877125661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 623, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -47.66718292236328, + "y": 12.812235832214355, + "z": 0.651785671710968 + }, + "extent": { + "x": 0.5269262790679932, + "y": 0.3132867217063904, + "z": 0.90496826171875 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 264.2485943941431, + "ymin": 468.8642315096856, + "xmax": 333.61029680622573, + "ymax": 547.6942216370521 + }, + "corners_3d": [ + [ + -48.1769905090332, + 12.4718017578125, + -0.253182590007782 + ], + [ + -48.209781646728516, + 13.097516059875488, + -0.253182590007782 + ], + [ + -47.15737533569336, + 13.152669906616211, + -0.253182590007782 + ], + [ + -47.12458419799805, + 12.526955604553223, + -0.253182590007782 + ], + [ + -48.1769905090332, + 12.4718017578125, + 1.5567538738250732 + ], + [ + -48.209781646728516, + 13.097516059875488, + 1.5567538738250732 + ], + [ + -47.15737533569336, + 13.152669906616211, + 1.5567538738250732 + ], + [ + -47.12458419799805, + 12.526955604553223, + 1.5567538738250732 + ] + ], + "corners_2d": [ + [ + 285.02781189484256, + 528.3490912564401 + ], + [ + 290.97793723867704, + 547.6942216370521 + ], + [ + 333.61029680622573, + 530.9253090224697 + ], + [ + 327.0689376318866, + 512.1085736607689 + ], + [ + 264.2485943941431, + 485.4223062743673 + ], + [ + 270.19524948900886, + 505.1802450859892 + ], + [ + 315.6338906322038, + 488.05132843435877 + ], + [ + 309.0150267491749, + 468.8642315096856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 358, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -26.921844482421875, + "y": 4.642021656036377, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.4477490186691284, + "y": 0.39877912402153015, + "z": 0.9220172762870789 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 774.4923805413059, + "ymin": 80.67988492415179, + "xmax": 812.2499904750586, + "ymax": 140.69386751826337 + }, + "corners_3d": [ + [ + -27.301698684692383, + 4.1781086921691895, + -0.3219357132911682 + ], + [ + -27.426464080810547, + 4.965847492218018, + -0.3219357132911682 + ], + [ + -26.541990280151367, + 5.1059346199035645, + -0.3219357132911682 + ], + [ + -26.417224884033203, + 4.318195819854736, + -0.3219357132911682 + ], + [ + -27.301698684692383, + 4.1781086921691895, + 1.5220987796783447 + ], + [ + -27.426464080810547, + 4.965847492218018, + 1.5220987796783447 + ], + [ + -26.541990280151367, + 5.1059346199035645, + 1.5220987796783447 + ], + [ + -26.417224884033203, + 4.318195819854736, + 1.5220987796783447 + ] + ], + "corners_2d": [ + [ + 774.4923805413059, + 129.34452089526047 + ], + [ + 784.2265570750817, + 140.69386751826337 + ], + [ + 805.7679788314155, + 135.70752245494302 + ], + [ + 795.7907426351346, + 124.49773989197021 + ], + [ + 779.7078546484524, + 85.43415804195399 + ], + [ + 789.9028716689556, + 96.5757253254555 + ], + [ + 812.2499904750586, + 91.6791416802206 + ], + [ + 801.7937222584386, + 80.67988492415179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4376, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 876.8726384783429, + "ymin": 0.0, + "xmax": 1016.9689178788251, + "ymax": 66.15567568440542 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 876.8726384783429, + 44.13907464325172 + ], + [ + 909.8572781217509, + 66.15567568440542 + ], + [ + 1007.3706310194978, + 32.72989347815769 + ], + [ + 973.0396096380482, + 12.660099319348546 + ], + [ + 883.1657256174426, + 11.792484339851 + ], + [ + 917.2563095918662, + 33.37671528031848 + ], + [ + 1016.9689178788251, + 0.6214190865319438 + ], + [ + 981.4832269545773, + -19.006264823795107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 5887, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 461.04105629802643, + "ymin": 99.61801186886254, + "xmax": 620.4703598137658, + "ymax": 209.6208965218127 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 467.1656741368615, + 178.22829571695212 + ], + [ + 491.40446328469477, + 209.6208965218127 + ], + [ + 620.4703598137658, + 165.152580704778 + ], + [ + 592.9815668631139, + 136.8189785742625 + ], + [ + 461.04105629802643, + 140.49523136182398 + ], + [ + 485.91935341971976, + 171.5593837045549 + ], + [ + 619.6988559062161, + 127.5549851662617 + ], + [ + 591.3280267927231, + 99.61801186886254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 390.2754451515871, + "xmax": 35.12142048171859, + "ymax": 438.6198282130951 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 35.12142048171859, + 432.9409967269144 + ], + [ + 32.58106942958432, + 419.8034860015081 + ], + [ + 17.13280590632803, + 425.346529518334 + ], + [ + 19.497771370474766, + 438.6198282130951 + ], + [ + 13.638815571288319, + 403.50825134914453 + ], + [ + 11.276134423272197, + 390.2754451515871 + ], + [ + -4.8298461161354, + 395.8573213277247 + ], + [ + -2.658081880867144, + 409.23176673670395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.2717560056787, + "ymin": 73.72888386941486, + "xmax": 515.7400242032163, + "ymax": 111.50698011730805 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 509.87224182651084, + 102.16505150077876 + ], + [ + 500.7006418337237, + 104.92692717390858 + ], + [ + 506.5111313365915, + 111.50698011730805 + ], + [ + 515.7400242032163, + 108.69760193906498 + ], + [ + 506.68093350053823, + 73.72888386941486 + ], + [ + 497.2717560056787, + 76.45345319005025 + ], + [ + 503.1963840323018, + 82.94657175842883 + ], + [ + 512.665927950702, + 80.17397503317943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 584.0587235673244, + "ymin": 260.0767977545004, + "xmax": 601.4461518931315, + "ymax": 296.73322658932216 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 594.6416921877102, + 284.765932271049 + ], + [ + 585.4428403339377, + 288.31645028640656 + ], + [ + 592.1915773874645, + 296.73322658932216 + ], + [ + 601.4461518931315, + 293.1196640277879 + ], + [ + 593.4953580736105, + 260.0767977545004 + ], + [ + 584.0587235673244, + 263.6224659792755 + ], + [ + 590.9676600413923, + 272.03043113811145 + ], + [ + 600.4629704002518, + 268.4201885673248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.8819715805257, + "ymin": 26.51450719214199, + "xmax": 471.964019423849, + "ymax": 62.42677659255645 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 466.81201740007816, + 54.22631616778216 + ], + [ + 458.0718381409364, + 56.65203158643317 + ], + [ + 463.1712048896879, + 62.42677659255645 + ], + [ + 471.964019423849, + 59.961993308431204 + ], + [ + 462.83720999887464, + 26.51450719214199 + ], + [ + 453.8819715805257, + 28.900085801952855 + ], + [ + 459.06529940514986, + 34.58077221572023 + ], + [ + 468.0758606100419, + 32.15587794957719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.77479056398664, + "ymin": 0.0, + "xmax": 439.5011130649883, + "ymax": 26.04485578309925 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 434.850091782967, + 18.643077256029756 + ], + [ + 426.4426319410961, + 20.833417489318435 + ], + [ + 431.0445750060994, + 26.04485578309925 + ], + [ + 439.5011130649883, + 23.82101466866135 + ], + [ + 430.3807116814453, + -8.437390725841738 + ], + [ + 421.77479056398664, + -6.288212317966099 + ], + [ + 426.441700805486, + -1.1734980704269447 + ], + [ + 435.09910578958613, + -3.356273513727899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 134.5454274864412, + "ymin": 342.4690037993924, + "xmax": 169.0826618421181, + "ymax": 389.43329648919735 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 169.0826618421181, + 384.249454432831 + ], + [ + 165.11745248306852, + 372.2478934081528 + ], + [ + 151.00059034021405, + 377.3132134521523 + ], + [ + 154.82083509378714, + 389.43329648919735 + ], + [ + 153.12664184813093, + 354.51998096030326 + ], + [ + 149.21781376641673, + 342.4690037993924 + ], + [ + 134.5454274864412, + 347.55403803579145 + ], + [ + 138.29736687975424, + 359.7280645051924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.1746207199029, + "ymin": 587.0184662557779, + "xmax": 1158.20009107222, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1003.4669631925452, + 805.6157294198684 + ], + [ + 987.4853985260304, + 785.7391654856426 + ], + [ + 835.1746207199029, + 892.7716956595822 + ], + [ + 850.1072261814456, + 915.7189420008825 + ], + [ + 1158.20009107222, + 611.4672565896105 + ], + [ + 1132.5751365323072, + 587.0184662557779 + ], + [ + 925.4801281418534, + 722.0862751073821 + ], + [ + 949.4348910317706, + 752.1718979508632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.662178987445, + "ymin": 0.0, + "xmax": 1103.5640654613198, + "ymax": 181.01368046903835 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1015.2859285692223, + 181.01368046903835 + ], + [ + 1024.5608650968638, + 177.1663446221082 + ], + [ + 947.6706886665704, + 123.44312761003607 + ], + [ + 938.662178987445, + 126.81268328430568 + ], + [ + 1092.8101455446513, + -42.22133713213185 + ], + [ + 1103.5640654613198, + -45.631115604610216 + ], + [ + 1006.0638759171126, + -92.58212767475027 + ], + [ + 995.6351519501313, + -89.67318368622477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 365.8811486141854, + "ymax": 119.09255546599957 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 365.8811486141854, + 39.20183684042951 + ], + [ + 362.5179541395104, + 34.716961413882984 + ], + [ + 53.13853435105477, + 113.53172336922299 + ], + [ + 54.66679477458263, + 119.09255546599957 + ], + [ + 315.9973109064517, + -183.26135914652264 + ], + [ + 312.4033301396528, + -186.87662705966204 + ], + [ + -67.29991922483327, + -122.09438512565862 + ], + [ + -66.49751586134721, + -117.42143576670304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12638764875563643514, + "instance_id": 31410, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_1", + "bbox_3d": { + "center_world": { + "x": -41.274593353271484, + "y": 26.112821578979492, + "z": 7.725226402282715 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.8785750812706, + "ymin": 712.523508509314, + "xmax": 972.5087202820737, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.07089614868164, + 26.259113311767578, + 7.671158790588379 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.671158790588379 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.671158790588379 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.671158790588379 + ], + [ + -41.07089614868164, + 26.259113311767578, + 7.779294013977051 + ], + [ + -41.070899963378906, + 25.966527938842773, + 7.779294013977051 + ], + [ + -41.47829055786133, + 25.966529846191406, + 7.779294013977051 + ], + [ + -41.47828674316406, + 26.25911521911621, + 7.779294013977051 + ] + ], + "corners_2d": [ + [ + 970.3903498410089, + 735.2541652452046 + ], + [ + 954.5638134924591, + 715.9737724438692 + ], + [ + 930.8785750812706, + 731.5668098030078 + ], + [ + 946.551546225164, + 751.2891108237588 + ], + [ + 972.5087202820737, + 731.8789403961808 + ], + [ + 956.5527040649026, + 712.523508509314 + ], + [ + 932.7386541578413, + 728.1769689603266 + ], + [ + 948.5397699465627, + 747.9789024677852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 250.5414878915162, + "xmax": 303.99352739684514, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -278.5503276892657, + 752.9893743497491 + ], + [ + -280.1098429575434, + 771.6089033426865 + ], + [ + 303.99352739684514, + 523.6943938171653 + ], + [ + 298.99815342058486, + 510.9287576531467 + ], + [ + -692.5116162365525, + 523.7436976419464 + ], + [ + -702.7361148232046, + 546.5137239189274 + ], + [ + 185.7381927167084, + 263.9689231918874 + ], + [ + 180.72484180786444, + 250.5414878915162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14193924273216231957, + "instance_id": 5402, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_0", + "bbox_3d": { + "center_world": { + "x": -41.27458572387695, + "y": 26.112823486328125, + "z": 7.725231647491455 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.6573310453373, + "ymin": 712.318424969452, + "xmax": 972.7353277442207, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -41.06869888305664, + 26.260690689086914, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.6705827713012695 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.6705827713012695 + ], + [ + -41.06869888305664, + 26.260690689086914, + 7.779880523681641 + ], + [ + -41.06869888305664, + 25.964954376220703, + 7.779880523681641 + ], + [ + -41.480472564697266, + 25.964956283569336, + 7.779880523681641 + ], + [ + -41.480472564697266, + 26.260692596435547, + 7.779880523681641 + ] + ], + "corners_2d": [ + [ + 970.5927663419702, + 735.2919253700629 + ], + [ + 954.5958757256903, + 715.8064976011358 + ], + [ + 930.6573310453373, + 731.5646239749789 + ], + [ + 946.4973345787387, + 751.5015046608651 + ], + [ + 972.7353277442207, + 731.8804916909448 + ], + [ + 956.6061496886448, + 712.318424969452 + ], + [ + 932.5360151237046, + 728.1382568161409 + ], + [ + 948.5069272414282, + 748.1565198015699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 402.3362021047827, + "ymin": 0.0, + "xmax": 616.7264929283913, + "ymax": 364.1745990061789 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 603.3940503959894, + 364.1745990061789 + ], + [ + 616.7264929283913, + 358.68926424006924 + ], + [ + 456.0017658401763, + 147.46408339073196 + ], + [ + 444.7556487790039, + 150.91036771021734 + ], + [ + 592.7479797835426, + 103.15721418519348 + ], + [ + 610.0045091783259, + 97.88562228019475 + ], + [ + 416.2317693256639, + -93.36392019258983 + ], + [ + 402.3362021047827, + -90.41681096378619 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00085/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00085/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..90b2432dcda93ccba1a974d1426afeeeb9224645 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00085/meta.json @@ -0,0 +1,2151 @@ +{ + "frame_id": 85, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.5, + "sim_timestamp": 12645.378907357575 + }, + "drone_pose": { + "x": -47.04550373584547, + "y": 27.954912860291188, + "z": 20.0, + "pitch": -47.137771777953084, + "yaw": -58.228804800343745, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.35816454887390137, + 0.5783092975616455, + 0.7329915165901184, + 18.356786727905273 + ], + [ + -0.850157618522644, + 0.5265284180641174, + 2.9802322387695312e-08, + 25.27703285217285 + ], + [ + -0.3859408497810364, + -0.62315833568573, + 0.6802377700805664, + -49.1818733215332 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.82423742767361, + "y": 27.467111092392148, + "z": 20.0 + }, + "t1_image_uv": [ + 457.4039565799728, + -674.4497781078535 + ], + "t1_depth": 0.36135003368481067 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -37.66718292236328, + "y": 12.812236785888672, + "z": 0.8070639562606812 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 26.18439103653059, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 216, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -37.66718292236328, + "y": 12.812235832214355, + "z": 0.80706387758255 + }, + "extent": { + "x": 0.30946654081344604, + "y": 0.21993039548397064, + "z": 0.554068922996521 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.3189167289974, + "ymin": 336.5840427586032, + "xmax": 650.5405284191838, + "ymax": 383.11918047915304 + }, + "corners_3d": [ + [ + -38.04152297973633, + 12.875547409057617, + 0.25299495458602905 + ], + [ + -37.73049545288086, + 13.186575889587402, + 0.25299495458602905 + ], + [ + -37.292842864990234, + 12.748924255371094, + 0.25299495458602905 + ], + [ + -37.6038703918457, + 12.437895774841309, + 0.25299495458602905 + ], + [ + -38.04152297973633, + 12.875547409057617, + 1.3611328601837158 + ], + [ + -37.73049545288086, + 13.186575889587402, + 1.3611328601837158 + ], + [ + -37.292842864990234, + 12.748924255371094, + 1.3611328601837158 + ], + [ + -37.6038703918457, + 12.437895774841309, + 1.3611328601837158 + ] + ], + "corners_2d": [ + [ + 629.6472977309865, + 380.3783053195087 + ], + [ + 645.2196012011158, + 383.11918047915304 + ], + [ + 650.220602511173, + 366.9224433227617 + ], + [ + 634.8734182501594, + 364.26477316164477 + ], + [ + 629.3189167289974, + 352.76565517521925 + ], + [ + 645.3856074471842, + 355.51967130383196 + ], + [ + 650.5405284191838, + 339.2518622027103 + ], + [ + 634.7133680084394, + 336.5840427586032 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 85, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 440613, + "2": 236790, + "3": 185768, + "5": 311, + "6": 9724, + "7": 1983, + "10": 553, + "12": 2125, + "14": 10257, + "20": 2837, + "24": 27547, + "25": 3092 + }, + "instance_pixel_counts": { + "148": 1014, + "3424": 3092, + "6215": 152150, + "6796": 2005, + "6802": 8737, + "7308": 711, + "7314": 29622, + "8332": 2052, + "8338": 15860, + "15184": 311, + "18000": 872, + "18512": 1825, + "21652": 124225, + "22676": 84116, + "23700": 57964, + "24212": 50568, + "24724": 12823, + "25856": 7395, + "26112": 324, + "26624": 2276, + "33370": 13044, + "35988": 11372, + "36500": 2655, + "37524": 2842, + "38036": 4816, + "38548": 277, + "39052": 3593, + "39564": 9600, + "40265": 140, + "40588": 4535, + "41818": 171740, + "42074": 984, + "43409": 3180, + "43921": 1482, + "44945": 3263, + "56576": 216, + "56832": 227, + "57088": 725, + "57344": 576, + "57600": 381, + "57856": 4165, + "59904": 6092, + "61569": 1712, + "62613": 4288, + "63123": 56015, + "63125": 346, + "63635": 15462, + "64149": 617, + "64659": 28117, + "64661": 334, + "65171": 10309 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 216, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -37.66718292236328, + "y": 12.812235832214355, + "z": 0.80706387758255 + }, + "extent": { + "x": 0.22826780378818512, + "y": 0.31680601835250854, + "z": 0.5455623269081116 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.519649667699, + "ymin": 338.308769421547, + "xmax": 653.3742461815505, + "ymax": 381.36328676268045 + }, + "corners_3d": [ + [ + -38.052608489990234, + 12.749629974365234, + 0.2615015506744385 + ], + [ + -37.604576110839844, + 13.197661399841309, + 0.2615015506744385 + ], + [ + -37.28175735473633, + 12.874841690063477, + 0.2615015506744385 + ], + [ + -37.72978973388672, + 12.426810264587402, + 0.2615015506744385 + ], + [ + -38.052608489990234, + 12.749629974365234, + 1.3526262044906616 + ], + [ + -37.604576110839844, + 13.197661399841309, + 1.3526262044906616 + ], + [ + -37.28175735473633, + 12.874841690063477, + 1.3526262044906616 + ], + [ + -37.72978973388672, + 12.426810264587402, + 1.3526262044906616 + ] + ], + "corners_2d": [ + [ + 626.9267640298798, + 377.431008853608 + ], + [ + 649.3207215481999, + 381.36328676268045 + ], + [ + 652.9734190477442, + 369.4025833513326 + ], + [ + 630.8187651266438, + 365.5587316841781 + ], + [ + 626.519649667699, + 350.23000115439413 + ], + [ + 649.6120976495212, + 354.1803412537022 + ], + [ + 653.3742461815505, + 342.1675537958017 + ], + [ + 630.5361781309359, + 338.308769421547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 227, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -33.541194915771484, + "y": 15.809941291809082, + "z": 0.8031137585639954 + }, + "extent": { + "x": 0.24215087294578552, + "y": 0.2559497058391571, + "z": 0.5564324855804443 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 815.5428131406513, + "ymin": 349.1299675241881, + "xmax": 841.6283452878962, + "ymax": 391.10543812001356 + }, + "corners_3d": [ + [ + -33.890594482421875, + 15.855401992797852, + 0.24668127298355103 + ], + [ + -33.47645950317383, + 16.156288146972656, + 0.24668127298355103 + ], + [ + -33.191795349121094, + 15.764480590820312, + 0.24668127298355103 + ], + [ + -33.60593032836914, + 15.463593482971191, + 0.24668127298355103 + ], + [ + -33.890594482421875, + 15.855401992797852, + 1.359546184539795 + ], + [ + -33.47645950317383, + 16.156288146972656, + 1.359546184539795 + ], + [ + -33.191795349121094, + 15.764480590820312, + 1.359546184539795 + ], + [ + -33.60593032836914, + 15.463593482971191, + 1.359546184539795 + ] + ], + "corners_2d": [ + [ + 816.4360037942481, + 390.06067959525694 + ], + [ + 835.3417082219885, + 391.10543812001356 + ], + [ + 834.2132021864496, + 377.89025653195597 + ], + [ + 815.5428131406513, + 376.8712175669359 + ], + [ + 822.108456573678, + 362.38425325714644 + ], + [ + 841.6283452878962, + 363.4345979352935 + ], + [ + 840.3835405769378, + 350.1536386022472 + ], + [ + 821.114403403187, + 349.1299675241881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 725, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -39.92300796508789, + "y": 19.75494956970215, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.40901243686676025, + "y": 0.30415648221969604, + "z": 0.8788837790489197 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 700.2329351480929, + "ymin": 554.6721825199272, + "xmax": 736.6562055647797, + "ymax": 631.2099665805337 + }, + "corners_3d": [ + [ + -40.42272186279297, + 19.855384826660156, + -0.07093602418899536 + ], + [ + -39.97065734863281, + 20.26242446899414, + -0.07093602418899536 + ], + [ + -39.42329406738281, + 19.65451431274414, + -0.07093602418899536 + ], + [ + -39.87535858154297, + 19.247474670410156, + -0.07093602418899536 + ], + [ + -40.42272186279297, + 19.855384826660156, + 1.6868314743041992 + ], + [ + -39.97065734863281, + 20.26242446899414, + 1.6868314743041992 + ], + [ + -39.42329406738281, + 19.65451431274414, + 1.6868314743041992 + ], + [ + -39.87535858154297, + 19.247474670410156, + 1.6868314743041992 + ] + ], + "corners_2d": [ + [ + 700.2329351480929, + 626.8024869246901 + ], + [ + 726.9275494586964, + 631.2099665805337 + ], + [ + 731.0571378253728, + 599.064185153004 + ], + [ + 705.0039916758201, + 594.870712593667 + ], + [ + 704.0223799146238, + 587.5380065808623 + ], + [ + 732.4161302637001, + 592.0823831472537 + ], + [ + 736.6562055647797, + 558.9825395014569 + ], + [ + 708.9870934879987, + 554.6721825199272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 576, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -47.16718292236328, + "y": 12.812235832214355, + "z": 0.6516048908233643 + }, + "extent": { + "x": 0.4227954149246216, + "y": 0.3251495361328125, + "z": 0.8846137523651123 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 269.34860184192917, + "ymin": 479.2820819516698, + "xmax": 331.04565632511253, + "ymax": 556.0065669141479 + }, + "corners_3d": [ + [ + -47.69894790649414, + 12.853507995605469, + -0.23300886154174805 + ], + [ + -47.26381301879883, + 13.336774826049805, + -0.23300886154174805 + ], + [ + -46.63541793823242, + 12.770963668823242, + -0.23300886154174805 + ], + [ + -47.070552825927734, + 12.287696838378906, + -0.23300886154174805 + ], + [ + -47.69894790649414, + 12.853507995605469, + 1.5362186431884766 + ], + [ + -47.26381301879883, + 13.336774826049805, + 1.5362186431884766 + ], + [ + -46.63541793823242, + 12.770963668823242, + 1.5362186431884766 + ], + [ + -47.070552825927734, + 12.287696838378906, + 1.5362186431884766 + ] + ], + "corners_2d": [ + [ + 289.9518659730522, + 549.4862291053854 + ], + [ + 313.9167922493698, + 556.0065669141479 + ], + [ + 331.04565632511253, + 527.4037867857244 + ], + [ + 307.5462581107711, + 521.1822984876394 + ], + [ + 269.34860184192917, + 508.20166016923866 + ], + [ + 294.61576629247963, + 514.874984358649 + ], + [ + 313.20813658801904, + 485.6321524348963 + ], + [ + 288.4570632971514, + 479.2820819516698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 381, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -26.421844482421875, + "y": 4.642021656036377, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.3318518102169037, + "y": 0.3669256567955017, + "z": 0.9308679699897766 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 769.0517041518515, + "ymin": 76.48693057952755, + "xmax": 799.170441873304, + "ymax": 134.52027818613507 + }, + "corners_3d": [ + [ + -26.90599250793457, + 4.5402302742004395, + -0.33078640699386597 + ], + [ + -26.474645614624023, + 5.133928298950195, + -0.33078640699386597 + ], + [ + -25.93769645690918, + 4.7438130378723145, + -0.33078640699386597 + ], + [ + -26.369043350219727, + 4.150115013122559, + -0.33078640699386597 + ], + [ + -26.90599250793457, + 4.5402302742004395, + 1.530949592590332 + ], + [ + -26.474645614624023, + 5.133928298950195, + 1.530949592590332 + ], + [ + -25.93769645690918, + 4.7438130378723145, + 1.530949592590332 + ], + [ + -26.369043350219727, + 4.150115013122559, + 1.530949592590332 + ] + ], + "corners_2d": [ + [ + 769.0517041518515, + 130.23571910283349 + ], + [ + 788.1257253000472, + 134.52027818613507 + ], + [ + 793.1175937889291, + 125.09900747749671 + ], + [ + 774.2384137364085, + 120.91340511769081 + ], + [ + 774.1872893479695, + 85.63878732308694 + ], + [ + 794.0529990887798, + 89.84783484102127 + ], + [ + 799.170441873304, + 80.59495620801033 + ], + [ + 779.516082646491, + 76.48693057952755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4165, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 855.4779369431924, + "ymin": 0.0, + "xmax": 994.6442583143526, + "ymax": 62.333407649071546 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 855.4779369431924, + 40.43617839628325 + ], + [ + 888.9962029322808, + 62.333407649071546 + ], + [ + 985.5349472779692, + 27.075485461222456 + ], + [ + 950.8394949249778, + 7.1955665633796 + ], + [ + 861.269661778377, + 7.900494482997544 + ], + [ + 895.8995304422979, + 29.380606088858258 + ], + [ + 994.6442583143526, + -5.188326902850008 + ], + [ + 958.7959675902043, + -24.63940727237133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6092, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 437.8030454362174, + "ymin": 101.6697612888816, + "xmax": 600.1487765573057, + "ymax": 215.3204408105638 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 444.84889584737493, + 183.5465329240052 + ], + [ + 470.18378041079905, + 215.3204408105638 + ], + [ + 600.1487765573057, + 167.62510282875502 + ], + [ + 571.6995032129663, + 139.10184307289794 + ], + [ + 437.8030454362174, + 145.5984328107223 + ], + [ + 463.8024599199162, + 177.08480724913022 + ], + [ + 598.6550879404149, + 129.82660308247478 + ], + [ + 569.3000227942636, + 101.6697612888816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2381791816199203714, + "instance_id": 33387, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -51.59429931640625, + "y": 12.265957832336426, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 417.2413714792051, + "xmax": 4.0431020653714995, + "ymax": 466.4842523628402 + }, + "corners_3d": [ + [ + -51.45571517944336, + 12.455914497375488, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.076000213623047, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.076001167297363, + 5.545533180236816 + ], + [ + -51.73288345336914, + 12.455915451049805, + 5.545533180236816 + ], + [ + -51.45571517944336, + 12.455914497375488, + 6.416468620300293 + ], + [ + -51.45571517944336, + 12.076000213623047, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.076001167297363, + 6.416468620300293 + ], + [ + -51.73288345336914, + 12.455915451049805, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 4.0431020653714995, + 460.1843709860525 + ], + [ + 1.1686937740430494, + 446.4859724286011 + ], + [ + -14.833734003809809, + 452.6342434183868 + ], + [ + -12.140009521802085, + 466.4842523628402 + ], + [ + -19.369912116378032, + 431.07354124256767 + ], + [ + -22.055878179711158, + 417.2413714792051 + ], + [ + -38.77542122397051, + 423.448162651801 + ], + [ + -36.287052716881135, + 437.43907252897486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.3992200165045, + "ymin": 78.91139938688138, + "xmax": 492.9060316301151, + "ymax": 117.27664057727029 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 486.78292861772934, + 107.59478108801193 + ], + [ + 477.4921740222718, + 110.58244230449748 + ], + [ + 483.559643756608, + 117.27664057727029 + ], + [ + 492.9060316301151, + 114.23790741609511 + ], + [ + 482.9390281720353, + 78.91139938688138 + ], + [ + 473.3992200165045, + 81.86196880466213 + ], + [ + 479.58505391220166, + 88.47511263911605 + ], + [ + 489.1836065742191, + 85.47282084811843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 565.7074888558777, + "ymin": 267.33744916552246, + "xmax": 583.9353265226239, + "ymax": 304.4075126621561 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 576.8431795159654, + 292.06499166948686 + ], + [ + 567.5826313139821, + 295.88693293258143 + ], + [ + 574.6217520616376, + 304.4075126621561 + ], + [ + 583.9353265226239, + 300.51828986551635 + ], + [ + 575.2144328987793, + 267.33744916552246 + ], + [ + 565.7074888558777, + 271.15804068221894 + ], + [ + 572.9136237928878, + 279.6784173055306 + ], + [ + 582.4765040976625, + 275.7888065065034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.07862806166486, + "ymin": 30.825233727075727, + "xmax": 447.20974946623994, + "ymax": 67.32862035772774 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 441.8293979802523, + 58.82326590358923 + ], + [ + 432.9591397059014, + 61.44927564669871 + ], + [ + 438.2880458645174, + 67.32862035772774 + ], + [ + 447.20974946623994, + 64.66055891501259 + ], + [ + 437.17504342266386, + 30.825233727075727 + ], + [ + 428.07862806166486, + 33.4105150170372 + ], + [ + 433.49425964755335, + 39.20025050497185 + ], + [ + 442.6448621089824, + 36.57258365725045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.5224913671775, + "ymin": 0.0, + "xmax": 413.2997211214903, + "ymax": 30.278928561357077 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 408.4397566267483, + 22.597595697851204 + ], + [ + 399.89555580147527, + 24.970130014202823 + ], + [ + 404.7073339578924, + 30.278928561357077 + ], + [ + 413.2997211214903, + 27.870303969097904 + ], + [ + 403.27586419448676, + -4.794260481355195 + ], + [ + 394.5224913671775, + -2.4639533334108705 + ], + [ + 399.40108054308416, + 2.7516391352008327 + ], + [ + 408.2051069180636, + 0.38508294301374235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.490621080197, + "ymin": 364.2749946200608, + "xmax": 142.31873692180193, + "ymax": 412.0704647335495 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 142.31873692180193, + 406.3556608496779 + ], + [ + 137.98801603893378, + 393.91905250647403 + ], + [ + 123.45502323887456, + 399.5027551676803 + ], + [ + 127.6385736174658, + 412.0704647335495 + ], + [ + 124.89606573325602, + 376.7898205761935 + ], + [ + 120.62295508426723, + 364.2749946200608 + ], + [ + 105.490621080197, + 369.89256796337344 + ], + [ + 109.6038050419761, + 382.5439482677935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.3810078195072, + "ymin": 599.1908681931677, + "xmax": 1156.3831494485921, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1000.1924954139166, + 813.5334278947439 + ], + [ + 983.730235669631, + 793.6869524943895 + ], + [ + 833.3810078195072, + 907.7638280101854 + ], + [ + 848.9484005680389, + 930.8385792174174 + ], + [ + 1156.3831494485921, + 623.8740531981088 + ], + [ + 1129.948626760349, + 599.1908681931677 + ], + [ + 925.0651399316171, + 745.075087685656 + ], + [ + 950.1577541573056, + 775.8048010205694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.2471399373569, + "ymin": 0.0, + "xmax": 1082.211639580415, + "ymax": 177.3577931450253 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 996.9991524506906, + 177.3577931450253 + ], + [ + 1006.1485069052948, + 173.30226297689887 + ], + [ + 928.1681228779676, + 119.99774618780239 + ], + [ + 919.2471399373569, + 123.55822987654014 + ], + [ + 1071.5905236215988, + -46.949775865491176 + ], + [ + 1082.211639580415, + -50.55799391108587 + ], + [ + 983.5443283453554, + -97.32518419834935 + ], + [ + 973.1959926458976, + -94.23898181549549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 338.6479648013964, + "ymax": 129.40420639859673 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 338.6479648013964, + 42.513822959533854 + ], + [ + 335.11961667298124, + 37.95941205863352 + ], + [ + 18.713202661894115, + 123.68338859815637 + ], + [ + 20.40123740364629, + 129.40420639859673 + ], + [ + 282.41018976188366, + -182.99460115809222 + ], + [ + 278.6517537101981, + -186.69471840700612 + ], + [ + -113.14231012864093, + -115.54724203307029 + ], + [ + -112.2403391511424, + -110.68356290649308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 270.32582209498287, + "xmax": 285.3306556446763, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -315.26390898996567, + 796.093926478306 + ], + [ + -316.5722854192794, + 815.6325420100457 + ], + [ + 285.3306556446763, + 542.2906479637174 + ], + [ + 279.94143423289034, + 529.2314943529668 + ], + [ + -770.1290929149284, + 579.5262652731006 + ], + [ + -781.0509956777769, + 604.2775051855608 + ], + [ + 156.20797639225435, + 284.3077560741482 + ], + [ + 150.76838756898445, + 270.32582209498287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.7742478433413, + "ymin": 0.0, + "xmax": 600.628348771834, + "ymax": 371.6133103911279 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 587.2416504905185, + 371.6133103911279 + ], + [ + 600.628348771834, + 365.7230760202015 + ], + [ + 432.82791633766715, + 152.19183470531186 + ], + [ + 421.4473757207631, + 155.90762220690542 + ], + [ + 571.5308317794642, + 109.76952784280459 + ], + [ + 588.9894667264928, + 104.04831029715288 + ], + [ + 386.9415078234264, + -91.16217521659416 + ], + [ + 372.7742478433413, + -87.9563589038334 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00086/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00086/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f366fc4ee2440be3880ecc8a2e68ad155426732 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00086/meta.json @@ -0,0 +1,2047 @@ +{ + "frame_id": 86, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.0, + "sim_timestamp": 12656.292703942629 + }, + "drone_pose": { + "x": -46.82423742767361, + "y": 27.467111092392148, + "z": 20.0, + "pitch": -46.89667212664752, + "yaw": -57.49372167177136, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.36720871925354004, + 0.5762628316879272, + 0.7301225662231445, + 18.420093536376953 + ], + [ + -0.8433325290679932, + 0.5373920798301697, + 0.0, + 24.727794647216797 + ], + [ + -0.3923620879650116, + -0.6157361268997192, + 0.6833162307739258, + -48.950870513916016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.58512611839316, + "y": 26.9338686626497, + "z": 20.0 + }, + "t1_image_uv": [ + 433.6845619805042, + -665.7589444971345 + ], + "t1_depth": 0.3950915140345945 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -37.16718292236328, + "y": 12.312236785888672, + "z": 0.7988364142179489 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.298547488643102, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 218, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -37.16718292236328, + "y": 12.312235832214355, + "z": 0.7988364100456238 + }, + "extent": { + "x": 0.21242795884609222, + "y": 0.2445678412914276, + "z": 0.5564461350440979 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.3999223803677, + "ymin": 339.00002821204924, + "xmax": 650.5139561287091, + "ymax": 380.6382999106725 + }, + "corners_3d": [ + [ + -37.490325927734375, + 12.289509773254395, + 0.24239027500152588 + ], + [ + -37.14445495605469, + 12.635380744934082, + 0.24239027500152588 + ], + [ + -36.84403991699219, + 12.334961891174316, + 0.24239027500152588 + ], + [ + -37.189910888671875, + 11.989090919494629, + 0.24239027500152588 + ], + [ + -37.490325927734375, + 12.289509773254395, + 1.3552825450897217 + ], + [ + -37.14445495605469, + 12.635380744934082, + 1.3552825450897217 + ], + [ + -36.84403991699219, + 12.334961891174316, + 1.3552825450897217 + ], + [ + -37.189910888671875, + 11.989090919494629, + 1.3552825450897217 + ] + ], + "corners_2d": [ + [ + 629.7237310315904, + 377.7938392543659 + ], + [ + 646.9781607272082, + 380.6382999106725 + ], + [ + 650.195307543761, + 369.5759520154953 + ], + [ + 633.1141452663886, + 366.7912358102634 + ], + [ + 629.3999223803677, + 350.04385964846824 + ], + [ + 647.1986631787289, + 352.90017269082267 + ], + [ + 650.5139561287091, + 341.7944856422334 + ], + [ + 632.8995286581453, + 339.00002821204924 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 86, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 432367, + "2": 235838, + "3": 191729, + "5": 465, + "6": 9351, + "7": 2052, + "10": 551, + "12": 2080, + "14": 10690, + "20": 2871, + "24": 28027, + "25": 5579 + }, + "instance_pixel_counts": { + "148": 79, + "3424": 5579, + "6215": 149154, + "6796": 2059, + "6802": 9097, + "7308": 978, + "7314": 28042, + "8332": 2511, + "8338": 16779, + "15184": 465, + "18000": 890, + "18512": 1838, + "21652": 130619, + "22676": 73475, + "23700": 60860, + "24212": 46326, + "24724": 6139, + "25856": 7792, + "26112": 441, + "26624": 2180, + "33370": 14585, + "35988": 12025, + "36500": 2526, + "37524": 3020, + "38036": 4575, + "38548": 123, + "39052": 3763, + "39564": 8966, + "40265": 143, + "40588": 4667, + "41818": 176667, + "42074": 477, + "43409": 3297, + "43921": 2245, + "44945": 4280, + "56576": 218, + "56832": 227, + "57088": 657, + "57344": 605, + "57600": 373, + "57856": 4442, + "59904": 6248, + "61569": 990, + "62613": 4448, + "63123": 58351, + "63125": 435, + "63635": 17722, + "64149": 721, + "64659": 31483, + "64661": 154, + "65171": 7313 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 218, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -37.16718292236328, + "y": 12.312235832214355, + "z": 0.7988364100456238 + }, + "extent": { + "x": 0.30678462982177734, + "y": 0.21406735479831696, + "z": 0.5499290227890015 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.7235653491122, + "ymin": 336.92058844737033, + "xmax": 650.139990950192, + "ymax": 382.7912146995313 + }, + "corners_3d": [ + [ + -37.53548049926758, + 12.37779712677002, + 0.24890738725662231 + ], + [ + -37.23274230957031, + 12.680533409118652, + 0.24890738725662231 + ], + [ + -36.798885345458984, + 12.246674537658691, + 0.24890738725662231 + ], + [ + -37.10162353515625, + 11.943938255310059, + 0.24890738725662231 + ], + [ + -37.53548049926758, + 12.37779712677002, + 1.3487653732299805 + ], + [ + -37.23274230957031, + 12.680533409118652, + 1.3487653732299805 + ], + [ + -36.798885345458984, + 12.246674537658691, + 1.3487653732299805 + ], + [ + -37.10162353515625, + 11.943938255310059, + 1.3487653732299805 + ] + ], + "corners_2d": [ + [ + 630.0346553507807, + 380.2896092918837 + ], + [ + 645.1740978054585, + 382.7912146995313 + ], + [ + 649.8369841191957, + 366.8196241538248 + ], + [ + 634.9166493686675, + 364.39355943251365 + ], + [ + 629.7235653491122, + 352.8757051609616 + ], + [ + 645.3360169328196, + 355.38798477227465 + ], + [ + 650.139990950192, + 339.3546895173983 + ], + [ + 634.7604470407816, + 336.92058844737033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 227, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -33.041194915771484, + "y": 15.309941291809082, + "z": 0.8026303648948669 + }, + "extent": { + "x": 0.21281005442142487, + "y": 0.18130004405975342, + "z": 0.5175942778587341 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 817.561625765378, + "ymin": 349.14023362053734, + "xmax": 837.5585575351804, + "ymax": 387.04479136914136 + }, + "corners_3d": [ + [ + -33.312957763671875, + 15.375542640686035, + 0.2850360870361328 + ], + [ + -33.01960754394531, + 15.58867359161377, + 0.2850360870361328 + ], + [ + -32.769432067871094, + 15.244339942932129, + 0.2850360870361328 + ], + [ + -33.062782287597656, + 15.031208992004395, + 0.2850360870361328 + ], + [ + -33.312957763671875, + 15.375542640686035, + 1.320224642753601 + ], + [ + -33.01960754394531, + 15.58867359161377, + 1.320224642753601 + ], + [ + -32.769432067871094, + 15.244339942932129, + 1.320224642753601 + ], + [ + -33.062782287597656, + 15.031208992004395, + 1.320224642753601 + ] + ], + "corners_2d": [ + [ + 818.573775009792, + 386.4409268395014 + ], + [ + 831.8829416255552, + 387.04479136914136 + ], + [ + 830.724965243303, + 375.5547798281718 + ], + [ + 817.561625765378, + 374.9640204985816 + ], + [ + 823.8526061300092, + 360.6632110487505 + ], + [ + 837.5585575351804, + 361.26970541720266 + ], + [ + 836.3029609579456, + 349.7331830530563 + ], + [ + 822.7516105484902, + 349.14023362053734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 657, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -39.42300796508789, + "y": 19.25494956970215, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.424995094537735, + "y": 0.3420361280441284, + "z": 0.8915648460388184 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 702.3921919601444, + "ymin": 550.6350386761424, + "xmax": 741.9275692192557, + "ymax": 629.2133432558644 + }, + "corners_3d": [ + [ + -39.96156692504883, + 19.341915130615234, + -0.08361709117889404 + ], + [ + -39.45320129394531, + 19.799650192260742, + -0.08361709117889404 + ], + [ + -38.88444900512695, + 19.167984008789062, + -0.08361709117889404 + ], + [ + -39.39281463623047, + 18.710248947143555, + -0.08361709117889404 + ], + [ + -39.96156692504883, + 19.341915130615234, + 1.6995126008987427 + ], + [ + -39.45320129394531, + 19.799650192260742, + 1.6995126008987427 + ], + [ + -38.88444900512695, + 19.167984008789062, + 1.6995126008987427 + ], + [ + -39.39281463623047, + 18.710248947143555, + 1.6995126008987427 + ] + ], + "corners_2d": [ + [ + 702.3921919601444, + 624.6472313635352 + ], + [ + 732.3401552061072, + 629.2133432558644 + ], + [ + 735.9932803895142, + 596.038826585921 + ], + [ + 706.7973338327168, + 591.7032751440165 + ], + [ + 706.3422539609828, + 584.5206284417818 + ], + [ + 738.2082296392025, + 589.2258982812357 + ], + [ + 741.9275692192557, + 555.0882622082908 + ], + [ + 710.9116714334431, + 550.6350386761424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 605, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": 12.312235832214355, + "z": 0.648367702960968 + }, + "extent": { + "x": 0.2791162133216858, + "y": 0.35468870401382446, + "z": 0.8802905678749084 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 274.85689105846114, + "ymin": 486.2844649471204, + "xmax": 332.10445184116924, + "ymax": 553.4211260700615 + }, + "corners_3d": [ + [ + -47.1119384765625, + 12.235416412353516, + -0.23192286491394043 + ], + [ + -46.637271881103516, + 12.76258659362793, + -0.23192286491394043 + ], + [ + -46.22242736816406, + 12.389055252075195, + -0.23192286491394043 + ], + [ + -46.69709396362305, + 11.861885070800781, + -0.23192286491394043 + ], + [ + -47.1119384765625, + 12.235416412353516, + 1.5286582708358765 + ], + [ + -46.637271881103516, + 12.76258659362793, + 1.5286582708358765 + ], + [ + -46.22242736816406, + 12.389055252075195, + 1.5286582708358765 + ], + [ + -46.69709396362305, + 11.861885070800781, + 1.5286582708358765 + ] + ], + "corners_2d": [ + [ + 294.8781186105163, + 546.6871842833942 + ], + [ + 321.10970761792424, + 553.4211260700615 + ], + [ + 332.10445184116924, + 534.4970427486589 + ], + [ + 306.21802453641124, + 527.9699671157406 + ], + [ + 274.85689105846114, + 505.3959759304486 + ], + [ + 302.50148638199346, + 512.2801496277121 + ], + [ + 314.4326915610567, + 492.9451539467244 + ], + [ + 287.17062974280094, + 486.2844649471204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 373, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -25.921844482421875, + "y": 4.142021656036377, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.43698850274086, + "y": 0.34965941309928894, + "z": 0.9357270002365112 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 763.6422862311067, + "ymin": 76.17608577265952, + "xmax": 793.9386751686678, + "ymax": 136.78533939012058 + }, + "corners_3d": [ + [ + -26.480899810791016, + 4.115996837615967, + -0.3356454372406006 + ], + [ + -26.06985092163086, + 4.68175745010376, + -0.3356454372406006 + ], + [ + -25.362789154052734, + 4.168046474456787, + -0.3356454372406006 + ], + [ + -25.77383804321289, + 3.602285861968994, + -0.3356454372406006 + ], + [ + -26.480899810791016, + 4.115996837615967, + 1.5358085632324219 + ], + [ + -26.06985092163086, + 4.68175745010376, + 1.5358085632324219 + ], + [ + -25.362789154052734, + 4.168046474456787, + 1.5358085632324219 + ], + [ + -25.77383804321289, + 3.602285861968994, + 1.5358085632324219 + ] + ], + "corners_2d": [ + [ + 763.6422862311067, + 132.85752114604725 + ], + [ + 781.7974515909207, + 136.78533939012058 + ], + [ + 788.1208912021085, + 124.45082064034085 + ], + [ + 770.2129378400215, + 120.64252351542686 + ], + [ + 768.5523335592075, + 88.15804633872972 + ], + [ + 787.4572720490949, + 92.0140232381712 + ], + [ + 793.9386751686678, + 79.91016745803466 + ], + [ + 775.3017349344143, + 76.17608577265952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4442, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 847.1277970839126, + "ymin": 0.0, + "xmax": 986.1967499151605, + "ymax": 72.08409820902028 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 847.1277970839126, + 50.10501374704296 + ], + [ + 881.1216880006322, + 72.08409820902028 + ], + [ + 977.2996494301109, + 35.726128268824084 + ], + [ + 942.2055429466197, + 15.83055003386255 + ], + [ + 852.7063034485263, + 17.560866183801863 + ], + [ + 887.8206664773937, + 39.12362661026958 + ], + [ + 986.1967499151605, + 3.473628707731791 + ], + [ + 949.9450749968396, + -15.993303521195287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6248, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 427.07475573707677, + "ymin": 114.95714569504554, + "xmax": 591.6261603069166, + "ymax": 231.1118567861782 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 434.55076296554455, + 198.80834674396772 + ], + [ + 460.5210597620213, + 231.1118567861782 + ], + [ + 591.6261603069166, + 181.32023800025817 + ], + [ + 562.5534688385305, + 152.43631852850973 + ], + [ + 427.07475573707677, + 160.81323449241341 + ], + [ + 453.72239630193656, + 192.8441021323919 + ], + [ + 589.8225485423637, + 143.4826846613775 + ], + [ + 559.8279701706817, + 114.95714569504554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 462.68158943888716, + "ymin": 95.24388048277257, + "xmax": 482.7794547725973, + "ymax": 133.98555255891029 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 476.49556741886977, + 124.01055662946723 + ], + [ + 467.08416474389236, + 127.14909063382743 + ], + [ + 473.3120942772175, + 133.98555255891029 + ], + [ + 482.7794547725973, + 130.79277325204302 + ], + [ + 472.3495098267896, + 95.24388048277257 + ], + [ + 462.68158943888716, + 98.34509502521695 + ], + [ + 469.0305552581685, + 105.10243060555973 + ], + [ + 478.75762856412246, + 101.94623577808949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.2154529977495, + "ymin": 285.97072558081237, + "xmax": 576.9612332722983, + "ymax": 323.4122039336868 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 569.6645229297405, + 310.68542968159437 + ], + [ + 560.3024738908621, + 314.7035487486015 + ], + [ + 567.5463217650895, + 323.4122039336868 + ], + [ + 576.9612332722983, + 319.3225373289614 + ], + [ + 567.8304089917622, + 285.97072558081237 + ], + [ + 558.2154529977495, + 289.98970067384727 + ], + [ + 565.6316960968933, + 298.7031726787811 + ], + [ + 575.3024699828635, + 294.6107391801146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 416.20399440427633, + "ymin": 46.164469920710246, + "xmax": 435.91118774855823, + "ymax": 83.00698009862253 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 430.39708804516454, + 74.25617232640565 + ], + [ + 421.4091871140896, + 77.01102634357824 + ], + [ + 426.87142571734415, + 83.00698009862253 + ], + [ + 435.91118774855823, + 80.2075536816954 + ], + [ + 425.42487052767933, + 46.164469920710246 + ], + [ + 416.20399440427633, + 48.87785667691634 + ], + [ + 421.7543503677178, + 54.785213846524584 + ], + [ + 431.0299091053183, + 52.026869259802254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 381.83443168027975, + "ymin": 9.854114238402872, + "xmax": 401.17311855654145, + "ymax": 45.23895830234312 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 396.1973843256089, + 37.34402354661421 + ], + [ + 387.53844465483303, + 39.83044352214648 + ], + [ + 392.46553603923076, + 45.23895830234312 + ], + [ + 401.17311855654145, + 42.71434324610664 + ], + [ + 390.708855786627, + 9.854114238402872 + ], + [ + 381.83443168027975, + 12.297300943950006 + ], + [ + 386.8289982326731, + 17.613117521423362 + ], + [ + 395.75460697961967, + 15.131543460242938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.54863823911387, + "ymin": 394.1941878154997, + "xmax": 125.92657429339567, + "ymax": 442.74982960947943 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 125.92657429339567, + 436.6252078230756 + ], + [ + 121.449678732204, + 423.67760121265667 + ], + [ + 106.49840933617838, + 429.6588090503484 + ], + [ + 110.82149932347102, + 442.74982960947943 + ], + [ + 107.5466082943741, + 407.24178865636924 + ], + [ + 103.13509293968787, + 394.1941878154997 + ], + [ + 87.54863823911387, + 400.22022692986883 + ], + [ + 91.79257708810076, + 413.4175293499264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4422528546257, + "ymin": 632.9668888004402, + "xmax": 1168.732837864855, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1006.510850659184, + 842.6902547079296 + ], + [ + 989.4368550057811, + 822.2782976493986 + ], + [ + 838.4422528546257, + 943.3843023081383 + ], + [ + 854.684151959247, + 967.2806527651812 + ], + [ + 1168.732837864855, + 658.6671638838469 + ], + [ + 1141.10044590495, + 632.9668888004402 + ], + [ + 934.990859549066, + 790.091337132289 + ], + [ + 961.4575596033703, + 822.4639120215895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.5405695294147, + "ymin": 0.0, + "xmax": 1075.8440128587429, + "ymax": 188.20058480502988 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 991.5453166368234, + 188.20058480502988 + ], + [ + 1000.6537629659731, + 184.00335007065885 + ], + [ + 921.4383323477656, + 130.40501795822271 + ], + [ + 912.5405695294147, + 134.0883201553209 + ], + [ + 1065.2745400707458, + -36.26308682588029 + ], + [ + 1075.8440128587429, + -40.00212123914281 + ], + [ + 975.6990621454538, + -87.08101958288273 + ], + [ + 965.3760459786488, + -83.88487681984077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 325.8130854780047, + "ymax": 146.67967901954052 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 325.8130854780047, + 55.63970269517125 + ], + [ + 322.2068040667772, + 51.02378062736261 + ], + [ + 0.6623841971842239, + 140.82991435389815 + ], + [ + 2.3917831379907284, + 146.67967901954052 + ], + [ + 266.707541326759, + -170.6369182241035 + ], + [ + 262.87678665030296, + -174.39645261920828 + ], + [ + -136.86972221461735, + -99.590112112832 + ], + [ + -135.97892677228947, + -94.59289572156644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 298.99676032297725, + "xmax": 274.6253797094515, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -344.7760059354781, + 842.7229667153869 + ], + [ + -346.23627952532513, + 863.3133168096233 + ], + [ + 274.6253797094515, + 569.8379709791544 + ], + [ + 269.0350941286317, + 556.3581154905935 + ], + [ + -832.2062016735695, + 636.9490896695324 + ], + [ + -844.4181964970328, + 663.7127808979296 + ], + [ + 138.6666528693297, + 313.5976056902552 + ], + [ + 133.0541471413834, + 298.99676032297725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 358.99924515367564, + "ymin": 0.0, + "xmax": 594.3507169132095, + "ymax": 390.38653044546135 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 580.8361262178488, + 390.38653044546135 + ], + [ + 594.3507169132095, + 384.20160105069647 + ], + [ + 422.098370828017, + 166.8579623313986 + ], + [ + 410.5907158742357, + 170.74258975853726 + ], + [ + 562.9830136366834, + 128.44028623195393 + ], + [ + 580.6805517062986, + 122.39657636652333 + ], + [ + 373.3732912418386, + -77.23491457110578 + ], + [ + 358.99924515367564, + -73.87162048320664 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00087/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00087/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c0532c35e7ee8977addfbb9916580d4313a375 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00087/meta.json @@ -0,0 +1,2150 @@ +{ + "frame_id": 87, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.5, + "sim_timestamp": 12666.422422108473 + }, + "drone_pose": { + "x": -46.58512611839316, + "y": 26.9338686626497, + "z": 20.0, + "pitch": -46.74982882420481, + "yaw": -56.74001911498152, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3757821321487427, + 0.5729455351829529, + 0.7283689379692078, + 18.3701229095459 + ], + [ + -0.8361907601356506, + 0.5484387874603271, + 0.0, + 24.182462692260742 + ], + [ + -0.3994658589363098, + -0.6090553402900696, + 0.6851851940155029, + -48.71708297729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.33399750356274, + "y": 26.364087745171823, + "z": 20.0 + }, + "t1_image_uv": [ + 406.17562723228167, + -660.503945829719 + ], + "t1_depth": 0.42082302848849057 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -36.66718292236328, + "y": 11.812236785888672, + "z": 0.7763071250915528 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.39279666130053, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": 11.812235832214355, + "z": 0.7763070464134216 + }, + "extent": { + "x": 0.28871944546699524, + "y": 0.19853390753269196, + "z": 0.553735613822937 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.5898898542157, + "ymin": 337.4848489647108, + "xmax": 649.2906194825639, + "ymax": 382.206792384205 + }, + "corners_3d": [ + [ + -37.011722564697266, + 11.876007080078125, + 0.22257143259048462 + ], + [ + -36.730953216552734, + 12.156776428222656, + 0.22257143259048462 + ], + [ + -36.3226432800293, + 11.748464584350586, + 0.22257143259048462 + ], + [ + -36.60341262817383, + 11.467695236206055, + 0.22257143259048462 + ], + [ + -37.011722564697266, + 11.876007080078125, + 1.3300426006317139 + ], + [ + -36.730953216552734, + 12.156776428222656, + 1.3300426006317139 + ], + [ + -36.3226432800293, + 11.748464584350586, + 1.3300426006317139 + ], + [ + -36.60341262817383, + 11.467695236206055, + 1.3300426006317139 + ] + ], + "corners_2d": [ + [ + 630.8749296865295, + 380.03925575657775 + ], + [ + 644.8997415294428, + 382.206792384205 + ], + [ + 649.0126646017351, + 367.2257387689096 + ], + [ + 635.1805129705705, + 365.11997560034916 + ], + [ + 630.5898898542157, + 352.45561006384077 + ], + [ + 645.0531235643241, + 354.6317417974378 + ], + [ + 649.2906194825639, + 339.5970658603138 + ], + [ + 635.0321916070063, + 337.4848489647108 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 87, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 425253, + "2": 234947, + "3": 197341, + "5": 627, + "6": 8857, + "7": 2204, + "10": 508, + "12": 2094, + "14": 10908, + "20": 2722, + "24": 27602, + "25": 8537 + }, + "instance_pixel_counts": { + "3424": 8537, + "6215": 146125, + "6796": 2138, + "6802": 9521, + "7308": 1237, + "7314": 26660, + "8332": 2935, + "8338": 17687, + "15184": 627, + "18000": 996, + "18512": 1583, + "21652": 138285, + "22676": 61961, + "23700": 64067, + "24212": 40935, + "24724": 1831, + "25856": 8100, + "26112": 571, + "26624": 2087, + "33370": 16709, + "35988": 12618, + "36500": 2469, + "37524": 3216, + "38036": 3463, + "39052": 3935, + "39564": 8309, + "40265": 143, + "40588": 4827, + "41818": 180553, + "42074": 79, + "43409": 3416, + "43921": 2984, + "44945": 5173, + "56576": 214, + "56832": 228, + "57088": 683, + "57344": 603, + "57600": 366, + "57856": 4486, + "59904": 6422, + "61569": 244, + "62081": 59, + "62613": 4589, + "63123": 60919, + "63125": 422, + "63635": 18497, + "64149": 817, + "64659": 34575, + "64661": 8, + "65171": 4183 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": 11.812235832214355, + "z": 0.7763070464134216 + }, + "extent": { + "x": 0.22741453349590302, + "y": 0.22311703860759735, + "z": 0.5565167665481567 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.1750138053618, + "ymin": 338.85077873592377, + "xmax": 649.7335388541618, + "ymax": 380.7968658643581 + }, + "corners_3d": [ + [ + -36.985755920410156, + 11.815274238586426, + 0.2197902798652649 + ], + [ + -36.670223236083984, + 12.130809783935547, + 0.2197902798652649 + ], + [ + -36.348609924316406, + 11.809197425842285, + 0.2197902798652649 + ], + [ + -36.66414260864258, + 11.493661880493164, + 0.2197902798652649 + ], + [ + -36.985755920410156, + 11.815274238586426, + 1.3328237533569336 + ], + [ + -36.670223236083984, + 12.130809783935547, + 1.3328237533569336 + ], + [ + -36.348609924316406, + 11.809197425842285, + 1.3328237533569336 + ], + [ + -36.66414260864258, + 11.493661880493164, + 1.3328237533569336 + ] + ], + "corners_2d": [ + [ + 630.4735930460715, + 378.36843399346094 + ], + [ + 646.2104737350717, + 380.7968658643581 + ], + [ + 649.4404078401371, + 368.994138957586 + ], + [ + 633.8740397102, + 366.62038295342245 + ], + [ + 630.1750138053618, + 350.6394619452613 + ], + [ + 646.4055933971956, + 353.0773351680521 + ], + [ + 649.7335388541618, + 341.23207121319365 + ], + [ + 633.6842766952674, + 338.85077873592377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 228, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -32.541194915771484, + "y": 14.809941291809082, + "z": 0.8021469712257385 + }, + "extent": { + "x": 0.2453015148639679, + "y": 0.25764647126197815, + "z": 0.5275322794914246 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.89019356086, + "ymin": 345.6355324635277, + "xmax": 839.8802914175528, + "ymax": 385.75881215014095 + }, + "corners_3d": [ + [ + -32.893821716308594, + 14.856953620910645, + 0.27461469173431396 + ], + [ + -32.4769401550293, + 15.159834861755371, + 0.27461469173431396 + ], + [ + -32.188568115234375, + 14.76292896270752, + 0.27461469173431396 + ], + [ + -32.60544967651367, + 14.460047721862793, + 0.27461469173431396 + ], + [ + -32.893821716308594, + 14.856953620910645, + 1.329679250717163 + ], + [ + -32.4769401550293, + 15.159834861755371, + 1.329679250717163 + ], + [ + -32.188568115234375, + 14.76292896270752, + 1.329679250717163 + ], + [ + -32.60544967651367, + 14.460047721862793, + 1.329679250717163 + ] + ], + "corners_2d": [ + [ + 815.2472769959653, + 385.090730008418 + ], + [ + 834.0652554269824, + 385.75881215014095 + ], + [ + 832.4711147444324, + 372.62624664856935 + ], + [ + 813.89019356086, + 371.97482540453734 + ], + [ + 820.4949913139765, + 358.79957219868487 + ], + [ + 839.8802914175528, + 359.47037089309964 + ], + [ + 838.1638522151894, + 346.28911110472404 + ], + [ + 819.0300224776036, + 345.6355324635277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 683, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -38.92300796508789, + "y": 18.75494956970215, + "z": 0.8079477548599243 + }, + "extent": { + "x": 0.30895018577575684, + "y": 0.4364166259765625, + "z": 0.8938696384429932 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 702.8797761714185, + "ymin": 551.7814578199713, + "xmax": 749.4013389823037, + "ymax": 622.1380305900232 + }, + "corners_3d": [ + [ + -39.45405578613281, + 18.692523956298828, + -0.08592188358306885 + ], + [ + -38.805416107177734, + 19.27656364440918, + -0.08592188358306885 + ], + [ + -38.39196014404297, + 18.81737518310547, + -0.08592188358306885 + ], + [ + -39.04059982299805, + 18.233335494995117, + -0.08592188358306885 + ], + [ + -39.45405578613281, + 18.692523956298828, + 1.7018173933029175 + ], + [ + -38.805416107177734, + 19.27656364440918, + 1.7018173933029175 + ], + [ + -38.39196014404297, + 18.81737518310547, + 1.7018173933029175 + ], + [ + -39.04059982299805, + 18.233335494995117, + 1.7018173933029175 + ] + ], + "corners_2d": [ + [ + 702.8797761714185, + 616.8473914917995 + ], + [ + 740.8869760974601, + 622.1380305900232 + ], + [ + 743.0301040739081, + 598.1328995859246 + ], + [ + 705.7226687532304, + 593.0380466857825 + ], + [ + 706.8296197431631, + 576.2535689717373 + ], + [ + 747.2521768223285, + 581.6992642792302 + ], + [ + 749.4013389823037, + 557.0133181015754 + ], + [ + 709.769400510972, + 551.7814578199713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 603, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": 11.812235832214355, + "z": 0.6451351642608643 + }, + "extent": { + "x": 0.2908056676387787, + "y": 0.35806700587272644, + "z": 0.8804446458816528 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 277.4417430078708, + "ymin": 488.2571306283436, + "xmax": 335.12007034489966, + "ymax": 556.0516115091625 + }, + "corners_3d": [ + [ + -46.622886657714844, + 11.740727424621582, + -0.23530948162078857 + ], + [ + -46.143699645996094, + 12.272918701171875, + -0.23530948162078857 + ], + [ + -45.71147918701172, + 11.883744239807129, + -0.23530948162078857 + ], + [ + -46.19066619873047, + 11.351552963256836, + -0.23530948162078857 + ], + [ + -46.622886657714844, + 11.740727424621582, + 1.525579810142517 + ], + [ + -46.143699645996094, + 12.272918701171875, + 1.525579810142517 + ], + [ + -45.71147918701172, + 11.883744239807129, + 1.525579810142517 + ], + [ + -46.19066619873047, + 11.351552963256836, + 1.525579810142517 + ] + ], + "corners_2d": [ + [ + 297.28896354341015, + 549.5690430414951 + ], + [ + 323.9823119588406, + 556.0516115091625 + ], + [ + 335.12007034489966, + 536.2602735894022 + ], + [ + 308.8003133299263, + 529.9863668206362 + ], + [ + 277.4417430078708, + 508.24772004746035 + ], + [ + 305.5772138816698, + 514.8735800851579 + ], + [ + 317.6690454119002, + 494.6576480741253 + ], + [ + 289.94781151311156, + 488.2571306283436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 366, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -25.421844482421875, + "y": 3.642021656036377, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.35466063022613525, + "y": 0.4492163062095642, + "z": 0.9318968653678894 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 756.7487086737608, + "ymin": 76.98446790043232, + "xmax": 790.5516171292159, + "ymax": 135.86366570653894 + }, + "corners_3d": [ + [ + -25.972814559936523, + 3.4870622158050537, + -0.3317909240722656 + ], + [ + -25.44472885131836, + 4.21390962600708, + -0.3317909240722656 + ], + [ + -24.870874404907227, + 3.7969810962677, + -0.3317909240722656 + ], + [ + -25.39896011352539, + 3.070133686065674, + -0.3317909240722656 + ], + [ + -25.972814559936523, + 3.4870622158050537, + 1.5320028066635132 + ], + [ + -25.44472885131836, + 4.21390962600708, + 1.5320028066635132 + ], + [ + -24.870874404907227, + 3.7969810962677, + 1.5320028066635132 + ], + [ + -25.39896011352539, + 3.070133686065674, + 1.5320028066635132 + ] + ], + "corners_2d": [ + [ + 756.7487086737608, + 131.03970885820277 + ], + [ + 780.0095998373281, + 135.86366570653894 + ], + [ + 784.9097128470519, + 125.87151149076232 + ], + [ + 761.9096220200606, + 121.16749162279186 + ], + [ + 761.3252392304672, + 86.66378533365241 + ], + [ + 785.5327210780719, + 91.39692679877885 + ], + [ + 790.5516171292159, + 81.59539265520289 + ], + [ + 766.6265512460557, + 76.98446790043232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4486, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 839.2310374670101, + "ymin": 0.0, + "xmax": 978.4129499858072, + "ymax": 80.81299733135387 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 839.2310374670101, + 58.695916591375294 + ], + [ + 873.7676061349728, + 80.81299733135387 + ], + [ + 969.6853619375231, + 43.21350515229079 + ], + [ + 934.1301491000609, + 23.252867848380617 + ], + [ + 844.6243533814153, + 26.092355675030205 + ], + [ + 880.2958928262107, + 47.796450875797404 + ], + [ + 978.4129499858072, + 10.920532326137334 + ], + [ + 941.6899695797064, + -8.613620488556364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6422, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 416.2216215806701, + "ymin": 127.58303454440457, + "xmax": 583.284919289011, + "ymax": 246.62364571900997 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 424.1637847290872, + 213.68787284539573 + ], + [ + 450.8541762451052, + 246.62364571900997 + ], + [ + 583.284919289011, + 194.47999362125455 + ], + [ + 553.5082211428465, + 165.15071824536247 + ], + [ + 416.2216215806701, + 175.61449655774143 + ], + [ + 443.6075479985501, + 208.30019983654648 + ], + [ + 581.1670536468762, + 156.56763568458106 + ], + [ + 550.4462910126097, + 127.58303454440457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.94160341543636, + "ymin": 111.30398218260524, + "xmax": 472.69801740681737, + "ymax": 150.5107305451542 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 466.22940466992884, + 140.19138924802738 + ], + [ + 456.67773907765024, + 143.50224237404268 + ], + [ + 463.0900710391719, + 150.5107305451542 + ], + [ + 472.69801740681737, + 147.14202563039268 + ], + [ + 461.75899911572355, + 111.30398218260524 + ], + [ + 451.94160341543636, + 114.57783670022201 + ], + [ + 458.4787190400595, + 121.51030387980217 + ], + [ + 468.3556911268219, + 118.1777495044397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.0793478495941, + "ymin": 304.82212594749734, + "xmax": 570.3863181612608, + "ymax": 342.69076259870513 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 562.8588694213072, + 329.5221240511878 + ], + [ + 553.3811681606549, + 333.76150868926993 + ], + [ + 560.8560227142948, + 342.69076259870513 + ], + [ + 570.3863181612608, + 338.3750555516096 + ], + [ + 560.8178827455297, + 304.82212594749734 + ], + [ + 551.0793478495941, + 309.06559015702265 + ], + [ + 558.7334454470655, + 318.00658325859985 + ], + [ + 568.5275818292419, + 313.6846694717317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 404.1263681491774, + "ymin": 61.010361121041, + "xmax": 424.4807391233369, + "ymax": 98.28112358434004 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 418.812291631259, + 89.24070609951883 + ], + [ + 409.68723658674156, + 92.14284246292101 + ], + [ + 415.3033844014885, + 98.28112358434004 + ], + [ + 424.4807391233369, + 95.3315496570857 + ], + [ + 413.4928342226458, + 61.010361121041 + ], + [ + 404.1263681491774, + 63.870655768389554 + ], + [ + 409.83279352341265, + 69.92219275156373 + ], + [ + 419.25447683734285, + 67.01400372887349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 368.8125183661499, + "ymin": 23.84805762202467, + "xmax": 388.7856188821626, + "ymax": 59.633485892626254 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 383.6757820055812, + 51.48559604611029 + ], + [ + 374.88279461122835, + 54.10229343748023 + ], + [ + 379.9434962131666, + 59.633485892626254 + ], + [ + 388.7856188821626, + 56.976200413434185 + ], + [ + 377.82881579899265, + 23.84805762202467 + ], + [ + 368.8125183661499, + 26.420769518950692 + ], + [ + 373.9419408363641, + 31.86040512180557 + ], + [ + 383.01000546438684, + 29.246864559076187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 277.1592480209317, + "ymin": 0.0, + "xmax": 294.0109496640433, + "ymax": 10.471391494111401 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 283.45993921561353, + 6.465144928292602 + ], + [ + 286.8380643139319, + 10.471391494111401 + ], + [ + 294.0109496640433, + 8.538026894100767 + ], + [ + 290.5997953702999, + 4.554765928488109 + ], + [ + 277.1592480209317, + -15.741511144434867 + ], + [ + 280.55891658978413, + -11.799793428483326 + ], + [ + 287.87737403280164, + -13.702121691028594 + ], + [ + 284.44327511853766, + -17.620824915637115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 68.6474244567678, + "ymin": 426.04011084419494, + "xmax": 108.80411724380679, + "ymax": 475.4372584403221 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 108.80411724380679, + 468.8394679646666 + ], + [ + 104.15401292789488, + 455.29550735256805 + ], + [ + 88.73195799404948, + 461.7355439309355 + ], + [ + 93.22093701455424, + 475.4372584403221 + ], + [ + 89.32387818523864, + 439.71262631436343 + ], + [ + 84.74744561741807, + 426.04011084419494 + ], + [ + 68.6474244567678, + 432.5397748008403 + ], + [ + 73.0477579398414, + 446.3773980419493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.1642751020897, + "ymin": 669.756438584542, + "xmax": 1184.448612588433, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1014.5268881446585, + 873.4326118508556 + ], + [ + 996.7854474226003, + 852.3930942938928 + ], + [ + 845.1642751020897, + 981.3067961016257 + ], + [ + 862.1493566427217, + 1006.1140195054805 + ], + [ + 1184.448612588433, + 696.6492963551958 + ], + [ + 1155.4503268531753, + 669.756438584542 + ], + [ + 948.076254662282, + 839.9655678151048 + ], + [ + 976.1287467250812, + 874.2694156482487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.4595923929154, + "ymin": 0.0, + "xmax": 1070.6817799946796, + "ymax": 198.3411875978524 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 986.8696995765681, + 198.3411875978524 + ], + [ + 995.944369949236, + 193.98547166079697 + ], + [ + 915.3425715642362, + 139.9623185747749 + ], + [ + 906.4595923929154, + 143.78344649418148 + ], + [ + 1060.151398337745, + -26.602374009462324 + ], + [ + 1070.6817799946796, + -30.492295981170287 + ], + [ + 968.7914218156554, + -78.05526253327992 + ], + [ + 958.4792169719547, + -74.73206659155073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 312.52538587893343, + "ymax": 163.6484478201037 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 312.52538587893343, + 67.91976394582218 + ], + [ + 308.8291723572982, + 63.227229718499984 + ], + [ + -18.54399518238415, + 157.64657442464562 + ], + [ + -16.76360715424005, + 163.6484478201037 + ], + [ + 250.18180754770032, + -159.6116658943473 + ], + [ + 246.26480338064528, + -163.44803053202372 + ], + [ + -162.7401766038713, + -84.4021660634869 + ], + [ + -161.85796342230526, + -79.24226703430469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 329.481591125022, + "xmax": 263.89583098179133, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -376.21353371215696, + 893.2451100170229 + ], + [ + -377.8259473772571, + 915.0350548518269 + ], + [ + 263.89583098179133, + 598.6831557714024 + ], + [ + 258.075245195448, + 584.7263498457709 + ], + [ + -902.3701545942527, + 701.7570327378553 + ], + [ + -916.1166083399314, + 730.9651920952942 + ], + [ + 120.18723075625621, + 344.8173053640225 + ], + [ + 114.36874690656646, + 329.481591125022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.7537046634415, + "ymin": 0.0, + "xmax": 588.4880363874578, + "ymax": 409.38689040193333 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 574.8294533741318, + 409.38689040193333 + ], + [ + 588.4880363874578, + 402.8728725166748 + ], + [ + 411.222498241117, + 181.03298445611824 + ], + [ + 399.5688801857523, + 185.10740330379448 + ], + [ + 554.8207570635766, + 147.28458050707013 + ], + [ + 572.7984248844144, + 140.86837144488774 + ], + [ + 359.3724692673677, + -64.20239126955903 + ], + [ + 344.7537046634415, + -60.65709762608668 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00088/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00088/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7741e7c56ab9840c9502e89b03f5e003b884672 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00088/meta.json @@ -0,0 +1,2357 @@ +{ + "frame_id": 88, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.0, + "sim_timestamp": 12677.557272375794 + }, + "drone_pose": { + "x": -46.33399750356274, + "y": 26.364087745171823, + "z": 20.0, + "pitch": -46.655678259200144, + "yaw": -55.9628315737177, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3841884732246399, + 0.56878662109375, + 0.7272419929504395, + 18.251691818237305 + ], + [ + -0.8286746740341187, + 0.5597305297851562, + -2.9802322387695312e-08, + 23.639022827148438 + ], + [ + -0.40705955028533936, + -0.602647066116333, + 0.6863811016082764, + -48.47655487060547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.07315746259477, + "y": 25.767659721860063, + "z": 20.0 + }, + "t1_image_uv": [ + 382.90713339111676, + -657.1496755668155 + ], + "t1_depth": 0.43945203456244597 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -36.16718292236328, + "y": 11.312236785888672, + "z": 0.7549301725625992 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.463088419379638, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 207, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -36.16718292236328, + "y": 11.312235832214355, + "z": 0.7549301981925964 + }, + "extent": { + "x": 0.24898801743984222, + "y": 0.3395818769931793, + "z": 0.5461759567260742 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.9108161883793, + "ymin": 338.09440999027817, + "xmax": 653.9563115365893, + "ymax": 381.6012391092282 + }, + "corners_3d": [ + [ + -36.58336639404297, + 11.248176574707031, + 0.20875424146652222 + ], + [ + -36.10312271118164, + 11.72841739654541, + 0.20875424146652222 + ], + [ + -35.750999450683594, + 11.37629508972168, + 0.20875424146652222 + ], + [ + -36.23124313354492, + 10.8960542678833, + 0.20875424146652222 + ], + [ + -36.58336639404297, + 11.248176574707031, + 1.3011062145233154 + ], + [ + -36.10312271118164, + 11.72841739654541, + 1.3011062145233154 + ], + [ + -35.750999450683594, + 11.37629508972168, + 1.3011062145233154 + ], + [ + -36.23124313354492, + 10.8960542678833, + 1.3011062145233154 + ] + ], + "corners_2d": [ + [ + 626.3294337205633, + 378.1570863974383 + ], + [ + 650.30436937996, + 381.6012391092282 + ], + [ + 653.5454363207414, + 368.6835527727564 + ], + [ + 629.8570584793476, + 365.32439042574964 + ], + [ + 625.9108161883793, + 350.96784780452344 + ], + [ + 650.6209898133324, + 354.4245987216892 + ], + [ + 653.9563115365893, + 341.46329318928105 + ], + [ + 629.5504294477524, + 338.09440999027817 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 88, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 418307, + "2": 233583, + "3": 202189, + "5": 757, + "6": 8787, + "7": 2414, + "10": 526, + "12": 2084, + "14": 11252, + "20": 2581, + "24": 27168, + "25": 11952 + }, + "instance_pixel_counts": { + "3424": 11952, + "6215": 142542, + "6796": 2220, + "6802": 9997, + "7308": 1507, + "7314": 25167, + "8332": 3360, + "8338": 18650, + "15184": 757, + "18000": 1034, + "18512": 1398, + "21652": 146887, + "22676": 49692, + "23700": 67725, + "24212": 33309, + "24724": 27, + "25856": 8388, + "26112": 713, + "26624": 2012, + "33370": 18960, + "35988": 13430, + "36500": 1997, + "37524": 3406, + "38036": 2339, + "39052": 4137, + "39564": 7605, + "40265": 149, + "40588": 5039, + "41818": 183229, + "43409": 3558, + "43921": 3740, + "44945": 6061, + "56576": 207, + "56832": 221, + "57088": 676, + "57344": 608, + "57600": 372, + "57856": 4556, + "59904": 6627, + "60928": 69, + "62081": 88, + "62613": 4595, + "63123": 62858, + "63125": 512, + "63635": 18489, + "64147": 23, + "64149": 889, + "64659": 37568, + "65171": 1729 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 207, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -36.16718292236328, + "y": 11.312235832214355, + "z": 0.7549301981925964 + }, + "extent": { + "x": 0.32746943831443787, + "y": 0.2299395501613617, + "z": 0.5607619285583496 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.3098278393476, + "ymin": 336.26080962556347, + "xmax": 650.5348248964303, + "ymax": 383.45890168743375 + }, + "corners_3d": [ + [ + -36.56132888793945, + 11.381199836730957, + 0.19416826963424683 + ], + [ + -36.236148834228516, + 11.70638370513916, + 0.19416826963424683 + ], + [ + -35.77303695678711, + 11.243271827697754, + 0.19416826963424683 + ], + [ + -36.09821701049805, + 10.91808795928955, + 0.19416826963424683 + ], + [ + -36.56132888793945, + 11.381199836730957, + 1.3156921863555908 + ], + [ + -36.236148834228516, + 11.70638370513916, + 1.3156921863555908 + ], + [ + -35.77303695678711, + 11.243271827697754, + 1.3156921863555908 + ], + [ + -36.09821701049805, + 10.91808795928955, + 1.3156921863555908 + ] + ], + "corners_2d": [ + [ + 629.6366280784857, + 381.11756195473185 + ], + [ + 645.8950367216523, + 383.45890168743375 + ], + [ + 650.2173114336642, + 366.488105609051 + ], + [ + 634.2138999139372, + 364.2224276363786 + ], + [ + 629.3098278393476, + 353.21160228118845 + ], + [ + 646.0813642106684, + 355.56202771408914 + ], + [ + 650.5348248964303, + 338.5329419503618 + ], + [ + 634.0345012233148, + 336.26080962556347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 221, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -32.041194915771484, + "y": 14.309941291809082, + "z": 0.8016635775566101 + }, + "extent": { + "x": 0.2285729944705963, + "y": 0.2488861083984375, + "z": 0.526177167892456 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 813.59666290837, + "ymin": 343.8634711045823, + "xmax": 838.8985820896421, + "ymax": 382.7412602209408 + }, + "corners_3d": [ + [ + -32.37689971923828, + 14.3485689163208, + 0.27548640966415405 + ], + [ + -31.974193572998047, + 14.641152381896973, + 0.27548640966415405 + ], + [ + -31.705490112304688, + 14.271313667297363, + 0.27548640966415405 + ], + [ + -32.10819625854492, + 13.978730201721191, + 0.27548640966415405 + ], + [ + -32.37689971923828, + 14.3485689163208, + 1.327840805053711 + ], + [ + -31.974193572998047, + 14.641152381896973, + 1.327840805053711 + ], + [ + -31.705490112304688, + 14.271313667297363, + 1.327840805053711 + ], + [ + -32.10819625854492, + 13.978730201721191, + 1.327840805053711 + ] + ], + "corners_2d": [ + [ + 815.0814325025342, + 382.2827488763629 + ], + [ + 833.1607444032584, + 382.7412602209408 + ], + [ + 831.4641152701797, + 370.5926957089599 + ], + [ + 813.59666290837, + 370.14483263065455 + ], + [ + 820.2798632039567, + 356.04203502233275 + ], + [ + 838.8985820896421, + 356.5022473733928 + ], + [ + 837.0831609109041, + 344.3126839902048 + ], + [ + 818.6890533378322, + 343.8634711045823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 676, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -38.42300796508789, + "y": 18.25494956970215, + "z": 0.8077670931816101 + }, + "extent": { + "x": 0.2964514195919037, + "y": 0.3864361345767975, + "z": 0.8865904808044434 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 709.229192399059, + "ymin": 550.3924788515401, + "xmax": 750.8832915026621, + "ymax": 618.4486580094091 + }, + "corners_3d": [ + [ + -38.90855026245117, + 18.216678619384766, + -0.07882338762283325 + ], + [ + -38.33419418334961, + 18.73383140563965, + -0.07882338762283325 + ], + [ + -37.93746566772461, + 18.29322052001953, + -0.07882338762283325 + ], + [ + -38.51182174682617, + 17.77606773376465, + -0.07882338762283325 + ], + [ + -38.90855026245117, + 18.216678619384766, + 1.6943576335906982 + ], + [ + -38.33419418334961, + 18.73383140563965, + 1.6943576335906982 + ], + [ + -37.93746566772461, + 18.29322052001953, + 1.6943576335906982 + ], + [ + -38.51182174682617, + 17.77606773376465, + 1.6943576335906982 + ] + ], + "corners_2d": [ + [ + 709.229192399059, + 614.2048440808112 + ], + [ + 742.8368075371079, + 618.4486580094091 + ], + [ + 744.505220660336, + 595.5165069155224 + ], + [ + 711.494363318642, + 591.4236634998524 + ], + [ + 713.5212698172136, + 573.7909889224258 + ], + [ + 749.2350991005662, + 578.1555482636634 + ], + [ + 750.8832915026621, + 554.5924034713931 + ], + [ + 715.8426209336249, + 550.3924788515401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 608, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": 11.312235832214355, + "z": 0.64190274477005 + }, + "extent": { + "x": 0.3944091796875, + "y": 0.3316332995891571, + "z": 0.8882430791854858 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 278.96507320523784, + "ymin": 487.5518949403563, + "xmax": 338.63520236185866, + "ymax": 562.1731805966244 + }, + "corners_3d": [ + [ + -46.182193756103516, + 11.329695701599121, + -0.2463403344154358 + ], + [ + -45.738380432128906, + 11.822598457336426, + -0.2463403344154358 + ], + [ + -45.15217208862305, + 11.29477596282959, + -0.2463403344154358 + ], + [ + -45.595985412597656, + 10.801873207092285, + -0.2463403344154358 + ], + [ + -46.182193756103516, + 11.329695701599121, + 1.5301458835601807 + ], + [ + -45.738380432128906, + 11.822598457336426, + 1.5301458835601807 + ], + [ + -45.15217208862305, + 11.29477596282959, + 1.5301458835601807 + ], + [ + -45.595985412597656, + 10.801873207092285, + 1.5301458835601807 + ] + ], + "corners_2d": [ + [ + 298.95480361868886, + 556.4329435138795 + ], + [ + 323.948944185258, + 562.1731805966244 + ], + [ + 338.63520236185866, + 535.1966586210549 + ], + [ + 314.1238745390564, + 529.7070361518681 + ], + [ + 278.96507320523784, + 514.839393659425 + ], + [ + 305.33141544264834, + 520.7094429051016 + ], + [ + 321.298145110769, + 493.15112789934676 + ], + [ + 295.4679721042568, + 487.5518949403563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 372, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -24.921844482421875, + "y": 3.142021656036377, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.43297117948532104, + "y": 0.3413435220718384, + "z": 0.9348949193954468 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 753.9770772421668, + "ymin": 76.07073308715024, + "xmax": 782.7645631884061, + "ymax": 135.8820024756347 + }, + "corners_3d": [ + [ + -25.472763061523438, + 3.1203629970550537, + -0.3347938656806946 + ], + [ + -25.071489334106445, + 3.67266845703125, + -0.3347938656806946 + ], + [ + -24.370925903320312, + 3.1636803150177, + -0.3347938656806946 + ], + [ + -24.772199630737305, + 2.611374855041504, + -0.3347938656806946 + ], + [ + -25.472763061523438, + 3.1203629970550537, + 1.5349960327148438 + ], + [ + -25.071489334106445, + 3.67266845703125, + 1.5349960327148438 + ], + [ + -24.370925903320312, + 3.1636803150177, + 1.5349960327148438 + ], + [ + -24.772199630737305, + 2.611374855041504, + 1.5349960327148438 + ] + ], + "corners_2d": [ + [ + 753.9770772421668, + 132.36019216634628 + ], + [ + 771.6616667716048, + 135.8820024756347 + ], + [ + 777.4346009155499, + 123.71830955429579 + ], + [ + 759.994829493901, + 120.30347468507838 + ], + [ + 758.4481521806621, + 87.88754098811313 + ], + [ + 776.8504168999336, + 91.34194509611166 + ], + [ + 782.7645631884061, + 79.41618167146208 + ], + [ + 764.6273093901972, + 76.07073308715024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4556, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 831.6526586433066, + "ymin": 0.0, + "xmax": 971.0752223590407, + "ymax": 89.16945167779227 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 831.6526586433066, + 66.87857506303533 + ], + [ + 866.7912605399854, + 89.16945167779227 + ], + [ + 962.4910544085858, + 50.205682524824624 + ], + [ + 926.4216275030462, + 30.150289786644635 + ], + [ + 836.8776528633892, + 34.18545684531716 + ], + [ + 873.1699435275798, + 56.06843949243512 + ], + [ + 971.0752223590407, + 17.84165555021866 + ], + [ + 933.8239393668739, + -1.7907306026362448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6627, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 405.29871964798986, + "ymin": 140.20156829500127, + "xmax": 575.1255067520079, + "ymax": 262.46535296972087 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 413.73745680369245, + 228.81410760067638 + ], + [ + 441.23076540487534, + 262.46535296972087 + ], + [ + 575.1255067520079, + 207.7184132490931 + ], + [ + 544.567482532757, + 177.87964612256138 + ], + [ + 405.29871964798986, + 190.64949417364699 + ], + [ + 433.5105915824, + 224.07957467232066 + ], + [ + 572.6886560395069, + 169.71377808129088 + ], + [ + 541.1591615470948, + 140.20156829500127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 69, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 742.0263306998459, + "ymin": 0.0, + "xmax": 836.3825999897724, + "ymax": 10.942151658825765 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 831.302033455571, + -11.188935207687905 + ], + [ + 805.1510190121197, + -25.994166177022123 + ], + [ + 742.0263306998459, + -4.879308852687927 + ], + [ + 767.5365469174188, + 10.942151658825765 + ], + [ + 836.3825999897724, + -45.29712637217307 + ], + [ + 809.4295533455511, + -59.68661019246616 + ], + [ + 744.7471493125253, + -39.152025432936455 + ], + [ + 771.0308833263691, + -23.747207104573874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.25044551653826, + "ymin": 127.76768429201601, + "xmax": 462.72499383737824, + "ymax": 167.50499272544064 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 456.04818192134485, + 156.79494972113477 + ], + [ + 446.3405170008574, + 160.2995172868052 + ], + [ + 452.96076135282976, + 167.50499272544064 + ], + [ + 462.72499383737824, + 163.93850502507348 + ], + [ + 451.23453365165614, + 127.76768429201601 + ], + [ + 441.25044551653826, + 131.23609810917952 + ], + [ + 448.0002114774314, + 138.36969683437653 + ], + [ + 458.0442758956936, + 134.83837270317483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.3609761706649, + "ymin": 324.4555843766774, + "xmax": 564.2671699786669, + "ymax": 362.7938426201198 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 556.4823143068214, + 349.129551181932 + ], + [ + 546.8782874369846, + 353.61585125973045 + ], + [ + 554.6109586748914, + 362.7938426201198 + ], + [ + 564.2671699786669, + 358.2258834019142 + ], + [ + 554.2349142000622, + 324.4555843766774 + ], + [ + 544.3609761706649, + 328.95018253029315 + ], + [ + 552.2811491341697, + 338.14851102854357 + ], + [ + 562.2103324676349, + 333.56986533888517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 391.92214525023223, + "ymin": 76.07676048037871, + "xmax": 412.9862474709769, + "ymax": 113.84087812854713 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 407.1435540921043, + 104.47145952647259 + ], + [ + 397.8654726340633, + 107.53908618403307 + ], + [ + 403.65543234027325, + 113.84087812854713 + ], + [ + 412.9862474709769, + 110.72258566862268 + ], + [ + 401.4514515672889, + 76.07676048037871 + ], + [ + 391.92214525023223, + 79.10250953249931 + ], + [ + 397.8052316721489, + 85.32014251793129 + ], + [ + 407.39029841856956, + 82.24317970157142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 355.5385940550035, + "ymin": 37.93110619762393, + "xmax": 376.21005579736686, + "ymax": 74.18153706580097 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 370.9486087697675, + 65.74597286048862 + ], + [ + 362.00574054168493, + 68.5090097167461 + ], + [ + 367.21754707240177, + 74.18153706580097 + ], + [ + 376.21005579736686, + 71.37521806346251 + ], + [ + 364.7138901572304, + 37.93110619762393 + ], + [ + 355.5385940550035, + 40.6496345877091 + ], + [ + 360.82087632227734, + 46.232295449663866 + ], + [ + 370.0485478560521, + 43.47018149390277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.979363452109, + "ymin": 0.0, + "xmax": 279.38736294708383, + "ymax": 22.507202317187478 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 268.6295940208477, + 18.419507475255557 + ], + [ + 272.09875535618886, + 22.507202317187478 + ], + [ + 279.38736294708383, + 20.475786531572624 + ], + [ + 275.88480234998633, + 16.41241742261701 + ], + [ + 261.979363452109, + -3.922353192215553 + ], + [ + 265.4700668287541, + 0.10137146288820986 + ], + [ + 272.9097661669903, + -1.898362774443001 + ], + [ + 269.3842101965034, + -5.897714221895399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 13.403387554198616, + "ymax": 2.9650426811994635 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1.8619537332143636, + -1.659975070217115 + ], + [ + 4.0251070217722145, + 2.9650426811994635 + ], + [ + 13.403387554198616, + 0.6778047621198766 + ], + [ + 11.182195303034291, + -3.915329482448783 + ], + [ + -11.517831017454341, + -28.240177339440834 + ], + [ + -9.40539532168009, + -23.7089942886995 + ], + [ + 0.2177495811828294, + -25.94999514433448 + ], + [ + -1.955861283947229, + -30.449287727098465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 48.95571224095909, + "ymin": 460.52857707900057, + "xmax": 91.11443994279773, + "ymax": 510.8345865001536 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 91.11443994279773, + 503.6930362448887 + ], + [ + 86.2631956338056, + 489.46587569967744 + ], + [ + 70.3169133283543, + 496.4329212500693 + ], + [ + 74.99892459436921, + 510.8345865001536 + ], + [ + 70.39865798128972, + 474.9200883948103 + ], + [ + 65.62999860687012, + 460.52857707900057 + ], + [ + 48.95571224095909, + 467.5744421384159 + ], + [ + 53.538749482330445, + 482.14915716810395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 853.7777329735566, + "ymin": 710.0011777209525, + "xmax": 1203.7614333212127, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1024.406028240966, + 906.176351035955 + ], + [ + 1005.9323331191272, + 884.4476902061731 + ], + [ + 853.7777329735566, + 1022.0429784544492 + ], + [ + 871.5866817890679, + 1047.8559972217074 + ], + [ + 1203.7614333212127, + 738.2619231024685 + ], + [ + 1173.2104664559083, + 710.0011777209525 + ], + [ + 964.7518537145841, + 895.3706494142131 + ], + [ + 994.6355595097616, + 931.9170210548839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.8706833868212, + "ymin": 0.0, + "xmax": 1066.4465501646537, + "ymax": 208.33517728900844 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 982.8270760543985, + 208.33517728900844 + ], + [ + 991.8695239843782, + 203.80574630921734 + ], + [ + 909.7421250640808, + 149.27185590761005 + ], + [ + 900.8706833868212, + 153.2443306671515 + ], + [ + 1055.9513976947683, + -17.275673410694708 + ], + [ + 1066.4465501646537, + -21.334136419505512 + ], + [ + 962.5820370783122, + -69.4965628792595 + ], + [ + 952.2740986272363, + -66.03134329710718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 298.8507357601397, + "ymax": 181.03677536827797 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 298.8507357601397, + 80.08063238131729 + ], + [ + 295.0534096649316, + 75.29988722020039 + ], + [ + -38.770120066373124, + 174.86251393884237 + ], + [ + -36.93005291794168, + 181.03677536827797 + ], + [ + 232.95160038329237, + -149.0129390435426 + ], + [ + 228.93566954225486, + -152.93966816988097 + ], + [ + -190.51226703660825, + -69.07994616299806 + ], + [ + -189.63718867108048, + -63.731488456106206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 362.5299848913388, + "xmax": 253.25665241476457, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -409.67587678723226, + 948.6609474361281 + ], + [ + -411.4490365534723, + 971.8200663670415 + ], + [ + 253.25665241476457, + 629.4187942868513 + ], + [ + 247.17515840175406, + 614.9290215904773 + ], + [ + -981.4578806703939, + 775.7658303649619 + ], + [ + -997.0576899052201, + 807.9412370946311 + ], + [ + 100.96292080667445, + 378.7185045772149 + ], + [ + 94.90409380868778, + 362.5299848913388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.13171328361, + "ymin": 0.0, + "xmax": 583.0880970119839, + "ymax": 429.14446829743156 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 569.273832960756, + 429.14446829743156 + ], + [ + 583.0880970119839, + 422.26591849435823 + ], + [ + 400.2488974512609, + 195.3640819378507 + ], + [ + 388.43410761105457, + 199.64897855891272 + ], + [ + 547.116566316115, + 166.95310256918793 + ], + [ + 565.4065710338801, + 160.1135405807742 + ], + [ + 345.02655881128646, + -51.25170436838903 + ], + [ + 330.13171328361, + -47.500559620526644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00089/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00089/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1b202682cddf364c217e3986b990e84f41343849 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00089/meta.json @@ -0,0 +1,2149 @@ +{ + "frame_id": 89, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.5, + "sim_timestamp": 12687.13756738347 + }, + "drone_pose": { + "x": -46.07315746259477, + "y": 25.767659721860063, + "z": 20.0, + "pitch": -46.57221194841421, + "yaw": -55.16982611468306, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3926284909248352, + 0.5642839670181274, + 0.726241409778595, + 18.105087280273438 + ], + [ + -0.8208485841751099, + 0.5711459517478943, + 2.9802322387695312e-08, + 23.10198974609375 + ], + [ + -0.4147898554801941, + -0.5961341857910156, + 0.6874397993087769, + -48.22045135498047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -45.80314228187924, + "y": 25.15402499758175, + "z": 20.0 + }, + "t1_image_uv": [ + 366.54084289800767, + -654.1858021425653 + ], + "t1_depth": 0.4522798789455541 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -35.66718292236328, + "y": 10.812236785888672, + "z": 0.7521616113185883 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.50336325756644, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -35.66718292236328, + "y": 10.812235832214355, + "z": 0.7521616220474243 + }, + "extent": { + "x": 0.324129581451416, + "y": 0.23065243661403656, + "z": 0.558110237121582 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.4665281113524, + "ymin": 336.4989278322837, + "xmax": 650.3801167540503, + "ymax": 383.22247349780696 + }, + "corners_3d": [ + [ + -36.059471130371094, + 10.878334045410156, + 0.19405138492584229 + ], + [ + -35.733280181884766, + 11.2045259475708, + 0.19405138492584229 + ], + [ + -35.27489471435547, + 10.746137619018555, + 0.19405138492584229 + ], + [ + -35.6010856628418, + 10.41994571685791, + 0.19405138492584229 + ], + [ + -36.059471130371094, + 10.878334045410156, + 1.3102718591690063 + ], + [ + -35.733280181884766, + 11.2045259475708, + 1.3102718591690063 + ], + [ + -35.27489471435547, + 10.746137619018555, + 1.3102718591690063 + ], + [ + -35.6010856628418, + 10.41994571685791, + 1.3102718591690063 + ] + ], + "corners_2d": [ + [ + 629.7861296622875, + 381.0483214110549 + ], + [ + 646.1139607034639, + 383.22247349780696 + ], + [ + 650.0696152023024, + 366.4311504791343 + ], + [ + 633.9973627101994, + 364.32673837013755 + ], + [ + 629.4665281113524, + 353.27258176323346 + ], + [ + 646.3056866326092, + 355.45474984127753 + ], + [ + 650.3801167540503, + 338.60896081524845 + ], + [ + 633.8126618179838, + 336.4989278322837 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 89, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 411316, + "2": 231887, + "3": 205987, + "5": 921, + "6": 9082, + "7": 2563, + "10": 531, + "12": 2112, + "14": 11898, + "20": 2642, + "24": 26702, + "25": 15959 + }, + "instance_pixel_counts": { + "3424": 15959, + "6215": 138760, + "6796": 2304, + "6802": 10529, + "7308": 1792, + "7314": 23123, + "8332": 3818, + "8338": 19786, + "15184": 921, + "18000": 1065, + "18512": 1426, + "21652": 155791, + "22676": 37147, + "23700": 71821, + "24212": 24011, + "25856": 8695, + "26112": 858, + "26624": 1945, + "33370": 21387, + "35988": 13875, + "36500": 1400, + "37524": 3618, + "38036": 1593, + "39052": 4378, + "39564": 6822, + "40265": 151, + "40588": 5313, + "41818": 184600, + "43409": 3731, + "43921": 4556, + "44945": 6975, + "56576": 211, + "56832": 237, + "57088": 658, + "57344": 642, + "57600": 364, + "57856": 4622, + "59904": 6926, + "60928": 350, + "62081": 147, + "62613": 4618, + "63123": 63768, + "63125": 594, + "63635": 17808, + "63637": 14, + "64147": 232, + "64149": 990, + "64659": 40425, + "65171": 313 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -35.66718292236328, + "y": 10.812235832214355, + "z": 0.7521616220474243 + }, + "extent": { + "x": 0.2145141363143921, + "y": 0.29864317178726196, + "z": 0.5456615090370178 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.7470193146466, + "ymin": 339.3035884524277, + "xmax": 652.1511441294261, + "ymax": 380.36346349223 + }, + "corners_3d": [ + [ + -36.0300407409668, + 10.752747535705566, + 0.2065001130104065 + ], + [ + -35.607696533203125, + 11.175092697143555, + 0.2065001130104065 + ], + [ + -35.304325103759766, + 10.871724128723145, + 0.2065001130104065 + ], + [ + -35.72666931152344, + 10.449378967285156, + 0.2065001130104065 + ], + [ + -36.0300407409668, + 10.752747535705566, + 1.297823190689087 + ], + [ + -35.607696533203125, + 11.175092697143555, + 1.297823190689087 + ], + [ + -35.304325103759766, + 10.871724128723145, + 1.297823190689087 + ], + [ + -35.72666931152344, + 10.449378967285156, + 1.297823190689087 + ] + ], + "corners_2d": [ + [ + 628.1095053331433, + 377.5638769669641 + ], + [ + 649.2008307856773, + 380.36346349223 + ], + [ + 651.7945696267939, + 369.24372867733456 + ], + [ + 630.9223913332776, + 366.50392110466424 + ], + [ + 627.7470193146466, + 350.3969894481159 + ], + [ + 649.4821057911159, + 353.2061919035288 + ], + [ + 652.1511441294261, + 342.0510057422164 + ], + [ + 630.6487130775529, + 339.3035884524277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 237, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -31.541194915771484, + "y": 13.809941291809082, + "z": 0.8011801838874817 + }, + "extent": { + "x": 0.24342162907123566, + "y": 0.2594451904296875, + "z": 0.552897572517395 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.4495833571298, + "ymin": 340.96710420062936, + "xmax": 839.0119114651375, + "ymax": 381.7259257727342 + }, + "corners_3d": [ + [ + -31.8941707611084, + 13.854375839233398, + 0.24828261137008667 + ], + [ + -31.47437858581543, + 14.159371376037598, + 0.24828261137008667 + ], + [ + -31.18821907043457, + 13.765506744384766, + 0.24828261137008667 + ], + [ + -31.60801124572754, + 13.460511207580566, + 0.24828261137008667 + ], + [ + -31.8941707611084, + 13.854375839233398, + 1.3540778160095215 + ], + [ + -31.47437858581543, + 14.159371376037598, + 1.3540778160095215 + ], + [ + -31.18821907043457, + 13.765506744384766, + 1.3540778160095215 + ], + [ + -31.60801124572754, + 13.460511207580566, + 1.3540778160095215 + ] + ], + "corners_2d": [ + [ + 814.257823532861, + 381.4427080634248 + ], + [ + 833.0096337915676, + 381.7259257727342 + ], + [ + 830.9681848100399, + 368.8696828041131 + ], + [ + 812.4495833571298, + 368.5934503156167 + ], + [ + 819.6754235366715, + 353.8579774689133 + ], + [ + 839.0119114651375, + 354.1422244667321 + ], + [ + 836.831010356592, + 341.2441267768098 + ], + [ + 817.7424045489164, + 340.96710420062936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 658, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -37.92300796508789, + "y": 17.75494956970215, + "z": 0.8072934746742249 + }, + "extent": { + "x": 0.42976438999176025, + "y": 0.38677978515625, + "z": 0.9050634503364563 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 712.9540061779527, + "ymin": 543.1727232035976, + "xmax": 755.177052634473, + "ymax": 622.0783101283151 + }, + "corners_3d": [ + [ + -38.498008728027344, + 17.815521240234375, + -0.09776997566223145 + ], + [ + -37.92314147949219, + 18.333133697509766, + -0.09776997566223145 + ], + [ + -37.34800720214844, + 17.694377899169922, + -0.09776997566223145 + ], + [ + -37.922874450683594, + 17.17676544189453, + -0.09776997566223145 + ], + [ + -38.498008728027344, + 17.815521240234375, + 1.7123569250106812 + ], + [ + -37.92314147949219, + 18.333133697509766, + 1.7123569250106812 + ], + [ + -37.34800720214844, + 17.694377899169922, + 1.7123569250106812 + ], + [ + -37.922874450683594, + 17.17676544189453, + 1.7123569250106812 + ] + ], + "corners_2d": [ + [ + 712.9540061779527, + 618.2379902765463 + ], + [ + 746.6793795512974, + 622.0783101283151 + ], + [ + 748.4707070761635, + 588.9380317998632 + ], + [ + 715.613250507407, + 585.2942781802267 + ], + [ + 717.5775323001789, + 577.0137871219931 + ], + [ + 753.4619842325604, + 580.9659421428664 + ], + [ + 755.177052634473, + 546.9102744177075 + ], + [ + 720.2735929197357, + 543.1727232035976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 642, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": 10.812235832214355, + "z": 0.6386752724647522 + }, + "extent": { + "x": 0.35801267623901367, + "y": 0.3572015166282654, + "z": 0.8953574299812317 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 281.3411557974682, + "ymin": 491.86493487421524, + "xmax": 341.3924357077703, + "ymax": 564.5818268278641 + }, + "corners_3d": [ + [ + -45.6722526550293, + 10.786340713500977, + -0.2566821575164795 + ], + [ + -45.1942253112793, + 11.317245483398438, + -0.2566821575164795 + ], + [ + -44.662113189697266, + 10.838130950927734, + -0.2566821575164795 + ], + [ + -45.140140533447266, + 10.307226181030273, + -0.2566821575164795 + ], + [ + -45.6722526550293, + 10.786340713500977, + 1.5340327024459839 + ], + [ + -45.1942253112793, + 11.317245483398438, + 1.5340327024459839 + ], + [ + -44.662113189697266, + 10.838130950927734, + 1.5340327024459839 + ], + [ + -45.140140533447266, + 10.307226181030273, + 1.5340327024459839 + ] + ], + "corners_2d": [ + [ + 301.3405282649974, + 558.7345348317554 + ], + [ + 328.4788713540044, + 564.5818268278641 + ], + [ + 341.3924357077703, + 539.9243383286366 + ], + [ + 314.73985271671313, + 534.3107069638219 + ], + [ + 281.3411557974682, + 516.8073201242387 + ], + [ + 309.988188899553, + 522.7875630226399 + ], + [ + 324.0476675788885, + 497.59250724094096 + ], + [ + 295.9409068635232, + 491.86493487421524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 364, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -24.421844482421875, + "y": 2.642021656036377, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.49989134073257446, + "y": 0.4540041983127594, + "z": 0.9115883708000183 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 745.6700963990401, + "ymin": 75.06440940312137, + "xmax": 780.6562761767049, + "ymax": 136.48307950864577 + }, + "corners_3d": [ + [ + -25.093122482299805, + 2.5685532093048096, + -0.3114873170852661 + ], + [ + -24.55940818786621, + 3.303147554397583, + -0.3114873170852661 + ], + [ + -23.750566482543945, + 2.7154901027679443, + -0.3114873170852661 + ], + [ + -24.28428077697754, + 1.980895757675171, + -0.3114873170852661 + ], + [ + -25.093122482299805, + 2.5685532093048096, + 1.5116894245147705 + ], + [ + -24.55940818786621, + 3.303147554397583, + 1.5116894245147705 + ], + [ + -23.750566482543945, + 2.7154901027679443, + 1.5116894245147705 + ], + [ + -24.28428077697754, + 1.980895757675171, + 1.5116894245147705 + ] + ], + "corners_2d": [ + [ + 745.6700963990401, + 131.9912462727991 + ], + [ + 769.2248822308848, + 136.48307950864577 + ], + [ + 775.5571410695891, + 122.42948562137113 + ], + [ + 752.3833507915675, + 118.09547413711664 + ], + [ + 749.6958003168986, + 88.6858060475671 + ], + [ + 774.1771566183488, + 93.09287111912903 + ], + [ + 780.6562761767049, + 79.31087715614154 + ], + [ + 756.5863035335859, + 75.06440940312137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4622, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 824.3797095953022, + "ymin": 5.216020473093579, + "xmax": 964.1122303487132, + "ymax": 97.83232033858928 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 824.3797095953022, + 75.34613377626476 + ], + [ + 860.1682538027436, + 97.83232033858928 + ], + [ + 955.6568330460962, + 57.409971231906525 + ], + [ + 919.031395933727, + 37.24374517452338 + ], + [ + 829.4465382971355, + 42.5520350968896 + ], + [ + 866.4103406158241, + 64.63627506252334 + ], + [ + 964.1122303487132, + 24.963290474513315 + ], + [ + 926.2883924451465, + 5.216020473093579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6926, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 394.42432399048107, + "ymin": 153.4539515006875, + "xmax": 567.2133528059394, + "ymax": 279.2243439779746 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 403.3804433835249, + 244.78859690766907 + ], + [ + 431.74609721064775, + 279.2243439779746 + ], + [ + 567.2133528059394, + 221.64478393460286 + ], + [ + 535.8090865449196, + 191.2473378071377 + ], + [ + 394.42432399048107, + 206.53514422274156 + ], + [ + 423.53540018633515, + 240.78333224651942 + ], + [ + 564.4560064512162, + 183.54589551559408 + ], + [ + 532.048801279952, + 153.4539515006875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 350, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 732.8678082950734, + "ymin": 0.0, + "xmax": 827.529360612016, + "ymax": 18.767507249442247 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 822.6478141469173, + -4.186652478397718 + ], + [ + 796.0810647466699, + -19.08118491918782 + ], + [ + 732.8678082950734, + 2.8185578875850865 + ], + [ + 758.8325271595913, + 18.767507249442247 + ], + [ + 827.529360612016, + -38.402234139035215 + ], + [ + 800.1498348550057, + -52.88343291572505 + ], + [ + 735.3605999747783, + -31.577922692083746 + ], + [ + 762.1112926205853, + -16.042650698768455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 430.72445647939605, + "ymin": 145.28192661206631, + "xmax": 452.96467099042434, + "ymax": 185.59419569019082 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 446.0593807926059, + 174.4520350854697 + ], + [ + 436.18273938323955, + 178.17046498762284 + ], + [ + 443.03120363951746, + 185.59419569019082 + ], + [ + 452.96467099042434, + 181.80929193991352 + ], + [ + 440.88941807943786, + 145.28192661206631 + ], + [ + 430.72445647939605, + 148.9655336556293 + ], + [ + 437.7080067593231, + 156.32237862312704 + ], + [ + 447.93332651624206, + 152.57113661615367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.1240419469066, + "ymin": 345.43251138977786, + "xmax": 558.6603052813532, + "ymax": 384.27300707836275 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 550.5935837627684, + 370.06224725712383 + ], + [ + 540.8543551736906, + 374.8205199019833 + ], + [ + 548.8694310180579, + 384.27300707836275 + ], + [ + 558.6603052813532, + 379.42711944683197 + ], + [ + 548.1431705777625, + 345.43251138977786 + ], + [ + 538.1240419469066, + 350.2042478055051 + ], + [ + 546.3361461920999, + 359.68708723029704 + ], + [ + 556.4100343993555, + 354.8250398884892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 379.7344824181449, + "ymin": 92.04144511505626, + "xmax": 401.5574894108329, + "ymax": 130.341429183509 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 395.5239012992127, + 120.60871320721927 + ], + [ + 386.07974149040115, + 123.8586621610207 + ], + [ + 392.06015897197295, + 130.341429183509 + ], + [ + 401.5574894108329, + 127.03721161439583 + ], + [ + 389.4407978186272, + 92.04144511505626 + ], + [ + 379.7344824181449, + 95.24978511153262 + ], + [ + 385.81142024269366, + 101.65155449581329 + ], + [ + 395.5740535056765, + 98.38828767157867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 342.1780590380011, + "ymin": 52.806318866647814, + "xmax": 363.5975433857094, + "ymax": 89.56265792589545 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 358.17020285415487, + 80.80979503326228 + ], + [ + 349.0644876603954, + 83.73380763339975 + ], + [ + 354.441662988324, + 89.56265792589545 + ], + [ + 363.5975433857094, + 86.59236303175163 + ], + [ + 351.5263626680323, + 52.806318866647814 + ], + [ + 342.1780590380011, + 55.685500280798635 + ], + [ + 347.62784710425035, + 61.426593922474126 + ], + [ + 357.0291650785496, + 58.50075022593887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 246.49856606489232, + "ymin": 6.355145768386592, + "xmax": 264.50230998585926, + "ymax": 35.10046443118904 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 253.52004655740592, + 30.92316242472208 + ], + [ + 257.08813961773086, + 35.10046443118904 + ], + [ + 264.50230998585926, + 32.962128158693076 + ], + [ + 260.9004253884444, + 28.810625944715298 + ], + [ + 246.49856606489232, + 8.435344739678555 + ], + [ + 250.0882913436264, + 12.549389140628705 + ], + [ + 257.6596798415, + 10.4433201894999 + ], + [ + 254.03465188870285, + 6.355145768386592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 28.571228301465112, + "ymin": 498.3177878510555, + "xmax": 72.94538426426982, + "ymax": 549.5911266621698 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 72.94538426426982, + 541.8291660133654 + ], + [ + 67.87026454360671, + 526.827615440806 + ], + [ + 51.34332722410784, + 534.3954655077891 + ], + [ + 56.24009170076681, + 549.5911266621698 + ], + [ + 50.8664197247366, + 513.5272022761355 + ], + [ + 45.88384544053156, + 498.3177878510555 + ], + [ + 28.571228301465112, + 505.98864286667765 + ], + [ + 33.357393453009195, + 521.4025471724101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.74168471121, + "ymin": 0.0, + "xmax": 1062.9883974498853, + "ymax": 218.7938199272554 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 979.3671742678118, + 218.7938199272554 + ], + [ + 988.3759554238723, + 214.07790494636822 + ], + [ + 904.6018376086625, + 158.97560003280907 + ], + [ + 895.74168471121, + 163.1105078247676 + ], + [ + 1052.5300662804023, + -7.5534924865348785 + ], + [ + 1062.9883974498853, + -11.794797869920387 + ], + [ + 956.9640394553701, + -60.630192910847654 + ], + [ + 946.659127663296, + -57.0110572648872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 284.96958116043277, + "ymax": 199.48079064188352 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 284.96958116043277, + 92.80442435218066 + ], + [ + 281.06269326029707, + 87.92694758802389 + ], + [ + -59.76102413608862, + 193.11668814499134 + ], + [ + -57.856132784370516, + 199.48079064188352 + ], + [ + 215.28928609533017, + -137.9853601937274 + ], + [ + 211.16516963938744, + -142.01225341359049 + ], + [ + -219.760163202301, + -52.815672833710266 + ], + [ + -218.89477106957202, + -47.25644344608122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 398.83380121106285, + "xmax": 242.75461450341908, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -445.42838621690953, + 1009.9123787897083 + ], + [ + -447.39060691287546, + 1034.6395295664718 + ], + [ + 242.75461450341908, + 662.6158354350158 + ], + [ + 236.3851452787772, + 647.5342036293982 + ], + [ + -1070.6680813138373, + 860.8375371850543 + ], + [ + -1088.5559059108323, + 896.6234671443905 + ], + [ + 81.11664929836036, + 415.99823658202746 + ], + [ + 74.78950407468233, + 398.83380121106285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.32834330657744, + "ymin": 0.0, + "xmax": 578.1979404755758, + "ymax": 450.19895122824164 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 564.2181723738664, + 450.19895122824164 + ], + [ + 578.1979404755758, + 442.92104943047644 + ], + [ + 389.2966506085701, + 210.4681538310816 + ], + [ + 377.30812422763296, + 214.9823709522605 + ], + [ + 539.9498326108964, + 188.0795727083467 + ], + [ + 558.5783063747751, + 180.766970991261 + ], + [ + 330.5246891239229, + -37.613509055285704 + ], + [ + 315.32834330657744, + -33.63498625608531 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00090/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00090/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3f3772d8db2d3f6664a691571ad07ff663f4003b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00090/meta.json @@ -0,0 +1,2355 @@ +{ + "frame_id": 90, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.0, + "sim_timestamp": 12698.139268792467 + }, + "drone_pose": { + "x": -45.80314228187924, + "y": 25.15402499758175, + "z": 20.0, + "pitch": -46.50959610296589, + "yaw": -54.37376464896456, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4008924961090088, + 0.5594193339347839, + 0.725489616394043, + 17.923992156982422 + ], + [ + -0.8128340840339661, + 0.5824952721595764, + 0.0, + 22.57825469970703 + ], + [ + -0.422594279050827, + -0.5897027254104614, + 0.6882331371307373, + -47.95420837402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -45.524153414245, + "y": 24.53081395721133, + "z": 20.0 + }, + "t1_image_uv": [ + 355.95789031671893, + -651.9683076991752 + ], + "t1_depth": 0.460480842844775 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -35.16718292236328, + "y": 10.312236785888672, + "z": 0.7522495132684708 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 26.5307031120078, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -35.16718292236328, + "y": 10.312235832214355, + "z": 0.752249538898468 + }, + "extent": { + "x": 0.19825437664985657, + "y": 0.2897350788116455, + "z": 0.5568300485610962 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.2636997664232, + "ymin": 339.57689768739033, + "xmax": 651.6448477843483, + "ymax": 380.0616007933436 + }, + "corners_3d": [ + [ + -35.512245178222656, + 10.247549057006836, + 0.19541949033737183 + ], + [ + -35.10249710083008, + 10.657296180725098, + 0.19541949033737183 + ], + [ + -34.822120666503906, + 10.376922607421875, + 0.19541949033737183 + ], + [ + -35.231868743896484, + 9.967175483703613, + 0.19541949033737183 + ], + [ + -35.512245178222656, + 10.247549057006836, + 1.309079647064209 + ], + [ + -35.10249710083008, + 10.657296180725098, + 1.309079647064209 + ], + [ + -34.822120666503906, + 10.376922607421875, + 1.309079647064209 + ], + [ + -35.231868743896484, + 9.967175483703613, + 1.309079647064209 + ] + ], + "corners_2d": [ + [ + 628.6170891137648, + 377.56328796840705 + ], + [ + 649.0942606891045, + 380.0616007933436 + ], + [ + 651.296861564415, + 369.78409314692357 + ], + [ + 631.0178448747414, + 367.33523260211894 + ], + [ + 628.2636997664232, + 349.8353048274201 + ], + [ + 649.377303964222, + 352.34199308204455 + ], + [ + 651.6448477843483, + 342.0324492017981 + ], + [ + 630.7418439134817, + 339.57689768739033 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 90, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 404387, + "2": 230378, + "3": 208756, + "5": 1043, + "6": 9528, + "7": 2731, + "10": 514, + "12": 2038, + "14": 12847, + "20": 2617, + "24": 26172, + "25": 20589 + }, + "instance_pixel_counts": { + "3424": 20589, + "6215": 135065, + "6796": 2409, + "6802": 11099, + "7308": 2094, + "7314": 20893, + "8332": 4233, + "8338": 21040, + "15184": 1043, + "18000": 1108, + "18512": 1358, + "21652": 163310, + "22676": 25859, + "23700": 76274, + "24212": 15171, + "25856": 9050, + "26112": 1048, + "26624": 1876, + "33370": 24253, + "35988": 13754, + "36500": 1256, + "37524": 3819, + "38036": 1042, + "39052": 4648, + "39564": 5959, + "40265": 151, + "40588": 5694, + "41818": 184503, + "43409": 3904, + "43921": 5425, + "44945": 7915, + "56576": 212, + "56832": 221, + "57088": 625, + "57344": 614, + "57600": 366, + "57856": 4696, + "59904": 7275, + "60928": 876, + "62081": 285, + "62613": 4625, + "63123": 63585, + "63125": 611, + "63635": 16429, + "64147": 645, + "64149": 1065, + "64659": 43114 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -35.16718292236328, + "y": 10.312235832214355, + "z": 0.752249538898468 + }, + "extent": { + "x": 0.2201269268989563, + "y": 0.2641555666923523, + "z": 0.5501267910003662 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.057971182029, + "ymin": 339.297319000854, + "xmax": 650.8420653052997, + "ymax": 380.3620822741627 + }, + "corners_3d": [ + [ + -35.509620666503906, + 10.281103134155273, + 0.2021227478981018 + ], + [ + -35.136051177978516, + 10.654675483703613, + 0.2021227478981018 + ], + [ + -34.824745178222656, + 10.343368530273438, + 0.2021227478981018 + ], + [ + -35.19831466674805, + 9.969796180725098, + 0.2021227478981018 + ], + [ + -35.509620666503906, + 10.281103134155273, + 1.3023762702941895 + ], + [ + -35.136051177978516, + 10.654675483703613, + 1.3023762702941895 + ], + [ + -34.824745178222656, + 10.343368530273438, + 1.3023762702941895 + ], + [ + -35.19831466674805, + 9.969796180725098, + 1.3023762702941895 + ] + ], + "corners_2d": [ + [ + 629.3837522413886, + 378.0816946653431 + ], + [ + 648.0664307670098, + 380.3620822741627 + ], + [ + 650.5221213682023, + 368.9528314786305 + ], + [ + 632.0401068293966, + 366.72251628352547 + ], + [ + 629.057971182029, + 350.68988048428514 + ], + [ + 648.3145303915184, + 352.9778992613922 + ], + [ + 650.8420653052997, + 341.5335806080449 + ], + [ + 631.7986168208581, + 339.297319000854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 221, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -31.041194915771484, + "y": 13.309941291809082, + "z": 0.8007113337516785 + }, + "extent": { + "x": 0.2140856832265854, + "y": 0.23825621604919434, + "z": 0.5341188907623291 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.8532284212845, + "ymin": 340.4858105246948, + "xmax": 837.529726513501, + "ymax": 378.5023301316909 + }, + "corners_3d": [ + [ + -31.359785079956055, + 13.343096733093262, + 0.26659244298934937 + ], + [ + -30.97427749633789, + 13.623184204101562, + 0.26659244298934937 + ], + [ + -30.722604751586914, + 13.276785850524902, + 0.26659244298934937 + ], + [ + -31.108112335205078, + 12.996698379516602, + 0.26659244298934937 + ], + [ + -31.359785079956055, + 13.343096733093262, + 1.3348302841186523 + ], + [ + -30.97427749633789, + 13.623184204101562, + 1.3348302841186523 + ], + [ + -30.722604751586914, + 13.276785850524902, + 1.3348302841186523 + ], + [ + -31.108112335205078, + 12.996698379516602, + 1.3348302841186523 + ] + ], + "corners_2d": [ + [ + 814.6595756738257, + 378.4198097560205 + ], + [ + 831.7987386875132, + 378.5023301316909 + ], + [ + 829.805237444888, + 367.2585345294437 + ], + [ + 812.8532284212845, + 367.17780507117817 + ], + [ + 819.878011184274, + 351.7604697490461 + ], + [ + 837.529726513501, + 351.84325699704846 + ], + [ + 835.412948026004, + 340.5667482823993 + ], + [ + 817.9596830541403, + 340.4858105246948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -37.42300796508789, + "y": 17.25494956970215, + "z": 0.8068100810050964 + }, + "extent": { + "x": 0.3905651867389679, + "y": 0.4106903076171875, + "z": 0.877055823802948 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 716.3961816189728, + "ymin": 543.8476512698894, + "xmax": 759.9639685694744, + "ymax": 618.2069755911829 + }, + "corners_3d": [ + [ + -37.98954772949219, + 17.270389556884766, + -0.07024574279785156 + ], + [ + -37.379146575927734, + 17.82000160217285, + -0.07024574279785156 + ], + [ + -36.856468200683594, + 17.23950958251953, + -0.07024574279785156 + ], + [ + -37.46686935424805, + 16.689897537231445, + -0.07024574279785156 + ], + [ + -37.98954772949219, + 17.270389556884766, + 1.6838659048080444 + ], + [ + -37.379146575927734, + 17.82000160217285, + 1.6838659048080444 + ], + [ + -36.856468200683594, + 17.23950958251953, + 1.6838659048080444 + ], + [ + -37.46686935424805, + 16.689897537231445, + 1.6838659048080444 + ] + ], + "corners_2d": [ + [ + 716.3961816189728, + 614.6005601972007 + ], + [ + 752.1684086561611, + 618.2069755911829 + ], + [ + 753.2013854178682, + 588.1460119571952 + ], + [ + 718.2705611612126, + 584.7080500342134 + ], + [ + 721.0633495224433, + 574.5183425576082 + ], + [ + 759.0416680211198, + 578.2246224186633 + ], + [ + 759.9639685694744, + 547.3706171056576 + ], + [ + 722.9326628250514, + 543.8476512698894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 614, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -44.66718292236328, + "y": 10.312235832214355, + "z": 0.6354379653930664 + }, + "extent": { + "x": 0.37727537751197815, + "y": 0.38108763098716736, + "z": 0.8987125754356384 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 282.582816663553, + "ymin": 494.60719957413795, + "xmax": 345.0230514963674, + "ymax": 569.0163499320826 + }, + "corners_3d": [ + [ + -45.20254898071289, + 10.281478881835938, + -0.263274610042572 + ], + [ + -44.69255447387695, + 10.847885131835938, + -0.263274610042572 + ], + [ + -44.13181686401367, + 10.342992782592773, + -0.263274610042572 + ], + [ + -44.64181137084961, + 9.776586532592773, + -0.263274610042572 + ], + [ + -45.20254898071289, + 10.281478881835938, + 1.5341506004333496 + ], + [ + -44.69255447387695, + 10.847885131835938, + 1.5341506004333496 + ], + [ + -44.13181686401367, + 10.342992782592773, + 1.5341506004333496 + ], + [ + -44.64181137084961, + 9.776586532592773, + 1.5341506004333496 + ] + ], + "corners_2d": [ + [ + 302.6191688442905, + 563.1162481648689 + ], + [ + 331.85425813397916, + 569.0163499320826 + ], + [ + 345.0230514963674, + 542.8359143813602 + ], + [ + 316.3495815875267, + 537.1855352766943 + ], + [ + 282.582816663553, + 521.094280433569 + ], + [ + 313.4599530406135, + 527.1303531919663 + ], + [ + 327.81442081262765, + 500.3730976755053 + ], + [ + 297.56264793051423, + 494.60719957413795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 366, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -23.921844482421875, + "y": 2.142021894454956, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4788598418235779, + "y": 0.3797108232975006, + "z": 0.9391466975212097 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 742.717697088298, + "ymin": 74.75553340477512, + "xmax": 773.1788469953711, + "ymax": 135.96776095992018 + }, + "corners_3d": [ + [ + -24.532438278198242, + 2.1162960529327393, + -0.3390456438064575 + ], + [ + -24.086061477661133, + 2.7306811809539795, + -0.3390456438064575 + ], + [ + -23.311250686645508, + 2.167747735977173, + -0.3390456438064575 + ], + [ + -23.757627487182617, + 1.5533626079559326, + -0.3390456438064575 + ], + [ + -24.532438278198242, + 2.1162960529327393, + 1.539247751235962 + ], + [ + -24.086061477661133, + 2.7306811809539795, + 1.539247751235962 + ], + [ + -23.311250686645508, + 2.167747735977173, + 1.539247751235962 + ], + [ + -23.757627487182617, + 1.5533626079559326, + 1.539247751235962 + ] + ], + "corners_2d": [ + [ + 742.717697088298, + 132.37888866957678 + ], + [ + 762.4033187309541, + 135.96776095992018 + ], + [ + 768.2246368159175, + 122.51272665521549 + ], + [ + 748.8476036482994, + 119.04510747686453 + ], + [ + 746.7389334120121, + 87.81538922171092 + ], + [ + 767.2180045205799, + 91.33350233110525 + ], + [ + 773.1788469953711, + 78.15024311518505 + ], + [ + 753.0335903738865, + 74.75553340477512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4696, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 817.4980555148564, + "ymin": 12.16673984348796, + "xmax": 957.6178100562634, + "ymax": 106.55518101909905 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 817.4980555148564, + 83.85119599255734 + ], + [ + 853.9767043545328, + 106.55518101909905 + ], + [ + 949.2730656069166, + 64.59051520717105 + ], + [ + 912.0563669322235, + 44.29558189138146 + ], + [ + 822.4195735127885, + 50.943229871342 + ], + [ + 860.0979727594429, + 73.25227677855565 + ], + [ + 957.6178100562634, + 32.04749624130659 + ], + [ + 919.1835858635454, + 12.16673984348796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 7275, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 383.69242869876206, + "ymin": 167.06073439736585, + "xmax": 559.6206373989667, + "ymax": 296.6003224174745 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 393.1852534625848, + 261.3147238584425 + ], + [ + 422.4834810498646, + 296.6003224174745 + ], + [ + 559.6206373989667, + 235.9761193212123 + ], + [ + 527.3146992038575, + 204.9729511157984 + ], + [ + 383.69242869876206, + 222.97795320872984 + ], + [ + 413.7668244153702, + 258.11493702157856 + ], + [ + 556.5430147133528, + 197.7828521420857 + ], + [ + 523.1985851262488, + 167.06073439736585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 876, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 723.9867253957221, + "ymin": 0.0, + "xmax": 819.0163054847728, + "ymax": 26.566866124049056 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 814.3231397979616, + 2.7419304921648973 + ], + [ + 787.3138926821609, + -12.25565870922162 + ], + [ + 723.9867253957221, + 10.474561088495534 + ], + [ + 750.4346782492327, + 26.566866124049056 + ], + [ + 819.0163054847728, + -31.598464696537803 + ], + [ + 791.1817205301797, + -46.18558705445861 + ], + [ + 726.257724270119, + -24.06302942030902 + ], + [ + 753.5060275258725, + -8.380850350433093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.72975274416797, + "ymin": 0.0, + "xmax": 71.94080721079649, + "ymax": 7.513651826592138 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 59.88583483123443, + 2.9607988459159174 + ], + [ + 62.80196130687682, + 7.513651826592138 + ], + [ + 71.94080721079649, + 5.125488934790042 + ], + [ + 68.97230340300507, + 0.6054374769569222 + ], + [ + 47.72975274416797, + -23.60422623250099 + ], + [ + 50.621130898275624, + -19.143861216129892 + ], + [ + 59.997161787344226, + -21.483672335381698 + ], + [ + 57.050556296749505, + -25.91123012161097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 420.4392028748682, + "ymin": 163.56189104113943, + "xmax": 443.4892593257178, + "ymax": 204.4896132954523 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 436.3372555502434, + 192.87469799758335 + ], + [ + 426.27952773068216, + 196.82664779614873 + ], + [ + 433.3744870077028, + 204.4896132954523 + ], + [ + 443.4892593257178, + 200.46615369193856 + ], + [ + 430.79839487261927, + 163.56189104113943 + ], + [ + 420.4392028748682, + 167.48097102674106 + ], + [ + 427.6756633022486, + 175.08304320890807 + ], + [ + 438.0955657284897, + 171.0910880444953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 532.4120265667138, + "ymin": 367.4479267851521, + "xmax": 553.6043363543843, + "ymax": 406.81637501530327 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 545.2340765194103, + 392.01054853699776 + ], + [ + 535.3518871749529, + 397.06476710655204 + ], + [ + 543.6711837578466, + 406.81637501530327 + ], + [ + 553.6043363543843, + 401.6679842113035 + ], + [ + 542.5850196544558, + 367.4479267851521 + ], + [ + 532.4120265667138, + 372.52187683850246 + ], + [ + 540.9391663704594, + 382.315437248662 + ], + [ + 551.1662877280841, + 377.144260029009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 367.65345568310823, + "ymin": 108.62039459877963, + "xmax": 390.2817209819576, + "ymax": 147.4959963693129 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 384.04232750575045, + 137.36634247318958 + ], + [ + 374.4198261846953, + 140.8149857492644 + ], + [ + 380.60561805900494, + 147.4959963693129 + ], + [ + 390.2817209819576, + 143.9891113344334 + ], + [ + 377.5502032335407, + 108.62039459877963 + ], + [ + 367.65345568310823, + 112.02810903680006 + ], + [ + 373.9397220587266, + 118.6319783297927 + ], + [ + 383.8933503314351, + 115.16523140571363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.83146206401165, + "ymin": 68.1900095577077, + "xmax": 351.0461650305704, + "ymax": 105.49117282058984 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 345.4401736345494, + 96.39194991390963 + ], + [ + 336.1593808303843, + 99.49114384553144 + ], + [ + 341.71467036744576, + 105.49117282058984 + ], + [ + 351.0461650305704, + 102.34239490242766 + ], + [ + 338.36608824182736, + 68.1900095577077 + ], + [ + 328.83146206401165, + 71.24433890364304 + ], + [ + 334.46189541875424, + 77.15923737273204 + ], + [ + 344.05019824367923, + 74.05485133518943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.84904298656272, + "ymin": 18.853782786056115, + "xmax": 249.48596285806394, + "ymax": 47.96652082590987 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 238.263073245878, + 43.69156357678537 + ], + [ + 241.9370496144083, + 47.96652082590987 + ], + [ + 249.48596285806394, + 45.71286422102912 + ], + [ + 245.77778539920047, + 41.46530821592603 + ], + [ + 230.84904298656272, + 21.0471899672782 + ], + [ + 234.54484010878195, + 25.25979714073486 + ], + [ + 242.25772242484965, + 23.038890934345545 + ], + [ + 238.52614958210762, + 18.853782786056115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.589115237093324, + "ymin": 539.166540086106, + "xmax": 54.39588355938531, + "ymax": 591.4465627070498 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 54.39588355938531, + 582.9839983108106 + ], + [ + 49.07585209716251, + 567.1143009120341 + ], + [ + 31.913368559842866, + 575.3600410774465 + ], + [ + 37.044908090718536, + 591.4465627070498 + ], + [ + 30.819590020205396, + 555.2966842366743 + ], + [ + 25.60323738508123, + 539.166540086106 + ], + [ + 7.589115237093324, + 547.5455233081764 + ], + [ + 12.596978938996472, + 563.9049575369422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.1286365758458, + "ymin": 0.0, + "xmax": 1060.3624655655008, + "ymax": 229.46626559634032 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 976.5244458386069, + 229.46626559634032 + ], + [ + 985.4992552660264, + 224.55255569526415 + ], + [ + 899.9786310456304, + 168.824034594772 + ], + [ + 891.1286365758458, + 173.13124575755882 + ], + [ + 1049.9409379647175, + 2.309627382418171 + ], + [ + 1060.3624655655008, + -2.128078559325047 + ], + [ + 952.0127054186752, + -51.71378217796149 + ], + [ + 941.7082906223488, + -47.92944942690713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 271.0105983765506, + "ymax": 218.669766593036 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 271.0105983765506, + 105.80638936606906 + ], + [ + 266.9867839565077, + 100.82390349448303 + ], + [ + -81.33914880110547, + 212.098999276639 + ], + [ + -79.36485671007881, + 218.669766593036 + ], + [ + 197.32592974228652, + -126.81501647587959 + ], + [ + 193.0853919579257, + -130.95208199558186 + ], + [ + -250.3243994385947, + -35.89534971619389 + ], + [ + -249.47216321557823, + -30.102612802517456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.500678802322, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 18.156653235252463 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1362.4801931889738, + 18.156653235252463 + ], + [ + 1367.6745971325042, + 15.312710831817583 + ], + [ + 1282.7827189896893, + -17.482659423502014 + ], + [ + 1277.500678802322, + -14.911936684558157 + ], + [ + 1476.3553209868269, + -179.2654865521132 + ], + [ + 1481.805358720469, + -181.58623285831993 + ], + [ + 1377.9105968115446, + -208.12581528891008 + ], + [ + 1372.2859415038233, + -206.06013854900175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 438.198358971492, + "xmax": 232.4809996411807, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -483.25224462354095, + 1076.709490649791 + ], + [ + -485.43360517625, + 1103.2107394501193 + ], + [ + 232.4809996411807, + 697.8996501642915 + ], + [ + 225.79876206377935, + 682.1698590158092 + ], + [ + -1170.8883719291498, + 957.9514848020509 + ], + [ + -1191.5946163906176, + 998.1181710694738 + ], + [ + 60.71538135346941, + 456.4692270287164 + ], + [ + 54.094354960669534, + 438.198358971492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.4478679544683, + "ymin": 0.0, + "xmax": 573.8512201134221, + "ymax": 472.2258437947703 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 559.6978068276745, + 472.2258437947703 + ], + [ + 573.8512201134221, + 464.5160787883459 + ], + [ + 378.4649327069917, + 226.05265755172067 + ], + [ + 366.29136699976283, + 230.8137322023604 + ], + [ + 533.365250163356, + 210.391426090268 + ], + [ + 552.3569246962629, + 202.55561316058902 + ], + [ + 315.9703113810317, + -23.569197380627315 + ], + [ + 300.4478679544683, + -19.34198923746942 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00092/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00092/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ff861b3af9d3dac5ff8b5ed7666c1fb4ed4c9c2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00092/meta.json @@ -0,0 +1,2357 @@ +{ + "frame_id": 92, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.0, + "sim_timestamp": 12724.88484180835 + }, + "drone_pose": { + "x": -45.23693643643781, + "y": 23.9031048731849, + "z": 20.0, + "pitch": -46.42244519121051, + "yaw": -52.81325205135737, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.41664475202560425, + 0.5491730570793152, + 0.7244420051574707, + 17.485836029052734 + ], + [ + -0.7966697812080383, + 0.6044148206710815, + 0.0, + 21.591503143310547 + ], + [ + -0.43786346912384033, + -0.5771410465240479, + 0.689335823059082, + -47.3897819519043 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -44.942756198708004, + "y": 23.27354724131128, + "z": 20.0 + }, + "t1_image_uv": [ + 340.40121428824887, + -648.8904113436853 + ], + "t1_depth": 0.46830470370137844 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -34.16718292236328, + "y": 9.312236785888672, + "z": 0.7524448227882385 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 26.568802282057355, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": 9.312236785888672, + "z": 0.7524448037147522 + }, + "extent": { + "x": 0.22193601727485657, + "y": 0.23071469366550446, + "z": 0.5552625060081482 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.4598159184195, + "ymin": 339.41586738923047, + "xmax": 649.4458960403957, + "ymax": 380.23222998597885 + }, + "corners_3d": [ + [ + -34.48725509643555, + 9.306029319763184, + 0.197182297706604 + ], + [ + -34.16097640991211, + 9.632308959960938, + 0.197182297706604 + ], + [ + -33.847110748291016, + 9.31844425201416, + 0.197182297706604 + ], + [ + -34.17338943481445, + 8.992164611816406, + 0.197182297706604 + ], + [ + -34.48725509643555, + 9.306029319763184, + 1.3077073097229004 + ], + [ + -34.16097640991211, + 9.632308959960938, + 1.3077073097229004 + ], + [ + -33.847110748291016, + 9.31844425201416, + 1.3077073097229004 + ], + [ + -34.17338943481445, + 8.992164611816406, + 1.3077073097229004 + ] + ], + "corners_2d": [ + [ + 630.7457646790247, + 378.57429001760335 + ], + [ + 647.1074639117509, + 380.23222998597885 + ], + [ + 649.165488490319, + 368.7210463195017 + ], + [ + 632.9832319261226, + 367.09995926485334 + ], + [ + 630.4598159184195, + 350.9224283601075 + ], + [ + 647.327444429462, + 352.5856819546605 + ], + [ + 649.4458960403957, + 341.041026345111 + ], + [ + 632.7689144202602, + 339.41586738923047 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 92, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 393001, + "2": 228958, + "3": 208662, + "5": 1325, + "6": 11454, + "7": 2611, + "10": 501, + "12": 2048, + "14": 14949, + "20": 2495, + "24": 24096, + "25": 31500 + }, + "instance_pixel_counts": { + "3424": 31500, + "6215": 129342, + "6796": 2638, + "6802": 12438, + "7308": 2439, + "7314": 15765, + "7820": 286, + "8332": 4940, + "8338": 23775, + "15184": 1325, + "18000": 1226, + "18512": 1108, + "21652": 169289, + "22676": 9370, + "23700": 86450, + "24212": 3597, + "25856": 9823, + "26112": 1898, + "26624": 1061, + "33370": 30624, + "35988": 12497, + "36500": 600, + "37524": 4497, + "39052": 5344, + "39564": 4016, + "40265": 161, + "40588": 6438, + "41818": 178038, + "43409": 4316, + "43921": 7008, + "44433": 283, + "44945": 9930, + "56576": 208, + "56832": 223, + "57088": 639, + "57344": 605, + "57600": 373, + "57856": 4874, + "59904": 8020, + "60928": 2055, + "62081": 1283, + "62613": 4662, + "63123": 62608, + "63125": 545, + "63635": 12439, + "63637": 64, + "64147": 673, + "64149": 1231, + "64659": 48575 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": 9.312236785888672, + "z": 0.7524448037147522 + }, + "extent": { + "x": 0.22341062128543854, + "y": 0.28357967734336853, + "z": 0.5524634122848511 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.5239064669058, + "ymin": 339.2641437463774, + "xmax": 651.3661090066181, + "ymax": 380.39361997674325 + }, + "corners_3d": [ + [ + -34.52568054199219, + 9.26969051361084, + 0.19998139142990112 + ], + [ + -34.124637603759766, + 9.670733451843262, + 0.19998139142990112 + ], + [ + -33.808685302734375, + 9.354783058166504, + 0.19998139142990112 + ], + [ + -34.2097282409668, + 8.953740119934082, + 0.19998139142990112 + ], + [ + -34.52568054199219, + 9.26969051361084, + 1.304908275604248 + ], + [ + -34.124637603759766, + 9.670733451843262, + 1.304908275604248 + ], + [ + -33.808685302734375, + 9.354783058166504, + 1.304908275604248 + ], + [ + -34.2097282409668, + 8.953740119934082, + 1.304908275604248 + ] + ], + "corners_2d": [ + [ + 628.8661219813905, + 378.35562660715703 + ], + [ + 648.9792218231046, + 380.39361997674325 + ], + [ + 651.0303255438376, + 368.80155485859905 + ], + [ + 631.1392856494049, + 366.80916338918746 + ], + [ + 628.5239064669058, + 350.84274780405457 + ], + [ + 649.2557753363989, + 352.8872448758987 + ], + [ + 651.3661090066181, + 341.2615102693195 + ], + [ + 630.8700932759195, + 339.2641437463774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -30.041194915771484, + "y": 12.309941291809082, + "z": 0.7877524495124817 + }, + "extent": { + "x": 0.19252684712409973, + "y": 0.22411254048347473, + "z": 0.5213335156440735 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 812.399306890255, + "ymin": 338.0498038781192, + "xmax": 835.8675209735206, + "ymax": 374.344733374714 + }, + "corners_3d": [ + [ + -30.335670471191406, + 12.333969116210938, + 0.2664189338684082 + ], + [ + -29.97304916381836, + 12.597429275512695, + 0.2664189338684082 + ], + [ + -29.746719360351562, + 12.285913467407227, + 0.2664189338684082 + ], + [ + -30.10934066772461, + 12.022453308105469, + 0.2664189338684082 + ], + [ + -30.335670471191406, + 12.333969116210938, + 1.3090859651565552 + ], + [ + -29.97304916381836, + 12.597429275512695, + 1.3090859651565552 + ], + [ + -29.746719360351562, + 12.285913467407227, + 1.3090859651565552 + ], + [ + -30.10934066772461, + 12.022453308105469, + 1.3090859651565552 + ] + ], + "corners_2d": [ + [ + 814.3877848366529, + 374.344733374714 + ], + [ + 830.3602385436773, + 374.1009976967923 + ], + [ + 828.2159909354206, + 364.0943426988795 + ], + [ + 812.399306890255, + 364.3333328140079 + ], + [ + 819.4342075344176, + 348.32564863796915 + ], + [ + 835.8675209735206, + 348.0812385610005 + ], + [ + 833.6064489045025, + 338.0498038781192 + ], + [ + 817.3379773142481, + 338.2893196465542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 639, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -36.42300796508789, + "y": 16.25494956970215, + "z": 0.8058578968048096 + }, + "extent": { + "x": 0.42771604657173157, + "y": 0.4067547619342804, + "z": 0.9051685333251953 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 724.8084855807812, + "ymin": 539.1299569874272, + "xmax": 767.752694450646, + "ymax": 616.7696005343679 + }, + "corners_3d": [ + [ + -37.01148223876953, + 16.30063247680664, + -0.09931063652038574 + ], + [ + -36.40692901611328, + 16.8449764251709, + -0.09931063652038574 + ], + [ + -35.83453369140625, + 16.209266662597656, + -0.09931063652038574 + ], + [ + -36.4390869140625, + 15.664922714233398, + -0.09931063652038574 + ], + [ + -37.01148223876953, + 16.30063247680664, + 1.7110264301300049 + ], + [ + -36.40692901611328, + 16.8449764251709, + 1.7110264301300049 + ], + [ + -35.83453369140625, + 16.209266662597656, + 1.7110264301300049 + ], + [ + -36.4390869140625, + 15.664922714233398, + 1.7110264301300049 + ] + ], + "corners_2d": [ + [ + 724.8084855807812, + 614.0824283632298 + ], + [ + 760.176892593547, + 616.7696005343679 + ], + [ + 760.1015973440738, + 584.012439186713 + ], + [ + 725.6468396835702, + 581.46242290204 + ], + [ + 730.1426423487167, + 572.6087057475482 + ], + [ + 767.752694450646, + 575.3714694265144 + ], + [ + 767.4646893681122, + 541.7431908359054 + ], + [ + 730.8860826458156, + 539.1299569874272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 605, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -43.66718292236328, + "y": 9.312236785888672, + "z": 0.6268637776374817 + }, + "extent": { + "x": 0.3788232207298279, + "y": 0.3902319371700287, + "z": 0.8972228765487671 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 287.44321645851795, + "ymin": 501.9127809282005, + "xmax": 350.0974292792416, + "ymax": 576.0961016780175 + }, + "corners_3d": [ + [ + -44.20981979370117, + 9.275720596313477, + -0.2703590989112854 + ], + [ + -43.68758773803711, + 9.855717658996582, + -0.2703590989112854 + ], + [ + -43.12454605102539, + 9.348752975463867, + -0.2703590989112854 + ], + [ + -43.64677810668945, + 8.768755912780762, + -0.2703590989112854 + ], + [ + -44.20981979370117, + 9.275720596313477, + 1.5240867137908936 + ], + [ + -43.68758773803711, + 9.855717658996582, + 1.5240867137908936 + ], + [ + -43.12454605102539, + 9.348752975463867, + 1.5240867137908936 + ], + [ + -43.64677810668945, + 8.768755912780762, + 1.5240867137908936 + ] + ], + "corners_2d": [ + [ + 307.24455151236356, + 570.7541763064999 + ], + [ + 337.7225272636101, + 576.0961016780175 + ], + [ + 350.0974292792416, + 549.4203879376028 + ], + [ + 320.22752618435555, + 544.3080989913085 + ], + [ + 287.44321645851795, + 528.9370227701011 + ], + [ + 319.65135601771897, + 534.404201814389 + ], + [ + 333.1655280181542, + 507.13140280904963 + ], + [ + 301.6353696994479, + 501.9127809282005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 373, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -22.921844482421875, + "y": 1.1420217752456665, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.44511228799819946, + "y": 0.3585808575153351, + "z": 0.9340968132019043 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 733.8327333779212, + "ymin": 74.70021751582567, + "xmax": 761.8446733858464, + "ymax": 134.1799336501231 + }, + "corners_3d": [ + [ + -23.49271583557129, + 1.1135542392730713, + -0.3339957594871521 + ], + [ + -23.071178436279297, + 1.693750262260437, + -0.3339957594871521 + ], + [ + -22.35097312927246, + 1.1704893112182617, + -0.3339957594871521 + ], + [ + -22.772510528564453, + 0.590293288230896, + -0.3339957594871521 + ], + [ + -23.49271583557129, + 1.1135542392730713, + 1.5341978073120117 + ], + [ + -23.071178436279297, + 1.693750262260437, + 1.5341978073120117 + ], + [ + -22.35097312927246, + 1.1704893112182617, + 1.5341978073120117 + ], + [ + -22.772510528564453, + 0.590293288230896, + 1.5341978073120117 + ] + ], + "corners_2d": [ + [ + 733.8327333779212, + 131.09567894666822 + ], + [ + 752.428148597682, + 134.1799336501231 + ], + [ + 757.3575123732267, + 121.66302854152025 + ], + [ + 739.0390755312031, + 118.67639766452558 + ], + [ + 737.4660440895697, + 86.86129854573846 + ], + [ + 756.799378528021, + 89.88375554522963 + ], + [ + 761.8446733858464, + 77.62338669220998 + ], + [ + 742.8105954267778, + 74.70021751582567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4874, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 805.1118713833445, + "ymin": 26.238537770046378, + "xmax": 946.2103814550262, + "ymax": 124.44285480643416 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 805.1118713833445, + 101.24278580774148 + ], + [ + 843.0613969201116, + 124.44285480643416 + ], + [ + 938.0346191253686, + 79.19835736852508 + ], + [ + 899.5553292296969, + 58.597388756594626 + ], + [ + 809.7822787148972, + 68.08454213608377 + ], + [ + 848.9880872971153, + 90.90629705064521 + ], + [ + 946.2103814550262, + 46.43654914622954 + ], + [ + 906.468688969373, + 26.238537770046378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 8020, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 362.96357277169295, + "ymin": 195.4650959148521, + "xmax": 545.6049408080503, + "ymax": 333.2275169065093 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 373.57273417155903, + 296.06109605418703 + ], + [ + 404.8738688494457, + 333.2275169065093 + ], + [ + 545.6049408080503, + 265.94752674549 + ], + [ + 511.3691718826391, + 233.60487128207296 + ], + [ + 362.96357277169295, + 257.59735453372014 + ], + [ + 395.1126846332606, + 294.70882374117855 + ], + [ + 541.8961884099845, + 227.5852178387212 + ], + [ + 506.53997949994925, + 195.4650959148521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2055, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 707.3534824555007, + "ymin": 0.0, + "xmax": 803.2797449750326, + "ymax": 42.383344070572434 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 798.9293899459182, + 16.70790841937088 + ], + [ + 770.9766405434032, + 1.4682592649950834 + ], + [ + 707.3534824555007, + 25.963104867503205 + ], + [ + 734.8304472943213, + 42.383344070572434 + ], + [ + 803.2797449750326, + -17.91597309425066 + ], + [ + 774.4719610370204, + -32.75189754308309 + ], + [ + 709.2041182457199, + -8.889386043338277 + ], + [ + 737.5150327234231, + 7.1292170515784505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 5.548119043055294, + "ymin": 3.2507353663496588, + "xmax": 31.834950992911672, + "ymax": 37.800729028748094 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 19.10710357565108, + 32.94788618485535 + ], + [ + 22.20792679973067, + 37.800729028748094 + ], + [ + 31.834950992911672, + 35.106202817483506 + ], + [ + 28.678440472279817, + 30.291236138965814 + ], + [ + 5.548119043055294, + 5.857321066823545 + ], + [ + 8.61852420460093, + 10.619857855333294 + ], + [ + 18.510954334107396, + 7.975290996808326 + ], + [ + 15.381620576887713, + 3.2507353663496588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.8363695716391, + "ymin": 202.5580854782564, + "xmax": 425.6175158155116, + "ymax": 244.8085003754095 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 417.9271172268632, + 232.13077018460416 + ], + [ + 407.4742457793568, + 236.6062469630928 + ], + [ + 415.1072487491177, + 244.8085003754095 + ], + [ + 425.6175158155116, + 240.2499413616305 + ], + [ + 411.6205884100449, + 202.5580854782564 + ], + [ + 400.8363695716391, + 207.00680900720252 + ], + [ + 408.626089374906, + 215.16336462239465 + ], + [ + 419.47166805345796, + 210.62967047623826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 522.656961949792, + "ymin": 414.6324246778391, + "xmax": 545.2214028110727, + "ymax": 455.11057735864114 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 536.1890584285978, + 438.97302963434856 + ], + [ + 526.0000579232886, + 444.68822250156495 + ], + [ + 534.9832005165438, + 455.11057735864114 + ], + [ + 545.2214028110727, + 449.286218145936 + ], + [ + 533.1611331397103, + 414.6324246778391 + ], + [ + 522.656961949792, + 420.38359230211796 + ], + [ + 531.8733190629302, + 430.87609141647386 + ], + [ + 542.4299504361813, + 425.0118101899503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.13271050337335, + "ymin": 143.77834169913984, + "xmax": 368.4884088549508, + "ymax": 183.89514473600954 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 361.8018213610611, + 172.8760510901801 + ], + [ + 351.7894641439822, + 176.76842972754247 + ], + [ + 358.42157454563136, + 183.89514473600954 + ], + [ + 368.4884088549508, + 179.93544271192266 + ], + [ + 354.44682449245045, + 143.77834169913984 + ], + [ + 344.13271050337335, + 147.63264162045877 + ], + [ + 350.8747136518194, + 154.6921393989302 + ], + [ + 361.24688263142406, + 150.76938446534035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.5610056426124, + "ymin": 100.65740923415251, + "xmax": 326.484817909689, + "ymax": 139.1360104627959 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 320.49188031455617, + 129.26253959067992 + ], + [ + 310.82805218160235, + 132.75184438093663 + ], + [ + 316.7691505707623, + 139.1360104627959 + ], + [ + 326.484817909689, + 135.58960449311505 + ], + [ + 312.5042544190823, + 100.65740923415251 + ], + [ + 302.5610056426124, + 104.10285750901738 + ], + [ + 308.5833301422884, + 110.40878229959182 + ], + [ + 318.5816793284714, + 106.90551996394746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.59113551310713, + "ymin": 44.77323407162726, + "xmax": 219.58388208717412, + "ymax": 74.67894330777284 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 207.84150523156364, + 70.18735212600865 + ], + [ + 211.74176441961157, + 74.67894330777284 + ], + [ + 219.58388208717412, + 72.17248890519176 + ], + [ + 215.64853714077674, + 67.71186577995786 + ], + [ + 199.59113551310713, + 47.21522633071487 + ], + [ + 203.51380429813588, + 51.646864584322884 + ], + [ + 211.5351050675759, + 49.173735527216195 + ], + [ + 207.57563211787908, + 44.77323407162726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18172941878356910929, + "instance_id": 20899, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.09429931640625, + "y": 12.265955924987793, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995727598667145, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 630.4808359572266, + "xmax": 16.254634310347228, + "ymax": 684.8347180644907 + }, + "corners_3d": [ + [ + -48.95571517944336, + 12.455912590026855, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.075998306274414, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.07599925994873, + 5.545533180236816 + ], + [ + -49.23288345336914, + 12.455913543701172, + 5.545533180236816 + ], + [ + -48.95571517944336, + 12.455912590026855, + 6.416468620300293 + ], + [ + -48.95571517944336, + 12.075998306274414, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.07599925994873, + 6.416468620300293 + ], + [ + -49.23288345336914, + 12.455913543701172, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 16.254634310347228, + 674.7074714955614 + ], + [ + 10.397295326754147, + 656.7953497011799 + ], + [ + -8.207607238180344, + 666.6493285535759 + ], + [ + -2.562637224709647, + 684.8347180644907 + ], + [ + -10.74215323498629, + 648.7916039446504 + ], + [ + -16.46849631755424, + 630.4808359572266 + ], + [ + -36.085013623573786, + 640.5514680377696 + ], + [ + -30.595944788255906, + 659.1537344920262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.5598282553273, + "ymin": 0.0, + "xmax": 1057.6149464860346, + "ymax": 251.66458590018564 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 972.7355270122318, + 251.66458590018564 + ], + [ + 981.6427689983957, + 246.32719130061534 + ], + [ + 892.3933110240716, + 189.18454101151636 + ], + [ + 883.5598282553273, + 193.860513373453 + ], + [ + 1047.2669338221947, + 22.782352042367563 + ], + [ + 1057.6149464860346, + 17.916256746142494 + ], + [ + 944.2008858290421, + -33.383385166263736 + ], + [ + 933.8907777211899, + -29.239550794883257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 243.35054941321442, + "ymax": 259.2686316639697 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 243.35054941321442, + 132.76871899424125 + ], + [ + 239.0776195275094, + 127.55452592429927 + ], + [ + -125.5781435300081, + 252.23778653028205 + ], + [ + -123.45884602003878, + 259.2686316639697 + ], + [ + 161.11279126622003, + -103.73593122648901 + ], + [ + 156.6224796937895, + -108.12038441520781 + ], + [ + -314.5547486085592, + 0.15292635587832137 + ], + [ + -313.7491698977266, + 6.479130320603986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1263.8582894974033, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.498532049488006 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1350.172012233626, + 25.498532049488006 + ], + [ + 1355.174531608277, + 22.500918210633756 + ], + [ + 1268.98245048003, + -10.160990047835924 + ], + [ + 1263.8582894974033, + -7.448531395471605 + ], + [ + 1462.9528518116508, + -172.69044148957244 + ], + [ + 1468.1652166507524, + -175.1415331536656 + ], + [ + 1362.8002252221818, + -201.62615472502034 + ], + [ + 1357.366149698523, + -199.442090888871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 526.7323244844533, + "xmax": 212.72107550750684, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -565.3450649357999, + 1227.7652646636634 + ], + [ + -568.1004151139789, + 1258.518257654679 + ], + [ + 212.72107550750684, + 774.651840348772 + ], + [ + 205.35176948884714, + 757.4521541313472 + ], + [ + -1410.9260841752193, + 1195.6960282172085 + ], + [ + -1439.5205453979684, + 1247.7270058495346 + ], + [ + 18.281429243171033, + 547.6531947769574 + ], + [ + 11.016909180749167, + 526.7323244844533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.88650308963093, + "ymin": 5.986117598597787, + "xmax": 566.8457513143977, + "ymax": 519.1682980539301 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 552.3234159173684, + 519.1682980539301 + ], + [ + 566.8457513143977, + 510.50310240145564 + ], + [ + 357.4900095669246, + 258.7216781315895 + ], + [ + 344.9169373760178, + 264.0233438271912 + ], + [ + 522.0573312094186, + 258.77921334792944 + ], + [ + 541.8441616093155, + 249.74442286602397 + ], + [ + 287.128028942221, + 5.986117598597787 + ], + [ + 270.88650308963093, + 10.77117482439013 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..37a511a710756cc3f89a77ff252bb1df62983690 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00094/meta.json @@ -0,0 +1,2356 @@ +{ + "frame_id": 94, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 12748.050413311692 + }, + "drone_pose": { + "x": -44.643370345376574, + "y": 22.642815697144798, + "z": 20.0, + "pitch": -46.57841464675492, + "yaw": -51.31162054949531, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.42965877056121826, + 0.536524772644043, + 0.7263157367706299, + 16.803531646728516 + ], + [ + -0.7805571556091309, + 0.625084400177002, + 0.0, + 20.693031311035156 + ], + [ + -0.4540086090564728, + -0.5669309496879578, + 0.6873612403869629, + -46.85261154174805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -44.34068173071231, + "y": 22.009988447190437, + "z": 20.0 + }, + "t1_image_uv": [ + 314.3209589773328, + -654.4057448530754 + ], + "t1_depth": 0.46958027164239774 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -33.16718292236328, + "y": 8.312236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.71000651602128, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 207, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -33.16718292236328, + "y": 8.312236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3232164978981018, + "y": 0.22027188539505005, + "z": 0.5577959418296814 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.6404510115722, + "ymin": 337.0571636365452, + "xmax": 649.2153729646446, + "ymax": 382.6565782380347 + }, + "corners_3d": [ + [ + -33.55148696899414, + 8.385029792785645, + 0.0423051118850708 + ], + [ + -33.23997497558594, + 8.696540832519531, + 0.0423051118850708 + ], + [ + -32.78287887573242, + 8.2394437789917, + 0.0423051118850708 + ], + [ + -33.094390869140625, + 7.927932262420654, + 0.0423051118850708 + ], + [ + -33.55148696899414, + 8.385029792785645, + 1.1578969955444336 + ], + [ + -33.23997497558594, + 8.696540832519531, + 1.1578969955444336 + ], + [ + -32.78287887573242, + 8.2394437789917, + 1.1578969955444336 + ], + [ + -33.094390869140625, + 7.927932262420654, + 1.1578969955444336 + ] + ], + "corners_2d": [ + [ + 630.9222610286887, + 381.37370666383805 + ], + [ + 646.5507118151886, + 382.6565782380347 + ], + [ + 648.9420514034001, + 365.89161413914894 + ], + [ + 633.5630190898823, + 364.649850288834 + ], + [ + 630.6404510115722, + 353.83331183810265 + ], + [ + 646.7543323126614, + 355.12088921751314 + ], + [ + 649.2153729646446, + 338.3022324670487 + ], + [ + 633.3665139513312, + 337.0571636365452 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 387012, + "2": 230130, + "3": 201696, + "5": 1585, + "6": 13264, + "7": 2182, + "10": 447, + "12": 2097, + "14": 16655, + "20": 2209, + "24": 22323, + "25": 42000 + }, + "instance_pixel_counts": { + "3424": 42000, + "6215": 125024, + "6796": 2916, + "6802": 13972, + "7308": 2702, + "7314": 10090, + "7820": 376, + "8332": 5745, + "8338": 27782, + "15184": 1585, + "17227": 116, + "18000": 1194, + "18512": 848, + "21652": 162359, + "22676": 1228, + "23700": 99671, + "25856": 10706, + "26112": 2857, + "26624": 331, + "33370": 37713, + "35988": 10370, + "36500": 169, + "37524": 5099, + "39052": 6220, + "39564": 1867, + "40265": 167, + "40588": 8116, + "41818": 163983, + "43409": 4795, + "43921": 7679, + "44433": 1160, + "44945": 11686, + "56576": 207, + "56832": 216, + "57088": 713, + "57344": 594, + "57600": 367, + "57856": 5082, + "59904": 8726, + "60928": 2847, + "62081": 1552, + "62613": 4730, + "63123": 61531, + "63125": 514, + "63635": 7979, + "64147": 100, + "64149": 1325, + "64659": 54144 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 207, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -33.16718292236328, + "y": 8.312236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24875730276107788, + "y": 0.35158687829971313, + "z": 0.5446624159812927 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.1781862608129, + "ymin": 338.9236683240814, + "xmax": 653.6720059504837, + "ymax": 380.76446801040606 + }, + "corners_3d": [ + [ + -33.59169006347656, + 8.239524841308594, + 0.05543863773345947 + ], + [ + -33.0944709777832, + 8.736743927001953, + 0.05543863773345947 + ], + [ + -32.74267578125, + 8.38494873046875, + 0.05543863773345947 + ], + [ + -33.23989486694336, + 7.887729167938232, + 0.05543863773345947 + ], + [ + -33.59169006347656, + 8.239524841308594, + 1.144763469696045 + ], + [ + -33.0944709777832, + 8.736743927001953, + 1.144763469696045 + ], + [ + -32.74267578125, + 8.38494873046875, + 1.144763469696045 + ], + [ + -33.23989486694336, + 7.887729167938232, + 1.144763469696045 + ] + ], + "corners_2d": [ + [ + 626.5837809252214, + 378.724405754453 + ], + [ + 651.4914441868408, + 380.76446801040606 + ], + [ + 653.2750294599635, + 367.8519500197123 + ], + [ + 628.6739733995677, + 365.8624065732046 + ], + [ + 626.1781862608129, + 351.8246375105274 + ], + [ + 651.8395564809257, + 353.8717732141628 + ], + [ + 653.6720059504837, + 340.9186051075125 + ], + [ + 628.3359587381447, + 338.9236683240814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 216, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -29.041194915771484, + "y": 11.309941291809082, + "z": 0.7521665096282959 + }, + "extent": { + "x": 0.22642578184604645, + "y": 0.21763794124126434, + "z": 0.5348533391952515 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 811.1194281038734, + "ymin": 330.4239218274089, + "xmax": 834.8182201007727, + "ymax": 369.2856047670376 + }, + "corners_3d": [ + [ + -29.350357055664062, + 11.365199089050293, + 0.21731317043304443 + ], + [ + -28.998212814331055, + 11.621047973632812, + 0.21731317043304443 + ], + [ + -28.732032775878906, + 11.254683494567871, + 0.21731317043304443 + ], + [ + -29.084177017211914, + 10.998834609985352, + 0.21731317043304443 + ], + [ + -29.350357055664062, + 11.365199089050293, + 1.2870198488235474 + ], + [ + -28.998212814331055, + 11.621047973632812, + 1.2870198488235474 + ], + [ + -28.732032775878906, + 11.254683494567871, + 1.2870198488235474 + ], + [ + -29.084177017211914, + 10.998834609985352, + 1.2870198488235474 + ] + ], + "corners_2d": [ + [ + 813.846238998784, + 369.2856047670376 + ], + [ + 829.2130145515971, + 368.75364499339605 + ], + [ + 826.3126821128801, + 357.10686243311994 + ], + [ + 811.1194281038734, + 357.6267772973085 + ], + [ + 818.9989794374352, + 342.63284947529814 + ], + [ + 834.8182201007727, + 342.09939139830203 + ], + [ + 831.7673025751884, + 330.4239218274089 + ], + [ + 816.1318906883986, + 330.9449494321928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 713, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -35.42300796508789, + "y": 15.254949569702148, + "z": 0.8048911094665527 + }, + "extent": { + "x": 0.29600095748901367, + "y": 0.3868548572063446, + "z": 0.8866670727729797 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 733.3355372214928, + "ymin": 538.1562349603696, + "xmax": 774.7402231161936, + "ymax": 603.729718162517 + }, + "corners_3d": [ + [ + -35.90856170654297, + 15.216064453125, + -0.081775963306427 + ], + [ + -35.33358383178711, + 15.73377799987793, + -0.081775963306427 + ], + [ + -34.93745422363281, + 15.293834686279297, + -0.081775963306427 + ], + [ + -35.51243209838867, + 14.776121139526367, + -0.081775963306427 + ], + [ + -35.90856170654297, + 15.216064453125, + 1.6915581226348877 + ], + [ + -35.33358383178711, + 15.73377799987793, + 1.6915581226348877 + ], + [ + -34.93745422363281, + 15.293834686279297, + 1.6915581226348877 + ], + [ + -35.51243209838867, + 14.776121139526367, + 1.6915581226348877 + ] + ], + "corners_2d": [ + [ + 733.5633076082319, + 601.9982447828672 + ], + [ + 766.9553353301967, + 603.729718162517 + ], + [ + 766.12964005824, + 581.2128870607535 + ], + [ + 733.3355372214928, + 579.5427942569446 + ], + [ + 739.2922205247388, + 561.1873699515802 + ], + [ + 774.7402231161936, + 562.9653261146888 + ], + [ + 773.7171495860991, + 539.8674101309127 + ], + [ + 738.9422255382437, + 538.1562349603696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 594, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": 8.312236785888672, + "z": 0.6264389753341675 + }, + "extent": { + "x": 0.43959471583366394, + "y": 0.3462124466896057, + "z": 0.8863816857337952 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 293.77924394828796, + "ymin": 503.33918817861183, + "xmax": 354.0928658504391, + "ymax": 580.350686695762 + }, + "corners_3d": [ + [ + -43.22552490234375, + 8.34909725189209, + -0.2599427103996277 + ], + [ + -42.762203216552734, + 8.863669395446777, + -0.2599427103996277 + ], + [ + -42.10884094238281, + 8.275376319885254, + -0.2599427103996277 + ], + [ + -42.57216262817383, + 7.760804653167725, + -0.2599427103996277 + ], + [ + -43.22552490234375, + 8.34909725189209, + 1.5128207206726074 + ], + [ + -42.762203216552734, + 8.863669395446777, + 1.5128207206726074 + ], + [ + -42.10884094238281, + 8.275376319885254, + 1.5128207206726074 + ], + [ + -42.57216262817383, + 7.760804653167725, + 1.5128207206726074 + ] + ], + "corners_2d": [ + [ + 313.16707409854644, + 576.2151590379785 + ], + [ + 340.6933538990329, + 580.350686695762 + ], + [ + 354.0928658504391, + 549.033197465026 + ], + [ + 327.21872871141136, + 545.1044699048016 + ], + [ + 293.77924394828796, + 535.1478843648006 + ], + [ + 322.87517323907764, + 539.3833830433518 + ], + [ + 337.5290840700404, + 507.35080534322606 + ], + [ + 309.1605890473382, + 503.33918817861183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 367, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -21.921844482421875, + "y": 0.1420217901468277, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.46876829862594604, + "y": 0.3795771300792694, + "z": 0.9284840226173401 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 723.9833124262349, + "ymin": 69.63770633338595, + "xmax": 752.5310398978755, + "ymax": 129.46052906876412 + }, + "corners_3d": [ + [ + -22.52419662475586, + 0.11047251522541046, + -0.3283829689025879 + ], + [ + -22.07797622680664, + 0.7246412038803101, + -0.3283829689025879 + ], + [ + -21.31949234008789, + 0.17357106506824493, + -0.3283829689025879 + ], + [ + -21.76571273803711, + -0.44059765338897705, + -0.3283829689025879 + ], + [ + -22.52419662475586, + 0.11047251522541046, + 1.5285850763320923 + ], + [ + -22.07797622680664, + 0.7246412038803101, + 1.5285850763320923 + ], + [ + -21.31949234008789, + 0.17357106506824493, + 1.5285850763320923 + ], + [ + -21.76571273803711, + -0.44059765338897705, + 1.5285850763320923 + ] + ], + "corners_2d": [ + [ + 723.9833124262349, + 126.4897062950183 + ], + [ + 743.7098207835259, + 129.46052906876412 + ], + [ + 748.4113392421114, + 116.23591959922678 + ], + [ + 728.9988771277096, + 113.36430880793759 + ], + [ + 727.2188317765886, + 82.4924431925736 + ], + [ + 747.7211067979948, + 85.40431507844323 + ], + [ + 752.5310398978755, + 72.4486792451537 + ], + [ + 732.367812424864, + 69.63770633338595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5082, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 794.7313493551935, + "ymin": 36.79290755554723, + "xmax": 937.2245350509485, + "ymax": 139.33156516651718 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 794.7313493551935, + 115.52467903990734 + ], + [ + 834.2723408542768, + 139.33156516651718 + ], + [ + 929.1078632403913, + 90.48617923601932 + ], + [ + 889.257227874185, + 69.48043689064946 + ], + [ + 799.2256761381439, + 82.03500329009381 + ], + [ + 840.0948857719491, + 105.48884228294077 + ], + [ + 937.2245350509485, + 57.41322671206274 + ], + [ + 896.0523797333492, + 36.79290755554723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 8726, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 343.3316186124481, + "ymin": 221.9526387024486, + "xmax": 533.2385800443352, + "ymax": 368.88277060120316 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 355.1502021638686, + 329.6004548321368 + ], + [ + 388.6631357518652, + 368.88277060120316 + ], + [ + 533.2385800443352, + 294.1796183651106 + ], + [ + 496.8948851684574, + 260.3182272174312 + ], + [ + 343.3316186124481, + 291.07710243434923 + ], + [ + 377.7852052345808, + 330.43240423214564 + ], + [ + 528.9003158450591, + 255.67315125115485 + ], + [ + 491.3334526538212, + 221.9526387024486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2847, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 692.3703413286869, + "ymin": 0.0, + "xmax": 789.5135917803307, + "ymax": 54.77729683173379 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 785.4381430562496, + 27.057062853395678 + ], + [ + 756.4487805804088, + 11.495545191947429 + ], + [ + 692.3703413286869, + 37.943064928061744 + ], + [ + 720.9746280447946, + 54.77729683173379 + ], + [ + 789.5135917803307, + -7.972051953127959 + ], + [ + 759.6289856287427, + -23.140817688945674 + ], + [ + 693.8405181825743, + 2.658367289731075 + ], + [ + 723.3231850044914, + 19.104710325135443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 382.6046192027723, + "ymin": 241.449999412295, + "xmax": 409.2959407312925, + "ymax": 285.1511949362232 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 400.9988169576452, + 271.23958740906625 + ], + [ + 390.1112733411992, + 276.32170909297014 + ], + [ + 398.3510971095574, + 285.1511949362232 + ], + [ + 409.2959407312925, + 279.97245951898947 + ], + [ + 393.8595988059223, + 241.449999412295 + ], + [ + 382.6046192027723, + 246.51631934354964 + ], + [ + 391.02101342552066, + 255.32230513364198 + ], + [ + 402.3375897682864, + 250.15674447870498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 515.3301180974413, + "ymin": 462.5982675784829, + "xmax": 539.3328739498447, + "ymax": 504.19345224705336 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 529.5670779683585, + 486.5465122482218 + ], + [ + 519.0557612858152, + 493.0135882251394 + ], + [ + 528.7750336308957, + 504.19345224705336 + ], + [ + 539.3328739498447, + 497.60010067009966 + ], + [ + 526.1849927170584, + 462.5982675784829 + ], + [ + 515.3301180974413, + 469.12463601195645 + ], + [ + 525.3143668189248, + 480.41234780896093 + ], + [ + 536.2190809103615, + 473.7545729527906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.4618527299795, + "ymin": 178.1689547114363, + "xmax": 347.74543081744145, + "ymax": 219.67301981801197 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 340.55428044412105, + 207.6204139431641 + ], + [ + 330.10992055748216, + 212.02629601413418 + ], + [ + 337.24597279866134, + 219.67301981801197 + ], + [ + 347.74543081744145, + 215.189227291684 + ], + [ + 332.2413559063573, + 178.1689547114363 + ], + [ + 321.4618527299795, + 182.54306177841153 + ], + [ + 328.7203839501519, + 190.13758557936845 + ], + [ + 339.5589078357326, + 185.68394773995823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.77222130023205, + "ymin": 131.88421631770643, + "xmax": 302.61711999923074, + "ymax": 171.6966922396985 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 296.1870421181117, + 160.9227096020402 + ], + [ + 286.0967870626471, + 164.86307802457833 + ], + [ + 292.47403483228214, + 171.6966922396985 + ], + [ + 302.61711999923074, + 167.69047733919928 + ], + [ + 287.1730434207688, + 131.88421631770643 + ], + [ + 276.77222130023205, + 135.78436812108376 + ], + [ + 283.23909012617867, + 142.55058050080368 + ], + [ + 293.6963391962703, + 138.58351928788963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.16285925264668, + "ymin": 68.25330334096259, + "xmax": 189.68719679983172, + "ymax": 99.07632721007116 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 177.36395086363768, + 94.33192432592955 + ], + [ + 181.51959723637162, + 99.07632721007116 + ], + [ + 189.68719679983172, + 96.2821710357992 + ], + [ + 185.49562534597175, + 91.57278051678804 + ], + [ + 168.16285925264668, + 70.97935517296867 + ], + [ + 172.3422188890117, + 75.66779014159107 + ], + [ + 180.70740185509663, + 72.90645251732695 + ], + [ + 176.49023036067007, + 68.25330334096259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 931.7387120668936, + "ymin": 0.0, + "xmax": 951.2232744765781, + "ymax": 1.8202122766665525 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 943.4505424793871, + 1.8202122766665525 + ], + [ + 950.2989176044719, + -1.2994616587915857 + ], + [ + 938.586179975393, + -6.653525967305654 + ], + [ + 931.7387120668936, + -3.5849180206238316 + ], + [ + 944.3588293881903, + -1.971244957375859 + ], + [ + 951.2232744765781, + -5.082134023229116 + ], + [ + 939.4683322494649, + -10.420915166182112 + ], + [ + 932.6047292879159, + -7.361098451138957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 878.3138955756385, + "ymin": 0.0, + "xmax": 1058.6217461693604, + "ymax": 271.5037632312944 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 971.5235482656784, + 271.5037632312944 + ], + [ + 980.3711977609437, + 265.7039981620776 + ], + [ + 887.1426768845015, + 206.90332771243612 + ], + [ + 878.3138955756385, + 211.98344438114856 + ], + [ + 1048.3317656925692, + 40.51431596329155 + ], + [ + 1058.6217461693604, + 35.160718800904476 + ], + [ + 939.5591194665151, + -18.25309391931927 + ], + [ + 929.219638368508, + -13.699498740401054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 931.6347314031357, + "ymin": 0.0, + "xmax": 951.3290856394503, + "ymax": 1.8866763622601752 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 943.4724708102978, + 1.8866763622601752 + ], + [ + 950.3944705850887, + -1.2669032683767796 + ], + [ + 938.5558041439828, + -6.678399135138648 + ], + [ + 931.6347314031357, + -3.57699050241672 + ], + [ + 944.3906686955738, + -1.9456741593781999 + ], + [ + 951.3290856394503, + -5.0902789491516955 + ], + [ + 939.4473017905095, + -10.486161056567198 + ], + [ + 932.5097446652251, + -7.39373383491187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 215.97510325679116, + "ymax": 299.43516901451545 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 215.97510325679116, + 157.44848529884285 + ], + [ + 211.4232505086684, + 151.96736453955577 + ], + [ + -171.11136083967608, + 291.8781127685387 + ], + [ + -168.81836106046796, + 299.43516901451545 + ], + [ + 123.96026418932149, + -83.65610583558413 + ], + [ + 119.18367538252323, + -88.3387692245256 + ], + [ + -383.91682793048153, + 35.6456344630509 + ], + [ + -383.1660073308724, + 42.61683783645566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.4121852691908, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 29.1453481017752 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1341.2479585802498, + 29.1453481017752 + ], + [ + 1346.0779193016674, + 25.97923093373322 + ], + [ + 1258.397338850924, + -6.717501657623359 + ], + [ + 1253.4121852691908, + -3.8490212994181547 + ], + [ + 1454.331134536629, + -170.71482779737732 + ], + [ + 1459.3279900856974, + -173.31456287490175 + ], + [ + 1352.0952920251318, + -199.93698342453513 + ], + [ + 1346.8291115165189, + -197.617710102145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 626.4285336709393, + "xmax": 195.05675089716328, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -651.9240204832336, + 1397.7874870280693 + ], + [ + -655.3101201109432, + 1433.664697860433 + ], + [ + 195.05675089716328, + 855.5602050867662 + ], + [ + 186.90078740702302, + 836.7092410524212 + ], + [ + -1712.0677410100175, + 1503.869869823469 + ], + [ + -1752.5558482035058, + 1573.563911557835 + ], + [ + -25.72158932226887, + 650.6557429775605 + ], + [ + -33.75083126553375, + 626.4285336709393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 241.34571068272373, + "ymin": 33.84367161046242, + "xmax": 562.2545489357628, + "ymax": 566.3051733299181 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 547.3552472341521, + 566.3051733299181 + ], + [ + 562.2545489357628, + 556.5728867721045 + ], + [ + 337.54944721898016, + 289.9195503864858 + ], + [ + 324.5456877106598, + 295.82722827340507 + ], + [ + 513.4174833757648, + 309.07164732501934 + ], + [ + 534.0840521602227, + 298.60687083939985 + ], + [ + 258.40488106450505, + 33.84367161046242 + ], + [ + 241.34571068272373, + 39.28495078787881 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00095/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00095/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..acb89e3e565a8ba2b49f4ffac7e04e4d904778c9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00095/meta.json @@ -0,0 +1,2356 @@ +{ + "frame_id": 95, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.5, + "sim_timestamp": 12757.994478461565 + }, + "drone_pose": { + "x": -44.34068173071231, + "y": 22.009988447190437, + "z": 20.0, + "pitch": -46.545425075383335, + "yaw": -50.572698897643576, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.43680763244628906, + 0.5312620997428894, + 0.7259198427200317, + 16.543027877807617 + ], + [ + -0.7724310755729675, + 0.6350985765457153, + 0.0, + 20.271608352661133 + ], + [ + -0.46103063225746155, + -0.560723066329956, + 0.6877793073654175, + -46.539512634277344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -44.03568164712815, + "y": 21.374183708413824, + "z": 20.0 + }, + "t1_image_uv": [ + 297.1611755881225, + -653.2365385141136 + ], + "t1_depth": 0.4710053130464612 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -32.66718292236328, + "y": 7.812236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.724573056469126, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": 7.812236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24680295586585999, + "y": 0.32095056772232056, + "z": 0.5496197938919067 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.4068544074493, + "ymin": 339.03917171173197, + "xmax": 652.4528079024055, + "ymax": 380.6361411239294 + }, + "corners_3d": [ + [ + -33.06864547729492, + 7.7598066329956055, + 0.05048125982284546 + ], + [ + -32.61475372314453, + 8.213699340820312, + 0.05048125982284546 + ], + [ + -32.26572036743164, + 7.864666938781738, + 0.05048125982284546 + ], + [ + -32.71961212158203, + 7.410774230957031, + 0.05048125982284546 + ], + [ + -33.06864547729492, + 7.7598066329956055, + 1.1497209072113037 + ], + [ + -32.61475372314453, + 8.213699340820312, + 1.1497209072113037 + ], + [ + -32.26572036743164, + 7.864666938781738, + 1.1497209072113037 + ], + [ + -32.71961212158203, + 7.410774230957031, + 1.1497209072113037 + ] + ], + "corners_2d": [ + [ + 627.779363620963, + 378.99302490180816 + ], + [ + 650.5315336658596, + 380.6361411239294 + ], + [ + 652.0884347810377, + 367.82647075902617 + ], + [ + 629.6152776334105, + 366.2237871218114 + ], + [ + 627.4068544074493, + 351.84676146483116 + ], + [ + 650.8530822905198, + 353.495514175849 + ], + [ + 652.4528079024055, + 340.6461390559208 + ], + [ + 629.3027644156259, + 339.03917171173197 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 95, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 385441, + "2": 228757, + "3": 196343, + "5": 1667, + "6": 13739, + "7": 2277, + "10": 420, + "12": 2034, + "14": 17520, + "15": 209, + "20": 2342, + "24": 21464, + "25": 49387 + }, + "instance_pixel_counts": { + "3424": 49387, + "3678": 209, + "6215": 121918, + "6796": 3059, + "6802": 14865, + "7308": 2790, + "7314": 6560, + "7820": 32, + "8332": 6016, + "8338": 30253, + "15184": 1667, + "17227": 213, + "18000": 1471, + "18512": 700, + "21652": 153908, + "22676": 10, + "23700": 107374, + "25856": 11194, + "26112": 2998, + "28234": 1, + "33370": 42993, + "35988": 9105, + "37524": 5504, + "39052": 6715, + "39564": 556, + "40265": 171, + "40588": 8568, + "41818": 153350, + "43409": 5065, + "43921": 7974, + "44433": 1572, + "44945": 12814, + "56576": 213, + "56832": 195, + "57088": 628, + "57344": 632, + "57600": 366, + "57856": 5176, + "59904": 9072, + "60928": 3272, + "62081": 1824, + "62613": 4771, + "63123": 60862, + "63125": 431, + "63635": 5646, + "64149": 1439, + "64659": 57641 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": 7.812236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.32633906602859497, + "y": 0.22016355395317078, + "z": 0.5610542297363281 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.7777036717389, + "ymin": 336.9654843985478, + "xmax": 649.0771896585453, + "ymax": 382.74469945369304 + }, + "corners_3d": [ + [ + -33.053619384765625, + 7.887314319610596, + 0.03904682397842407 + ], + [ + -32.74225997924805, + 8.1986722946167, + 0.03904682397842407 + ], + [ + -32.28074645996094, + 7.737159252166748, + 0.03904682397842407 + ], + [ + -32.592105865478516, + 7.4258012771606445, + 0.03904682397842407 + ], + [ + -33.053619384765625, + 7.887314319610596, + 1.1611552238464355 + ], + [ + -32.74225997924805, + 8.1986722946167, + 1.1611552238464355 + ], + [ + -32.28074645996094, + 7.737159252166748, + 1.1611552238464355 + ], + [ + -32.592105865478516, + 7.4258012771606445, + 1.1611552238464355 + ] + ], + "corners_2d": [ + [ + 631.0567243541867, + 381.61308481826455 + ], + [ + 646.6906040970612, + 382.74469945369304 + ], + [ + 648.8067515671294, + 365.81552953795455 + ], + [ + 633.425799813369, + 364.72057704525105 + ], + [ + 630.7777036717389, + 353.9100683691294 + ], + [ + 646.8995792122101, + 355.0457883763436 + ], + [ + 649.0771896585453, + 338.06328955845964 + ], + [ + 633.2241425729969, + 336.9654843985478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 195, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -28.541194915771484, + "y": 10.809941291809082, + "z": 0.7519272565841675 + }, + "extent": { + "x": 0.21751098334789276, + "y": 0.20299620926380157, + "z": 0.5141810774803162 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 811.196983236447, + "ymin": 329.4841014118124, + "xmax": 833.6256184805495, + "ymax": 366.89895750657683 + }, + "corners_3d": [ + [ + -28.83327293395996, + 10.866593360900879, + 0.23774617910385132 + ], + [ + -28.504817962646484, + 11.105229377746582, + 0.23774617910385132 + ], + [ + -28.249116897583008, + 10.753289222717285, + 0.23774617910385132 + ], + [ + -28.577571868896484, + 10.514653205871582, + 0.23774617910385132 + ], + [ + -28.83327293395996, + 10.866593360900879, + 1.2661082744598389 + ], + [ + -28.504817962646484, + 11.105229377746582, + 1.2661082744598389 + ], + [ + -28.249116897583008, + 10.753289222717285, + 1.2661082744598389 + ], + [ + -28.577571868896484, + 10.514653205871582, + 1.2661082744598389 + ] + ], + "corners_2d": [ + [ + 814.0112061535535, + 366.89895750657683 + ], + [ + 828.2833123770345, + 366.2695474376837 + ], + [ + 825.3149824889219, + 355.138473130749 + ], + [ + 811.196983236447, + 355.75421014790265 + ], + [ + 818.9516936005156, + 341.27078994879 + ], + [ + 833.6256184805495, + 340.639782039861 + ], + [ + 830.514046991164, + 329.4841014118124 + ], + [ + 816.0029783999233, + 330.1010190337716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 628, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -34.92300796508789, + "y": 14.754949569702148, + "z": 0.8044077157974243 + }, + "extent": { + "x": 0.3925109803676605, + "y": 0.3824853301048279, + "z": 0.8888636827468872 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 736.8171102670076, + "ymin": 533.1120575527817, + "xmax": 778.7348065418419, + "ymax": 605.7908293767499 + }, + "corners_3d": [ + [ + -35.46989059448242, + 14.790709495544434, + -0.08445596694946289 + ], + [ + -34.901405334472656, + 15.30257511138916, + -0.08445596694946289 + ], + [ + -34.37612533569336, + 14.719189643859863, + -0.08445596694946289 + ], + [ + -34.944610595703125, + 14.207324028015137, + -0.08445596694946289 + ], + [ + -35.46989059448242, + 14.790709495544434, + 1.6932713985443115 + ], + [ + -34.901405334472656, + 15.30257511138916, + 1.6932713985443115 + ], + [ + -34.37612533569336, + 14.719189643859863, + 1.6932713985443115 + ], + [ + -34.944610595703125, + 14.207324028015137, + 1.6932713985443115 + ] + ], + "corners_2d": [ + [ + 737.6423762376384, + 604.4568932752392 + ], + [ + 770.6941367103485, + 605.7908293767499 + ], + [ + 769.0863074317383, + 576.01351488467 + ], + [ + 736.8171102670076, + 574.741898721062 + ], + [ + 743.6428532912634, + 563.5838678181868 + ], + [ + 778.7348065418419, + 564.9538535572723 + ], + [ + 776.8289621889202, + 534.4142509070216 + ], + [ + 742.6178768691716, + 533.1120575527817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 632, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": 7.812236785888672, + "z": 0.6262192130088806 + }, + "extent": { + "x": 0.38753417134284973, + "y": 0.37851133942604065, + "z": 0.9046721458435059 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 295.84672885087997, + "ymin": 507.9020395232995, + "xmax": 357.1273445504996, + "ymax": 582.2167328384489 + }, + "corners_3d": [ + [ + -42.70845031738281, + 7.79025936126709, + -0.27845293283462524 + ], + [ + -42.201904296875, + 8.352836608886719, + -0.27845293283462524 + ], + [ + -41.62591552734375, + 7.834214210510254, + -0.27845293283462524 + ], + [ + -42.13246154785156, + 7.271636962890625, + -0.27845293283462524 + ], + [ + -42.70845031738281, + 7.79025936126709, + 1.5308914184570312 + ], + [ + -42.201904296875, + 8.352836608886719, + 1.5308914184570312 + ], + [ + -41.62591552734375, + 7.834214210510254, + 1.5308914184570312 + ], + [ + -42.13246154785156, + 7.271636962890625, + 1.5308914184570312 + ] + ], + "corners_2d": [ + [ + 315.5103007851531, + 578.0455425682409 + ], + [ + 345.77777996760494, + 582.2167328384489 + ], + [ + 357.1273445504996, + 554.4306885626565 + ], + [ + 327.5008914127372, + 550.4447105944043 + ], + [ + 295.84672885087997, + 536.1408058378967 + ], + [ + 327.8842966114502, + 540.4150788139337 + ], + [ + 340.33397937937764, + 511.97541070483305 + ], + [ + 309.01354104088244, + 507.9020395232995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 366, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -21.421844482421875, + "y": -0.3579781949520111, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.4015173316001892, + "y": 0.3569014370441437, + "z": 0.9106655716896057 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 720.391348153387, + "ymin": 70.76752675486642, + "xmax": 746.5844698994038, + "ymax": 127.54148027421434 + }, + "corners_3d": [ + [ + -21.95646095275879, + -0.4107115566730499, + -0.31055963039398193 + ], + [ + -21.536897659301758, + 0.16676709055900574, + -0.31055963039398193 + ], + [ + -20.88722801208496, + -0.3052448332309723, + -0.31055963039398193 + ], + [ + -21.306791305541992, + -0.8827234506607056, + -0.31055963039398193 + ], + [ + -21.95646095275879, + -0.4107115566730499, + 1.5107715129852295 + ], + [ + -21.536897659301758, + 0.16676709055900574, + 1.5107715129852295 + ], + [ + -20.88722801208496, + -0.3052448332309723, + 1.5107715129852295 + ], + [ + -21.306791305541992, + -0.8827234506607056, + 1.5107715129852295 + ] + ], + "corners_2d": [ + [ + 720.391348153387, + 124.89427521891653 + ], + [ + 738.930358436366, + 127.54148027421434 + ], + [ + 742.7596762636813, + 116.21365688842135 + ], + [ + 724.4759432889806, + 113.64258177976717 + ], + [ + 723.4186037747371, + 81.79016582731236 + ], + [ + 742.6688806858083, + 84.38522540223761 + ], + [ + 746.5844698994038, + 73.2852040149553 + ], + [ + 727.6093063515661, + 70.76752675486642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5176, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 790.0720361846276, + "ymin": 44.489333058863735, + "xmax": 933.1979693787341, + "ymax": 149.1859741708475 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 790.0720361846276, + 125.08164357511745 + ], + [ + 830.4384288810013, + 149.1859741708475 + ], + [ + 925.1172128316807, + 98.49661944720424 + ], + [ + 884.5593989169809, + 77.30123275005059 + ], + [ + 794.4801961498464, + 91.46414695502301 + ], + [ + 836.2107880295333, + 115.22641797208527 + ], + [ + 933.1979693787341, + 65.30647086436255 + ], + [ + 891.2898628676037, + 44.489333058863735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 9072, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 334.02356060801657, + "ymin": 237.96936460535176, + "xmax": 527.7039249539027, + "ymax": 389.7868577127342 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 346.4404683318926, + 349.36633916867453 + ], + [ + 381.1133946351857, + 389.7868577127342 + ], + [ + 527.7039249539027, + 311.06495047593523 + ], + [ + 490.2549982842696, + 276.4039031277024 + ], + [ + 334.02356060801657, + 310.8669360653671 + ], + [ + 369.68625684478866, + 351.42791838566933 + ], + [ + 523.0680467852526, + 272.5306482016458 + ], + [ + 484.3419115487964, + 237.96936460535176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3272, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 685.3370794947622, + "ymin": 0.0, + "xmax": 783.0531128835607, + "ymax": 63.407559466694295 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 779.1177817819585, + 34.64905208476614 + ], + [ + 749.6015922647222, + 18.939646789233052 + ], + [ + 685.3370794947622, + 46.376873388657884 + ], + [ + 714.5164985591845, + 63.407559466694295 + ], + [ + 783.0531128835607, + -0.5350753506693877 + ], + [ + 752.6224570580631, + -15.856119804409502 + ], + [ + 686.6195025979249, + 10.923401237954636 + ], + [ + 716.6989379207033, + 27.571910177400127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.17792271040037, + "ymin": 264.4354222410878, + "xmax": 401.85553227963163, + "ymax": 308.86955452787305 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 393.23453655915944, + 294.27942703455534 + ], + [ + 382.1158001662958, + 299.69766531644797 + ], + [ + 390.6795516977046, + 308.86955452787305 + ], + [ + 401.85553227963163, + 303.34681662241564 + ], + [ + 385.6834116829016, + 264.4354222410878 + ], + [ + 374.17792271040037, + 269.84452633461626 + ], + [ + 382.92911295152396, + 279.0052698563545 + ], + [ + 394.4963213502126, + 273.4885929292849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.6575160128539, + "ymin": 490.39026072292353, + "xmax": 537.3988255030156, + "ymax": 532.5698341250045 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 527.2343917472356, + 514.0803114007989 + ], + [ + 516.5521079577129, + 520.968128237934 + ], + [ + 526.6715640069599, + 532.5698341250045 + ], + [ + 537.3988255030156, + 525.5456421079274 + ], + [ + 523.6983324576756, + 490.39026072292353 + ], + [ + 512.6575160128539, + 497.35118321017444 + ], + [ + 523.0597734956534, + 509.08185327626666 + ], + [ + 534.1488971141623, + 501.97870696839254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 310.6807435592546, + "ymin": 198.71535078750125, + "xmax": 337.95739820355186, + "ymax": 240.91186430710374 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 330.50024737751573, + 228.29654787699883 + ], + [ + 319.8262896281648, + 232.9845667801659 + ], + [ + 327.2279733878557, + 240.91186430710374 + ], + [ + 337.95739820355186, + 236.13982691756007 + ], + [ + 321.7076904299337, + 198.71535078750125 + ], + [ + 310.6807435592546, + 203.3754725524392 + ], + [ + 318.2116314394709, + 211.25880183708057 + ], + [ + 329.29815692721684, + 206.51274957465873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 264.3565880073404, + "ymin": 150.73423245476067, + "xmax": 291.1884156702407, + "ymax": 191.206241142819 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 284.5301078265438, + 179.9456814814996 + ], + [ + 274.21354833536753, + 184.13231873316482 + ], + [ + 280.8184427264152, + 191.206241142819 + ], + [ + 291.1884156702407, + 186.948750315679 + ], + [ + 275.00032737085456, + 150.73423245476067 + ], + [ + 264.3565880073404, + 154.88294897448182 + ], + [ + 271.05547800112777, + 161.89533965881225 + ], + [ + 281.7564127814456, + 157.67449958343934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.81495621837047, + "ymin": 82.86743795978492, + "xmax": 175.1141053284798, + "ymax": 114.13099859579924 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 162.49047406793716, + 109.2557031314386 + ], + [ + 166.77518330212456, + 114.13099859579924 + ], + [ + 175.1141053284798, + 111.1832910019242 + ], + [ + 170.7929736579773, + 106.34526070897994 + ], + [ + 152.81495621837047, + 85.74507180981101 + ], + [ + 157.1239246878339, + 90.56640693184914 + ], + [ + 165.67007637406778, + 87.65117558260857 + ], + [ + 161.32270676756906, + 82.86743795978492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.1729026186439, + "ymin": 0.0, + "xmax": 949.9534839314196, + "ymax": 12.465941216501221 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 942.1749507334025, + 12.465941216501221 + ], + [ + 949.0196874377955, + 9.200608428503074 + ], + [ + 937.0196518728367, + 3.7433976140181358 + ], + [ + 930.1729026186439, + 6.955015041851539 + ], + [ + 943.0925784346794, + 8.64846776771168 + ], + [ + 949.9534839314196, + 5.392049435586387 + ], + [ + 937.9097705054269, + -0.05004649111242543 + ], + [ + 931.0467664828656, + 3.152642882858231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.3716299385892, + "ymin": 0.0, + "xmax": 1059.969671240005, + "ymax": 283.89285927355695 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 971.7183708140132, + 283.89285927355695 + ], + [ + 980.5256215813545, + 277.8502760395765 + ], + [ + 885.1900852296333, + 218.20254179598797 + ], + [ + 876.3716299385892, + 223.49351124583453 + ], + [ + 1049.728058047181, + 52.09493572100155 + ], + [ + 1059.969671240005, + 46.485948154751895 + ], + [ + 937.9396093062776, + -7.983747045793109 + ], + [ + 927.5996419427272, + -3.217010990541553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.0673378484427, + "ymin": 0.0, + "xmax": 950.0608979637977, + "ymax": 12.533911087013735 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 942.1984276100795, + 12.533911087013735 + ], + [ + 949.1167331079944, + 9.233089525237745 + ], + [ + 936.9876991744488, + 3.7173526548742757 + ], + [ + 930.0673378484427, + 6.963296554864712 + ], + [ + 943.1260744480553, + 8.67526492728723 + ], + [ + 950.0608979637977, + 5.3835505545483215 + ], + [ + 937.8872415989979, + -0.11674443693698322 + ], + [ + 930.9502734719104, + 3.1200782317569633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 202.65825022549103, + "ymax": 322.93923952359 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 202.65825022549103, + 172.5411590649058 + ], + [ + 197.9652228013714, + 166.9218717307414 + ], + [ + -194.21557238167804, + 315.0964044598305 + ], + [ + -191.84420490357536, + 322.93923952359 + ], + [ + 105.75793431095553, + -70.52167955631523 + ], + [ + 100.83799727106975, + -75.35824447853383 + ], + [ + -419.57805917153837, + 57.248883702252385 + ], + [ + -418.8829284574804, + 64.57391521698122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.371391898972, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 33.28148000692528 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1336.9942745954327, + 33.28148000692528 + ], + [ + 1341.728978034138, + 30.033031553439173 + ], + [ + 1253.2789458434809, + -2.6458128219196055 + ], + [ + 1248.371391898972, + 0.2986646822341754 + ], + [ + 1449.9666761820085, + -167.10096576977958 + ], + [ + 1454.843859905006, + -169.77204288908172 + ], + [ + 1346.6879701923333, + -196.4166204961109 + ], + [ + 1341.5165234501214, + -194.0325750748848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 685.1662726981478, + "xmax": 186.4576710981686, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -701.7687199784341, + 1498.7837479092373 + ], + [ + -705.6731606624235, + 1537.907237474771 + ], + [ + 186.4576710981686, + 902.0778419488895 + ], + [ + 177.87778615647636, + 882.263107528251 + ], + [ + -1904.5219149468585, + 1704.2579922103637 + ], + [ + -1954.2022746616267, + 1786.8819819469936 + ], + [ + -48.87528802868451, + 711.399284529307 + ], + [ + -57.29759012395334, + 685.1662726981478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.02270377577128, + "ymin": 51.04881218238546, + "xmax": 560.9140767997598, + "ymax": 593.5133595384315 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 545.8148366235903, + 593.5133595384315 + ], + [ + 560.9140767997598, + 583.1864701741229 + ], + [ + 328.0522797857418, + 308.43112454376615 + ], + [ + 314.8201941167771, + 314.6667439805511 + ], + [ + 510.2962318830728, + 338.5660549920997 + ], + [ + 531.4287562218541, + 327.2880820856615 + ], + [ + 244.51532622133345, + 51.04881218238546 + ], + [ + 227.02270377577128, + 56.848516510126444 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00096/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00096/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50b4e9d6f195135bb2f32fe334680e2e244b6ff5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00096/meta.json @@ -0,0 +1,2250 @@ +{ + "frame_id": 96, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 48.0, + "sim_timestamp": 12768.68127286178 + }, + "drone_pose": { + "x": -44.03568164712815, + "y": 21.374183708413824, + "z": 20.0, + "pitch": -46.51352051613832, + "yaw": -49.83512136173508, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.44387102127075195, + 0.5259039402008057, + 0.7255367636680603, + 16.27619171142578 + ], + [ + -0.7641915082931519, + 0.6449893712997437, + 2.9802322387695312e-08, + 19.86557388305664 + ], + [ + -0.4679635167121887, + -0.5544490814208984, + 0.6881834268569946, + -46.22165298461914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -43.72892350715759, + "y": 20.734279313307184, + "z": 20.0 + }, + "t1_image_uv": [ + 277.8653170888458, + -652.1071377876707 + ], + "t1_depth": 0.4726892629170184 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -32.16718292236328, + "y": 7.312236785888672, + "z": 0.6001450180988468 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.738623497675697, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": 7.312236785888672, + "z": 0.6001450419425964 + }, + "extent": { + "x": 0.24960081279277802, + "y": 0.3563869893550873, + "z": 0.5480455756187439 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.2121692710541, + "ymin": 339.0363386845008, + "xmax": 653.6311849658749, + "ymax": 380.64343060536567 + }, + "corners_3d": [ + [ + -32.595680236816406, + 7.236727714538574, + 0.05209946632385254 + ], + [ + -32.0916748046875, + 7.740735054016113, + 0.05209946632385254 + ], + [ + -31.738685607910156, + 7.3877458572387695, + 0.05209946632385254 + ], + [ + -32.24269104003906, + 6.8837385177612305, + 0.05209946632385254 + ], + [ + -32.595680236816406, + 7.236727714538574, + 1.1481906175613403 + ], + [ + -32.0916748046875, + 7.740735054016113, + 1.1481906175613403 + ], + [ + -31.738685607910156, + 7.3877458572387695, + 1.1481906175613403 + ], + [ + -32.24269104003906, + 6.8837385177612305, + 1.1481906175613403 + ] + ], + "corners_2d": [ + [ + 626.6184884655981, + 379.0611087771106 + ], + [ + 651.9028853437903, + 380.64343060536567 + ], + [ + 653.2339128313964, + 367.6872744100354 + ], + [ + 628.2642223766596, + 366.144375267709 + ], + [ + 626.2121692710541, + 351.99096626959914 + ], + [ + 652.264878669999, + 353.5786077651118 + ], + [ + 653.6311849658749, + 340.58324617204386 + ], + [ + 627.9124721243709, + 339.0363386845008 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 96, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 384959, + "2": 226455, + "3": 189473, + "5": 1782, + "6": 14410, + "7": 2364, + "10": 404, + "12": 2064, + "14": 18177, + "15": 786, + "20": 2341, + "24": 21308, + "25": 57077 + }, + "instance_pixel_counts": { + "3424": 57077, + "3678": 786, + "6215": 118563, + "6796": 3204, + "6802": 15796, + "7308": 2454, + "7314": 2771, + "8332": 6379, + "8338": 32900, + "15184": 1782, + "17227": 307, + "18000": 1601, + "18512": 565, + "21652": 143792, + "23700": 115486, + "24395": 33, + "25856": 11712, + "26112": 3154, + "28234": 62, + "33370": 49971, + "35988": 8316, + "37524": 5893, + "39052": 6406, + "40265": 175, + "40588": 9303, + "41818": 139502, + "43409": 5344, + "43921": 8217, + "44433": 1144, + "44945": 13974, + "56576": 213, + "56832": 224, + "57088": 654, + "57344": 605, + "57600": 368, + "57856": 5292, + "59904": 9428, + "60928": 3457, + "62081": 1908, + "62613": 4809, + "63123": 60148, + "63125": 341, + "63635": 3640, + "64149": 1547, + "64659": 61893 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": 7.312236785888672, + "z": 0.6001450419425964 + }, + "extent": { + "x": 0.3154015839099884, + "y": 0.22431516647338867, + "z": 0.5566630363464355 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.8119316029491, + "ymin": 337.4193889808047, + "xmax": 649.047314820345, + "ymax": 382.2876470469312 + }, + "corners_3d": [ + [ + -32.54882049560547, + 7.376644611358643, + 0.04348200559616089 + ], + [ + -32.231590270996094, + 7.693874359130859, + 0.04348200559616089 + ], + [ + -31.785545349121094, + 7.247828960418701, + 0.04348200559616089 + ], + [ + -32.10277557373047, + 6.930599212646484, + 0.04348200559616089 + ], + [ + -32.54882049560547, + 7.376644611358643, + 1.1568081378936768 + ], + [ + -32.231590270996094, + 7.693874359130859, + 1.1568081378936768 + ], + [ + -31.785545349121094, + 7.247828960418701, + 1.1568081378936768 + ], + [ + -32.10277557373047, + 6.930599212646484, + 1.1568081378936768 + ] + ], + "corners_2d": [ + [ + 631.0874311164467, + 381.2884300603656 + ], + [ + 647.0246293373837, + 382.2876470469312 + ], + [ + 648.7800687447975, + 365.9252886453017 + ], + [ + 633.0930611542417, + 364.9574186583823 + ], + [ + 630.8119316029491, + 353.7993673234018 + ], + [ + 647.2419865512103, + 354.802099915951 + ], + [ + 649.047314820345, + 338.38971511928844 + ], + [ + 632.883035003963, + 337.4193889808047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 224, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -28.041194915771484, + "y": 10.309941291809082, + "z": 0.752249538898468 + }, + "extent": { + "x": 0.22199462354183197, + "y": 0.25376036763191223, + "z": 0.537030816078186 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 808.7050753397955, + "ymin": 326.97799812215953, + "xmax": 835.095494706587, + "ymax": 366.02656006720366 + }, + "corners_3d": [ + [ + -28.376976013183594, + 10.340381622314453, + 0.21521872282028198 + ], + [ + -27.96638298034668, + 10.63869571685791, + 0.21521872282028198 + ], + [ + -27.705413818359375, + 10.279500961303711, + 0.21521872282028198 + ], + [ + -28.11600685119629, + 9.981186866760254, + 0.21521872282028198 + ], + [ + -28.376976013183594, + 10.340381622314453, + 1.2892804145812988 + ], + [ + -27.96638298034668, + 10.63869571685791, + 1.2892804145812988 + ], + [ + -27.705413818359375, + 10.279500961303711, + 1.2892804145812988 + ], + [ + -28.11600685119629, + 9.981186866760254, + 1.2892804145812988 + ] + ], + "corners_2d": [ + [ + 811.7435959796591, + 366.02656006720366 + ], + [ + 829.4922935141822, + 365.0747434787823 + ], + [ + 826.2594560056128, + 353.7774121080682 + ], + [ + 808.7050753397955, + 354.70819373041525 + ], + [ + 816.826868922856, + 339.2536879170846 + ], + [ + 835.095494706587, + 338.299495635391 + ], + [ + 831.7041053099758, + 326.97799812215953 + ], + [ + 813.6412800220292, + 327.9104897689647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 654, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -34.42300796508789, + "y": 14.254949569702148, + "z": 0.8039292097091675 + }, + "extent": { + "x": 0.33836302161216736, + "y": 0.36036741733551025, + "z": 0.8790032267570496 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 741.1783462131066, + "ymin": 534.0795038304583, + "xmax": 781.4684145257768, + "ymax": 601.702197659595 + }, + "corners_3d": [ + [ + -34.91722106933594, + 14.26526927947998, + -0.07507401704788208 + ], + [ + -34.38161087036133, + 14.74753475189209, + -0.07507401704788208 + ], + [ + -33.928794860839844, + 14.244629859924316, + -0.07507401704788208 + ], + [ + -34.46440505981445, + 13.762364387512207, + -0.07507401704788208 + ], + [ + -34.91722106933594, + 14.26526927947998, + 1.6829323768615723 + ], + [ + -34.38161087036133, + 14.74753475189209, + 1.6829323768615723 + ], + [ + -33.928794860839844, + 14.244629859924316, + 1.6829323768615723 + ], + [ + -34.46440505981445, + 13.762364387512207, + 1.6829323768615723 + ] + ], + "corners_2d": [ + [ + 742.3546832858863, + 600.811201476384 + ], + [ + 773.389618043428, + 601.702197659595 + ], + [ + 771.5788930883997, + 576.1060747690343 + ], + [ + 741.1783462131066, + 575.251073664242 + ], + [ + 748.5491643982587, + 560.277223059988 + ], + [ + 781.4684145257768, + 561.1916117809452 + ], + [ + 779.3756948628471, + 534.9547882325996 + ], + [ + 747.1693210304037, + 534.0795038304583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 605, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": 7.312236785888672, + "z": 0.6260043978691101 + }, + "extent": { + "x": 0.3917626738548279, + "y": 0.2724502384662628, + "z": 0.866716206073761 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 303.48169228157235, + "ymin": 512.567567014208, + "xmax": 355.1021448156004, + "ymax": 584.1549432773245 + }, + "corners_3d": [ + [ + -42.140625, + 7.3719072341918945, + -0.24071180820465088 + ], + [ + -41.77601623535156, + 7.7768473625183105, + -0.24071180820465088 + ], + [ + -41.19374084472656, + 7.252566337585449, + -0.24071180820465088 + ], + [ + -41.558349609375, + 6.847626209259033, + -0.24071180820465088 + ], + [ + -42.140625, + 7.3719072341918945, + 1.492720603942871 + ], + [ + -41.77601623535156, + 7.7768473625183105, + 1.492720603942871 + ], + [ + -41.19374084472656, + 7.252566337585449, + 1.492720603942871 + ], + [ + -41.558349609375, + 6.847626209259033, + 1.492720603942871 + ] + ], + "corners_2d": [ + [ + 321.97104823926816, + 581.3940402739428 + ], + [ + 343.9491002834696, + 584.1549432773245 + ], + [ + 355.1021448156004, + 555.9014222251143 + ], + [ + 333.6009430660144, + 553.2651379336676 + ], + [ + 303.48169228157235, + 541.3268642106307 + ], + [ + 326.69672056826874, + 544.1537518261907 + ], + [ + 338.9007185134694, + 515.2596982458754 + ], + [ + 316.2169801764241, + 512.567567014208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 368, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -20.921844482421875, + "y": -0.8579781651496887, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.43455320596694946, + "y": 0.4014318883419037, + "z": 0.9165780544281006 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 714.5040701055659, + "ymin": 69.75827960605716, + "xmax": 742.9862088743612, + "ymax": 127.87542019719442 + }, + "corners_3d": [ + [ + -21.509361267089844, + -0.9273194074630737, + -0.31648188829421997 + ], + [ + -21.03744888305664, + -0.2777889370918274, + -0.31648188829421997 + ], + [ + -20.334327697753906, + -0.7886369228363037, + -0.31648188829421997 + ], + [ + -20.80624008178711, + -1.4381673336029053, + -0.31648188829421997 + ], + [ + -21.509361267089844, + -0.9273194074630737, + 1.516674280166626 + ], + [ + -21.03744888305664, + -0.2777889370918274, + 1.516674280166626 + ], + [ + -20.334327697753906, + -0.7886369228363037, + 1.516674280166626 + ], + [ + -20.80624008178711, + -1.4381673336029053, + 1.516674280166626 + ] + ], + "corners_2d": [ + [ + 714.5040701055659, + 125.049535649674 + ], + [ + 735.3716327573501, + 127.87542019719442 + ], + [ + 739.2758079497951, + 115.60502637742974 + ], + [ + 718.7214331925328, + 112.86719858810392 + ], + [ + 717.3241882076138, + 81.68923859711265 + ], + [ + 738.9952523960761, + 84.45883538111286 + ], + [ + 742.9862088743612, + 72.4383804728987 + ], + [ + 721.652737886882, + 69.75827960605716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5292, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 785.794002961176, + "ymin": 52.37766042061605, + "xmax": 929.5703864359381, + "ymax": 159.30880154366292 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 785.794002961176, + 134.89781119209357 + ], + [ + 827.0164610544169, + 159.30880154366292 + ], + [ + 921.5139742190515, + 106.70510475646938 + ], + [ + 880.2248347169996, + 85.31489651190452 + ], + [ + 790.1259838756241, + 101.15339008332154 + ], + [ + 832.7509302200069, + 125.23412816731636 + ], + [ + 929.5703864359381, + 73.39727344439768 + ], + [ + 886.9004483576034, + 52.37766042061605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 9428, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 325.018219086695, + "ymin": 254.58554637194226, + "xmax": 522.5979495120087, + "ymax": 411.56266545662265 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 338.0458016717219, + 369.9423965196142 + ], + [ + 373.94180171986756, + 411.56266545662265 + ], + [ + 522.5979495120087, + 328.56991748343614 + ], + [ + 483.9899384319037, + 293.0723099446185 + ], + [ + 325.018219086695, + 331.4989874843962 + ], + [ + 361.9581496468366, + 373.3344418361506 + ], + [ + 517.67089217933, + 290.02848122935706 + ], + [ + 477.7269628167703, + 254.58554637194226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3457, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 678.5945094175275, + "ymin": 0.0, + "xmax": 776.9080830466165, + "ymax": 72.26565232593452 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 773.1061601377378, + 42.42918779349776 + ], + [ + 743.0445910402294, + 26.567599793403645 + ], + [ + 678.5945094175275, + 55.03239627246137 + ], + [ + 708.3703244630137, + 72.26565232593452 + ], + [ + 776.9080830466165, + 7.0880046666327985 + ], + [ + 745.9115797270206, + -8.389957075107361 + ], + [ + 679.6937498169565, + 19.408527513941635 + ], + [ + 710.3926709077024, + 36.265798648970986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.20005239123014, + "ymin": 288.61098145628205, + "xmax": 394.9034848823538, + "ymax": 333.7993677522593 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 385.93728084764933, + 318.4789828049324 + ], + [ + 374.57772190967586, + 324.26098048443623 + ], + [ + 383.48688702399204, + 333.7993677522593 + ], + [ + 394.9034848823538, + 327.90418770485604 + ], + [ + 377.96713789447136, + 288.61098145628205 + ], + [ + 366.20005239123014, + 294.39193306330367 + ], + [ + 375.3088042468947, + 303.93331933524547 + ], + [ + 387.13758753507443, + 298.03559114992646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 510.746494044404, + "ymin": 519.5895536531523, + "xmax": 536.2405899085022, + "ymax": 562.3610845819142 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 525.6513822674927, + 542.9670164139515 + ], + [ + 514.7947490287479, + 550.3091164976324 + ], + [ + 525.3408475802121, + 562.3610845819142 + ], + [ + 536.2405899085022, + 554.8715236981525 + ], + [ + 521.9774553150908, + 519.5895536531523 + ], + [ + 510.746494044404, + 527.0207791294683 + ], + [ + 521.5952067702041, + 539.2254089955482 + ], + [ + 532.8725994869556, + 531.6400475583168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.19297357990797, + "ymin": 220.2800991909942, + "xmax": 328.50622542341506, + "ymax": 263.1908641919315 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 320.76637719332416, + 249.9716034561214 + ], + [ + 309.8523705726476, + 254.9640805585135 + ], + [ + 317.53645702681484, + 263.1908641919315 + ], + [ + 328.50622542341506, + 258.10767050920833 + ], + [ + 311.47920303484005, + 220.2800991909942 + ], + [ + 300.19297357990797, + 225.24951238045907 + ], + [ + 308.01378472389973, + 233.4417830119419 + ], + [ + 319.3600873756787, + 228.37940103108343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.13124835593288, + "ymin": 170.48769951688718, + "xmax": 279.99514892107976, + "ymax": 211.64093924075877 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 273.09480159798153, + 199.8591957159065 + ], + [ + 262.5411574048253, + 204.3110243472851 + ], + [ + 269.38754244613955, + 211.64093924075877 + ], + [ + 279.99514892107976, + 207.11278245168677 + ], + [ + 263.02999336666306, + 170.48769951688718 + ], + [ + 252.13124835593288, + 174.90459551018174 + ], + [ + 259.0765351696738, + 182.17975380234898 + ], + [ + 270.03322230807487, + 177.68501813163337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 137.463869447219, + "ymin": 98.0695257783185, + "xmax": 160.57185863048204, + "ymax": 129.7873784309808 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 147.6332064672403, + 124.77414847648026 + ], + [ + 152.0536226830617, + 129.7873784309808 + ], + [ + 160.57185863048204, + 126.67612502972679 + ], + [ + 156.11451948933825, + 121.70258531394916 + ], + [ + 137.463869447219, + 101.10878227793717 + ], + [ + 141.90919905179481, + 106.07034949687039 + ], + [ + 150.6450118712055, + 102.99100272258107 + ], + [ + 146.1606822461539, + 98.0695257783185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.2288517392816, + "ymin": 10.65775452155708, + "xmax": 949.3181900042345, + "ymax": 23.460961892799446 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 941.5346895092786, + 23.460961892799446 + ], + [ + 948.372588465344, + 20.042276900343154 + ], + [ + 936.0719110396933, + 14.477499698419763 + ], + [ + 929.2288517392816, + 17.83966379861431 + ], + [ + 942.4640405053862, + 19.617267576665995 + ], + [ + 949.3181900042345, + 16.207609945641934 + ], + [ + 936.972254182547, + 10.65775452155708 + ], + [ + 930.1128352148394, + 14.010869388724075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.9268307673128, + "ymin": 2.619140503030337, + "xmax": 1062.0775831145359, + "ymax": 296.6425078807285 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 972.4936716679888, + 296.6425078807285 + ], + [ + 981.2552481677858, + 290.34648838053636 + ], + [ + 883.7316577282893, + 229.8243490472386 + ], + [ + 874.9268307673128, + 235.33533044860033 + ], + [ + 1051.8926207890115, + 64.06888144220164 + ], + [ + 1062.0775831145359, + 58.19064351636638 + ], + [ + 936.940438837448, + 2.619140503030337 + ], + [ + 926.6044145295277, + 7.610330761730324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.1216347479617, + "ymin": 10.58953950953844, + "xmax": 949.4272758929823, + "ymax": 23.53050555455991 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 941.5597935920921, + 23.53050555455991 + ], + [ + 948.4711698784672, + 20.074665127666947 + ], + [ + 936.0382826763353, + 14.450220799346255 + ], + [ + 929.1216347479617, + 17.848317366389153 + ], + [ + 942.4992982008345, + 19.64535714024646 + ], + [ + 949.4272758929823, + 16.198739203182186 + ], + [ + 936.948151655726, + 10.58953950953844 + ], + [ + 930.014789634384, + 13.978391000931992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 189.4178966256885, + "ymax": 347.61082414137644 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 189.4178966256885, + 188.2021408093819 + ], + [ + 184.57674510844834, + 182.43785513912223 + ], + [ + -217.76430144658377, + 339.4627047155465 + ], + [ + -215.31096652703366, + 347.61082414137644 + ], + [ + 87.42204075721702, + -56.808923849747714 + ], + [ + 82.350939986757, + -61.80911593006272 + ], + [ + -456.6155522351946, + 80.18697579424872 + ], + [ + -455.98690200280816, + 87.8978024982323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.6768480695596, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 37.50625496166282 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1333.1112479547064, + 37.50625496166282 + ], + [ + 1337.7486675023151, + 34.17382413315386 + ], + [ + 1248.5051758724032, + 1.5115911352646094 + ], + [ + 1243.6768480695596, + 4.533666573528194 + ], + [ + 1446.0511495736382, + -163.41780125402192 + ], + [ + 1450.8057843036713, + -166.16194047724707 + ], + [ + 1341.690915894246, + -192.83131271193918 + ], + [ + 1336.6164254726132, + -190.38087544187238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.7951219970767, + "ymin": 69.10170329407754, + "xmax": 560.3040262127942, + "ymax": 621.9572135381147 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 545.0031791920466, + 621.9572135381147 + ], + [ + 560.3040262127942, + 610.9925247194681 + ], + [ + 318.8248721986804, + 327.68306544487973 + ], + [ + 305.35612805048265, + 334.2678566499083 + ], + [ + 508.0855805343705, + 369.8916104373227 + ], + [ + 529.7015237750289, + 357.71886775624506 + ], + [ + 230.7449430613607, + 69.10170329407754 + ], + [ + 212.7951219970767, + 75.28931830462977 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00099/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00099/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73a5ab436b478ce310ab0e1950573fc9ac4821c4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00099/meta.json @@ -0,0 +1,2462 @@ +{ + "frame_id": 99, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.5, + "sim_timestamp": 12800.19116792013 + }, + "drone_pose": { + "x": -43.10774363249985, + "y": 19.43279094980082, + "z": 20.0, + "pitch": -46.442451454564996, + "yaw": -47.59246392675572, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4647170305252075, + 0.5087957978248596, + 0.724682629108429, + 15.42657470703125 + ], + [ + -0.7383666634559631, + 0.6743994951248169, + -2.9802322387695312e-08, + 18.723854064941406 + ], + [ + -0.48872560262680054, + -0.5350815057754517, + 0.6890827417373657, + -45.247642517089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -42.786490602492485, + "y": 18.768421599228454, + "z": 20.0 + }, + "t1_image_uv": [ + 224.63864728294328, + -649.5960986843935 + ], + "t1_depth": 0.48732008420035733 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -30.66718292236328, + "y": 5.812236785888672, + "z": 0.6001157212254111 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.770180360701787, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 215, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": 5.812236785888672, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.24831418693065643, + "y": 0.3565990626811981, + "z": 0.5427045822143555 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.5444257345558, + "ymin": 339.5622085781091, + "xmax": 653.2936018604192, + "ymax": 380.11770968268377 + }, + "corners_3d": [ + [ + -31.094919204711914, + 5.735667705535889, + 0.0574110746383667 + ], + [ + -30.590612411499023, + 6.2399749755859375, + 0.0574110746383667 + ], + [ + -30.239442825317383, + 5.888805866241455, + 0.0574110746383667 + ], + [ + -30.743749618530273, + 5.384498596191406, + 0.0574110746383667 + ], + [ + -31.094919204711914, + 5.735667705535889, + 1.1428202390670776 + ], + [ + -30.590612411499023, + 6.2399749755859375, + 1.1428202390670776 + ], + [ + -30.239442825317383, + 5.888805866241455, + 1.1428202390670776 + ], + [ + -30.743749618530273, + 5.384498596191406, + 1.1428202390670776 + ] + ], + "corners_2d": [ + [ + 626.936367083702, + 379.2700492431652 + ], + [ + 652.2752390407975, + 380.11770968268377 + ], + [ + 652.9109084214017, + 367.23397299454814 + ], + [ + 627.8883009201132, + 366.4073831256893 + ], + [ + 626.5444257345558, + 352.460728305586 + ], + [ + 652.6438391559706, + 353.31109137817197 + ], + [ + 653.2936018604192, + 340.39081167370205 + ], + [ + 627.5295974001893, + 339.5622085781091 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 99, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 389263, + "2": 225821, + "3": 153860, + "5": 2049, + "6": 16783, + "7": 2706, + "10": 237, + "12": 2074, + "14": 20636, + "15": 4660, + "20": 2448, + "24": 22106, + "25": 78957 + }, + "instance_pixel_counts": { + "3166": 692, + "3424": 78957, + "3678": 4243, + "6215": 110866, + "6796": 3663, + "6802": 10173, + "7308": 1035, + "8332": 7964, + "8338": 44555, + "15184": 2049, + "17227": 367, + "17995": 61, + "18000": 2256, + "21140": 1744, + "21652": 113486, + "23627": 153, + "23700": 140279, + "24395": 119, + "25856": 13541, + "26112": 3852, + "28234": 71, + "33370": 71385, + "35476": 2, + "35988": 7064, + "37524": 7465, + "39052": 4175, + "40265": 192, + "40588": 12700, + "41818": 82475, + "43409": 6342, + "43921": 6536, + "44945": 17812, + "47947": 204, + "56576": 215, + "56832": 203, + "57088": 658, + "57344": 628, + "57600": 370, + "57856": 5661, + "58368": 417, + "59904": 10603, + "60928": 3680, + "62081": 2096, + "62613": 4701, + "63123": 57800, + "63125": 17, + "63635": 288, + "64149": 1882, + "64659": 75666 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 215, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": 5.812236785888672, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.3202196955680847, + "y": 0.22773191332817078, + "z": 0.557505190372467 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.117500038676, + "ymin": 337.49410039810454, + "xmax": 648.7400150447869, + "ymax": 382.2110352450829 + }, + "corners_3d": [ + [ + -31.054641723632812, + 5.877635478973389, + 0.04261046648025513 + ], + [ + -30.732580184936523, + 6.199697017669678, + 0.04261046648025513 + ], + [ + -30.279720306396484, + 5.746838092803955, + 0.04261046648025513 + ], + [ + -30.601781845092773, + 5.424776554107666, + 0.04261046648025513 + ], + [ + -31.054641723632812, + 5.877635478973389, + 1.157620906829834 + ], + [ + -30.732580184936523, + 6.199697017669678, + 1.157620906829834 + ], + [ + -30.279720306396484, + 5.746838092803955, + 1.157620906829834 + ], + [ + -30.601781845092773, + 5.424776554107666, + 1.157620906829834 + ] + ], + "corners_2d": [ + [ + 631.3837124052658, + 381.6677449759038 + ], + [ + 647.5888870509347, + 382.2110352450829 + ], + [ + 648.4821537892024, + 365.6017583966087 + ], + [ + 632.537240277704, + 365.07581387014835 + ], + [ + 631.117500038676, + 354.1337112255973 + ], + [ + 647.8234837692295, + 354.6788424446496 + ], + [ + 648.7400150447869, + 338.0213025553606 + ], + [ + 632.310490162697, + 337.49410039810454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 203, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -26.541194915771484, + "y": 8.809941291809082, + "z": 0.6219174861907959 + }, + "extent": { + "x": 0.22340819239616394, + "y": 0.24906432628631592, + "z": 0.5339316725730896 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 806.401026297993, + "ymin": 325.1942776198215, + "xmax": 832.555949728051, + "ymax": 364.26194917453176 + }, + "corners_3d": [ + [ + -26.874008178710938, + 8.84428596496582, + 0.0879858136177063 + ], + [ + -26.47101402282715, + 9.137078285217285, + 0.0879858136177063 + ], + [ + -26.20838165283203, + 8.775596618652344, + 0.0879858136177063 + ], + [ + -26.61137580871582, + 8.482804298400879, + 0.0879858136177063 + ], + [ + -26.874008178710938, + 8.84428596496582, + 1.1558492183685303 + ], + [ + -26.47101402282715, + 9.137078285217285, + 1.1558492183685303 + ], + [ + -26.20838165283203, + 8.775596618652344, + 1.1558492183685303 + ], + [ + -26.61137580871582, + 8.482804298400879, + 1.1558492183685303 + ] + ], + "corners_2d": [ + [ + 810.0113442933922, + 364.26194917453176 + ], + [ + 827.1175011610799, + 362.84450024340924 + ], + [ + 823.3232613653635, + 351.66351143301733 + ], + [ + 806.401026297993, + 353.0498043262462 + ], + [ + 814.9597328164779, + 337.8166629803753 + ], + [ + 832.555949728051, + 336.3960638745432 + ], + [ + 828.5908998446768, + 325.1942776198215 + ], + [ + 811.1892292653534, + 326.5827587067082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 658, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -32.92300796508789, + "y": 12.754949569702148, + "z": 0.8018491268157959 + }, + "extent": { + "x": 0.4060754179954529, + "y": 0.428840309381485, + "z": 0.8856596350669861 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 748.0629177329388, + "ymin": 526.9830085008101, + "xmax": 796.7113169176014, + "ymax": 599.3302117363245 + }, + "corners_3d": [ + [ + -33.5134162902832, + 12.76977252960205, + -0.08381050825119019 + ], + [ + -32.876033782958984, + 13.343672752380371, + -0.08381050825119019 + ], + [ + -32.33259963989258, + 12.740126609802246, + -0.08381050825119019 + ], + [ + -32.9699821472168, + 12.166226387023926, + -0.08381050825119019 + ], + [ + -33.5134162902832, + 12.76977252960205, + 1.6875088214874268 + ], + [ + -32.876033782958984, + 13.343672752380371, + 1.6875088214874268 + ], + [ + -32.33259963989258, + 12.740126609802246, + 1.6875088214874268 + ], + [ + -32.9699821472168, + 12.166226387023926, + 1.6875088214874268 + ] + ], + "corners_2d": [ + [ + 751.009876759919, + 599.3302117363245 + ], + [ + 787.7338369864528, + 599.0958610216401 + ], + [ + 783.8925832258291, + 568.6696133048742 + ], + [ + 748.0629177329388, + 568.8926815280718 + ], + [ + 757.7570605195222, + 558.394247976526 + ], + [ + 796.7113169176014, + 558.1538043254956 + ], + [ + 792.4109629479227, + 526.9830085008101 + ], + [ + 754.4614372171426, + 527.2111999278817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 628, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": 5.812236785888672, + "z": 0.625359833240509 + }, + "extent": { + "x": 0.39070555567741394, + "y": 0.3813796937465668, + "z": 0.9007320404052734 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 307.24932535822876, + "ymin": 521.4464902877148, + "xmax": 367.40496865564273, + "ymax": 594.9595498533486 + }, + "corners_3d": [ + [ + -40.71272659301758, + 5.790249824523926, + -0.2753722071647644 + ], + [ + -40.20233917236328, + 6.357089996337891, + -0.2753722071647644 + ], + [ + -39.621639251708984, + 5.834223747253418, + -0.2753722071647644 + ], + [ + -40.13202667236328, + 5.267383575439453, + -0.2753722071647644 + ], + [ + -40.71272659301758, + 5.790249824523926, + 1.5260918140411377 + ], + [ + -40.20233917236328, + 6.357089996337891, + 1.5260918140411377 + ], + [ + -39.621639251708984, + 5.834223747253418, + 1.5260918140411377 + ], + [ + -40.13202667236328, + 5.267383575439453, + 1.5260918140411377 + ] + ], + "corners_2d": [ + [ + 326.34605707330644, + 592.1572055662851 + ], + [ + 357.7476684675698, + 594.9595498533486 + ], + [ + 367.40496865564273, + 566.2515353979337 + ], + [ + 336.70485630591475, + 563.5768437881386 + ], + [ + 307.24932535822876, + 550.7140079768113 + ], + [ + 340.52166593661985, + 553.5881452001836 + ], + [ + 351.17495910401385, + 524.1820147175524 + ], + [ + 318.68908007094115, + 521.4464902877148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 370, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.82292938232422, + "y": -1.908292531967163, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.4748919606208801, + "y": 0.32032066583633423, + "z": 0.9271131157875061 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 703.5269839594556, + "ymin": 76.76024344874747, + "xmax": 727.1803788164335, + "ymax": 136.0565931387124 + }, + "corners_3d": [ + [ + -20.395404815673828, + -1.8883029222488403, + -0.3270169496536255 + ], + [ + -20.018844604492188, + -1.3700132369995117, + -0.3270169496536255 + ], + [ + -19.25045394897461, + -1.9282821416854858, + -0.3270169496536255 + ], + [ + -19.62701416015625, + -2.4465718269348145, + -0.3270169496536255 + ], + [ + -20.395404815673828, + -1.8883029222488403, + 1.5272092819213867 + ], + [ + -20.018844604492188, + -1.3700132369995117, + 1.5272092819213867 + ], + [ + -19.25045394897461, + -1.9282821416854858, + 1.5272092819213867 + ], + [ + -19.62701416015625, + -2.4465718269348145, + 1.5272092819213867 + ] + ], + "corners_2d": [ + [ + 703.5269839594556, + 134.127776540955 + ], + [ + 720.3978214843703, + 136.0565931387124 + ], + [ + 723.9871536135664, + 122.32640948231199 + ], + [ + 707.4017837799598, + 120.46434047503223 + ], + [ + 705.9806576676897, + 90.14601017507573 + ], + [ + 723.5110547604152, + 92.03708140007791 + ], + [ + 727.1803788164335, + 78.5834109919063 + ], + [ + 709.9580104071292, + 76.76024344874747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5661, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 775.2084477804838, + "ymin": 76.98882882941041, + "xmax": 921.0063758297556, + "ymax": 191.17937581455936 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 775.2084477804838, + 165.79643205810663 + ], + [ + 819.222937475473, + 191.17937581455936 + ], + [ + 912.9492442023305, + 132.3115237105165 + ], + [ + 869.2927417288178, + 110.31206637785473 + ], + [ + 779.3758270232865, + 131.675253324511 + ], + [ + 824.9243568837435, + 156.76970347266155 + ], + [ + 921.0063758297556, + 98.64449357244331 + ], + [ + 875.865293101119, + 76.98882882941041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 417, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1046.3676455524383, + "ymin": 0.0, + "xmax": 1176.5495651825215, + "ymax": 22.35638924939451 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1046.3676455524383, + 6.396359402685505 + ], + [ + 1087.3645803855445, + 22.35638924939451 + ], + [ + 1154.0473584143704, + -19.500486666727227 + ], + [ + 1114.059846435256, + -33.55489295178762 + ], + [ + 1064.9207055411466, + -51.4242140520534 + ], + [ + 1108.3095830374612, + -36.189570486760886 + ], + [ + 1176.5495651825215, + -76.07216045440066 + ], + [ + 1134.3289536197417, + -89.41168883501962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 10603, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 299.9242698455094, + "ymin": 308.4011968035911, + "xmax": 510.04892476871146, + "ymax": 482.84425089310525 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 314.872624210449, + 437.20104414688353 + ], + [ + 354.9259171477106, + 482.84425089310525 + ], + [ + 510.04892476871146, + 385.17197714044164 + ], + [ + 467.5551010148682, + 346.9190429300603 + ], + [ + 299.9242698455094, + 399.17162494657555 + ], + [ + 341.2243012222362, + 445.30962982390395 + ], + [ + 504.2947570922935, + 346.7648322760634 + ], + [ + 460.2529905246246, + 308.4011968035911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3680, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 659.9353388287738, + "ymin": 14.9124258054768, + "xmax": 760.1895179975763, + "ymax": 100.08890407508659 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 756.7495572193824, + 66.71936134496599 + ], + [ + 724.9137618422276, + 50.37730515010526 + ], + [ + 659.9353388287738, + 82.21141177590141 + ], + [ + 691.6599334225737, + 100.08890407508659 + ], + [ + 760.1895179975763, + 30.88790714143107 + ], + [ + 727.3483147589933, + 14.9124258054768 + ], + [ + 660.5081970871428, + 46.060209804937756 + ], + [ + 693.2358871189, + 63.58416772448669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 345.38426656311077, + "ymin": 369.4924675001295, + "xmax": 377.4444091395207, + "ymax": 417.0809769240763 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 367.27731492814655, + 399.18672551426926 + ], + [ + 355.1340870643233, + 406.2698325118302 + ], + [ + 365.24621324956007, + 417.0809769240763 + ], + [ + 377.4444091395207, + 409.85257418540016 + ], + [ + 358.00785382277354, + 369.4924675001295 + ], + [ + 345.38426656311077, + 376.61059259613364 + ], + [ + 355.74287407522894, + 387.4814902627962 + ], + [ + 368.42664255102636, + 380.2122918947417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 510.4966596072587, + "ymin": 616.9843465973313, + "xmax": 538.3277101879772, + "ymax": 661.5589178952198 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 526.2657600390894, + 639.0010323536176 + ], + [ + 514.8742228481979, + 647.9569903668935 + ], + [ + 526.901469630685, + 661.5589178952198 + ], + [ + 538.3277101879772, + 652.4148711591286 + ], + [ + 522.3151511533885, + 616.9843465973313 + ], + [ + 510.4966596072587, + 626.0952585630779 + ], + [ + 522.9017383824765, + 639.9409427077823 + ], + [ + 534.7580246770657, + 630.6319089752124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.63284638138447, + "ymin": 292.0873916740421, + "xmax": 302.37265618498543, + "ymax": 337.2884173610503 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 293.65439662653995, + 321.9519285093216 + ], + [ + 281.9506387035833, + 328.02719417061036 + ], + [ + 290.6130595001766, + 337.2884173610503 + ], + [ + 302.37265618498543, + 331.09786648991155 + ], + [ + 282.77672538756474, + 292.0873916740421 + ], + [ + 270.63284638138447, + 298.1620425793532 + ], + [ + 279.4611215121732, + 307.42692195728455 + ], + [ + 291.6658112647472, + 301.233312224081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 216.54762739562108, + "ymin": 236.03065025146577, + "xmax": 247.84144845962317, + "ymax": 279.37849357615806 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 240.10643651657017, + 265.7766743979335 + ], + [ + 228.76800817562452, + 271.16775230460394 + ], + [ + 236.44787204900717, + 279.37849357615806 + ], + [ + 247.84144845962317, + 273.89112688454225 + ], + [ + 228.2946270553524, + 236.03065025146577 + ], + [ + 216.54762739562108, + 241.40153730853189 + ], + [ + 224.34556514838846, + 249.58511924982304 + ], + [ + 236.15236821481204, + 244.11542281201864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.92744720966641, + "ymin": 147.66907070599282, + "xmax": 116.72144211307773, + "ymax": 180.85086540961134 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 102.72777359402221, + 175.37353469556086 + ], + [ + 107.60902037965457, + 180.85086540961134 + ], + [ + 116.72144211307773, + 177.17325243192934 + ], + [ + 111.80183199957605, + 171.74416815953447 + ], + [ + 90.92744720966641, + 151.26943006366807 + ], + [ + 95.83655039777341, + 156.70430157584246 + ], + [ + 105.20283982312867, + 153.05502188529627 + ], + [ + 100.25295623319084, + 147.66907070599282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.3701074827441, + "ymin": 44.736691473117276, + "xmax": 951.4715597850914, + "ymax": 58.488076725108385 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 943.6847289166326, + 58.488076725108385 + ], + [ + 950.4739161501459, + 54.5528246856112 + ], + [ + 937.1756497988922, + 48.63726185880648 + ], + [ + 930.3701074827441, + 52.50648284141391 + ], + [ + 944.6660281016927, + 54.564129525386306 + ], + [ + 951.4715597850914, + 50.63811019101934 + ], + [ + 938.122514418643, + 44.736691473117276 + ], + [ + 931.3004314649752, + 48.596625104643806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.7057876288183, + "ymin": 36.35930685555411, + "xmax": 1073.3506543261933, + "ymax": 336.9767185348172 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 978.5218509861994, + 336.9767185348172 + ], + [ + 987.1020557432225, + 329.8439111843551 + ], + [ + 882.4403606958117, + 266.54941134397745 + ], + [ + 873.7057876288183, + 272.78717431686425 + ], + [ + 1063.4046075157707, + 102.31334354737572 + ], + [ + 1073.3506543261933, + 95.52632308641529 + ], + [ + 937.8988497844236, + 36.35930685555411 + ], + [ + 927.6141924396283, + 42.10710011113696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.2574740577511, + "ymin": 44.66346977893426, + "xmax": 951.586125371791, + "ymax": 58.562817394832564 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 943.7153088812872, + 58.562817394832564 + ], + [ + 950.5773866611496, + 54.58479635447202 + ], + [ + 937.1362600903778, + 48.60584804514656 + ], + [ + 930.2574740577511, + 52.51640944325686 + ], + [ + 944.7073507395862, + 54.59655672372298 + ], + [ + 951.586125371791, + 50.62796777273496 + ], + [ + 938.0931221827022, + 44.66346977893426 + ], + [ + 931.1974367061565, + 48.564542658127095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 149.82193446760994, + "ymax": 430.0310014592137 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 149.82193446760994, + 239.02908587051525 + ], + [ + 144.48047338578414, + 232.78168214502836 + ], + [ + -292.0311826646249, + 420.8232388321106 + ], + [ + -289.2965025987778, + 430.0310014592137 + ], + [ + 30.91677528886089, + -11.748121354308807 + ], + [ + 25.327872461127527, + -17.31076046191953 + ], + [ + -578.592780287503, + 158.86272377491636 + ], + [ + -578.239258774573, + 167.9793964368031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.381558942765, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.28112594096331 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1323.3960762431363, + 50.28112594096331 + ], + [ + 1327.7231520274938, + 46.6839772165215 + ], + [ + 1235.956859272121, + 14.087638795134012 + ], + [ + 1231.381558942765, + 17.355076128422525 + ], + [ + 1436.701970231566, + -152.4170813758401 + ], + [ + 1441.0638403919518, + -155.393560275293 + ], + [ + 1328.859133790429, + -182.13627061544082 + ], + [ + 1324.0956192294489, + -179.4740783496561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 196.6191134592121, + "ymin": 0.0, + "xmax": 325.3938754762269, + "ymax": 3.263939108397267 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 315.6156637548248, + 3.263939108397267 + ], + [ + 325.3938754762269, + -0.18735857407313006 + ], + [ + 264.49276665546427, + -41.47706134878064 + ], + [ + 255.03637152067495, + -38.45170430175125 + ], + [ + 262.4808103866111, + -204.69540400215533 + ], + [ + 274.17749033403186, + -207.43022351419336 + ], + [ + 207.83513393665055, + -239.7851188464699 + ], + [ + 196.6191134592121, + -237.43695230474714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.47178969026663, + "ymin": 129.15492656256941, + "xmax": 563.6427168279187, + "ymax": 715.7390019282475 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 547.7419022943076, + 715.7390019282475 + ], + [ + 563.6427168279187, + 702.5419273332615 + ], + [ + 292.7908080358029, + 390.4768198600639 + ], + [ + 278.5584164496014, + 398.2676830447941 + ], + [ + 508.21267290917666, + 477.04142057176534 + ], + [ + 531.3762660284584, + 461.5497987610831 + ], + [ + 189.96089040304423, + 129.15492656256941 + ], + [ + 170.47178969026663, + 136.73274150739738 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00100/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00100/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3570161de214c97931db708eccc29f4c5e2baaae --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00100/meta.json @@ -0,0 +1,2464 @@ +{ + "frame_id": 100, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 50.0, + "sim_timestamp": 12810.867115761386 + }, + "drone_pose": { + "x": -42.786490602492485, + "y": 18.768421599228454, + "z": 20.0, + "pitch": -46.441241181638716, + "yaw": -46.83824234234244, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4713846445083618, + 0.5026456713676453, + 0.7246680855751038, + 15.109400749206543 + ], + [ + -0.7294253706932068, + 0.6840603947639465, + -2.9802322387695312e-08, + 18.370819091796875 + ], + [ + -0.49571675062179565, + -0.5285912752151489, + 0.689098060131073, + -44.91276550292969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -42.45425475303141, + "y": 18.0943135066019, + "z": 20.0 + }, + "t1_image_uv": [ + 216.06520138592458, + -649.5533936133775 + ], + "t1_depth": 0.4954484018559129 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -30.16718292236328, + "y": 5.312236785888672, + "z": 0.6001157212254111 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.770718071922715, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": 5.312236785888672, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.21059446036815643, + "y": 0.2631564140319824, + "z": 0.5563874840736389 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.1257490050781, + "ymin": 340.37685186044234, + "xmax": 649.7706211431024, + "ymax": 379.25661194338306 + }, + "corners_3d": [ + [ + -30.502174377441406, + 5.275069713592529, + 0.04372817277908325 + ], + [ + -30.130014419555664, + 5.647229194641113, + 0.04372817277908325 + ], + [ + -29.83218765258789, + 5.3494038581848145, + 0.04372817277908325 + ], + [ + -30.204347610473633, + 4.9772443771362305, + 0.04372817277908325 + ], + [ + -30.502174377441406, + 5.275069713592529, + 1.1565032005310059 + ], + [ + -30.130014419555664, + 5.647229194641113, + 1.1565032005310059 + ], + [ + -29.83218765258789, + 5.3494038581848145, + 1.1565032005310059 + ], + [ + -30.204347610473633, + 4.9772443771362305, + 1.1565032005310059 + ] + ], + "corners_2d": [ + [ + 630.4202788553421, + 378.8138847265386 + ], + [ + 649.1039316138272, + 379.25661194338306 + ], + [ + 649.482153592499, + 368.32967007695726 + ], + [ + 630.9966934970936, + 367.89629530688575 + ], + [ + 630.1257490050781, + 351.32573203483935 + ], + [ + 649.3839574574762, + 351.7698789469137 + ], + [ + 649.7706211431024, + 340.81133253339675 + ], + [ + 630.7229136691334, + 340.37685186044234 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 100, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 392475, + "2": 229235, + "3": 136026, + "5": 2100, + "6": 17041, + "7": 2838, + "10": 207, + "12": 2040, + "14": 21863, + "15": 6107, + "20": 3036, + "24": 22513, + "25": 86119 + }, + "instance_pixel_counts": { + "3166": 1255, + "3424": 86119, + "3678": 5379, + "6215": 110138, + "6796": 3849, + "6802": 7805, + "7308": 470, + "8332": 8563, + "8338": 49533, + "15184": 2100, + "17227": 384, + "17995": 63, + "18000": 2838, + "18763": 59, + "21140": 3728, + "21652": 103233, + "23627": 234, + "23700": 147741, + "24395": 124, + "25856": 13967, + "26112": 3759, + "26442": 48, + "28234": 77, + "33370": 73518, + "35476": 114, + "35988": 6717, + "37524": 7981, + "38540": 21, + "39052": 3380, + "40265": 198, + "40588": 14255, + "41818": 62508, + "43409": 6762, + "43921": 5278, + "44945": 19181, + "47947": 247, + "56576": 206, + "56832": 215, + "57088": 631, + "57344": 614, + "57600": 374, + "57856": 5799, + "58368": 728, + "59904": 11045, + "60928": 3764, + "62081": 2153, + "62613": 4456, + "63123": 56538, + "63635": 3, + "64149": 2009, + "64659": 81232 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": 5.312236785888672, + "z": 0.6001156568527222 + }, + "extent": { + "x": 0.23577024042606354, + "y": 0.21556851267814636, + "z": 0.5544300675392151 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.8318160017325, + "ymin": 339.8190991404673, + "xmax": 648.0712143425555, + "ymax": 379.8301640748963 + }, + "corners_3d": [ + [ + -30.486326217651367, + 5.326521396636963, + 0.04568558931350708 + ], + [ + -30.18146514892578, + 5.631381511688232, + 0.04568558931350708 + ], + [ + -29.84803581237793, + 5.297952175140381, + 0.04568558931350708 + ], + [ + -30.152896881103516, + 4.993092060089111, + 0.04568558931350708 + ], + [ + -30.486326217651367, + 5.326521396636963, + 1.154545783996582 + ], + [ + -30.18146514892578, + 5.631381511688232, + 1.154545783996582 + ], + [ + -29.84803581237793, + 5.297952175140381, + 1.154545783996582 + ], + [ + -30.152896881103516, + 4.993092060089111, + 1.154545783996582 + ] + ], + "corners_2d": [ + [ + 632.0747780488815, + 379.4670391632596 + ], + [ + 647.3904102844659, + 379.8301640748963 + ], + [ + 647.8339058384961, + 367.59775368643903 + ], + [ + 632.7000548863127, + 367.2432062111093 + ], + [ + 631.8318160017325, + 352.07787857546896 + ], + [ + 647.6170591140093, + 352.442178178254 + ], + [ + 648.0712143425555, + 340.17453453841927 + ], + [ + 632.4790007958997, + 339.8190991404673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 215, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -26.041194915771484, + "y": 8.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2069726586341858, + "y": 0.19829344749450684, + "z": 0.5214402079582214 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 807.5911418794956, + "ymin": 324.900018993256, + "xmax": 829.895553153884, + "ymax": 362.2856505277528 + }, + "corners_3d": [ + [ + -26.323272705078125, + 8.360831260681152, + 0.07866084575653076 + ], + [ + -26.00242805480957, + 8.593939781188965, + 0.07866084575653076 + ], + [ + -25.759117126464844, + 8.259051322937012, + 0.07866084575653076 + ], + [ + -26.0799617767334, + 8.0259428024292, + 0.07866084575653076 + ], + [ + -26.323272705078125, + 8.360831260681152, + 1.1215412616729736 + ], + [ + -26.00242805480957, + 8.593939781188965, + 1.1215412616729736 + ], + [ + -25.759117126464844, + 8.259051322937012, + 1.1215412616729736 + ], + [ + -26.0799617767334, + 8.0259428024292, + 1.1215412616729736 + ] + ], + "corners_2d": [ + [ + 811.1267257454572, + 362.2856505277528 + ], + [ + 824.6697622768133, + 361.03034102719965 + ], + [ + 821.0003706143876, + 350.72161072402594 + ], + [ + 807.5911418794956, + 351.9514250214855 + ], + [ + 815.975461010442, + 336.48473823547613 + ], + [ + 829.895553153884, + 335.2268209151784 + ], + [ + 826.0686140524286, + 324.900018993256 + ], + [ + 812.2898410548246, + 326.1316760868415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 631, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -32.42300796508789, + "y": 12.254949569702148, + "z": 0.7889878153800964 + }, + "extent": { + "x": 0.40559446811676025, + "y": 0.427703857421875, + "z": 0.8852025270462036 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 751.3782396434661, + "ymin": 525.6136947530754, + "xmax": 800.5434631817649, + "ymax": 598.2408230192481 + }, + "corners_3d": [ + [ + -33.01224899291992, + 12.270174980163574, + -0.09621471166610718 + ], + [ + -32.376556396484375, + 12.842555046081543, + -0.09621471166610718 + ], + [ + -31.83376693725586, + 12.239724159240723, + -0.09621471166610718 + ], + [ + -32.469459533691406, + 11.667344093322754, + -0.09621471166610718 + ], + [ + -33.01224899291992, + 12.270174980163574, + 1.6741902828216553 + ], + [ + -32.376556396484375, + 12.842555046081543, + 1.6741902828216553 + ], + [ + -31.83376693725586, + 12.239724159240723, + 1.6741902828216553 + ], + [ + -32.469459533691406, + 11.667344093322754, + 1.6741902828216553 + ] + ], + "corners_2d": [ + [ + 754.8563021186701, + 598.2408230192481 + ], + [ + 791.3683457791656, + 597.5765137639048 + ], + [ + 787.005185334859, + 567.2828018200596 + ], + [ + 751.3782396434661, + 567.9152217310498 + ], + [ + 761.8221933969712, + 557.3248656992197 + ], + [ + 800.5434631817649, + 556.6433931583039 + ], + [ + 795.6866034286145, + 525.6136947530754 + ], + [ + 757.9593224060803, + 526.2605467973093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 614, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": 5.312236785888672, + "z": 0.6175278425216675 + }, + "extent": { + "x": 0.3892297148704529, + "y": 0.37432861328125, + "z": 0.9052035808563232 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 310.6054370610746, + "ymin": 525.1447422442137, + "xmax": 369.8367798835558, + "ymax": 598.4441366167307 + }, + "corners_3d": [ + [ + -40.206912994384766, + 5.294502258300781, + -0.28767573833465576 + ], + [ + -39.705963134765625, + 5.850862503051758, + -0.28767573833465576 + ], + [ + -39.1274528503418, + 5.3299713134765625, + -0.28767573833465576 + ], + [ + -39.62840270996094, + 4.773611068725586, + -0.28767573833465576 + ], + [ + -40.206912994384766, + 5.294502258300781, + 1.5227314233779907 + ], + [ + -39.705963134765625, + 5.850862503051758, + 1.5227314233779907 + ], + [ + -39.1274528503418, + 5.3299713134765625, + 1.5227314233779907 + ], + [ + -39.62840270996094, + 4.773611068725586, + 1.5227314233779907 + ] + ], + "corners_2d": [ + [ + 329.65080832393585, + 596.0509321389335 + ], + [ + 360.67695768604017, + 598.4441366167307 + ], + [ + 369.8367798835558, + 569.6674146441578 + ], + [ + 339.5075400328065, + 567.383203263474 + ], + [ + 310.6054370610746, + 554.5156536978151 + ], + [ + 343.5006261020682, + 556.9713129746915 + ], + [ + 353.62976025421386, + 527.4819443975476 + ], + [ + 321.5168719630965, + 525.1447422442137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 374, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.77318572998047, + "y": -1.8647959232330322, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.41308775544166565, + "y": 0.35431715846061707, + "z": 0.9051820039749146 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 700.4085427540477, + "ymin": 87.71194949805914, + "xmax": 725.3202659601895, + "ymax": 144.85548508760968 + }, + "corners_3d": [ + [ + -20.315643310546875, + -1.9086376428604126, + -0.30508583784103394 + ], + [ + -19.899118423461914, + -1.3353404998779297, + -0.30508583784103394 + ], + [ + -19.230728149414062, + -1.8209542036056519, + -0.30508583784103394 + ], + [ + -19.647253036499023, + -2.3942513465881348, + -0.30508583784103394 + ], + [ + -20.315643310546875, + -1.9086376428604126, + 1.5052781105041504 + ], + [ + -19.899118423461914, + -1.3353404998779297, + 1.5052781105041504 + ], + [ + -19.230728149414062, + -1.8209542036056519, + 1.5052781105041504 + ], + [ + -19.647253036499023, + -2.3942513465881348, + 1.5052781105041504 + ] + ], + "corners_2d": [ + [ + 700.4085427540477, + 142.81223884386253 + ], + [ + 719.3283247615071, + 144.85548508760968 + ], + [ + 722.2254165927711, + 132.57365907976967 + ], + [ + 703.59006347908, + 130.59302423218278 + ], + [ + 702.7131352929168, + 99.70007131749804 + ], + [ + 722.3628116172114, + 101.70605187495443 + ], + [ + 725.3202659601895, + 89.65416865985355 + ], + [ + 705.9772156815454, + 87.71194949805914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5799, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 772.5359194406135, + "ymin": 85.4152450373432, + "xmax": 919.0669349934205, + "ymax": 202.26868776287623 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 772.5359194406135, + 176.53093106464306 + ], + [ + 817.5695158933637, + 202.26868776287623 + ], + [ + 910.9759162462908, + 141.09804001133324 + ], + [ + 866.4600795230622, + 118.87586503861311 + ], + [ + 776.6761731387821, + 142.282413477303 + ], + [ + 823.2949600030253, + 167.7485791111767 + ], + [ + 919.0669349934205, + 107.30440863935954 + ], + [ + 873.0263487452585, + 85.4152450373432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 728, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1042.2936787127594, + "ymin": 0.0, + "xmax": 1172.0426014715376, + "ymax": 27.47563556821541 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1042.2936787127594, + 11.468212426744174 + ], + [ + 1083.828436968515, + 27.47563556821541 + ], + [ + 1149.5915044016886, + -15.56482603220104 + ], + [ + 1109.180445308436, + -29.62280762522056 + ], + [ + 1060.8080704301929, + -46.584531075864334 + ], + [ + 1104.7723237760194, + -31.29388662695351 + ], + [ + 1172.0426014715376, + -72.32985272985525 + ], + [ + 1129.373074365069, + -85.67999044614913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 11045, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 292.22150983849554, + "ymin": 327.79452541616547, + "xmax": 506.8722132762825, + "ymax": 508.86656677614116 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 307.8495151621089, + 461.70218529982117 + ], + [ + 349.4775174241314, + 508.86656677614116 + ], + [ + 506.8722132762825, + 405.54845370916564 + ], + [ + 462.92544802616123, + 366.2686643442732 + ], + [ + 292.22150983849554, + 423.9194355607773 + ], + [ + 335.18089261614796, + 471.6965118002508 + ], + [ + 500.85985965707505, + 367.2536174389658 + ], + [ + 455.27938799462305, + 327.79452541616547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3764, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 654.3062469042363, + "ymin": 22.856452178723487, + "xmax": 755.2832119690117, + "ymax": 109.69448221253731 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 751.9464902693614, + 75.02389197624848 + ], + [ + 719.4638213805101, + 58.5051522065948 + ], + [ + 654.3062469042363, + 91.58052324779504 + ], + [ + 686.7436374679025, + 109.69448221253731 + ], + [ + 755.2832119690117, + 39.01562787950388 + ], + [ + 721.7675713115931, + 22.856452178723487 + ], + [ + 654.7136810696442, + 55.2419098276323 + ], + [ + 688.185537404937, + 73.01161720564426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.56430293781114, + "ymin": 399.7791901895549, + "xmax": 372.8582327842879, + "ymax": 448.2177794334321 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 362.22465351474614, + 429.30215571354023 + ], + [ + 349.7948381447669, + 436.90722662974684 + ], + [ + 360.3747559419109, + 448.2177794334321 + ], + [ + 372.8582327842879, + 440.45410550520944 + ], + [ + 352.5032476664475, + 399.7791901895549 + ], + [ + 339.56430293781114, + 407.4369109800516 + ], + [ + 350.4109136608615, + 418.832759305255 + ], + [ + 363.40891408648747, + 411.0096373596523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.4785021488777, + "ymin": 653.3700978191982, + "xmax": 541.1158283178663, + "ymax": 698.5440331485258 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 528.484262560486, + 674.7428215294849 + ], + [ + 516.9098106198234, + 684.3406441777847 + ], + [ + 529.5106528105866, + 698.5440331485258 + ], + [ + 541.1158283178663, + 688.7414768660228 + ], + [ + 524.4995589157846, + 653.3700978191982 + ], + [ + 512.4785021488777, + 663.1529718771005 + ], + [ + 525.4890848557066, + 677.6395134939066 + ], + [ + 537.5437794539409, + 667.640350028145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.4108125908491, + "ymin": 318.80786907071666, + "xmax": 294.4248541140123, + "ymax": 364.82951257199295 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 285.32860149174405, + 348.6572792296309 + ], + [ + 273.33270377990686, + 355.1644514913781 + ], + [ + 282.3734271439312, + 364.82951257199295 + ], + [ + 294.4248541140123, + 358.19695758630706 + ], + [ + 273.87384679783474, + 318.80786907071666 + ], + [ + 261.4108125908491, + 325.3257066361232 + ], + [ + 270.629957682142, + 335.0116769863526 + ], + [ + 283.15373752744756, + 328.36412084811855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 204.99467628831604, + "ymin": 260.30065368475255, + "xmax": 237.57167734276788, + "ymax": 304.44043029321625 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 229.51545635080817, + 290.1228535981461 + ], + [ + 217.88493331327646, + 295.8870437863468 + ], + [ + 225.8857976442281, + 304.44043029321625 + ], + [ + 237.57167734276788, + 298.57179625997065 + ], + [ + 217.05910763494154, + 260.30065368475255 + ], + [ + 204.99467628831604, + 266.05234410157186 + ], + [ + 213.12193160931315, + 274.5911304427473 + ], + [ + 225.24663456510336, + 268.73200576701606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 75.12824386668785, + "ymin": 165.62417331188547, + "xmax": 101.92602916803594, + "ymax": 199.3362382532744 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 87.53693894969399, + 193.68234734461046 + ], + [ + 92.59263834779495, + 199.3362382532744 + ], + [ + 101.92602916803594, + 195.43888098523473 + ], + [ + 96.83150720203435, + 189.8366150175752 + ], + [ + 75.12824386668785, + 169.44286057037067 + ], + [ + 80.21319452510488, + 175.05841134015424 + ], + [ + 89.81478099119897, + 171.18730169344698 + ], + [ + 84.68845835916522, + 165.62417331188547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.3111979483308, + "ymin": 56.74747899723707, + "xmax": 953.7883613584245, + "ymax": 70.85460599937443 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 946.0020552149571, + 70.85460599937443 + ], + [ + 952.7659841892272, + 66.7233795817038 + ], + [ + 939.0958882774225, + 60.67639586406534 + ], + [ + 932.3111979483308, + 64.73795820882953 + ], + [ + 947.0081104338927, + 66.90266253306487 + ], + [ + 953.7883613584245, + 62.78066861705406 + ], + [ + 940.0652996324029, + 56.74747899723707 + ], + [ + 933.2640548193394, + 60.799739578549975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.484494364257, + "ymin": 48.24545018196659, + "xmax": 1079.0760324798134, + "ymax": 351.16890236451957 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 981.9478299448022, + 351.16890236451957 + ], + [ + 990.4529430853213, + 343.72612486270367 + ], + [ + 883.1865261463641, + 279.4235784135449 + ], + [ + 874.484494364257, + 285.9307288406942 + ], + [ + 1069.2334770926877, + 115.89308740104275 + ], + [ + 1079.0760324798134, + 108.76051299630524 + ], + [ + 939.7762934212386, + 48.24545018196659 + ], + [ + 929.5212054159867, + 54.28052129779144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.1965541441884, + "ymin": 56.67237912566924, + "xmax": 953.9049612667793, + "ymax": 70.93129678872924 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 946.0346877343212, + 70.93129678872924 + ], + [ + 952.8712111136381, + 66.75517197463643 + ], + [ + 939.0542872373653, + 60.64341039507627 + ], + [ + 932.1965541441884, + 64.74836401389706 + ], + [ + 947.0517642267243, + 66.93674091015407 + ], + [ + 953.9049612667793, + 62.77004789477235 + ], + [ + 940.033926859996, + 56.67237912566924 + ], + [ + 933.1592799823061, + 60.767829423509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 136.59634196411156, + "ymax": 460.72370919763796 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 136.59634196411156, + 257.3306246723482 + ], + [ + 131.06653659257614, + 250.90135483662112 + ], + [ + -318.30587064488907, + 451.10247141936475 + ], + [ + -315.4639874900952, + 460.72370919763796 + ], + [ + 11.34928509793906, + 4.661754233610395 + ], + [ + 5.562712368656889, + -1.1199809049083456 + ], + [ + -623.9237833235452, + 189.02581398460674 + ], + [ + -623.698458834232, + 198.7209212605433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.0791906281866, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 54.44537373949544 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1321.0258433169113, + 54.44537373949544 + ], + [ + 1325.2442991150488, + 50.753817121142504 + ], + [ + 1232.566071911156, + 18.16749805354715 + ], + [ + 1228.0791906281866, + 21.522673612576284 + ], + [ + 1434.7149810028222, + -148.95756500360937 + ], + [ + 1438.938288862969, + -152.01806698718258 + ], + [ + 1325.5901086640652, + -178.8034827183817 + ], + [ + 1320.9359908118226, + -176.06455224082742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 179.99352354846894, + "ymin": 0.0, + "xmax": 313.5357462997269, + "ymax": 12.966664240881755 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 303.6230321303824, + 12.966664240881755 + ], + [ + 313.5357462997269, + 9.36196227665107 + ], + [ + 251.0857257495739, + -32.62618035307116 + ], + [ + 241.48815415597034, + -29.46734791409142 + ], + [ + 247.5724973678681, + -196.9726651071187 + ], + [ + 259.48195241293797, + -199.84282448843328 + ], + [ + 191.42472203841322, + -232.8958775738662 + ], + [ + 179.99352354846894, + -230.43327350543564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 156.36310337237876, + "ymin": 151.43394777006395, + "xmax": 566.6824151252463, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 550.5836556699807, + 750.3124121574843 + ], + [ + 566.6824151252463, + 736.2418771988289 + ], + [ + 284.674585910096, + 413.2827932392954 + ], + [ + 270.1659219959662, + 421.5397168994692 + ], + [ + 510.87263348789986, + 518.2334798100369 + ], + [ + 534.5916090742847, + 501.3580506300838 + ], + [ + 176.4359052120431, + 151.43394777006395 + ], + [ + 156.36310337237876, + 159.57143066720624 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00101/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00101/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6389ab69f6bb708ccc083fdfd7ebb54730d84f01 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00101/meta.json @@ -0,0 +1,2464 @@ +{ + "frame_id": 101, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 50.5, + "sim_timestamp": 12822.625795061933 + }, + "drone_pose": { + "x": -42.45425475303141, + "y": 18.0943135066019, + "z": 20.0, + "pitch": -46.457824258961104, + "yaw": -46.087810103131716, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4777820110321045, + 0.49627771973609924, + 0.7248674631118774, + 14.766334533691406 + ], + [ + -0.7204036712646484, + 0.6935551166534424, + 0.0, + 18.034793853759766 + ], + [ + -0.5027354955673218, + -0.5221971273422241, + 0.6888883709907532, + -44.569828033447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -42.11610910716773, + "y": 17.40672990315246, + "z": 20.0 + }, + "t1_image_uv": [ + 194.59784331075923, + -650.1387007595283 + ], + "t1_depth": 0.5027922687042119 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -29.66718292236328, + "y": 4.812236785888672, + "z": 0.6000815415386751 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.763400460564178, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 207, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": 4.812236785888672, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.32316768169403076, + "y": 0.22989514470100403, + "z": 0.558017909526825 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.3330425307705, + "ymin": 337.54643202709906, + "xmax": 648.5238514058883, + "ymax": 382.1553186303354 + }, + "corners_3d": [ + [ + -30.058256149291992, + 4.878190517425537, + 0.04206365346908569 + ], + [ + -29.733135223388672, + 5.203311443328857, + 0.04206365346908569 + ], + [ + -29.276105880737305, + 4.746283054351807, + 0.04206365346908569 + ], + [ + -29.601226806640625, + 4.421162128448486, + 0.04206365346908569 + ], + [ + -30.058256149291992, + 4.878190517425537, + 1.1580994129180908 + ], + [ + -29.733135223388672, + 5.203311443328857, + 1.1580994129180908 + ], + [ + -29.276105880737305, + 4.746283054351807, + 1.1580994129180908 + ], + [ + -29.601226806640625, + 4.421162128448486, + 1.1580994129180908 + ] + ], + "corners_2d": [ + [ + 631.5932212954482, + 381.92497034130423 + ], + [ + 647.9715093431086, + 382.1553186303354 + ], + [ + 648.2720717295447, + 365.3757548467161 + ], + [ + 632.1598823780313, + 365.15283334336516 + ], + [ + 631.3330425307705, + 354.3674859401134 + ], + [ + 648.2182738601668, + 354.59862384132583 + ], + [ + 648.5238514058883, + 337.76989279837363 + ], + [ + 631.9213042037376, + 337.54643202709906 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 101, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 394676, + "2": 237278, + "3": 114811, + "5": 2186, + "6": 16779, + "7": 2808, + "10": 146, + "12": 2031, + "14": 23448, + "15": 7274, + "20": 3241, + "24": 23531, + "25": 93391 + }, + "instance_pixel_counts": { + "3166": 2082, + "3424": 93391, + "3678": 6204, + "6215": 112925, + "6290": 723, + "6796": 3957, + "6802": 5690, + "7308": 23, + "8332": 9210, + "8338": 54500, + "15184": 2186, + "17227": 405, + "17995": 67, + "18000": 3039, + "18763": 150, + "21140": 5040, + "21652": 92195, + "23627": 317, + "23700": 155106, + "24395": 131, + "25856": 13949, + "26112": 3424, + "26442": 127, + "28234": 80, + "33370": 70957, + "35476": 236, + "35988": 6684, + "37524": 8563, + "38540": 882, + "39052": 2481, + "40265": 202, + "40588": 15204, + "41818": 43854, + "43409": 7232, + "43921": 3855, + "44945": 20596, + "47947": 259, + "56576": 207, + "56832": 210, + "57088": 616, + "57344": 611, + "57600": 387, + "57856": 5940, + "58368": 1070, + "59904": 11572, + "60928": 3854, + "62081": 2214, + "62613": 4334, + "63123": 55590, + "64149": 2178, + "64659": 86745 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 207, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": 4.812236785888672, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.19871701300144196, + "y": 0.2888645827770233, + "z": 0.5567563772201538 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.2902980760482, + "ymin": 340.7446679426053, + "xmax": 650.602197815075, + "ymax": 378.88060947361265 + }, + "corners_3d": [ + [ + -30.011953353881836, + 4.74849271774292, + 0.043325185775756836 + ], + [ + -29.603437423706055, + 5.157009124755859, + 0.043325185775756836 + ], + [ + -29.32240867614746, + 4.875980854034424, + 0.043325185775756836 + ], + [ + -29.730924606323242, + 4.467464447021484, + 0.043325185775756836 + ], + [ + -30.011953353881836, + 4.74849271774292, + 1.1568379402160645 + ], + [ + -29.603437423706055, + 5.157009124755859, + 1.1568379402160645 + ], + [ + -29.32240867614746, + 4.875980854034424, + 1.1568379402160645 + ], + [ + -29.730924606323242, + 4.467464447021484, + 1.1568379402160645 + ] + ], + "corners_2d": [ + [ + 629.610057044927, + 378.59299822792195 + ], + [ + 650.1249215978823, + 378.88060947361265 + ], + [ + 650.2887350251955, + 368.56260444685915 + ], + [ + 629.9794713406715, + 368.2807312661975 + ], + [ + 629.2902980760482, + 351.08689884538137 + ], + [ + 650.4366141176292, + 351.37543726140683 + ], + [ + 650.602197815075, + 341.027275348316 + ], + [ + 629.6742669338561, + 340.7446679426053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 210, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -25.541194915771484, + "y": 7.80994176864624, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2437768429517746, + "y": 0.2603915333747864, + "z": 0.5512467622756958 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 804.4429675309123, + "ymin": 321.3118161014915, + "xmax": 832.0633342054015, + "ymax": 362.5123651656271 + }, + "corners_3d": [ + [ + -25.895145416259766, + 7.854106903076172, + 0.048854291439056396 + ], + [ + -25.47382164001465, + 8.160215377807617, + 0.048854291439056396 + ], + [ + -25.187244415283203, + 7.765776634216309, + 0.048854291439056396 + ], + [ + -25.60856819152832, + 7.459667682647705, + 0.048854291439056396 + ], + [ + -25.895145416259766, + 7.854106903076172, + 1.1513478755950928 + ], + [ + -25.47382164001465, + 8.160215377807617, + 1.1513478755950928 + ], + [ + -25.187244415283203, + 7.765776634216309, + 1.1513478755950928 + ], + [ + -25.60856819152832, + 7.459667682647705, + 1.1513478755950928 + ] + ], + "corners_2d": [ + [ + 808.7821684914072, + 362.5123651656271 + ], + [ + 826.4828968160386, + 360.6941133320639 + ], + [ + 821.9398748087583, + 348.6141911630305 + ], + [ + 804.4429675309123, + 350.38919808154736 + ], + [ + 813.8422750829651, + 335.2353415568754 + ], + [ + 832.0633342054015, + 333.41312165946886 + ], + [ + 827.3173765635515, + 321.3118161014915 + ], + [ + 809.3122160553162, + 323.0894227773564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 616, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -31.923004150390625, + "y": 11.754949569702148, + "z": 0.7661068439483643 + }, + "extent": { + "x": 0.4313317835330963, + "y": 0.3607751429080963, + "z": 0.9009109139442444 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 757.1860263517557, + "ymin": 523.2926228166332, + "xmax": 801.6023000185232, + "ymax": 598.7236511388164 + }, + "corners_3d": [ + [ + -32.47972869873047, + 11.834085464477539, + -0.13480406999588013 + ], + [ + -31.943513870239258, + 12.31689739227295, + -0.13480406999588013 + ], + [ + -31.36627960205078, + 11.675813674926758, + -0.13480406999588013 + ], + [ + -31.902494430541992, + 11.193001747131348, + -0.13480406999588013 + ], + [ + -32.47972869873047, + 11.834085464477539, + 1.6670176982879639 + ], + [ + -31.943513870239258, + 12.31689739227295, + 1.6670176982879639 + ], + [ + -31.36627960205078, + 11.675813674926758, + 1.6670176982879639 + ], + [ + -31.902494430541992, + 11.193001747131348, + 1.6670176982879639 + ] + ], + "corners_2d": [ + [ + 761.513882567016, + 598.7236511388164 + ], + [ + 792.2149658563134, + 597.8024472093203 + ], + [ + 787.1000824475921, + 565.6848513616305 + ], + [ + 757.1860263517557, + 566.559231784864 + ], + [ + 769.0137063806072, + 557.147507722666 + ], + [ + 801.6023000185232, + 556.2020510512191 + ], + [ + 795.9244891801668, + 523.2926228166332 + ], + [ + 764.2212739104314, + 524.187179163212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 611, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.38100814819336, + "y": 4.966020584106445, + "z": 0.6150668859481812 + }, + "extent": { + "x": 0.4686816334724426, + "y": 0.3855927884578705, + "z": 0.8852787613868713 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 307.29403235264465, + "ymin": 536.0078055000431, + "xmax": 369.5787816812004, + "ymax": 614.5339527060553 + }, + "corners_3d": [ + [ + -39.98731994628906, + 4.993078708648682, + -0.2702118754386902 + ], + [ + -39.47129440307617, + 5.566181182861328, + -0.2702118754386902 + ], + [ + -38.774696350097656, + 4.938962459564209, + -0.2702118754386902 + ], + [ + -39.29072189331055, + 4.3658599853515625, + -0.2702118754386902 + ], + [ + -39.98731994628906, + 4.993078708648682, + 1.5003457069396973 + ], + [ + -39.47129440307617, + 5.566181182861328, + 1.5003457069396973 + ], + [ + -38.774696350097656, + 4.938962459564209, + 1.5003457069396973 + ], + [ + -39.29072189331055, + 4.3658599853515625, + 1.5003457069396973 + ] + ], + "corners_2d": [ + [ + 326.3789803751261, + 612.3933431672375 + ], + [ + 358.9086932923737, + 614.5339527060553 + ], + [ + 369.5787816812004, + 579.0869042535294 + ], + [ + 337.9417771127727, + 577.0645138243311 + ], + [ + 307.29403235264465, + 572.2326495908308 + ], + [ + 341.77252325494146, + 574.4315139948375 + ], + [ + 353.5824966519321, + 538.0781644152196 + ], + [ + 320.1051943404406, + 536.0078055000431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 387, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.668676376342773, + "y": -1.7788058519363403, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.4963800013065338, + "y": 0.48971763253211975, + "z": 0.9075765013694763 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 696.2663336400232, + "ymin": 95.74975365034004, + "xmax": 729.2437429325907, + "ymax": 156.7211094684755 + }, + "corners_3d": [ + [ + -20.358104705810547, + -1.8832309246063232, + -0.3074803352355957 + ], + [ + -19.782407760620117, + -1.090851068496704, + -0.3074803352355957 + ], + [ + -18.979248046875, + -1.6743807792663574, + -0.3074803352355957 + ], + [ + -19.55494499206543, + -2.4667606353759766, + -0.3074803352355957 + ], + [ + -20.358104705810547, + -1.8832309246063232, + 1.507672667503357 + ], + [ + -19.782407760620117, + -1.090851068496704, + 1.507672667503357 + ], + [ + -18.979248046875, + -1.6743807792663574, + 1.507672667503357 + ], + [ + -19.55494499206543, + -2.4667606353759766, + 1.507672667503357 + ] + ], + "corners_2d": [ + [ + 696.2663336400232, + 154.01147418263176 + ], + [ + 722.8496097110865, + 156.7211094684755 + ], + [ + 725.9589281208578, + 141.52312374301252 + ], + [ + 699.8644779862815, + 138.91443928923306 + ], + [ + 698.4517181116154, + 110.57520606656689 + ], + [ + 726.0787541186545, + 113.23838618414129 + ], + [ + 729.2437429325907, + 98.30996587873312 + ], + [ + 702.144300114045, + 95.74975365034004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 5940, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 770.367206670145, + "ymin": 93.93582257390545, + "xmax": 917.6871045827122, + "ymax": 213.60258998756976 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 770.367206670145, + 187.48493654280986 + ], + [ + 816.4688358501976, + 213.60258998756976 + ], + [ + 909.5396908863584, + 150.00322192290494 + ], + [ + 864.124496923954, + 127.54015442931498 + ], + [ + 774.4982778601471, + 153.10777418199376 + ], + [ + 822.240837067836, + 178.97272992774288 + ], + [ + 917.6871045827122, + 116.07789118691568 + ], + [ + 870.7033661439436, + 93.93582257390545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1070, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1038.700986311166, + "ymin": 0.0, + "xmax": 1168.0751253126978, + "ymax": 32.53299883156842 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1038.700986311166, + 16.46787393241101 + ], + [ + 1080.8002254043224, + 32.53299883156842 + ], + [ + 1145.6372507750361, + -11.744397661369135 + ], + [ + 1104.7793334604703, + -25.814643546137688 + ], + [ + 1057.2116959856344, + -41.83965331104025 + ], + [ + 1101.7821864723655, + -26.481923676088684 + ], + [ + 1168.0751253126978, + -68.72664724001743 + ], + [ + 1124.9298406314379, + -82.09656747250932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 11572, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 284.8567091857272, + "ymin": 348.0028461781985, + "xmax": 504.2377208370313, + "ymax": 536.177320422539 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 301.1893965634668, + 487.37766792831223 + ], + [ + 344.493019082461, + 536.177320422539 + ], + [ + 504.2377208370313, + 426.77460437941056 + ], + [ + 458.75370368034623, + 386.3966845082501 + ], + [ + 284.8567091857272, + 449.91465112771994 + ], + [ + 329.58657384315165, + 499.46110756780786 + ], + [ + 497.97707510869134, + 388.6375194159041 + ], + [ + 450.76451022204515, + 348.0028461781985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3854, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 649.0380833039571, + "ymin": 30.848081487621812, + "xmax": 750.792352981513, + "ymax": 119.44377809155395 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 747.5468504738571, + 83.40046739223698 + ], + [ + 714.3865227170531, + 66.69085516451929 + ], + [ + 649.0380833039571, + 101.07600563421272 + ], + [ + 682.2227610769661, + 119.44377809155395 + ], + [ + 750.792352981513, + 47.205997398106604 + ], + [ + 716.5688999355834, + 30.848081487621812 + ], + [ + 649.2871296053628, + 64.54206866336523 + ], + [ + 683.5405774595197, + 82.57604550439129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 334.31897318561636, + "ymin": 432.0683481071663, + "xmax": 368.91581700704614, + "ymax": 481.3801552880308 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 357.77830031049695, + 461.3399218932057 + ], + [ + 345.04588753631776, + 469.5214687495963 + ], + [ + 356.1314021838004, + 481.3801552880308 + ], + [ + 368.91581700704614, + 473.02503041209127 + ], + [ + 347.5921460695919, + 432.0683481071663 + ], + [ + 334.31897318561636, + 440.3241391796262 + ], + [ + 345.694284201444, + 452.29823075544465 + ], + [ + 359.0250310563435, + 443.86083623197635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 515.5742378415262, + "ymin": 692.1201507741866, + "xmax": 545.0316340702741, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 531.7859705360164, + 712.7200645041889 + ], + [ + 520.0251242024401, + 723.0229972159148 + ], + [ + 533.2447391902714, + 737.8822723466168 + ], + [ + 545.0316340702741, + 727.3560073701049 + ], + [ + 527.8026242172756, + 692.1201507741866 + ], + [ + 515.5742378415262, + 702.6437981891047 + ], + [ + 529.2398157977616, + 717.8317182495863 + ], + [ + 541.4969202012371, + 707.0713825612852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.48842775531642, + "ymin": 347.17865699183494, + "xmax": 286.8566636417717, + "ymax": 394.05031275357646 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 277.35356380028276, + 376.96071706965955 + ], + [ + 265.04756342360923, + 383.9432909068065 + ], + [ + 274.49562233040746, + 394.05031275357646 + ], + [ + 286.8566636417717, + 386.9310476682436 + ], + [ + 265.29137065491807, + 347.17865699183494 + ], + [ + 252.48842775531642, + 354.1858636783118 + ], + [ + 262.12924478080834, + 364.3341570423707 + ], + [ + 274.9927053755667, + 357.18512893061086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.56210072138055, + "ymin": 285.9861799782036, + "xmax": 227.50705643165145, + "ymax": 330.9503543608948 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 219.10602290100348, + 315.8488577615033 + ], + [ + 207.16462610626786, + 322.02273377251413 + ], + [ + 215.51018348589696, + 330.9503543608948 + ], + [ + 227.50705643165145, + 324.66293303294066 + ], + [ + 205.96539898361004, + 285.9861799782036 + ], + [ + 193.56210072138055, + 292.15722149034326 + ], + [ + 202.04353663515093, + 301.0851008299909 + ], + [ + 214.5075085043265, + 294.7969605898923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.15251514558645, + "ymin": 184.3433005096179, + "xmax": 87.01825006705178, + "ymax": 218.6092186343486 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 72.20938004487243, + 212.76490123996547 + ], + [ + 77.45036906332143, + 218.6092186343486 + ], + [ + 87.01825006705178, + 214.47395031632834 + ], + [ + 81.73797973450894, + 208.68495340734702 + ], + [ + 59.15251514558645, + 188.39877324573493 + ], + [ + 64.42438080677846, + 194.20956796186942 + ], + [ + 74.27616266052166, + 190.09783204204348 + ], + [ + 68.96232172193572, + 184.3433005096179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.1708901076996, + "ymin": 69.12855045860272, + "xmax": 957.0486417562483, + "ymax": 83.61780120583904 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 949.2616241608698, + 83.61780120583904 + ], + [ + 955.9967255850706, + 79.27601806302482 + ], + [ + 941.9315291419239, + 73.08677087989668 + ], + [ + 935.1708901076996, + 77.3549617785178 + ], + [ + 950.297268479654, + 79.63701727625346 + ], + [ + 957.0486417562483, + 75.30441434705449 + ], + [ + 942.9280673151231, + 69.12855045860272 + ], + [ + 936.150883073176, + 73.38747471204829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.9419582551095, + "ymin": 60.4940423952624, + "xmax": 1085.9665952095056, + "ymax": 365.80544054744644 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 986.181739148644, + 365.80544054744644 + ], + [ + 994.6056898008301, + 358.034439168908 + ], + [ + 884.6081886047716, + 292.6560037127823 + ], + [ + 875.9419582551095, + 299.4484073799773 + ], + [ + 1076.238615527901, + 129.97391565757428 + ], + [ + 1085.9665952095056, + 122.46942731898756 + ], + [ + 942.5739611216422, + 60.4940423952624 + ], + [ + 932.3531911247941, + 66.8379116907339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.0541033093126, + "ymin": 69.05143317734957, + "xmax": 957.1674111408532, + "ymax": 83.69658681788934 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 949.2964319462735, + 83.69658681788934 + ], + [ + 956.1037913110215, + 79.30761757156642 + ], + [ + 941.8875518165396, + 73.05208540106207 + ], + [ + 935.0541033093126, + 77.36587037086537 + ], + [ + 950.3434295274922, + 79.67288309959059 + ], + [ + 957.1674111408532, + 75.29329213570406 + ], + [ + 942.8945969671136, + 69.05143317734957 + ], + [ + 936.0442439337062, + 73.35575061246635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 15.807739381014756, + "xmax": 123.35208893703498, + "ymax": 493.2249477163469 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 123.35208893703498, + 276.3508774747992 + ], + [ + 117.62280714602457, + 269.7265973086083 + ], + [ + -345.4570905884457, + 483.15330930309653 + ], + [ + -342.50211052377927, + 493.2249477163469 + ], + [ + -8.674346290863923, + 21.828977515826125 + ], + [ + -14.671557394000729, + 15.807739381014756 + ], + [ + -672.1292063898036, + 221.54015426737743 + ], + [ + -672.059999045543, + 231.88526188988462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1225.3335878908872, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 58.54291896251527 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1319.2636376035468, + 58.54291896251527 + ], + [ + 1323.3721279696283, + 54.75287211847336 + ], + [ + 1229.7312126546326, + 22.156834386554863 + ], + [ + 1225.3335878908872, + 25.60360145192135 + ], + [ + 1433.5358586290595, + -145.65530162742147 + ], + [ + 1437.617905002296, + -148.80433977053474 + ], + [ + 1323.0416827089375, + -175.65550012757376 + ], + [ + 1318.498640043521, + -172.83570157123836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.16738405634317, + "ymin": 0.0, + "xmax": 301.7257481587071, + "ymax": 22.791862007127577 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 291.6712929574541, + 22.791862007127577 + ], + [ + 301.7257481587071, + 19.024260773483377 + ], + [ + 237.6471422239481, + -23.711933295797735 + ], + [ + 227.90057945188425, + -20.411388592688525 + ], + [ + 232.5644545180798, + -189.24184907174606 + ], + [ + 244.7005709789097, + -192.25732359445396 + ], + [ + 174.82792771580182, + -226.06563432277153 + ], + [ + 163.16738405634317, + -223.48028070567557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 142.18825788376512, + "ymin": 175.03764077241223, + "xmax": 570.7502812830026, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 554.4536370106415, + 786.8385868886987 + ], + [ + 570.7502812830026, + 771.8178569026925 + ], + [ + 276.848655846026, + 437.13510162509124 + ], + [ + 262.0506185134446, + 445.89536932417144 + ], + [ + 514.9911701940221, + 562.8725916703993 + ], + [ + 539.2910577796795, + 544.4328004289081 + ], + [ + 162.88870336402977, + 175.03764077241223 + ], + [ + 142.18825788376512, + 183.79466838253262 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00102/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24e27f96965c83732be777b33f9f3fcab5683644 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00102/meta.json @@ -0,0 +1,2362 @@ +{ + "frame_id": 102, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.0, + "sim_timestamp": 12834.277296248125 + }, + "drone_pose": { + "x": -42.11610910716773, + "y": 17.40672990315246, + "z": 20.0, + "pitch": -46.490748961186235, + "yaw": -45.320245353220734, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.48409438133239746, + 0.4895364046096802, + 0.725263237953186, + 14.404136657714844 + ], + [ + -0.7110480070114136, + 0.7031434774398804, + 0.0, + 17.707141876220703 + ], + [ + -0.509964108467102, + -0.5156969428062439, + 0.6884716749191284, + -44.223731994628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.785644340404545, + "y": 16.697007677448145, + "z": 20.0 + }, + "t1_image_uv": [ + 140.40922322297547, + -651.301850192352 + ], + "t1_depth": 0.5074110010975776 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -29.16718292236328, + "y": 4.312236785888672, + "z": 0.6001059556006294 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.748763116665884, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 223, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": 4.312236785888672, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.24909786880016327, + "y": 0.3448600172996521, + "z": 0.5513361096382141 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.3028085753281, + "ymin": 339.67058084551263, + "xmax": 652.5964423995854, + "ymax": 379.98713956448717 + }, + "corners_3d": [ + [ + -29.587173461914062, + 4.244522571563721, + 0.04876983165740967 + ], + [ + -29.09946632385254, + 4.7322282791137695, + 0.04876983165740967 + ], + [ + -28.747188568115234, + 4.379951000213623, + 0.04876983165740967 + ], + [ + -29.234895706176758, + 3.892245054244995, + 0.04876983165740967 + ], + [ + -29.587173461914062, + 4.244522571563721, + 1.151442050933838 + ], + [ + -29.09946632385254, + 4.7322282791137695, + 1.151442050933838 + ], + [ + -28.747188568115234, + 4.379951000213623, + 1.151442050933838 + ], + [ + -29.234895706176758, + 3.892245054244995, + 1.151442050933838 + ] + ], + "corners_2d": [ + [ + 627.6791938212914, + 379.88570948819313 + ], + [ + 652.2230069476284, + 379.98713956448717 + ], + [ + 652.1674101191439, + 367.0392775784395 + ], + [ + 627.9317148838801, + 366.9403739567623 + ], + [ + 627.3028085753281, + 352.65409701634485 + ], + [ + 652.5964423995854, + 352.75586556719077 + ], + [ + 652.534339072182, + 339.76973843425475 + ], + [ + 627.5678116264393, + 339.67058084551263 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 102, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 397091, + "2": 246191, + "3": 92992, + "5": 2223, + "6": 16299, + "7": 2514, + "10": 135, + "12": 2180, + "14": 25280, + "15": 8080, + "20": 3571, + "24": 23925, + "25": 101119 + }, + "instance_pixel_counts": { + "3166": 3007, + "3424": 101119, + "3678": 6662, + "6215": 119045, + "6290": 1453, + "6796": 3829, + "6802": 3518, + "8332": 9867, + "8338": 57833, + "15184": 2223, + "17227": 425, + "17995": 68, + "18000": 3364, + "18763": 232, + "19275": 52, + "21140": 5683, + "21652": 80887, + "23627": 336, + "23700": 163286, + "24395": 136, + "24907": 13, + "25856": 13675, + "26112": 2829, + "26442": 204, + "28234": 83, + "30338": 10, + "33370": 65654, + "35476": 266, + "35988": 5904, + "37524": 9064, + "38540": 953, + "39052": 1476, + "40265": 207, + "40588": 16099, + "41818": 27338, + "43409": 7548, + "43921": 2396, + "44945": 22174, + "47947": 294, + "56576": 223, + "56832": 204, + "57088": 713, + "57344": 653, + "57600": 387, + "57856": 6091, + "58368": 1418, + "59904": 12234, + "60928": 3948, + "62081": 2299, + "62613": 4510, + "63123": 54972, + "64149": 2338, + "64659": 92263 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 223, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": 4.312236785888672, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.3046630620956421, + "y": 0.21388867497444153, + "z": 0.55861896276474 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 632.0809142419109, + "ymin": 338.07643524211227, + "xmax": 647.7945753982755, + "ymax": 381.60685028223213 + }, + "corners_3d": [ + [ + -29.533851623535156, + 4.3764238357543945, + 0.04148697853088379 + ], + [ + -29.231369018554688, + 4.678908348083496, + 0.04148697853088379 + ], + [ + -28.80051040649414, + 4.248049736022949, + 0.04148697853088379 + ], + [ + -29.10299301147461, + 3.9455652236938477, + 0.04148697853088379 + ], + [ + -29.533851623535156, + 4.3764238357543945, + 1.1587249040603638 + ], + [ + -29.231369018554688, + 4.678908348083496, + 1.1587249040603638 + ], + [ + -28.80051040649414, + 4.248049736022949, + 1.1587249040603638 + ], + [ + -29.10299301147461, + 3.9455652236938477, + 1.1587249040603638 + ] + ], + "corners_2d": [ + [ + 632.3190575745023, + 381.54371244569654 + ], + [ + 647.5601620216221, + 381.60685028223213 + ], + [ + 647.5637440750496, + 365.77141805706214 + ], + [ + 632.5562853771364, + 365.7102012446516 + ], + [ + 632.0809142419109, + 353.95729626183885 + ], + [ + 647.7945753982755, + 354.0206531299865 + ], + [ + 647.7945633233176, + 338.1378060656163 + ], + [ + 632.3291431012121, + 338.07643524211227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 204, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -25.041194915771484, + "y": 7.30994176864624, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2256506234407425, + "y": 0.2573339641094208, + "z": 0.5412403345108032 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 804.1492590563233, + "ymin": 320.2481404647416, + "xmax": 831.2171537035181, + "ymax": 360.1529856088549 + }, + "corners_3d": [ + [ + -25.382017135620117, + 7.341239929199219, + 0.058860719203948975 + ], + [ + -24.965641021728516, + 7.643754005432129, + 0.058860719203948975 + ], + [ + -24.70037269592285, + 7.278643608093262, + 0.058860719203948975 + ], + [ + -25.116748809814453, + 6.976129531860352, + 0.058860719203948975 + ], + [ + -25.382017135620117, + 7.341239929199219, + 1.1413414478302002 + ], + [ + -24.965641021728516, + 7.643754005432129, + 1.1413414478302002 + ], + [ + -24.70037269592285, + 7.278643608093262, + 1.1413414478302002 + ], + [ + -25.116748809814453, + 6.976129531860352, + 1.1413414478302002 + ] + ], + "corners_2d": [ + [ + 808.3615885562601, + 360.1529856088549 + ], + [ + 825.7669829194132, + 358.1893808004102 + ], + [ + 821.3707921150339, + 347.0565892716059 + ], + [ + 804.1492590563233, + 348.97708195240654 + ], + [ + 813.310997375931, + 333.3675284197254 + ], + [ + 831.2171537035181, + 331.39983992681294 + ], + [ + 826.6315992718896, + 320.2481404647416 + ], + [ + 808.9199668922822, + 322.1713799895448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 713, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -31.423004150390625, + "y": 11.254949569702148, + "z": 0.7524204254150391 + }, + "extent": { + "x": 0.4034106433391571, + "y": 0.4247918725013733, + "z": 0.8762536644935608 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 758.0707461249617, + "ymin": 523.6132309687933, + "xmax": 808.1114056021265, + "ymax": 596.2784979834107 + }, + "corners_3d": [ + [ + -32.00862121582031, + 11.270501136779785, + -0.12383323907852173 + ], + [ + -31.377256393432617, + 11.838983535766602, + -0.12383323907852173 + ], + [ + -30.837387084960938, + 11.239398002624512, + -0.12383323907852173 + ], + [ + -31.468751907348633, + 10.670915603637695, + -0.12383323907852173 + ], + [ + -32.00862121582031, + 11.270501136779785, + 1.628674030303955 + ], + [ + -31.377256393432617, + 11.838983535766602, + 1.628674030303955 + ], + [ + -30.837387084960938, + 11.239398002624512, + 1.628674030303955 + ], + [ + -31.468751907348633, + 10.670915603637695, + 1.628674030303955 + ] + ], + "corners_2d": [ + [ + 762.5935327805886, + 596.2784979834107 + ], + [ + 798.6229047298016, + 594.7634422263693 + ], + [ + 793.2390771028879, + 564.7992050845486 + ], + [ + 758.0707461249617, + 566.24222940272 + ], + [ + 769.936279994665, + 555.8480064963005 + ], + [ + 808.1114056021265, + 554.2943587517456 + ], + [ + 802.172251979982, + 523.6132309687933 + ], + [ + 764.9624036349869, + 525.088759207964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 653, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.46634292602539, + "y": 4.842531681060791, + "z": 0.6154916882514954 + }, + "extent": { + "x": 0.3850463926792145, + "y": 0.31516584753990173, + "z": 0.8768136501312256 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 300.46935606538165, + "ymin": 569.8378299386718, + "xmax": 356.31894362117, + "ymax": 641.6509768498266 + }, + "corners_3d": [ + [ + -39.963375091552734, + 4.865964412689209, + -0.2613219618797302 + ], + [ + -39.54159927368164, + 5.334392070770264, + -0.2613219618797302 + ], + [ + -38.96931076049805, + 4.819098949432373, + -0.2613219618797302 + ], + [ + -39.39108657836914, + 4.350671291351318, + -0.2613219618797302 + ], + [ + -39.963375091552734, + 4.865964412689209, + 1.4923052787780762 + ], + [ + -39.54159927368164, + 5.334392070770264, + 1.4923052787780762 + ], + [ + -38.96931076049805, + 4.819098949432373, + 1.4923052787780762 + ], + [ + -39.39108657836914, + 4.350671291351318, + 1.4923052787780762 + ] + ], + "corners_2d": [ + [ + 320.2091414418477, + 640.1655238588121 + ], + [ + 347.4878863562351, + 641.6509768498266 + ], + [ + 356.31894362117, + 611.0724309578455 + ], + [ + 329.6747156183652, + 609.6563710443971 + ], + [ + 300.46935606538165, + 601.2073393212995 + ], + [ + 329.4098891948528, + 602.7370178190364 + ], + [ + 339.22635138312404, + 571.2918008684383 + ], + [ + 310.99896929575044, + 569.8378299386718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 387, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.31600570678711, + "y": -1.535215973854065, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4750622510910034, + "y": 0.384869247674942, + "z": 0.9372546076774597 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 707.2476531428479, + "ymin": 104.41040828536356, + "xmax": 734.6370915330963, + "ymax": 166.06528240704785 + }, + "corners_3d": [ + [ + -19.926559448242188, + -1.5673471689224243, + -0.3371535539627075 + ], + [ + -19.474119186401367, + -0.9446156024932861, + -0.3371535539627075 + ], + [ + -18.70545196533203, + -1.5030847787857056, + -0.3371535539627075 + ], + [ + -19.15789222717285, + -2.1258163452148438, + -0.3371535539627075 + ], + [ + -19.926559448242188, + -1.5673471689224243, + 1.537355661392212 + ], + [ + -19.474119186401367, + -0.9446156024932861, + 1.537355661392212 + ], + [ + -18.70545196533203, + -1.5030847787857056, + 1.537355661392212 + ], + [ + -19.15789222717285, + -2.1258163452148438, + 1.537355661392212 + ] + ], + "corners_2d": [ + [ + 707.2476531428479, + 164.04828776116636 + ], + [ + 728.4316774800282, + 166.06528240704785 + ], + [ + 730.9964280909184, + 151.1356777315046 + ], + [ + 710.1921890916202, + 149.19160529337125 + ], + [ + 709.9832111727198, + 119.00652260447345 + ], + [ + 732.0382393703288, + 120.98981000898166 + ], + [ + 734.6370915330963, + 106.3191543913035 + ], + [ + 712.993423388369, + 104.41040828536356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6091, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 768.6206907658545, + "ymin": 102.54020520076881, + "xmax": 916.7409856636534, + "ymax": 225.1785111002363 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 768.6206907658545, + 198.6680598484337 + ], + [ + 815.8497233318781, + 225.1785111002363 + ], + [ + 908.5186927041129, + 159.00244518405705 + ], + [ + 862.1584075827113, + 136.29218343773263 + ], + [ + 772.7581729864213, + 164.16351701188714 + ], + [ + 821.6887651405474, + 190.44231363983644 + ], + [ + 916.7409856636534, + 124.94283713779512 + ], + [ + 868.7647776470343, + 102.54020520076881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1418, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1035.3650949641788, + "ymin": 0.0, + "xmax": 1164.3621321263697, + "ymax": 37.47642087369309 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1035.3650949641788, + 21.35347238842712 + ], + [ + 1078.0537606811351, + 37.47642087369309 + ], + [ + 1141.9154853195564, + -8.09766779302771 + ], + [ + 1100.5914110038743, + -22.179412917003617 + ], + [ + 1053.8941451994513, + -37.226138528062506 + ], + [ + 1099.0991629571163, + -21.800154001107444 + ], + [ + 1164.3621321263697, + -65.31487320465118 + ], + [ + 1120.7192901767044, + -78.7045871420907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 12234, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 277.9015061353084, + "ymin": 369.1588498712312, + "xmax": 502.2105378539971, + "ymax": 564.9854348739045 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 294.9634035466896, + 514.439301167173 + ], + [ + 340.0830519301192, + 564.9854348739045 + ], + [ + 502.2105378539971, + 448.96645601616706 + ], + [ + 455.07581679612053, + 407.42793230616275 + ], + [ + 277.9015061353084, + 477.3837690516656 + ], + [ + 324.5557928047956, + 528.8293440693989 + ], + [ + 495.7151024204961, + 411.0414310383357 + ], + [ + 446.74571647695615, + 369.1588498712312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3948, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 644.0060297181577, + "ymin": 38.91181884031744, + "xmax": 746.5728678003076, + "ymax": 129.3673838356851 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 743.4109353102451, + 91.86417691766445 + ], + [ + 709.5348881153388, + 74.95687912473761 + ], + [ + 644.0060297181577, + 110.73576712603119 + ], + [ + 677.9820707960776, + 129.3673838356851 + ], + [ + 746.5728678003076, + 55.476317258473955 + ], + [ + 711.6008083846759, + 38.91181884031744 + ], + [ + 644.0997470885767, + 74.00066640895267 + ], + [ + 679.1821008897938, + 92.31031367892564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 329.8611662574917, + "ymin": 466.6730039507763, + "xmax": 365.83376962861456, + "ymax": 516.8759143064462 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 354.1424232539827, + 495.59400403670145 + ], + [ + 341.09435585535374, + 504.4179353388541 + ], + [ + 352.7359716652925, + 516.8759143064462 + ], + [ + 365.83376962861456, + 507.86146602823004 + ], + [ + 343.48467345007685, + 466.6730039507763 + ], + [ + 329.8611662574917, + 475.59767472961255 + ], + [ + 341.81949285994915, + 488.206605015107 + ], + [ + 355.49845630259983, + 479.0819083875807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 243.98156466720923, + "ymin": 377.4926020195034, + "xmax": 279.7933607180614, + "ymax": 425.24127231696616 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 269.8440219604162, + 407.14133839751173 + ], + [ + 257.21121276253814, + 414.65223246588096 + ], + [ + 267.1063625113391, + 425.24127231696616 + ], + [ + 279.7933607180614, + 417.58094889350605 + ], + [ + 257.1442138532119, + 377.4926020195034 + ], + [ + 243.98156466720923, + 385.0454178308232 + ], + [ + 254.08620849542416, + 395.6998109826387 + ], + [ + 267.3087895274035, + 387.9914777112797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.29673703252683, + "ymin": 313.3664655653798, + "xmax": 217.70713296172346, + "ymax": 359.18683638555626 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 208.92839112181593, + 343.22344589610185 + ], + [ + 196.65755280153337, + 349.85174407990104 + ], + [ + 205.38092981218495, + 359.18683638555626 + ], + [ + 217.70713296172346, + 352.43477124552226 + ], + [ + 195.0604748009846, + 313.3664655653798 + ], + [ + 182.29673703252683, + 320.00403248038367 + ], + [ + 191.16711962064517, + 329.3570082917577 + ], + [ + 203.99171969134102, + 322.59144260437364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 42.866975026201544, + "ymin": 204.05536126554657, + "xmax": 71.87938470584811, + "ymax": 238.900396925618 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 56.61965666572951, + 232.8512872656152 + ], + [ + 62.062307125474035, + 238.900396925618 + ], + [ + 71.87938470584811, + 234.50444164701722 + ], + [ + 66.39704725808792, + 228.51472635094052 + ], + [ + 42.866975026201544, + 208.3707520657737 + ], + [ + 48.34250450666991, + 214.39199849973556 + ], + [ + 58.46080475251847, + 210.01609885669833 + ], + [ + 52.94273783397978, + 204.05536126554657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.9231807063975, + "ymin": 81.88111977754232, + "xmax": 961.2242026008261, + "ymax": 96.77738574130586 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 953.4402627669722, + 96.77738574130586 + ], + [ + 960.1379013982975, + 92.20846430909256 + ], + [ + 945.651638342274, + 85.86914868223135 + ], + [ + 938.9231807063975, + 90.36024845192105 + ], + [ + 954.5103954001557, + 92.76738515283643 + ], + [ + 961.2242026008261, + 88.20753465437775 + ], + [ + 946.679911676589, + 81.88111977754232 + ], + [ + 939.9349655888445, + 86.36304218276803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 878.0523539526806, + "ymin": 73.10724538408215, + "xmax": 1094.0123726888373, + "ymax": 380.83168451857694 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 991.217384667945, + 380.83168451857694 + ], + [ + 999.5474316347395, + 372.7117763115286 + ], + [ + 886.6740401036504, + 306.22482693644 + ], + [ + 878.0523539526806, + 313.32088884975354 + ], + [ + 1084.4196248257426, + 144.52874817126775 + ], + [ + 1094.0123726888373, + 136.62292017212476 + ], + [ + 946.2590553490119, + 73.10724538408215 + ], + [ + 936.0847942644672, + 79.78443996523828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.8041293891087, + "ymin": 81.80185373746548, + "xmax": 961.3452640444893, + "ymax": 96.85840270067297 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 953.4774107254361, + 96.85840270067297 + ], + [ + 960.2468753772694, + 92.23982762156936 + ], + [ + 945.6050786545077, + 85.83263794445111 + ], + [ + 938.8041293891087, + 90.37170791575056 + ], + [ + 954.559282923977, + 92.80517163229882 + ], + [ + 961.3452640444893, + 88.195863078799 + ], + [ + 946.6441856961433, + 81.80185373746548 + ], + [ + 939.8263896389451, + 86.33154727923738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 33.712788318907656, + "xmax": 109.98611894150099, + "ymax": 528.0390121318821 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 109.98611894150099, + 296.30286438017896 + ], + [ + 104.04054770319817, + 289.47030887146013 + ], + [ + -373.72748611964266, + 517.4746732179301 + ], + [ + -370.6463794951952, + 528.0390121318821 + ], + [ + -29.34380009070503, + 39.995694367147735 + ], + [ + -35.57182676587195, + 33.712788318907656 + ], + [ + -723.8998718995097, + 257.0802054810289 + ], + [ + -724.0132852735355, + 268.1617110242756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.8721227761246, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 62.469700260005595 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1317.8203916804023, + 62.469700260005595 + ], + [ + 1321.813831716537, + 58.57699055948956 + ], + [ + 1227.176216752143, + 25.97599309729202 + ], + [ + 1222.8721227761246, + 29.518473490317547 + ], + [ + 1432.7997783338546, + -142.58556080086777 + ], + [ + 1436.7335555401687, + -145.8275810931351 + ], + [ + 1320.8743842947717, + -172.745671577508 + ], + [ + 1316.4480638767504, + -169.84074815588394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 145.84682384229706, + "ymin": 0.0, + "xmax": 289.7644262979111, + "ymax": 32.851454950736695 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 279.5611113324641, + 32.851454950736695 + ], + [ + 289.7644262979111, + 28.908724571924893 + ], + [ + 223.94011554147494, + -14.618225183891866 + ], + [ + 214.03626320917243, + -11.165224798856002 + ], + [ + 217.20717241692677, + -181.39341657961086 + ], + [ + 229.58477041210307, + -184.56678212246504 + ], + [ + 157.7525384607602, + -219.18457647693663 + ], + [ + 145.84682384229706, + -216.4658623945994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 127.94932686015966, + "ymin": 200.2501131643372, + "xmax": 576.1412539577459, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 559.6561411040276, + 825.5081850819979 + ], + [ + 576.1412539577459, + 809.4461975110131 + ], + [ + 269.34814157562386, + 462.239915761046 + ], + [ + 254.24925760041737, + 471.54944444529485 + ], + [ + 521.0762290183164, + 611.4453672616819 + ], + [ + 545.968330770593, + 591.2224022603149 + ], + [ + 149.3237638270146, + 200.2501131643372 + ], + [ + 127.94932686015966, + 209.70025896327905 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00103/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00103/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a50bb06aac0423d5026ed2bd297f68d8d338cf --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00103/meta.json @@ -0,0 +1,2466 @@ +{ + "frame_id": 103, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.5, + "sim_timestamp": 12849.140683657723 + }, + "drone_pose": { + "x": -41.785644340404545, + "y": 16.697007677448145, + "z": 20.0, + "pitch": -46.534218988260044, + "yaw": -44.485097842187365, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.49078553915023804, + 0.48204272985458374, + 0.7257853150367737, + 14.040754318237305 + ], + [ + -0.7007237076759338, + 0.7134327292442322, + 2.9802322387695312e-08, + 17.368000030517578 + ], + [ + -0.5177989602088928, + -0.5085749626159668, + 0.6879212260246277, + -43.88667297363281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.477684193981744, + "y": 15.953987501436933, + "z": 20.0 + }, + "t1_image_uv": [ + 47.57492670827628, + -652.8396991042748 + ], + "t1_depth": 0.5093098578262587 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -28.66718292236328, + "y": 3.812236785888672, + "z": 0.6001059556006294 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 26.729520007634584, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -28.66718292236328, + "y": 3.812236785888672, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.24779905378818512, + "y": 0.34531885385513306, + "z": 0.5453872084617615 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.4105162187484, + "ymin": 339.816626471685, + "xmax": 652.7508366790635, + "ymax": 379.8490309388716 + }, + "corners_3d": [ + [ + -29.086580276489258, + 3.7432799339294434, + 0.054718732833862305 + ], + [ + -28.59822654724121, + 4.231634616851807, + 0.054718732833862305 + ], + [ + -28.247785568237305, + 3.8811936378479004, + 0.054718732833862305 + ], + [ + -28.73613929748535, + 3.392838954925537, + 0.054718732833862305 + ], + [ + -29.086580276489258, + 3.7432799339294434, + 1.1454931497573853 + ], + [ + -28.59822654724121, + 4.231634616851807, + 1.1454931497573853 + ], + [ + -28.247785568237305, + 3.8811936378479004, + 1.1454931497573853 + ], + [ + -28.73613929748535, + 3.392838954925537, + 1.1454931497573853 + ] + ], + "corners_2d": [ + [ + 627.7802999657679, + 379.8490309388716 + ], + [ + 652.3763729173724, + 379.6854867562613 + ], + [ + 652.065179489322, + 366.79047591362536 + ], + [ + 627.7762815905576, + 366.94996034436275 + ], + [ + 627.4105162187484, + 352.9144379705694 + ], + [ + 652.7508366790635, + 352.75034015986006 + ], + [ + 652.425532493997, + 339.816626471685 + ], + [ + 627.4111346631502, + 339.97652990129836 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 103, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 399169, + "2": 253095, + "3": 73249, + "5": 2292, + "6": 15655, + "7": 2668, + "10": 111, + "12": 2064, + "14": 26602, + "15": 8712, + "20": 3700, + "24": 25009, + "25": 109274 + }, + "instance_pixel_counts": { + "3166": 3344, + "3424": 109274, + "3678": 6928, + "6215": 125095, + "6290": 1623, + "6796": 3602, + "6802": 1026, + "8332": 10588, + "8338": 59973, + "15184": 2292, + "17227": 447, + "17995": 72, + "18000": 3485, + "18763": 320, + "19275": 143, + "21140": 6258, + "21652": 67107, + "23627": 352, + "23700": 172808, + "24395": 209, + "24907": 95, + "25856": 13572, + "26112": 2286, + "26442": 285, + "28234": 89, + "30338": 96, + "33370": 59469, + "35476": 280, + "35988": 5482, + "37524": 9809, + "38540": 1039, + "39052": 430, + "40265": 215, + "40588": 17019, + "41818": 13780, + "43409": 7582, + "43921": 1232, + "44945": 23886, + "47947": 342, + "56576": 211, + "56832": 212, + "57088": 600, + "57344": 684, + "57600": 357, + "57856": 6258, + "58368": 1784, + "59904": 12956, + "60928": 4044, + "62081": 2369, + "62613": 4556, + "63123": 54864, + "64149": 2528, + "64659": 98132 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -28.66718292236328, + "y": 3.812236785888672, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.3282885253429413, + "y": 0.22959043085575104, + "z": 0.5614238381385803 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.5909583562316, + "ymin": 337.3654501747464, + "xmax": 648.5536504920226, + "ymax": 382.3313634290047 + }, + "corners_3d": [ + [ + -29.061662673950195, + 3.8820269107818604, + 0.03868210315704346 + ], + [ + -28.73697280883789, + 4.206716537475586, + 0.03868210315704346 + ], + [ + -28.272703170776367, + 3.7424466609954834, + 0.03868210315704346 + ], + [ + -28.597393035888672, + 3.4177567958831787, + 0.03868210315704346 + ], + [ + -29.061662673950195, + 3.8820269107818604, + 1.161529779434204 + ], + [ + -28.73697280883789, + 4.206716537475586, + 1.161529779434204 + ], + [ + -28.272703170776367, + 3.7424466609954834, + 1.161529779434204 + ], + [ + -28.597393035888672, + 3.4177567958831787, + 1.161529779434204 + ] + ], + "corners_2d": [ + [ + 631.914991326803, + 382.3313634290047 + ], + [ + 648.294635367306, + 382.22217088942824 + ], + [ + 647.9507245028252, + 365.1381737932225 + ], + [ + 631.8414176836746, + 365.24378711008427 + ], + [ + 631.662494712424, + 354.61186896898965 + ], + [ + 648.5536504920226, + 354.50228192246175 + ], + [ + 648.194776731241, + 337.3654501747464 + ], + [ + 631.5909583562316, + 337.4713358786272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 212, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -24.541194915771484, + "y": 6.80994176864624, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2293676733970642, + "y": 0.24584288895130157, + "z": 0.5266031622886658 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 803.8962144484761, + "ymin": 318.6476665565191, + "xmax": 830.2193625793062, + "ymax": 358.0479905943567 + }, + "corners_3d": [ + [ + -24.87490463256836, + 6.851001262664795, + 0.07349789142608643 + ], + [ + -24.477123260498047, + 7.140007019042969, + 0.07349789142608643 + ], + [ + -24.20748519897461, + 6.7688822746276855, + 0.07349789142608643 + ], + [ + -24.605266571044922, + 6.479876518249512, + 0.07349789142608643 + ], + [ + -24.87490463256836, + 6.851001262664795, + 1.126704216003418 + ], + [ + -24.477123260498047, + 7.140007019042969, + 1.126704216003418 + ], + [ + -24.20748519897461, + 6.7688822746276855, + 1.126704216003418 + ], + [ + -24.605266571044922, + 6.479876518249512, + 1.126704216003418 + ] + ], + "corners_2d": [ + [ + 808.3969729455071, + 358.0479905943567 + ], + [ + 824.9442241584777, + 355.99745612505916 + ], + [ + 820.2677400968188, + 344.73359832738953 + ], + [ + 803.8962144484761, + 346.7385537077466 + ], + [ + 813.2101782396444, + 331.9845027572444 + ], + [ + 830.2193625793062, + 329.92985760269397 + ], + [ + 825.3504645206563, + 318.6476665565191 + ], + [ + 808.5268869446106, + 320.65535966877843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 600, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -30.923004150390625, + "y": 10.754949569702148, + "z": 0.7521665096282959 + }, + "extent": { + "x": 0.39799436926841736, + "y": 0.28079649806022644, + "z": 0.8743562698364258 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 767.7058112739742, + "ymin": 522.4673563719998, + "xmax": 805.968361324009, + "ymax": 594.3690657467329 + }, + "corners_3d": [ + [ + -31.397987365722656, + 10.86282730102539, + -0.12218976020812988 + ], + [ + -30.980642318725586, + 11.238606452941895, + -0.12218976020812988 + ], + [ + -30.448020935058594, + 10.647071838378906, + -0.12218976020812988 + ], + [ + -30.865365982055664, + 10.271292686462402, + -0.12218976020812988 + ], + [ + -31.397987365722656, + 10.86282730102539, + 1.6265227794647217 + ], + [ + -30.980642318725586, + 11.238606452941895, + 1.6265227794647217 + ], + [ + -30.448020935058594, + 10.647071838378906, + 1.6265227794647217 + ], + [ + -30.865365982055664, + 10.271292686462402, + 1.6265227794647217 + ] + ], + "corners_2d": [ + [ + 772.8866220243528, + 594.3690657467329 + ], + [ + 796.6223416097585, + 593.0583975761582 + ], + [ + 790.8848939201798, + 563.5612722049754 + ], + [ + 767.7058112739742, + 564.8105827566903 + ], + [ + 780.8251163234016, + 554.0126109810309 + ], + [ + 805.968361324009, + 552.6686727206691 + ], + [ + 799.6629803877911, + 522.4673563719998 + ], + [ + 775.1434746540561, + 523.7447637303306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 684, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.59245681762695, + "y": 4.639524459838867, + "z": 0.6161215901374817 + }, + "extent": { + "x": 0.38255614042282104, + "y": 0.31229108572006226, + "z": 0.8736927509307861 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 286.31708804612447, + "ymin": 601.3866016738355, + "xmax": 343.94288319923777, + "ymax": 673.18827328894 + }, + "corners_3d": [ + [ + -40.085716247558594, + 4.663426876068115, + -0.25757116079330444 + ], + [ + -39.667789459228516, + 5.12758207321167, + -0.25757116079330444 + ], + [ + -39.09919738769531, + 4.615622043609619, + -0.25757116079330444 + ], + [ + -39.51712417602539, + 4.1514668464660645, + -0.25757116079330444 + ], + [ + -40.085716247558594, + 4.663426876068115, + 1.489814281463623 + ], + [ + -39.667789459228516, + 5.12758207321167, + 1.489814281463623 + ], + [ + -39.09919738769531, + 4.615622043609619, + 1.489814281463623 + ], + [ + -39.51712417602539, + 4.1514668464660645, + 1.489814281463623 + ] + ], + "corners_2d": [ + [ + 307.3386232200146, + 672.0304982431085 + ], + [ + 335.1465348466865, + 673.18827328894 + ], + [ + 343.94288319923777, + 641.2685009461632 + ], + [ + 316.7962899002772, + 640.1657711242668 + ], + [ + 286.31708804612447, + 634.2488627768452 + ], + [ + 315.86433756004476, + 635.444763049779 + ], + [ + 325.6956063381491, + 602.522186570346 + ], + [ + 296.89387120714696, + 601.3866016738355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 357, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.405091285705566, + "y": -3.346712589263916, + "z": 0.5999985337257385 + }, + "extent": { + "x": 0.29849672317504883, + "y": 0.40752607583999634, + "z": 0.9322543740272522 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 753.0567576613039, + "ymin": 48.47485987193306, + "xmax": 779.645212816658, + "ymax": 101.53683477518445 + }, + "corners_3d": [ + [ + -14.886117935180664, + -3.5009560585021973, + -0.33225584030151367 + ], + [ + -14.407042503356934, + -2.8415651321411133, + -0.33225584030151367 + ], + [ + -13.924064636230469, + -3.1924691200256348, + -0.33225584030151367 + ], + [ + -14.4031400680542, + -3.8518600463867188, + -0.33225584030151367 + ], + [ + -14.886117935180664, + -3.5009560585021973, + 1.5322529077529907 + ], + [ + -14.407042503356934, + -2.8415651321411133, + 1.5322529077529907 + ], + [ + -13.924064636230469, + -3.1924691200256348, + 1.5322529077529907 + ], + [ + -14.4031400680542, + -3.8518600463867188, + 1.5322529077529907 + ] + ], + "corners_2d": [ + [ + 753.0567576613039, + 99.88116397773621 + ], + [ + 773.8807610291569, + 101.53683477518445 + ], + [ + 774.6746702317675, + 93.47708178378974 + ], + [ + 754.0709434027294, + 91.8565623439356 + ], + [ + 757.2665697901502, + 56.31339408816655 + ], + [ + 778.8773560422592, + 57.93144917921654 + ], + [ + 779.645212816658, + 50.0573028072418 + ], + [ + 758.2715699750962, + 48.47485987193306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6258, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 767.1091288981828, + "ymin": 111.18406409348009, + "xmax": 915.9241861250545, + "ymax": 236.94951397814975 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 767.1091288981828, + 210.06852129209892 + ], + [ + 815.5456661070544, + 236.94951397814975 + ], + [ + 907.6201026892279, + 168.0133887249269 + ], + [ + 860.2592234675124, + 145.08255825246042 + ], + [ + 771.2619177401356, + 175.44215946684227 + ], + [ + 821.4656153046514, + 202.11461989006577 + ], + [ + 915.9241861250545, + 133.82201468996732 + ], + [ + 866.8970504396368, + 111.18406409348009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1784, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1031.74496882148, + "ymin": 0.0, + "xmax": 1160.210909878608, + "ymax": 42.1860678705703 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1031.74496882148, + 26.031951530726758 + ], + [ + 1075.0409382625498, + 42.1860678705703 + ], + [ + 1137.774629387341, + -4.750271901956012 + ], + [ + 1095.977290428212, + -18.818308021831342 + ], + [ + 1050.2804991615053, + -32.822838660375055 + ], + [ + 1096.1385935965043, + -17.353714505618598 + ], + [ + 1160.210909878608, + -62.20356384788465 + ], + [ + 1116.0638512714545, + -75.58924709968528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 12956, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 271.5899225951538, + "ymin": 391.46833318110384, + "xmax": 500.97639137648497, + "ymax": 595.6230175706153 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 289.39700359910324, + 543.2470668692072 + ], + [ + 336.5631025274131, + 595.6230175706153 + ], + [ + 500.97639137648497, + 472.2859628992295 + ], + [ + 452.01266443463277, + 429.5595141276395 + ], + [ + 271.5899225951538, + 506.7044253665677 + ], + [ + 320.4196490555344, + 560.1529662501151 + ], + [ + 494.27008078815044, + 434.63644010690615 + ], + [ + 443.35003128251924, + 391.46833318110384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4044, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 638.8615799862544, + "ymin": 47.09886816628756, + "xmax": 742.2911135159918, + "ymax": 139.51903179206926 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 739.2159220347485, + 100.4405081017664 + ], + [ + 704.5710105541366, + 83.34959670272917 + ], + [ + 638.9292741872185, + 120.63489460031056 + ], + [ + 673.7613207554485, + 139.51903179206926 + ], + [ + 742.2911135159918, + 63.85713856153757 + ], + [ + 706.514545243996, + 47.09886816628756 + ], + [ + 638.8615799862544, + 83.69712067017002 + ], + [ + 674.8411016727808, + 102.27270808093084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 326.778957633711, + "ymin": 504.00165305872474, + "xmax": 364.19460646244596, + "ymax": 555.104986364293 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 351.87279391942945, + 532.4505221138354 + ], + [ + 338.50686647539044, + 542.0012114180104 + ], + [ + 350.7824694787906, + 555.104986364293 + ], + [ + 364.19460646244596, + 545.3445198845845 + ], + [ + 340.7578564048268, + 504.00165305872474 + ], + [ + 326.778957633711, + 513.6857097922143 + ], + [ + 339.40383763129716, + 526.982271779524 + ], + [ + 353.4347446070375, + 517.07712798313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.2657935948812, + "ymin": 410.185158504568, + "xmax": 273.61815930998625, + "ymax": 458.833698354018 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 263.1597656966719, + 439.6176508362048 + ], + [ + 250.19001747275388, + 447.7257734251995 + ], + [ + 260.59591309357273, + 458.833698354018 + ], + [ + 273.61815930998625, + 450.5616955458728 + ], + [ + 249.8015135008216, + 410.185158504568 + ], + [ + 236.2657935948812, + 418.3566592649353 + ], + [ + 246.90167176863315, + 429.5583952330832 + ], + [ + 260.4958702016787, + 421.215764034856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.41847452811544, + "ymin": 342.89250651205845, + "xmax": 208.4076235020877, + "ymax": 389.59955917007477 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 199.1971645329, + 372.6842948652729 + ], + [ + 186.58215083248695, + 379.8260579961975 + ], + [ + 195.73796435952158, + 389.59955917007477 + ], + [ + 208.4076235020877, + 382.3224499992781 + ], + [ + 184.5607100448815, + 342.89250651205845 + ], + [ + 171.41847452811544, + 350.0587031266023 + ], + [ + 180.7351215060283, + 359.87101549448283 + ], + [ + 193.937795220677, + 352.56441775121215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 26.040847083591984, + "ymin": 225.2232398542544, + "xmax": 56.30541195266085, + "ymax": 260.6762135277585 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 40.549257709041285, + 254.4090509810655 + ], + [ + 46.22316756837233, + 260.6762135277585 + ], + [ + 56.30541195266085, + 255.98767318888162 + ], + [ + 50.59160766471166, + 249.78445845907618 + ], + [ + 26.040847083591984, + 229.83087564178643 + ], + [ + 31.750388280015727, + 236.0768733560555 + ], + [ + 42.15316777445844, + 231.4039698942186 + ], + [ + 36.4007171385457, + 225.2232398542544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.4735186455581, + "ymin": 94.92458947437927, + "xmax": 966.2111584535496, + "ymax": 110.2440947188885 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 958.4470409192049, + 110.2440947188885 + ], + [ + 965.0861851368338, + 105.42917739671552 + ], + [ + 950.1495525240405, + 98.94200701273724 + ], + [ + 943.4735186455581, + 103.67462650367935 + ], + [ + 959.5560611485537, + 106.20543057731561 + ], + [ + 966.2111584535496, + 101.39942245548019 + ], + [ + 951.2136233392462, + 94.92458947437927 + ], + [ + 944.5212620989387, + 99.64817057182393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.7491814552535, + "ymin": 86.00781093326515, + "xmax": 1103.120876178556, + "ymax": 396.0335765890412 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 997.021313422883, + 396.0335765890412 + ], + [ + 1005.228457890378, + 387.5410072718688 + ], + [ + 889.3039849732218, + 320.01468782738937 + ], + [ + 880.7491814552535, + 327.43666648089294 + ], + [ + 1093.7066389231245, + 159.37628389869084 + ], + [ + 1103.120876178556, + 151.0372188757255 + ], + [ + 950.7196167083832, + 86.00781093326515 + ], + [ + 940.6223439170087, + 93.04635948630977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.3521294058826, + "ymin": 94.84308902532393, + "xmax": 966.3345820976473, + "ymax": 110.32743190772325 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 958.4867825872802, + 110.32743190772325 + ], + [ + 965.197090783086, + 105.46018934256801 + ], + [ + 950.1001239887644, + 98.90358154875446 + ], + [ + 943.3521294058826, + 103.6867461012211 + ], + [ + 959.6079778831747, + 106.24523329530257 + ], + [ + 966.3345820976473, + 101.38709189516902 + ], + [ + 951.1753971490457, + 94.84308902532393 + ], + [ + 944.4107200574491, + 99.61701900371565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.2590527277857, + "ymin": 0.0, + "xmax": 1041.910660769879, + "ymax": 1.7520267455684575 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1024.2590527277857, + 1.3539092089964129 + ], + [ + 1025.3575550223, + 1.7520267455684575 + ], + [ + 1026.2274721882916, + 1.1740856010645189 + ], + [ + 1025.129410565711, + 0.7766705392633071 + ], + [ + 1039.8667759192674, + -50.17221749980496 + ], + [ + 1041.0198094330087, + -49.7905504054454 + ], + [ + 1041.910660769879, + -50.34460450838321 + ], + [ + 1040.758122642867, + -50.72557082973378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 53.07191401657343, + "xmax": 96.31576297681158, + "ymax": 566.1989007695386 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 96.31576297681158, + 317.6266433784375 + ], + [ + 90.12355062561664, + 310.5743558124647 + ], + [ + -403.55222688205777, + 555.0919112742924 + ], + [ + -400.31333296398816, + 566.1989007695386 + ], + [ + -50.97517375335633, + 59.63915667620506 + ], + [ + -57.47182426227732, + 53.07191401657343 + ], + [ + -780.4238107204078, + 296.93785447884113 + ], + [ + -780.7330801175799, + 308.86466292592706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.0284467974648, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 65.98054600570117 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1315.983639274436, + 65.98054600570117 + ], + [ + 1319.848131195321, + 61.98164494198198 + ], + [ + 1224.2265540316498, + 29.44333215735344 + ], + [ + 1220.0284467974648, + 33.085531676515416 + ], + [ + 1431.5903986635885, + -139.9167227532788 + ], + [ + 1435.359084160555, + -143.25501113172288 + ], + [ + 1318.2451286797036, + -170.1839523594267 + ], + [ + 1313.9504018118373, + -167.19020404011053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 127.39233755524197, + "ymin": 0.0, + "xmax": 277.2126268986425, + "ymax": 43.411225797203144 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 266.85433052947366, + 43.411225797203144 + ], + [ + 277.2126268986425, + 39.275433470047744 + ], + [ + 209.43731611379525, + -5.059910714675027 + ], + [ + 199.3673497234518, + -1.4383930198870871 + ], + [ + 200.9653816172414, + -173.16149358230143 + ], + [ + 213.59995887345457, + -176.5104384617564 + ], + [ + 139.56164175584752, + -211.97488636862442 + ], + [ + 127.39233755524197, + -209.10756035628071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 113.78885285951242, + "ymin": 227.53724578025063, + "xmax": 583.5729612165904, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 566.9333538127094, + 866.4801539244722 + ], + [ + 583.5729612165904, + 849.2624384127921 + ], + [ + 262.3136472110947, + 488.9643591692367 + ], + [ + 246.90847049821804, + 498.8856221824899 + ], + [ + 530.3364156710384, + 664.4105108705011 + ], + [ + 555.7883099694916, + 642.13233054588 + ], + [ + 135.88157519467876, + 227.53724578025063 + ], + [ + 113.78885285951242, + 237.77749201674453 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00104/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00104/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d63ba9dfd9dff899cda000b8ffdb8dbefd7d2f73 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00104/meta.json @@ -0,0 +1,4444 @@ +{ + "frame_id": 104, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.0, + "sim_timestamp": 12863.72087968816 + }, + "drone_pose": { + "x": -41.477684193981744, + "y": 15.953987501436933, + "z": 20.0, + "pitch": -46.58205327238344, + "yaw": -43.52390047419287, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4983633756637573, + 0.47332438826560974, + 0.7263594269752502, + 13.695178031921387 + ], + [ + -0.6886571049690247, + 0.7250871658325195, + 0.0, + 16.995868682861328 + ], + [ + -0.5266739726066589, + -0.500212550163269, + 0.687315046787262, + -43.5718994140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.2073885892484, + "y": 15.16720512420679, + "z": 20.0 + }, + "t1_image_uv": [ + -87.59748676303593, + -654.5347910193916 + ], + "t1_depth": 0.5071087121398535 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -28.16718292236328, + "y": 3.312236785888672, + "z": 0.6000815415386751 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.708428284921037, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -28.16718292236328, + "y": 3.312236785888672, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.22179563343524933, + "y": 0.23097684979438782, + "z": 0.5552282333374023 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.4132352983529, + "ymin": 340.15583602662196, + "xmax": 648.6841346174025, + "ymax": 379.48076047767626 + }, + "corners_3d": [ + [ + -28.487340927124023, + 3.3057446479797363, + 0.0448533296585083 + ], + [ + -28.160690307617188, + 3.6323952674865723, + 0.0448533296585083 + ], + [ + -27.84702491760254, + 3.3187289237976074, + 0.0448533296585083 + ], + [ + -28.173675537109375, + 2.9920783042907715, + 0.0448533296585083 + ], + [ + -28.487340927124023, + 3.3057446479797363, + 1.155309796333313 + ], + [ + -28.160690307617188, + 3.6323952674865723, + 1.155309796333313 + ], + [ + -27.84702491760254, + 3.3187289237976074, + 1.155309796333313 + ], + [ + -28.173675537109375, + 2.9920783042907715, + 1.155309796333313 + ] + ], + "corners_2d": [ + [ + 631.9800758692961, + 379.48076047767626 + ], + [ + 648.4243552382932, + 379.1671060675841 + ], + [ + 647.9278773884608, + 367.61309672015807 + ], + [ + 631.6673070584948, + 367.91977764886497 + ], + [ + 631.7326904590101, + 352.06094738200466 + ], + [ + 648.6841346174025, + 351.74619480809463 + ], + [ + 648.1695312205183, + 340.15583602662196 + ], + [ + 631.4132352983529, + 340.46337859979803 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 104, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 400903, + "2": 258807, + "3": 55567, + "5": 2334, + "6": 14048, + "7": 2824, + "10": 89, + "12": 2038, + "14": 27872, + "15": 9338, + "20": 3781, + "24": 26603, + "25": 117396 + }, + "instance_pixel_counts": { + "3166": 3544, + "3424": 117396, + "3678": 7222, + "6215": 129355, + "6290": 1875, + "6796": 3474, + "6802": 29, + "8332": 11069, + "8338": 60230, + "15184": 2334, + "17227": 476, + "17995": 75, + "18000": 3563, + "18763": 341, + "19275": 241, + "19531": 75, + "21140": 6747, + "21652": 51250, + "23627": 368, + "23700": 182629, + "24395": 318, + "24907": 181, + "25856": 12391, + "26112": 1890, + "26442": 337, + "28234": 94, + "30338": 148, + "31819": 15, + "33370": 51289, + "35476": 301, + "35988": 5949, + "37524": 10471, + "38540": 1159, + "39052": 143, + "40265": 218, + "40588": 18070, + "41818": 4278, + "43409": 7494, + "43921": 425, + "44945": 25484, + "47947": 457, + "56576": 209, + "56832": 206, + "57088": 616, + "57344": 724, + "57600": 283, + "57856": 6419, + "58368": 2116, + "59904": 13749, + "60928": 4160, + "62081": 2443, + "62613": 4216, + "63123": 55294, + "64149": 2688, + "64659": 104983 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -28.16718292236328, + "y": 3.312236785888672, + "z": 0.6000815629959106 + }, + "extent": { + "x": 0.21845944225788116, + "y": 0.26008373498916626, + "z": 0.5547330975532532 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.3595460661851, + "ymin": 340.23524388512953, + "xmax": 649.7476900162226, + "ymax": 379.40074623488823 + }, + "corners_3d": [ + [ + -28.505563735961914, + 3.282804012298584, + 0.04534846544265747 + ], + [ + -28.13775062561035, + 3.650617837905884, + 0.04534846544265747 + ], + [ + -27.82880210876465, + 3.3416695594787598, + 0.04534846544265747 + ], + [ + -28.19661521911621, + 2.97385573387146, + 0.04534846544265747 + ], + [ + -28.505563735961914, + 3.282804012298584, + 1.1548147201538086 + ], + [ + -28.13775062561035, + 3.650617837905884, + 1.1548147201538086 + ], + [ + -27.82880210876465, + 3.3416695594787598, + 1.1548147201538086 + ], + [ + -28.19661521911621, + 2.97385573387146, + 1.1548147201538086 + ] + ], + "corners_2d": [ + [ + 630.9412033120788, + 379.40074623488823 + ], + [ + 649.4563816362106, + 379.047639398944 + ], + [ + 648.9559990162044, + 367.66782302259196 + ], + [ + 630.64457393907, + 368.01319590068266 + ], + [ + 630.6620444529455, + 352.0051561456587 + ], + [ + 649.7476900162226, + 351.650815969083 + ], + [ + 649.2287627447311, + 340.23524388512953 + ], + [ + 630.3595460661851, + 340.58158803008166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 206, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -24.041194915771484, + "y": 6.30994176864624, + "z": 0.6000766754150391 + }, + "extent": { + "x": 0.18565063178539276, + "y": 0.23305724561214447, + "z": 0.5233895182609558 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 803.9683750330528, + "ymin": 317.64026199583856, + "xmax": 828.5722985141151, + "ymax": 354.7617945996895 + }, + "corners_3d": [ + [ + -24.338865280151367, + 6.323148727416992, + 0.07668715715408325 + ], + [ + -23.96177101135254, + 6.597124099731445, + 0.07668715715408325 + ], + [ + -23.7435245513916, + 6.296734809875488, + 0.07668715715408325 + ], + [ + -24.12061882019043, + 6.022759437561035, + 0.07668715715408325 + ], + [ + -24.338865280151367, + 6.323148727416992, + 1.1234662532806396 + ], + [ + -23.96177101135254, + 6.597124099731445, + 1.1234662532806396 + ], + [ + -23.7435245513916, + 6.296734809875488, + 1.1234662532806396 + ], + [ + -24.12061882019043, + 6.022759437561035, + 1.1234662532806396 + ] + ], + "corners_2d": [ + [ + 807.8114381036769, + 354.7617945996895 + ], + [ + 823.3829862017186, + 352.6339227950342 + ], + [ + 819.4077958578432, + 343.56858705163677 + ], + [ + 803.9683750330528, + 345.6582863607183 + ], + [ + 812.5704289595576, + 328.8518807944293 + ], + [ + 828.5722985141151, + 326.719966075462 + ], + [ + 824.4376428770156, + 317.64026199583856 + ], + [ + 808.5752600219884, + 319.7328632999166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 616, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -30.423004150390625, + "y": 10.254949569702148, + "z": 0.752264142036438 + }, + "extent": { + "x": 0.38704589009284973, + "y": 0.37243619561195374, + "z": 0.875957190990448 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 768.1335960949268, + "ymin": 520.5918027737698, + "xmax": 814.9180356552374, + "ymax": 592.5511759462718 + }, + "corners_3d": [ + [ + -30.958763122558594, + 10.29337215423584, + -0.12369304895401001 + ], + [ + -30.405214309692383, + 10.791789054870605, + -0.12369304895401001 + ], + [ + -29.887245178222656, + 10.216526985168457, + -0.12369304895401001 + ], + [ + -30.440793991088867, + 9.718110084533691, + -0.12369304895401001 + ], + [ + -30.958763122558594, + 10.29337215423584, + 1.6282212734222412 + ], + [ + -30.405214309692383, + 10.791789054870605, + 1.6282212734222412 + ], + [ + -29.887245178222656, + 10.216526985168457, + 1.6282212734222412 + ], + [ + -30.440793991088867, + 9.718110084533691, + 1.6282212734222412 + ] + ], + "corners_2d": [ + [ + 773.72225514254, + 592.5511759462718 + ], + [ + 805.0597103661001, + 590.344301465431 + ], + [ + 798.7614223543214, + 561.770465219289 + ], + [ + 768.1335960949268, + 563.877107432341 + ], + [ + 781.7239311424257, + 552.1099161091806 + ], + [ + 814.9180356552374, + 549.8470744502245 + ], + [ + 808.0132491492973, + 520.5918027737698 + ], + [ + 775.6142732455157, + 522.7459492933914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 724, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.789920806884766, + "y": 4.252103805541992, + "z": 0.6205698251724243 + }, + "extent": { + "x": 0.4213342070579529, + "y": 0.37552109360694885, + "z": 0.9052287340164185 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 260.78565050583063, + "ymin": 629.537315700746, + "xmax": 328.8010651013515, + "ymax": 706.4533202861733 + }, + "corners_3d": [ + [ + -40.354305267333984, + 4.254964828491211, + -0.28465890884399414 + ], + [ + -39.85176086425781, + 4.813097953796387, + -0.28465890884399414 + ], + [ + -39.22553634643555, + 4.249242782592773, + -0.28465890884399414 + ], + [ + -39.72808074951172, + 3.6911096572875977, + -0.28465890884399414 + ], + [ + -40.354305267333984, + 4.254964828491211, + 1.5257985591888428 + ], + [ + -39.85176086425781, + 4.813097953796387, + 1.5257985591888428 + ], + [ + -39.22553634643555, + 4.249242782592773, + 1.5257985591888428 + ], + [ + -39.72808074951172, + 3.6911096572875977, + 1.5257985591888428 + ] + ], + "corners_2d": [ + [ + 284.724849051271, + 705.5563939989022 + ], + [ + 319.11261305635946, + 706.4533202861733 + ], + [ + 328.8010651013515, + 669.6259401323243 + ], + [ + 295.3370008561457, + 668.7768823574286 + ], + [ + 260.78565050583063, + 667.6310156753309 + ], + [ + 297.4753151266817, + 668.5617245966286 + ], + [ + 308.4220513215517, + 630.4151489982787 + ], + [ + 272.78199586725435, + 629.537315700746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 283, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.794744491577148, + "y": -6.275864601135254, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.4583361744880676, + "y": 0.37551695108413696, + "z": 0.9304969310760498 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 685.7220037437196, + "ymin": 31.896314268902586, + "xmax": 708.8162187823573, + "ymax": 88.0299165012184 + }, + "corners_3d": [ + [ + -15.386269569396973, + -6.310260772705078, + -0.3304007649421692 + ], + [ + -14.944823265075684, + -5.702661514282227, + -0.3304007649421692 + ], + [ + -14.203219413757324, + -6.24146842956543, + -0.3304007649421692 + ], + [ + -14.644665718078613, + -6.849067687988281, + -0.3304007649421692 + ], + [ + -15.386269569396973, + -6.310260772705078, + 1.5305931568145752 + ], + [ + -14.944823265075684, + -5.702661514282227, + 1.5305931568145752 + ], + [ + -14.203219413757324, + -6.24146842956543, + 1.5305931568145752 + ], + [ + -14.644665718078613, + -6.849067687988281, + 1.5305931568145752 + ] + ], + "corners_2d": [ + [ + 685.7220037437196, + 86.71974363969821 + ], + [ + 704.4944975774231, + 88.0299165012184 + ], + [ + 706.4227710616404, + 76.09592166174241 + ], + [ + 687.9481045639674, + 74.8274868453127 + ], + [ + 687.3943617669989, + 43.49795359447256 + ], + [ + 706.857812983292, + 44.77694178410036 + ], + [ + 708.8162187823573, + 33.13310330693213 + ], + [ + 689.6727372242199, + 31.896314268902586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6419, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 765.6742004271714, + "ymin": 119.80003123989343, + "xmax": 914.9327890746852, + "ymax": 248.84078895919328 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 765.6742004271714, + 221.65671185922855 + ], + [ + 815.4228889534869, + 248.84078895919328 + ], + [ + 906.5524139289919, + 176.92242004777225 + ], + [ + 858.124325938186, + 153.83903106874564 + ], + [ + 769.8450195035439, + 186.91797578874161 + ], + [ + 821.431556721267, + 213.91847953974113 + ], + [ + 914.9327890746852, + 142.60660452450617 + ], + [ + 864.7859231522609, + 119.80003123989343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2116, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1027.249962662316, + "ymin": 0.0, + "xmax": 1154.855043801073, + "ymax": 46.51164415039784 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1027.249962662316, + 30.385334612797806 + ], + [ + 1071.1625463367893, + 46.51164415039784 + ], + [ + 1132.4945535011389, + -1.8562084044847893 + ], + [ + 1090.2310965354254, + -15.856270155994935 + ], + [ + 1045.742094593947, + -28.732730421708823 + ], + [ + 1092.2600973590102, + -13.277364332501463 + ], + [ + 1154.855043801073, + -59.52887990171706 + ], + [ + 1110.2147816088166, + -72.8583430930139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 13749, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 266.3391841385384, + "ymin": 415.1659568329646, + "xmax": 500.86638187217886, + "ymax": 628.4821601732252 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 284.8895284430068, + 574.2355113750965 + ], + [ + 334.44990769482376, + 628.4821601732252 + ], + [ + 500.86638187217886, + 496.9087538909699 + ], + [ + 449.8131102962944, + 453.0165522527887 + ], + [ + 266.3391841385384, + 538.3331251294446 + ], + [ + 317.72288731656886, + 593.8478650240457 + ], + [ + 493.9916781374926, + 459.60775523166717 + ], + [ + 440.83901068183485, + 415.1659568329646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4160, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 633.2897204606033, + "ymin": 55.46173471828672, + "xmax": 737.609227028871, + "ymax": 149.95386256208437 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 734.635369804504, + 109.15093028191302 + ], + [ + 699.1498202052636, + 91.91680918754844 + ], + [ + 633.5342383932887, + 130.85583434481617 + ], + [ + 669.3124570583501, + 149.95386256208437 + ], + [ + 737.609227028871, + 72.3748685250003 + ], + [ + 700.9535100303339, + 55.46173471828672 + ], + [ + 633.2897204606033, + 93.71801096573466 + ], + [ + 670.2607695885091, + 112.52271097576423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 325.99655325056875, + "ymin": 544.5195258624934, + "xmax": 364.9036095911118, + "ymax": 596.5206894762492 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 351.8390864012996, + 572.3479093354398 + ], + [ + 338.1701369532695, + 582.7336727409486 + ], + [ + 351.1941712426643, + 596.5206894762492 + ], + [ + 364.9036095911118, + 585.9031702302602 + ], + [ + 340.318266092072, + 544.5195258624934 + ], + [ + 325.99655325056875, + 555.079101070641 + ], + [ + 339.4107867517693, + 569.1079023328298 + ], + [ + 353.77868412594535, + 558.303066057216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.97875575654393, + "ymin": 445.7763984621939, + "xmax": 268.9701216344837, + "ymax": 495.341600723115 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 257.9084497125398, + 474.8886832814582 + ], + [ + 244.60228565560192, + 483.68405136729643 + ], + [ + 255.61470174164765, + 495.341600723115 + ], + [ + 268.9701216344837, + 486.3658574330193 + ], + [ + 243.89024374469, + 445.7763984621939 + ], + [ + 229.97875575654393, + 454.6619613219647 + ], + [ + 241.24741510473496, + 466.4468863520701 + ], + [ + 255.2142900712371, + 457.37227925263005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.35408028135782, + "ymin": 375.11575391294116, + "xmax": 200.0494835186015, + "ymax": 422.7377563958775 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 190.32488067214115, + 404.7659385662508 + ], + [ + 177.3574982478807, + 412.499310907617 + ], + [ + 187.02934961433812, + 422.7377563958775 + ], + [ + 200.0494835186015, + 414.8558146904662 + ], + [ + 174.88662653319324, + 375.11575391294116 + ], + [ + 161.35408028135782, + 382.89268653617705 + ], + [ + 171.20489510226878, + 393.1948034521386 + ], + [ + 184.79623676910063, + 385.2632391580428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 8.479750598237842, + "ymin": 248.4337982126554, + "xmax": 40.13543864339249, + "ymax": 284.52813117117665 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 23.818200087366904, + 278.03142343654963 + ], + [ + 29.770679626386254, + 284.52813117117665 + ], + [ + 40.13543864339249, + 279.50273111258446 + ], + [ + 34.14326932893698, + 273.07513368044624 + ], + [ + 8.479750598237842, + 253.37852566696148 + ], + [ + 14.471927778360737, + 259.8620593591261 + ], + [ + 25.17902383495641, + 254.84665284997604 + ], + [ + 19.143976354776896, + 248.4337982126554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.7880757045918, + "ymin": 108.12167817973713, + "xmax": 971.962908122546, + "ymax": 123.86846007089113 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 964.2517699073612, + 123.86846007089113 + ], + [ + 970.795479764254, + 118.78652127074633 + ], + [ + 955.3758845575661, + 112.16714066830878 + ], + [ + 948.7880757045918, + 117.16216354846725 + ], + [ + 965.403651297388, + 119.80260495927172 + ], + [ + 971.962908122546, + 114.72936952272434 + ], + [ + 956.4793344405094, + 108.12167817973713 + ], + [ + 949.8755394349062, + 113.10784331481602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.0207592525894, + "ymin": 99.06268060465123, + "xmax": 1113.2497668054134, + "ymax": 411.1151273955897 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1003.6161511204732, + 411.1151273955897 + ], + [ + 1011.6508758697792, + 402.2234145789844 + ], + [ + 892.469051657758, + 333.8591544287213 + ], + [ + 884.0207592525894, + 341.6333871248978 + ], + [ + 1104.0860602675812, + 174.24172151852386 + ], + [ + 1113.2497668054134, + 165.4360282365684 + ], + [ + 955.9002608942997, + 99.06268060465123 + ], + [ + 945.93396463859, + 106.49403225816337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.6643411263765, + "ymin": 108.03792178295151, + "xmax": 972.0886924898948, + "ymax": 123.95413924072176 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 964.2944659011553, + 123.95413924072176 + ], + [ + 970.9082748538119, + 118.81697675583166 + ], + [ + 955.3232015068813, + 112.12676516995208 + ], + [ + 948.6643411263765, + 117.17513176195374 + ], + [ + 965.4590027882481, + 119.84446222556352 + ], + [ + 972.0886924898948, + 114.71619047415157 + ], + [ + 956.4382588219399, + 108.03792178295151 + ], + [ + 949.7630641742999, + 113.07723822228093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.8344410661911, + "ymin": 0.0, + "xmax": 1036.3992836490247, + "ymax": 5.556644177133364 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1018.8344410661911, + 5.159478413280965 + ], + [ + 1019.9479004895097, + 5.556644177133364 + ], + [ + 1020.8029340824521, + 4.9604147274818615 + ], + [ + 1019.6899657951792, + 4.5639659063284626 + ], + [ + 1034.355043256487, + -46.59453179055345 + ], + [ + 1035.5238761482688, + -46.21351979080828 + ], + [ + 1036.3992836490247, + -46.785491967714734 + ], + [ + 1035.2310012791888, + -47.16578803757085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 74.49062771937588, + "xmax": 82.20270317938457, + "ymax": 609.0869387303042 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 82.20270317938457, + 340.87822554163597 + ], + [ + 75.71556639413723, + 333.5974383247065 + ], + [ + -435.40002502796915, + 597.3771028090378 + ], + [ + -431.9457154718066, + 609.0869387303042 + ], + [ + -73.86499494663076, + 81.36519911026835 + ], + [ + -80.69228984184224, + 74.49062771937588 + ], + [ + -843.2257864456687, + 342.9052326292295 + ], + [ + -843.7245121592978, + 355.8187429512207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1216.0643926368962, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 68.77875545901549 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1312.9599112092997, + 68.77875545901549 + ], + [ + 1316.6714886498376, + 64.67128690369077 + ], + [ + 1220.1346210094282, + 32.33777111350986 + ], + [ + 1216.0643926368962, + 36.08325508308059 + ], + [ + 1428.8805535872016, + -137.86130437496865 + ], + [ + 1432.4563027110898, + -141.29736858183657 + ], + [ + 1314.214609880281, + -168.1129533402916 + ], + [ + 1310.076865499856, + -165.02764601090337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 107.07191551570315, + "ymin": 0.0, + "xmax": 263.593894581104, + "ymax": 54.79794060245064 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 253.0756544456632, + 54.79794060245064 + ], + [ + 263.593894581104, + 50.4437047818646 + ], + [ + 193.54747488464716, + 5.314716932233978 + ], + [ + 183.30166740507707, + 9.127818058487605 + ], + [ + 183.24580722968489, + -164.22526911777936 + ], + [ + 196.15402819693668, + -167.7742846225883 + ], + [ + 119.52704294619627, + -204.10031512755324 + ], + [ + 107.07191551570315, + -201.06289944305558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.8718809497125, + "ymin": 0.0, + "xmax": 1037.5290696559866, + "ymax": 2.0962631928503015 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1019.8718809497125, + 1.7000975426598188 + ], + [ + 1020.9890177248076, + 2.0962631928503015 + ], + [ + 1021.8454491561757, + 1.5015356158684199 + ], + [ + 1020.7288073469559, + 1.1060870593622667 + ], + [ + 1035.479357095422, + -50.34359701232262 + ], + [ + 1036.6522310937448, + -49.9638543971987 + ], + [ + 1037.5290696559866, + -50.53392047351673 + ], + [ + 1036.3567506577251, + -50.91294751186092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 100.04149418110603, + "ymin": 257.4725518995653, + "xmax": 594.0758957051092, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 577.3512559706845, + 909.8755766438898 + ], + [ + 594.0758957051092, + 891.3592413333643 + ], + [ + 256.0322944999776, + 517.7567487059179 + ], + [ + 240.32456387998582, + 528.373976610236 + ], + [ + 544.5580804182392, + 722.209494854721 + ], + [ + 570.467935205231, + 697.5376249916303 + ], + [ + 122.89158832213718, + 257.4725518995653 + ], + [ + 100.04149418110603, + 268.6315903348494 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00105/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00105/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d07f751484b41c85f5059fa1bc3d15be3f5e6ce4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00105/meta.json @@ -0,0 +1,4445 @@ +{ + "frame_id": 105, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.5, + "sim_timestamp": 12874.710909012007 + }, + "drone_pose": { + "x": -41.2073885892484, + "y": 15.16720512420679, + "z": 20.0, + "pitch": -46.62456542466648, + "yaw": -42.37936751556329, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5073201060295105, + 0.4629119634628296, + 0.7268691658973694, + 13.38903522491455 + ], + [ + -0.6740363836288452, + 0.7386981248855591, + 0.0, + 16.57129669189453 + ], + [ + -0.5369369387626648, + -0.48993629217147827, + 0.6867759227752686, + -43.29225158691406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.98702149121683, + "y": 14.32921653314487, + "z": 20.0 + }, + "t1_image_uv": [ + -263.8527711775025, + -656.043796184958 + ], + "t1_depth": 0.4997116219692641 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -27.66718292236328, + "y": 2.812236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.689670109022014, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 221, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -27.66718292236328, + "y": 2.812236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21831662952899933, + "y": 0.23657147586345673, + "z": 0.5572566986083984 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.0525381835254, + "ymin": 340.06449874290286, + "xmax": 649.0449024315512, + "ymax": 379.5686597190833 + }, + "corners_3d": [ + [ + -27.98883819580078, + 2.799328565597534, + 0.04284435510635376 + ], + [ + -27.654273986816406, + 3.1338911056518555, + 0.04284435510635376 + ], + [ + -27.34552764892578, + 2.8251450061798096, + 0.04284435510635376 + ], + [ + -27.680091857910156, + 2.4905824661254883, + 0.04284435510635376 + ], + [ + -27.98883819580078, + 2.799328565597534, + 1.1573576927185059 + ], + [ + -27.654273986816406, + 3.1338911056518555, + 1.1573576927185059 + ], + [ + -27.34552764892578, + 2.8251450061798096, + 1.1573576927185059 + ], + [ + -27.680091857910156, + 2.4905824661254883, + 1.1573576927185059 + ] + ], + "corners_2d": [ + [ + 631.9335939680692, + 379.5686597190833 + ], + [ + 648.7730405045879, + 378.9977539722567 + ], + [ + 647.9733415056426, + 367.6204907023843 + ], + [ + 631.318660303194, + 368.1789111562998 + ], + [ + 631.6834873178158, + 352.05152722252444 + ], + [ + 649.0449024315512, + 351.4785696002304 + ], + [ + 648.217622952158, + 340.06449874290286 + ], + [ + 631.0525381835254, + 340.624544388959 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 105, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 402140, + "2": 259796, + "3": 43028, + "5": 2458, + "6": 12692, + "7": 2911, + "10": 60, + "12": 2120, + "14": 29240, + "15": 9966, + "20": 3843, + "24": 27918, + "25": 125428 + }, + "instance_pixel_counts": { + "3166": 3789, + "3424": 125428, + "3678": 7573, + "6215": 129362, + "6290": 2283, + "6796": 3364, + "8332": 11741, + "8338": 58801, + "15184": 2458, + "17227": 502, + "17995": 79, + "18000": 3654, + "18763": 371, + "19275": 333, + "19531": 133, + "21140": 7153, + "21652": 35517, + "23627": 392, + "23700": 192340, + "24395": 435, + "24907": 274, + "25856": 11407, + "26112": 1457, + "26442": 351, + "28234": 98, + "30338": 212, + "31819": 93, + "33370": 42686, + "35476": 316, + "35988": 5628, + "37524": 10872, + "38540": 1276, + "40265": 189, + "40588": 18501, + "41818": 72, + "42330": 270, + "43409": 7165, + "43921": 27, + "44945": 27267, + "47947": 583, + "52038": 9, + "56576": 221, + "56832": 200, + "57088": 666, + "57344": 704, + "57600": 329, + "57856": 6578, + "58368": 2393, + "59904": 14612, + "60928": 4261, + "62081": 2527, + "62611": 12, + "62613": 4595, + "63123": 55262, + "64149": 2863, + "64659": 111856 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 221, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -27.66718292236328, + "y": 2.812236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.30431148409843445, + "y": 0.2115061730146408, + "z": 0.5506510734558105 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.8392711821854, + "ymin": 338.04476292522077, + "xmax": 648.2871936719063, + "ymax": 381.6532371459607 + }, + "corners_3d": [ + [ + -28.03192138671875, + 2.8778600692749023, + 0.04944998025894165 + ], + [ + -27.732807159423828, + 3.1769750118255615, + 0.04944998025894165 + ], + [ + -27.302444458007812, + 2.7466135025024414, + 0.04944998025894165 + ], + [ + -27.601558685302734, + 2.4474985599517822, + 0.04944998025894165 + ], + [ + -28.03192138671875, + 2.8778600692749023, + 1.150752067565918 + ], + [ + -27.732807159423828, + 3.1769750118255615, + 1.150752067565918 + ], + [ + -27.302444458007812, + 2.7466135025024414, + 1.150752067565918 + ], + [ + -27.601558685302734, + 2.4474985599517822, + 1.150752067565918 + ] + ], + "corners_2d": [ + [ + 632.9495866324575, + 381.6532371459607 + ], + [ + 648.0404675403704, + 381.14060731799873 + ], + [ + 646.9391692918355, + 365.2800627916199 + ], + [ + 632.0786333021416, + 365.7771305453754 + ], + [ + 632.733130641111, + 354.4705903908749 + ], + [ + 648.2871936719063, + 353.9560707193651 + ], + [ + 647.1487470007215, + 338.04476292522077 + ], + [ + 631.8392711821854, + 338.54319503944413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 200, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -23.541194915771484, + "y": 5.80994176864624, + "z": 0.6001450419425964 + }, + "extent": { + "x": 0.21656371653079987, + "y": 0.18154051899909973, + "z": 0.5181429982185364 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 804.3125002935762, + "ymin": 314.687318819796, + "xmax": 826.19364326102, + "ymax": 352.6915353567329 + }, + "corners_3d": [ + [ + -23.815357208251953, + 5.878438472747803, + 0.08200204372406006 + ], + [ + -23.521617889404297, + 6.091852188110352, + 0.08200204372406006 + ], + [ + -23.267032623291016, + 5.741445064544678, + 0.08200204372406006 + ], + [ + -23.560771942138672, + 5.528031349182129, + 0.08200204372406006 + ], + [ + -23.815357208251953, + 5.878438472747803, + 1.1182880401611328 + ], + [ + -23.521617889404297, + 6.091852188110352, + 1.1182880401611328 + ], + [ + -23.267032623291016, + 5.741445064544678, + 1.1182880401611328 + ], + [ + -23.560771942138672, + 5.528031349182129, + 1.1182880401611328 + ] + ], + "corners_2d": [ + [ + 809.0815417322941, + 352.6915353567329 + ], + [ + 821.121558355173, + 350.859180214355 + ], + [ + 816.235545391974, + 340.35996493053995 + ], + [ + 804.3125002935762, + 342.15427245196526 + ], + [ + 813.8253192066495, + 327.0382248109232 + ], + [ + 826.19364326102, + 325.20246069581566 + ], + [ + 821.117916791975, + 314.687318819796 + ], + [ + 808.8729843746636, + 316.48391322949936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 666, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -29.923004150390625, + "y": 9.754949569702148, + "z": 0.7523618340492249 + }, + "extent": { + "x": 0.29103270173072815, + "y": 0.39620697498321533, + "z": 0.888698399066925 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 772.7251331834709, + "ymin": 521.1317017375952, + "xmax": 820.8031361050138, + "ymax": 587.1501143856965 + }, + "corners_3d": [ + [ + -30.412181854248047, + 9.706114768981934, + -0.1363365650177002 + ], + [ + -29.82330322265625, + 10.236343383789062, + -0.1363365650177002 + ], + [ + -29.433826446533203, + 9.803784370422363, + -0.1363365650177002 + ], + [ + -30.022705078125, + 9.273555755615234, + -0.1363365650177002 + ], + [ + -30.412181854248047, + 9.706114768981934, + 1.64106023311615 + ], + [ + -29.82330322265625, + 10.236343383789062, + 1.64106023311615 + ], + [ + -29.433826446533203, + 9.803784370422363, + 1.64106023311615 + ], + [ + -30.022705078125, + 9.273555755615234, + 1.64106023311615 + ] + ], + "corners_2d": [ + [ + 777.4744653606829, + 587.1501143856965 + ], + [ + 810.510475243801, + 584.2303122140161 + ], + [ + 805.2029708864761, + 562.863243070502 + ], + [ + 772.7251331834709, + 565.6831945062916 + ], + [ + 785.7936651567292, + 546.0064569223948 + ], + [ + 820.8031361050138, + 543.0128686302015 + ], + [ + 814.9932699418882, + 521.1317017375952 + ], + [ + 780.6100007904629, + 524.0168975876761 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 704, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -40.07456588745117, + "y": 3.3082025051116943, + "z": 0.6255844831466675 + }, + "extent": { + "x": 0.40233519673347473, + "y": 0.2840910255908966, + "z": 0.8705605864524841 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 226.67448397811188, + "ymin": 650.8243771660834, + "xmax": 288.4649822027154, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -40.56365203857422, + 3.3662965297698975, + -0.24497610330581665 + ], + [ + -40.18346405029297, + 3.7885379791259766, + -0.24497610330581665 + ], + [ + -39.585479736328125, + 3.250108480453491, + -0.24497610330581665 + ], + [ + -39.965667724609375, + 2.827867031097412, + -0.24497610330581665 + ], + [ + -40.56365203857422, + 3.3662965297698975, + 1.4961450099945068 + ], + [ + -40.18346405029297, + 3.7885379791259766, + 1.4961450099945068 + ], + [ + -39.585479736328125, + 3.250108480453491, + 1.4961450099945068 + ], + [ + -39.965667724609375, + 2.827867031097412, + 1.4961450099945068 + ] + ], + "corners_2d": [ + [ + 252.18514244510664, + 724.0787286875957 + ], + [ + 278.74034189356195, + 724.2526475134648 + ], + [ + 288.4649822027154, + 688.0247638161611 + ], + [ + 262.60548383493057, + 687.8598541404438 + ], + [ + 226.67448397811188, + 688.3619659477212 + ], + [ + 254.9733062821254, + 688.5425297491415 + ], + [ + 265.9835522557516, + 650.9949979344876 + ], + [ + 238.47343325933429, + 650.8243771660834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 329, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.978827476501465, + "y": -6.526110649108887, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.45782652497291565, + "y": 0.41376861929893494, + "z": 0.9167744517326355 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 670.2479676249582, + "ymin": 39.843533296928285, + "xmax": 694.8136991069011, + "ymax": 95.8216241666558 + }, + "corners_3d": [ + [ + -15.592424392700195, + -6.591753005981445, + -0.3166733980178833 + ], + [ + -15.106009483337402, + -5.9222612380981445, + -0.3166733980178833 + ], + [ + -14.365230560302734, + -6.460468292236328, + -0.3166733980178833 + ], + [ + -14.851645469665527, + -7.129960060119629, + -0.3166733980178833 + ], + [ + -15.592424392700195, + -6.591753005981445, + 1.5168755054473877 + ], + [ + -15.106009483337402, + -5.9222612380981445, + 1.5168755054473877 + ], + [ + -14.365230560302734, + -6.460468292236328, + 1.5168755054473877 + ], + [ + -14.851645469665527, + -7.129960060119629, + 1.5168755054473877 + ] + ], + "corners_2d": [ + [ + 670.2479676249582, + 94.56673999343639 + ], + [ + 691.2007800377385, + 95.8216241666558 + ], + [ + 692.9111214345019, + 83.58411435935267 + ], + [ + 672.2959729631126, + 82.36971424370194 + ], + [ + 671.3523639194214, + 51.75780027223243 + ], + [ + 693.0734329233467, + 52.984395091192084 + ], + [ + 694.8136991069011, + 41.02914708115793 + ], + [ + 673.4552961054305, + 39.843533296928285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6578, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 764.2264501245222, + "ymin": 128.3394597180122, + "xmax": 913.5081954377881, + "ymax": 260.77478085753273 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 764.2264501245222, + 233.40907302707615 + ], + [ + 815.4124032988349, + 260.77478085753273 + ], + [ + 905.0695300545376, + 185.62748794527496 + ], + [ + 855.501005999005, + 162.50742895172291 + ], + [ + 768.4133644764976, + 198.5714388419789 + ], + [ + 821.5127054503862, + 225.77972003556366 + ], + [ + 913.5081954377881, + 151.1997597135301 + ], + [ + 862.1673387458536, + 128.3394597180122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2393, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1021.3173343515526, + "ymin": 0.0, + "xmax": 1147.5480390196365, + "ymax": 50.34371367546203 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1021.3173343515526, + 34.33948712171508 + ], + [ + 1065.843729432764, + 50.34371367546203 + ], + [ + 1125.3767855397887, + 0.4826282873008836 + ], + [ + 1082.6714358284594, + -13.364132215868665 + ], + [ + 1039.676802303309, + -25.012295460803557 + ], + [ + 1086.845772640334, + -9.662490550550388 + ], + [ + 1147.5480390196365, + -57.37207753819331 + ], + [ + 1102.4464541299221, + -70.56268106902888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 14612, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 262.7981037850627, + "ymin": 440.4740237552878, + "xmax": 502.3751934494528, + "ymax": 663.935143273922 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 282.0559398750854, + 607.8406186908616 + ], + [ + 334.4882182607999, + 663.935143273922 + ], + [ + 502.3751934494528, + 522.9810791161779 + ], + [ + 448.8858120512532, + 478.0123911648591 + ], + [ + 262.7981037850627, + 572.7293987221985 + ], + [ + 317.2566991575119, + 630.3103002773951 + ], + [ + 495.40410843882654, + 486.10941250807764 + ], + [ + 439.64410621287163, + 440.4740237552878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4261, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 627.1761492610455, + "ymin": 64.09056614757748, + "xmax": 732.2504335114224, + "ymax": 160.75337881865025 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 729.4027822302263, + 118.04842837550234 + ], + [ + 692.9878651171716, + 100.74261655321646 + ], + [ + 627.6202292068657, + 141.51307559423475 + ], + [ + 664.4591893348276, + 160.75337881865025 + ], + [ + 732.2504335114224, + 81.08863540513971 + ], + [ + 694.6239903707467, + 64.09056614757748 + ], + [ + 627.1761492610455, + 104.18316729218208 + ], + [ + 665.2579944420073, + 123.14718944758084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.8122005056853, + "ymin": 588.6346467958318, + "xmax": 369.2137072251651, + "ymax": 641.5124836761815 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 355.25381231974853, + 615.6658910874781 + ], + [ + 341.32214083987606, + 627.0213142349062 + ], + [ + 355.2507482591494, + 641.5124836761815 + ], + [ + 369.2137072251651, + 629.9002723532345 + ], + [ + 343.4373233628973, + 588.6346467958318 + ], + [ + 328.8122005056853, + 600.2142064006262 + ], + [ + 343.18379029287416, + 615.0038804830292 + ], + [ + 357.84547108081745, + 603.1513544750453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 226.08674340451864, + "ymin": 484.77976607920084, + "xmax": 266.798324426868, + "ymax": 535.2664139385831 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 255.00306719883042, + 513.4436455588391 + ], + [ + 241.3778175096532, + 523.0400133790065 + ], + [ + 253.1295799797175, + 535.2664139385831 + ], + [ + 266.798324426868, + 525.4708236725509 + ], + [ + 240.35942464871084, + 484.77976607920084 + ], + [ + 226.08674340451864, + 494.5000215399814 + ], + [ + 238.12944985837942, + 506.89305903365164 + ], + [ + 252.45172785872558, + 496.963176722765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.823617613708, + "ymin": 410.6122242203344, + "xmax": 193.35346471496894, + "ymax": 459.16992199032086 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 182.99940583833535, + 440.0236316614826 + ], + [ + 169.68266084997157, + 448.4485665087718 + ], + [ + 179.98781099280512, + 459.16992199032086 + ], + [ + 193.35346471496894, + 450.5812684821711 + ], + [ + 166.74711741729635, + 410.6122242203344 + ], + [ + 152.823617613708, + 419.1049852513386 + ], + [ + 163.33230608352102, + 429.91937269952746 + ], + [ + 177.31090182293792, + 421.25559355367443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 274.3588271527478, + "xmax": 23.367937132697648, + "ymax": 311.1299727431307 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 6.404166534837486, + 304.39567654207286 + ], + [ + 12.703021597793395, + 311.1299727431307 + ], + [ + 23.367937132697648, + 305.7090304319873 + ], + [ + 17.030297275031558, + 299.0497533160816 + ], + [ + -9.849877735859081, + 279.7001454704463 + ], + [ + -3.505184701478356, + 286.430812287892 + ], + [ + 7.526888232476381, + 281.01260146961516 + ], + [ + 1.1400756773865623, + 274.3588271527478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.8987260204481, + "ymin": 121.30095780455198, + "xmax": 978.4932361773657, + "ymax": 137.46165954180995 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 970.8872116178461, + 137.46165954180995 + ], + [ + 977.2801400775772, + 132.09121205653486 + ], + [ + 961.3444586028126, + 125.37209174080928 + ], + [ + 954.8987260204481, + 130.65104518496776 + ], + [ + 972.0854531307, + 133.37109146823178 + ], + [ + 978.4932361773657, + 128.00911263714934 + ], + [ + 962.490350249872, + 121.30095780455198 + ], + [ + 956.0292458117056, + 126.57126145397572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.9196827829777, + "ymin": 112.10608571188732, + "xmax": 1124.3865973701504, + "ymax": 425.7231572234815 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1011.0716785069542, + 425.7231572234815 + ], + [ + 1018.8615002553394, + 416.4056246986552 + ], + [ + 896.2021169723439, + 347.5622413755678 + ], + [ + 887.9196827829777, + 355.7173778412206 + ], + [ + 1115.577916256098, + 188.7779835462029 + ], + [ + 1124.3865973701504, + 179.47453516956114 + ], + [ + 961.8087855024091, + 112.10608571188732 + ], + [ + 952.0547641952859, + 119.96266948170029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.7727327660753, + "ymin": 121.21501541665512, + "xmax": 978.6212790103546, + "ymax": 137.5496066365714 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 970.9333282697394, + 137.5496066365714 + ], + [ + 977.3946885458197, + 132.1208061433998 + ], + [ + 961.2880376040955, + 125.32981119981523 + ], + [ + 954.7727327660753, + 130.66513876534688 + ], + [ + 972.1447457828164, + 133.4149564525602 + ], + [ + 978.6212790103546, + 127.99480675534426 + ], + [ + 962.4459724057, + 121.21501541665512 + ], + [ + 955.9149604655158, + 126.54150513492678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.8271567310048, + "ymin": 0.0, + "xmax": 1029.2178694778943, + "ymax": 8.991759349907227 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1011.8271567310048, + 8.597795728275742 + ], + [ + 1012.9556029229718, + 8.991759349907227 + ], + [ + 1013.7909999582596, + 8.376185144221381 + ], + [ + 1012.6631032401664, + 7.982950295371438 + ], + [ + 1027.1783054969053, + -43.35819645322255 + ], + [ + 1028.3628443847592, + -42.98002667715275 + ], + [ + 1029.2178694778943, + -43.57091462266169 + ], + [ + 1028.0339446619196, + -43.94835599330395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 98.68040164817472, + "xmax": 67.65592276763641, + "ymax": 658.3480897622547 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 67.65592276763641, + 366.686716194889 + ], + [ + 60.80515231930963, + 359.1731994396938 + ], + [ + -469.6104673343548, + 645.9640697813818 + ], + [ + -465.85103711801776, + 658.3480897622547 + ], + [ + -98.13193751959875, + 105.88399946715657 + ], + [ + -105.38094175585866, + 98.68040164817472 + ], + [ + -913.9402733423437, + 397.2588757953901 + ], + [ + -914.5965015775091, + 411.34275457451054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.2565600467665, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 70.60914050499014 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1307.962813984064, + 70.60914050499014 + ], + [ + 1311.4876714203772, + 66.39298783198603 + ], + [ + 1214.1676124490145, + 34.48469463448464 + ], + [ + 1210.2565600467665, + 38.33564098693637 + ], + [ + 1423.6346057623336, + -136.5792951089835 + ], + [ + 1426.9791372563925, + -140.11169893254788 + ], + [ + 1307.847341759934, + -166.61712445900923 + ], + [ + 1303.9022554438188, + -163.43946499811034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.22409720547682, + "ymin": 0.0, + "xmax": 248.51061283736362, + "ymax": 67.41078270206697 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 237.82943118225063, + 67.41078270206697 + ], + [ + 248.51061283736362, + 62.804719353525286 + ], + [ + 175.74714461451805, + 16.940316336493993 + ], + [ + 165.31522581997774, + 20.975722548183228 + ], + [ + 163.54341963949616, + -154.17735680521605 + ], + [ + 176.74235231367038, + -157.95838047295558 + ], + [ + 96.99103518813922, + -195.12855551823202 + ], + [ + 84.22409720547682, + -191.8926343996202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.8529789638749, + "ymin": 0.0, + "xmax": 1030.3357410438612, + "ymax": 5.518885958367832 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1012.8529789638749, + 5.125898430987149 + ], + [ + 1013.9851499714762, + 5.518885958367832 + ], + [ + 1014.8218953829679, + 4.904837479785158 + ], + [ + 1013.6902780187718, + 4.512578922971102 + ], + [ + 1028.2907065603147, + -47.12311996706188 + ], + [ + 1029.479339435255, + -46.74619351555532 + ], + [ + 1030.3357410438612, + -47.33513818661493 + ], + [ + 1029.1477271074464, + -47.71133654398153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.34620264941293, + "ymin": 290.6738108477218, + "xmax": 608.9417116187544, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 592.24856375428, + 955.6631892822979 + ], + [ + 608.9417116187544, + 935.6775458966509 + ], + [ + 250.99109237085645, + 549.0817735265878 + ], + [ + 234.99829916162298, + 560.5033458066994 + ], + [ + 566.08693144047, + 785.0647137950367 + ], + [ + 592.2501737732816, + 757.590643467324 + ], + [ + 110.98023455252462, + 290.6738108477218 + ], + [ + 87.34620264941293, + 302.91744535995963 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00106/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00106/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73234c4fbda60d35113f9b6d09289c4e56100481 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00106/meta.json @@ -0,0 +1,4445 @@ +{ + "frame_id": 106, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.0, + "sim_timestamp": 12886.386355259689 + }, + "drone_pose": { + "x": -40.98702149121683, + "y": 14.32921653314487, + "z": 20.0, + "pitch": -46.64955801609279, + "yaw": -41.00844668783032, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5180106163024902, + 0.4504338502883911, + 0.7271686792373657, + 13.142702102661133 + ], + [ + -0.6561702489852905, + 0.7546128630638123, + 0.0, + 16.081453323364258 + ], + [ + -0.5487308502197266, + -0.4771464765071869, + 0.6864587664604187, + -43.057159423828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.81724078150732, + "y": 13.447040932153376, + "z": 20.0 + }, + "t1_image_uv": [ + -456.4624122379587, + -656.9320361951953 + ], + "t1_depth": 0.485309980689219 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -27.16718292236328, + "y": 2.312236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 26.678677229225023, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": 2.312236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2717065215110779, + "y": 0.18209417164325714, + "z": 0.5600349307060242 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 632.7201652705771, + "ymin": 338.57173975251226, + "xmax": 647.3788004133634, + "ymax": 381.08963710778545 + }, + "corners_3d": [ + [ + -27.488067626953125, + 2.3756022453308105, + 0.04006612300872803 + ], + [ + -27.230548858642578, + 2.633122444152832, + 0.04006612300872803 + ], + [ + -26.846298217773438, + 2.248871326446533, + 0.04006612300872803 + ], + [ + -27.103816986083984, + 1.9913512468338013, + 0.04006612300872803 + ], + [ + -27.488067626953125, + 2.3756022453308105, + 1.1601359844207764 + ], + [ + -27.230548858642578, + 2.633122444152832, + 1.1601359844207764 + ], + [ + -26.846298217773438, + 2.248871326446533, + 1.1601359844207764 + ], + [ + -27.103816986083984, + 1.9913512468338013, + 1.1601359844207764 + ] + ], + "corners_2d": [ + [ + 634.190317172859, + 381.08963710778545 + ], + [ + 647.155455703146, + 380.4183531399558 + ], + [ + 645.7267292543314, + 366.2682416863272 + ], + [ + 632.9376474702792, + 366.92133333878144 + ], + [ + 634.008857336037, + 353.44234326325017 + ], + [ + 647.3788004133634, + 352.7685438248218 + ], + [ + 645.9029655397768, + 338.57173975251226 + ], + [ + 632.7201652705771, + 339.22672048196256 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 106, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 402190, + "2": 260639, + "3": 32346, + "5": 2486, + "6": 11712, + "7": 2749, + "10": 42, + "12": 2102, + "14": 30966, + "15": 10559, + "20": 3682, + "24": 28493, + "25": 133634 + }, + "instance_pixel_counts": { + "3166": 4057, + "3424": 133634, + "3678": 7946, + "6215": 128616, + "6290": 2929, + "6796": 3281, + "8332": 12485, + "8338": 57835, + "9822": 23, + "15184": 2486, + "17227": 541, + "17738": 25, + "17995": 85, + "18000": 3682, + "18763": 397, + "19275": 316, + "19531": 177, + "21140": 7413, + "21652": 21897, + "23114": 41, + "23627": 409, + "23700": 200205, + "24395": 582, + "24907": 340, + "25856": 10572, + "26112": 1013, + "26442": 373, + "28234": 108, + "30338": 283, + "31819": 194, + "33370": 31968, + "35476": 326, + "35988": 4100, + "37524": 11346, + "38540": 1333, + "40588": 18118, + "42330": 378, + "43409": 6746, + "44945": 29210, + "47947": 747, + "52038": 86, + "56576": 209, + "56832": 222, + "57088": 622, + "57344": 717, + "57600": 332, + "57856": 6708, + "58368": 2613, + "59904": 15825, + "60928": 4353, + "62081": 2593, + "62611": 62, + "62613": 5342, + "63123": 53652, + "64149": 3044, + "64659": 118961 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -27.16718292236328, + "y": 2.312236785888672, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2514623701572418, + "y": 0.33686548471450806, + "z": 0.5471548438072205 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.1615064613677, + "ymin": 339.14323465176335, + "xmax": 652.9919216644967, + "ymax": 380.53163468730156 + }, + "corners_3d": [ + [ + -27.583192825317383, + 2.251847743988037, + 0.05294620990753174 + ], + [ + -27.106794357299805, + 2.7282474040985107, + 0.05294620990753174 + ], + [ + -26.75117301940918, + 2.3726258277893066, + 0.05294620990753174 + ], + [ + -27.227571487426758, + 1.896226167678833, + 0.05294620990753174 + ], + [ + -27.583192825317383, + 2.251847743988037, + 1.1472558975219727 + ], + [ + -27.106794357299805, + 2.7282474040985107, + 1.1472558975219727 + ], + [ + -26.75117301940918, + 2.3726258277893066, + 1.1472558975219727 + ], + [ + -27.227571487426758, + 1.896226167678833, + 1.1472558975219727 + ] + ], + "corners_2d": [ + [ + 628.6269325538799, + 380.53163468730156 + ], + [ + 652.6078904439953, + 379.290979322928 + ], + [ + 651.2159782597059, + 366.20178702173024 + ], + [ + 627.5366517611867, + 367.41127903613653 + ], + [ + 628.2800861284584, + 353.5195667060632 + ], + [ + 652.9919216644967, + 352.2744079012155 + ], + [ + 651.5531672673685, + 339.14323465176335 + ], + [ + 627.1615064613677, + 340.3561823048355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 222, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -23.041194915771484, + "y": 5.30994176864624, + "z": 0.6001450419425964 + }, + "extent": { + "x": 0.21876829862594604, + "y": 0.19741836190223694, + "z": 0.5317583680152893 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 802.2839786143204, + "ymin": 311.18057850767025, + "xmax": 825.5334083798459, + "ymax": 350.2378350866881 + }, + "corners_3d": [ + [ + -23.329498291015625, + 5.370889186859131, + 0.06838667392730713 + ], + [ + -23.010068893432617, + 5.602968692779541, + 0.06838667392730713 + ], + [ + -22.752891540527344, + 5.24899435043335, + 0.06838667392730713 + ], + [ + -23.07232093811035, + 5.0169148445129395, + 0.06838667392730713 + ], + [ + -23.329498291015625, + 5.370889186859131, + 1.1319034099578857 + ], + [ + -23.010068893432617, + 5.602968692779541, + 1.1319034099578857 + ], + [ + -22.752891540527344, + 5.24899435043335, + 1.1319034099578857 + ], + [ + -23.07232093811035, + 5.0169148445129395, + 1.1319034099578857 + ] + ], + "corners_2d": [ + [ + 807.4120204695532, + 350.2378350866881 + ], + [ + 820.3603183213861, + 348.0252907417828 + ], + [ + 815.1082262031453, + 337.5321657192158 + ], + [ + 802.2839786143204, + 339.69869751530393 + ], + [ + 812.2246032628684, + 323.9051401424143 + ], + [ + 825.5334083798459, + 321.6886423335319 + ], + [ + 820.0767466977958, + 311.18057850767025 + ], + [ + 806.8989408502264, + 313.34967926558204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 622, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -29.423004150390625, + "y": 9.254949569702148, + "z": 0.7524545788764954 + }, + "extent": { + "x": 0.4266747832298279, + "y": 0.35101318359375, + "z": 0.8957391977310181 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 779.0638960835246, + "ymin": 512.7905880816209, + "xmax": 826.9356677076005, + "ymax": 589.3398226540647 + }, + "corners_3d": [ + [ + -29.969358444213867, + 9.337157249450684, + -0.1432846188545227 + ], + [ + -29.447650909423828, + 9.806904792785645, + -0.1432846188545227 + ], + [ + -28.876649856567383, + 9.172741889953613, + -0.1432846188545227 + ], + [ + -29.398357391357422, + 8.702994346618652, + -0.1432846188545227 + ], + [ + -29.969358444213867, + 9.337157249450684, + 1.6481938362121582 + ], + [ + -29.447650909423828, + 9.806904792785645, + 1.6481938362121582 + ], + [ + -28.876649856567383, + 9.172741889953613, + 1.6481938362121582 + ], + [ + -29.398357391357422, + 8.702994346618652, + 1.6481938362121582 + ] + ], + "corners_2d": [ + [ + 787.0527278338951, + 589.3398226540647 + ], + [ + 816.1898598168904, + 586.1139006040983 + ], + [ + 807.4923286237286, + 555.019295751249 + ], + [ + 779.0638960835246, + 558.0856454392133 + ], + [ + 796.0461628921965, + 547.9411008846719 + ], + [ + 826.9356677076005, + 544.6321245151958 + ], + [ + 817.4369672598739, + 512.7905880816209 + ], + [ + 787.342767577184, + 515.9262831324186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 717, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -39.53078842163086, + "y": 0.5330325365066528, + "z": 0.6158090829849243 + }, + "extent": { + "x": 0.3822582960128784, + "y": 0.3900000751018524, + "z": 0.9021015167236328 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 171.05981978309745, + "ymin": 593.2059669225952, + "xmax": 243.90354461319356, + "ymax": 665.4834203680396 + }, + "corners_3d": [ + [ + -40.07582092285156, + 0.4989868402481079, + -0.2862924337387085 + ], + [ + -39.55390167236328, + 1.0786397457122803, + -0.2862924337387085 + ], + [ + -38.985755920410156, + 0.5670782327651978, + -0.2862924337387085 + ], + [ + -39.50767517089844, + -0.012574732303619385, + -0.2862924337387085 + ], + [ + -40.07582092285156, + 0.4989868402481079, + 1.5179105997085571 + ], + [ + -39.55390167236328, + 1.0786397457122803, + 1.5179105997085571 + ], + [ + -38.985755920410156, + 0.5670782327651978, + 1.5179105997085571 + ], + [ + -39.50767517089844, + -0.012574732303619385, + 1.5179105997085571 + ] + ], + "corners_2d": [ + [ + 199.7376645531656, + 665.4834203680396 + ], + [ + 234.81126625284514, + 664.9125897149847 + ], + [ + 243.90354461319356, + 633.3663807674181 + ], + [ + 209.67116878802022, + 633.9102832746524 + ], + [ + 171.05981978309745, + 626.3502945508403 + ], + [ + 208.43018327752867, + 625.7602901024006 + ], + [ + 218.76896212574087, + 593.2059669225952 + ], + [ + 182.35210507236388, + 593.7663949918835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 332, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -15.051214218139648, + "y": -6.612523078918457, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.41985899209976196, + "y": 0.33744627237319946, + "z": 0.9356521368026733 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 661.6346354251596, + "ymin": 48.54900406504669, + "xmax": 681.7020068909164, + "ymax": 104.52643329802956 + }, + "corners_3d": [ + [ + -15.5892333984375, + -6.638735771179199, + -0.3355559706687927 + ], + [ + -15.192541122436523, + -6.09273624420166, + -0.3355559706687927 + ], + [ + -14.513195037841797, + -6.586310386657715, + -0.3355559706687927 + ], + [ + -14.909887313842773, + -7.132309913635254, + -0.3355559706687927 + ], + [ + -15.5892333984375, + -6.638735771179199, + 1.5357482433319092 + ], + [ + -15.192541122436523, + -6.09273624420166, + 1.5357482433319092 + ], + [ + -14.513195037841797, + -6.586310386657715, + 1.5357482433319092 + ], + [ + -14.909887313842773, + -7.132309913635254, + 1.5357482433319092 + ] + ], + "corners_2d": [ + [ + 661.6346354251596, + 103.70270564121535 + ], + [ + 678.9394303036707, + 104.52643329802956 + ], + [ + 680.2056217001644, + 92.99615639953623 + ], + [ + 663.1612340315312, + 92.19717313999013 + ], + [ + 662.4517698450506, + 59.79340544203677 + ], + [ + 680.4118151690126, + 60.59893053825431 + ], + [ + 681.7020068909164, + 49.32943858244238 + ], + [ + 664.0223034080121, + 48.54900406504669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6708, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 762.7897770981483, + "ymin": 136.78686118196597, + "xmax": 911.5079721585982, + "ymax": 272.6808218012554 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 762.7897770981483, + 245.30924430328318 + ], + [ + 815.5466430757326, + 272.6808218012554 + ], + [ + 903.0386565892754, + 194.06195131624096 + ], + [ + 852.2588372074026, + 171.0670476296442 + ], + [ + 766.9895910860847, + 210.3895349379467 + ], + [ + 821.7394947121509, + 237.62997186249794 + ], + [ + 911.5079721585982, + 159.5394839985591 + ], + [ + 858.9026930098089, + 136.78686118196597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2613, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1013.5466902083815, + "ymin": 0.0, + "xmax": 1137.7382766269886, + "ymax": 53.65506609868419 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1013.5466902083815, + 37.89811944651808 + ], + [ + 1058.6694173157377, + 53.65506609868419 + ], + [ + 1115.908299707587, + 2.2616346124147526 + ], + [ + 1072.8025078936873, + -11.320266177735732 + ], + [ + 1031.6525356651796, + -21.640473755826918 + ], + [ + 1079.4453937960507, + -6.518789278187285 + ], + [ + 1137.7382766269886, + -55.71792056256493 + ], + [ + 1092.2278161447925, + -68.66119610839917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 15825, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 261.8257019642542, + "ymin": 467.53409775866743, + "xmax": 506.1265308410825, + "ymax": 702.2260324247752 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 281.7031059188529, + 644.3898936945429 + ], + [ + 337.60274882633945, + 702.2260324247752 + ], + [ + 506.1265308410825, + 550.5588894108055 + ], + [ + 449.7841554386414, + 504.6822765899086 + ], + [ + 261.8257019642542, + 610.2423976543851 + ], + [ + 320.01161615024546, + 669.804125707241 + ], + [ + 499.1711136989071, + 514.2009289684106 + ], + [ + 440.35228784634364, + 467.53409775866743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4353, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 620.4648536640556, + "ymin": 73.10359465053256, + "xmax": 726.0840970772242, + "ymax": 172.0121340492991 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 723.3936184327093, + 127.21379162931038 + ], + [ + 685.9504230117492, + 109.93872892616227 + ], + [ + 621.1337766080002, + 152.73500150481541 + ], + [ + 659.1647102405832, + 172.0121340492991 + ], + [ + 726.0840970772242, + 90.08564545377453 + ], + [ + 687.3853638451477, + 73.10359465053256 + ], + [ + 620.4648536640556, + 115.22677151368046 + ], + [ + 659.7937181481698, + 134.24626432138453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.8126632818598, + "ymin": 636.5648418415069, + "xmax": 378.63133923815553, + "ymax": 690.272342983541 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 363.5853155545952, + 662.5968877284804 + ], + [ + 349.46532125651055, + 675.0807805595025 + ], + [ + 364.49427883671854, + 690.272342983541 + ], + [ + 378.63133923815553, + 677.5034344205001 + ], + [ + 351.6652624909706, + 636.5648418415069 + ], + [ + 336.8126632818598, + 649.3353912701918 + ], + [ + 352.35325661536854, + 664.8898526195131 + ], + [ + 367.22724289833656, + 651.8148823094579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 225.85179449232214, + "ymin": 527.5749273491949, + "xmax": 268.3193887028803, + "ymax": 578.9683352680343 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 255.62533628432334, + 555.6373683128224 + ], + [ + 241.7219527825664, + 566.1713482677475 + ], + [ + 254.3819691184582, + 578.9683352680343 + ], + [ + 268.3193887028803, + 568.2137431284232 + ], + [ + 240.44630471605558, + 527.5749273491949 + ], + [ + 225.85179449232214, + 538.275152466493 + ], + [ + 238.84903089068666, + 551.2839834306403 + ], + [ + 253.483338489274, + 540.350630066911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.84406493597822, + "ymin": 449.8596150681637, + "xmax": 189.31380600031065, + "ymax": 499.35893430675605 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 178.18266577130873, + 478.91199277039846 + ], + [ + 164.5363190876082, + 488.14999218739 + ], + [ + 175.62529413635173, + 499.35893430675605 + ], + [ + 189.31380600031065, + 489.939938019518 + ], + [ + 161.1419513880038, + 449.8596150681637 + ], + [ + 146.84406493597822, + 459.19628533638314 + ], + [ + 158.17016238021466, + 470.53247989091335 + ], + [ + 172.5163435463926, + 461.0059978775827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 303.64478984208733, + "xmax": 6.2466896923741615, + "ymax": 341.12554576800244 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + -11.467759314710406, + 334.15100901408175 + ], + [ + -4.734324828338458, + 341.12554576800244 + ], + [ + 6.2466896923741615, + 335.2357051845054 + ], + [ + -0.5235716510259181, + 328.34295900465474 + ], + [ + -28.726752845835904, + 309.45726033414286 + ], + [ + -21.938341604319362, + 316.4394907612144 + ], + [ + -10.561867167865898, + 310.54298207422175 + ], + [ + -17.390564036470096, + 303.64478984208733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.9137984557744, + "ymin": 134.27402793144736, + "xmax": 985.8882106338801, + "ymax": 150.81427335684725 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 978.4577886729296, + 150.81427335684725 + ], + [ + 984.6267607916245, + 145.1361842520372 + ], + [ + 968.1460448196086, + 138.3675098509458 + ], + [ + 961.9137984557744, + 143.9498267840403 + ], + [ + 979.7054606724113, + 146.70237366281532 + ], + [ + 985.8882106338801, + 141.03251142788267 + ], + [ + 969.3369965870035, + 134.27402793144736 + ], + [ + 963.0903619781255, + 139.84790996018657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5682934192954, + "ymin": 124.9560868310356, + "xmax": 1136.5476369438775, + "ymax": 439.4959865024151 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1019.4938608191732, + 439.4959865024151 + ], + [ + 1026.9451219870664, + 429.72989114966356 + ], + [ + 900.6067206887126, + 360.92262339830296 + ], + [ + 892.5682934192954, + 369.4862181737212 + ], + [ + 1128.2286563999883, + 202.60809674768024 + ], + [ + 1136.5476369438775, + 192.78341398382395 + ], + [ + 968.5314405755346, + 124.9560868310356 + ], + [ + 959.0976110324939, + 133.26720923732117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.7857497669315, + "ymin": 134.1860800515055, + "xmax": 986.0182864931755, + "ymax": 150.90429854573776 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 978.5078686102282, + 150.90429854573776 + ], + [ + 984.7428100494147, + 145.16452289808322 + ], + [ + 968.0853320146689, + 138.32346934921432 + ], + [ + 961.7857497669315, + 143.96540152385165 + ], + [ + 979.769272660682, + 146.74809320339972 + ], + [ + 986.0182864931755, + 141.01672118561993 + ], + [ + 969.2887884300192, + 134.1860800515055 + ], + [ + 962.9745034658099, + 139.81939377360325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.8096659812309, + "ymin": 0.0, + "xmax": 1019.9095923055271, + "ymax": 12.087572281073562 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 1002.8096659812309, + 11.699795631297604 + ], + [ + 1003.9528159733252, + 12.087572281073562 + ], + [ + 1004.7625840408746, + 11.451782311516524 + ], + [ + 1003.6200508790133, + 11.06474213055725 + ], + [ + 1017.8814006845505, + -40.416586044176654 + ], + [ + 1019.081172037326, + -40.04417229938099 + ], + [ + 1019.9095923055271, + -40.65476418308879 + ], + [ + 1018.7105081423516, + -41.02644128907298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 126.35400791986325, + "xmax": 52.90812683708555, + "ymax": 715.6995651864845 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 52.90812683708555, + 395.6451438963603 + ], + [ + 45.605184908583624, + 387.9011899504871 + ], + [ + -506.2461800871572, + 702.5596552862438 + ], + [ + -502.0564665190698, + 715.6995651864845 + ], + [ + -123.59524574432044, + 133.90481409669567 + ], + [ + -131.387551160518, + 126.35400791986325 + ], + [ + -994.102113941653, + 462.6441405114758 + ], + [ + -994.8544615596088, + 478.1344822070443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.062633993913, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 71.3371832165302 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1300.3907510281788, + 71.3371832165302 + ], + [ + 1303.6880011258634, + 67.015583498882 + ], + [ + 1205.7761400615052, + 35.8168425134985 + ], + [ + 1202.062633993913, + 39.77296554404103 + ], + [ + 1415.0431003151177, + -136.11600070744294 + ], + [ + 1418.1111614037422, + -139.73938677439685 + ], + [ + 1298.4267908333575, + -165.67790322996325 + ], + [ + 1294.717448910278, + -162.40999858236523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 58.43279328460619, + "ymin": 0.0, + "xmax": 231.76768001905555, + "ymax": 81.66002685870433 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 220.92337538662224, + 81.66002685870433 + ], + [ + 231.76768001905555, + 76.76159941702116 + ], + [ + 155.72560570717138, + 30.27097763775589 + ], + [ + 145.09743138471305, + 34.56647638750184 + ], + [ + 141.59299387799018, + -142.58152164000683 + ], + [ + 155.0988714053833, + -146.63340590040826 + ], + [ + 71.54047939375812, + -184.58963359844847 + ], + [ + 58.43279328460619, + -181.12014329888598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.81658569288, + "ymin": 0.0, + "xmax": 1021.0074718559626, + "ymax": 8.60480788295962 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1003.81658569288, + 8.217979301468688 + ], + [ + 1004.9634957486851, + 8.60480788295962 + ], + [ + 1005.7745472161446, + 7.970572997985698 + ], + [ + 1004.6282585367549, + 7.584481121363922 + ], + [ + 1018.9738423392289, + -44.194127737559995 + ], + [ + 1020.1777461011886, + -43.82292517702291 + ], + [ + 1021.0074718559626, + -44.431530580829985 + ], + [ + 1019.804260578232, + -44.8019967781388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.67659367684541, + "ymin": 327.68386434601564, + "xmax": 629.5520504386787, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 613.0623308300078, + 1003.5644804075052 + ], + [ + 629.5520504386787, + 981.9190833773699 + ], + [ + 247.87386987876897, + 583.3132219400953 + ], + [ + 231.63201813383398, + 595.6700915760389 + ], + [ + 597.6019776677383, + 852.7982023385442 + ], + [ + 623.6777665834912, + 822.0531343387756 + ], + [ + 101.0986735323122, + 327.68386434601564 + ], + [ + 76.67659367684541, + 341.21623383999315 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7066634c62fee06fd5445ea9364e550136b1661b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00107/meta.json @@ -0,0 +1,4343 @@ +{ + "frame_id": 107, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 12897.20682969992 + }, + "drone_pose": { + "x": -40.81724078150732, + "y": 13.447040932153376, + "z": 20.0, + "pitch": -46.6411582048962, + "yaw": -39.42855625737467, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5303149223327637, + 0.43604835867881775, + 0.7270680665969849, + 12.968189239501953 + ], + [ + -0.6351155042648315, + 0.7724171876907349, + 0.0, + 15.536941528320312 + ], + [ + -0.561599850654602, + -0.46177220344543457, + 0.6865653991699219, + -42.86373519897461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.68248761938634, + "y": 12.553896851392587, + "z": 20.0 + }, + "t1_image_uv": [ + -618.6340730467982, + -656.6334142424116 + ], + "t1_depth": 0.46091562966308575 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -26.66718292236328, + "y": 1.812236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 26.68237027186855, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 213, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -26.66718292236328, + "y": 1.8122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24686521291732788, + "y": 0.34965792298316956, + "z": 0.5527703762054443 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.4869257163922, + "ymin": 338.864008738977, + "xmax": 653.6634125789892, + "ymax": 380.80604251490064 + }, + "corners_3d": [ + [ + -27.0889892578125, + 1.739551305770874, + 0.04733067750930786 + ], + [ + -26.594497680664062, + 2.2340424060821533, + 0.04733067750930786 + ], + [ + -26.245376586914062, + 1.8849222660064697, + 0.04733067750930786 + ], + [ + -26.7398681640625, + 1.3904311656951904, + 0.04733067750930786 + ], + [ + -27.0889892578125, + 1.739551305770874, + 1.1528713703155518 + ], + [ + -26.594497680664062, + 2.2340424060821533, + 1.1528713703155518 + ], + [ + -26.245376586914062, + 1.8849222660064697, + 1.1528713703155518 + ], + [ + -26.7398681640625, + 1.3904311656951904, + 1.1528713703155518 + ] + ], + "corners_2d": [ + [ + 628.4324515430372, + 380.80604251490064 + ], + [ + 653.2557233169531, + 379.0108902709261 + ], + [ + 651.404702087356, + 366.2011113275875 + ], + [ + 626.8858237007219, + 367.9520925598791 + ], + [ + 628.0760476302407, + 353.5165576989043 + ], + [ + 653.6634125789892, + 351.7148674302344 + ], + [ + 651.7509916206164, + 338.864008738977 + ], + [ + 626.4869257163922, + 340.6200284988245 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 399930, + "2": 262272, + "3": 22244, + "5": 2542, + "6": 10470, + "7": 2571, + "10": 31, + "12": 2050, + "14": 33404, + "15": 11175, + "20": 3769, + "24": 29538, + "25": 141604 + }, + "instance_pixel_counts": { + "3166": 4385, + "3424": 141604, + "3678": 8379, + "5214": 55, + "6215": 128168, + "6290": 3677, + "6796": 3315, + "8332": 13224, + "8338": 57005, + "9822": 444, + "15184": 2542, + "17227": 571, + "17738": 96, + "17995": 91, + "18000": 3769, + "18763": 406, + "19275": 252, + "19531": 139, + "21140": 7577, + "21652": 10679, + "23114": 140, + "23627": 430, + "23700": 205657, + "24395": 755, + "24907": 360, + "25856": 9351, + "26112": 648, + "26442": 397, + "28234": 118, + "30338": 373, + "31819": 305, + "32587": 12, + "33370": 22090, + "35476": 331, + "35988": 2468, + "37524": 11594, + "38540": 1342, + "40588": 17540, + "42330": 154, + "43409": 6375, + "44945": 31343, + "47947": 938, + "52038": 283, + "56576": 213, + "56832": 194, + "57088": 653, + "57344": 623, + "57600": 367, + "57856": 6822, + "58368": 2796, + "59904": 17247, + "60928": 4451, + "62081": 2669, + "62611": 151, + "62613": 6867, + "63123": 50227, + "64149": 3268, + "64659": 125639 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 213, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -26.66718292236328, + "y": 1.8122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2725536823272705, + "y": 0.18971630930900574, + "z": 0.5637438297271729 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 632.1852209021188, + "ymin": 338.325241203592, + "xmax": 647.9187386341897, + "ymax": 381.33466133546153 + }, + "corners_3d": [ + [ + -26.994056701660156, + 1.8708115816116333, + 0.036357223987579346 + ], + [ + -26.725757598876953, + 2.139111042022705, + 0.036357223987579346 + ], + [ + -26.340309143066406, + 1.7536619901657104, + 0.036357223987579346 + ], + [ + -26.60860824584961, + 1.4853625297546387, + 0.036357223987579346 + ], + [ + -26.994056701660156, + 1.8708115816116333, + 1.1638448238372803 + ], + [ + -26.725757598876953, + 2.139111042022705, + 1.1638448238372803 + ], + [ + -26.340309143066406, + 1.7536619901657104, + 1.1638448238372803 + ], + [ + -26.60860824584961, + 1.4853625297546387, + 1.1638448238372803 + ] + ], + "corners_2d": [ + [ + 634.2043651428017, + 381.33466133546153 + ], + [ + 647.6775873955403, + 380.3594368782397 + ], + [ + 645.7111620756473, + 366.2060252730393 + ], + [ + 632.4201758292958, + 367.154798489332 + ], + [ + 634.0221490178789, + 353.5041801178592 + ], + [ + 647.9187386341897, + 352.52529356491493 + ], + [ + 645.8880241749587, + 338.325241203592 + ], + [ + 632.1852209021188, + 339.2767604118887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 194, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -22.541194915771484, + "y": 4.80994176864624, + "z": 0.6001401543617249 + }, + "extent": { + "x": 0.22697752714157104, + "y": 0.2562660276889801, + "z": 0.5425540804862976 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 798.4075345427334, + "ymin": 306.9542164058866, + "xmax": 825.9211387835397, + "ymax": 347.7650253831779 + }, + "corners_3d": [ + [ + -22.881933212280273, + 4.842940807342529, + 0.057586073875427246 + ], + [ + -22.46728515625, + 5.144199848175049, + 0.057586073875427246 + ], + [ + -22.200456619262695, + 4.776942729949951, + 0.057586073875427246 + ], + [ + -22.61510467529297, + 4.475683689117432, + 0.057586073875427246 + ], + [ + -22.881933212280273, + 4.842940807342529, + 1.1426942348480225 + ], + [ + -22.46728515625, + 5.144199848175049, + 1.1426942348480225 + ], + [ + -22.200456619262695, + 4.776942729949951, + 1.1426942348480225 + ], + [ + -22.61510467529297, + 4.475683689117432, + 1.1426942348480225 + ] + ], + "corners_2d": [ + [ + 804.0778574018757, + 347.7650253831779 + ], + [ + 820.6545045783712, + 344.5723458657235 + ], + [ + 814.8244014761927, + 333.8448735845206 + ], + [ + 798.4075345427334, + 336.9693966030189 + ], + [ + 808.8769309101451, + 320.8925411682648 + ], + [ + 825.9211387835397, + 317.69469498632225 + ], + [ + 819.8648872668253, + 306.9542164058866 + ], + [ + 802.9895181636838, + 310.0818352871109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 653, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -28.923004150390625, + "y": 8.754949569702148, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3367358446121216, + "y": 0.45775115489959717, + "z": 0.9096829295158386 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 781.1925021677848, + "ymin": 514.6839344012787, + "xmax": 836.8711546430055, + "ymax": 586.4648335343467 + }, + "corners_3d": [ + [ + -29.488500595092773, + 8.698897361755371, + -0.3095818758010864 + ], + [ + -28.808149337768555, + 9.311488151550293, + -0.3095818758010864 + ], + [ + -28.357507705688477, + 8.811001777648926, + -0.3095818758010864 + ], + [ + -29.037858963012695, + 8.198410987854004, + -0.3095818758010864 + ], + [ + -29.488500595092773, + 8.698897361755371, + 1.5097839832305908 + ], + [ + -28.808149337768555, + 9.311488151550293, + 1.5097839832305908 + ], + [ + -28.357507705688477, + 8.811001777648926, + 1.5097839832305908 + ], + [ + -29.037858963012695, + 8.198410987854004, + 1.5097839832305908 + ] + ], + "corners_2d": [ + [ + 788.2364010013739, + 586.4648335343467 + ], + [ + 825.5180397201059, + 581.3879683959855 + ], + [ + 817.7737533304123, + 557.1933874322519 + ], + [ + 781.1925021677848, + 562.0733667025052 + ], + [ + 797.347485206653, + 544.6663745605667 + ], + [ + 836.8711546430055, + 539.4599747535567 + ], + [ + 828.4275895207101, + 514.6839344012787 + ], + [ + 789.6901193484804, + 519.6764258565114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 623, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -36.25787353515625, + "y": -1.348602533340454, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.35139524936676025, + "y": 0.3469441831111908, + "z": 0.8952943086624146 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 254.4888187603139, + "ymin": 489.49990694600444, + "xmax": 310.238648290967, + "ymax": 557.4628954878432 + }, + "corners_3d": [ + [ + -36.751163482666016, + -1.371302843093872, + -0.29519325494766235 + ], + [ + -36.286861419677734, + -0.8556434512138367, + -0.29519325494766235 + ], + [ + -35.764583587646484, + -1.3259022235870361, + -0.29519325494766235 + ], + [ + -36.228885650634766, + -1.8415615558624268, + -0.29519325494766235 + ], + [ + -36.751163482666016, + -1.371302843093872, + 1.4953954219818115 + ], + [ + -36.286861419677734, + -0.8556434512138367, + 1.4953954219818115 + ], + [ + -35.764583587646484, + -1.3259022235870361, + 1.4953954219818115 + ], + [ + -36.228885650634766, + -1.8415615558624268, + 1.4953954219818115 + ] + ], + "corners_2d": [ + [ + 275.96111558636096, + 557.4628954878432 + ], + [ + 304.7381134693911, + 556.3536961384706 + ], + [ + 310.238648290967, + 531.8662025346265 + ], + [ + 282.04804377617955, + 532.9310510696632 + ], + [ + 254.4888187603139, + 515.6401219627114 + ], + [ + 284.982316410482, + 514.5060222782273 + ], + [ + 291.2218824154033, + 489.49990694600444 + ], + [ + 261.3860121657934, + 490.5860720485549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 367, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -15.089649200439453, + "y": -6.65610408782959, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5005193948745728, + "y": 0.4883905053138733, + "z": 0.9050692319869995 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 647.6730330362927, + "ymin": 57.360221671532315, + "xmax": 675.2754330839188, + "ymax": 114.67771244805726 + }, + "corners_3d": [ + [ + -15.781646728515625, + -6.757022380828857, + -0.3049730658531189 + ], + [ + -15.20750904083252, + -5.966790199279785, + -0.3049730658531189 + ], + [ + -14.397651672363281, + -6.555185794830322, + -0.3049730658531189 + ], + [ + -14.971789360046387, + -7.3454179763793945, + -0.3049730658531189 + ], + [ + -15.781646728515625, + -6.757022380828857, + 1.5051653385162354 + ], + [ + -15.20750904083252, + -5.966790199279785, + 1.5051653385162354 + ], + [ + -14.397651672363281, + -6.555185794830322, + 1.5051653385162354 + ], + [ + -14.971789360046387, + -7.3454179763793945, + 1.5051653385162354 + ] + ], + "corners_2d": [ + [ + 647.6730330362927, + 113.8382512195397 + ], + [ + 673.1103328894941, + 114.67771244805726 + ], + [ + 674.0372715522277, + 100.56526198059862 + ], + [ + 649.0639027310987, + 99.75622236078772 + ], + [ + 647.9572261019649, + 71.14528074018881 + ], + [ + 674.3380559306815, + 71.96762840791212 + ], + [ + 675.2754330839188, + 58.15169480239558 + ], + [ + 649.3932519577422, + 57.360221671532315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6822, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 761.6166841692668, + "ymin": 145.26843591903926, + "xmax": 909.1201539158707, + "ymax": 284.59190799943804 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 761.6166841692668, + 257.4126485074728 + ], + [ + 816.0505677462872, + 284.59190799943804 + ], + [ + 900.6465303726692, + 202.333397806928 + ], + [ + 848.6092521886081, + 179.63993223182393 + ], + [ + 765.8327594992406, + 222.42995870981395 + ], + [ + 822.3416601806636, + 249.50307181067575 + ], + [ + 909.1201539158707, + 167.73662436338074 + ], + [ + 855.2063025610861, + 145.26843591903926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2796, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 1004.1287008974625, + "ymin": 0.0, + "xmax": 1125.6189096836702, + "ymax": 56.690049613225824 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 1004.1287008974625, + 41.309099109737645 + ], + [ + 1049.8156122149421, + 56.690049613225824 + ], + [ + 1104.280896084187, + 3.7738907811240665 + ], + [ + 1060.826367905734, + -9.430827039502788 + ], + [ + 1021.8612757482263, + -18.3570840901952 + ], + [ + 1070.234805530177, + -3.590185134651449 + ], + [ + 1125.6189096836702, + -54.261072289289245 + ], + [ + 1079.7631239026252, + -66.84737418666344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 17247, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 264.2132256951869, + "ymin": 496.23477436357433, + "xmax": 512.6316309426043, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 284.55877303840384, + 683.7650587987264 + ], + [ + 344.53052101540993, + 743.162596293418 + ], + [ + 512.6316309426043, + 579.4758823437795 + ], + [ + 453.0345415067627, + 532.916896795017 + ], + [ + 264.2132256951869, + 650.758948445514 + ], + [ + 326.794912300945, + 712.136495735586 + ], + [ + 505.84354188712166, + 543.7092279680612 + ], + [ + 443.5283964775665, + 496.23477436357433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4451, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 613.479469546147, + "ymin": 82.67047352767702, + "xmax": 719.3851572691974, + "ymax": 183.8456245516057 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 716.8759896836939, + 136.79706686632855 + ], + [ + 678.3205585753585, + 119.6677264664188 + ], + [ + 614.3882039004109, + 164.6530530739463 + ], + [ + 653.7273961180475, + 183.8456245516057 + ], + [ + 719.3851572691974, + 99.52243303028814 + ], + [ + 679.5282952990248, + 82.67047352767702 + ], + [ + 613.479469546147, + 126.98683224093145 + ], + [ + 654.1759378363245, + 145.94122767172115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 351.222554917656, + "ymin": 687.9950560829084, + "xmax": 394.2692851826947, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 377.93929449762754, + 712.8171938226194 + ], + [ + 363.7374222909156, + 726.5932543766214 + ], + [ + 380.0707061427308, + 742.4557076522941 + ], + [ + 394.2692851826947, + 728.3634849647605 + ], + [ + 366.1913138408664, + 687.9950560829084 + ], + [ + 351.222554917656, + 702.1341696364187 + ], + [ + 368.15452442515505, + 718.4304715481322 + ], + [ + 383.12263781171123, + 703.951977816755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.4106161576205, + "ymin": 574.0241640109527, + "xmax": 274.58520990066074, + "ymax": 626.2818742455572 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 260.8188287851923, + 601.3171646397686 + ], + [ + 246.7025755452924, + 612.9317549336281 + ], + [ + 260.4489579492336, + 626.2818742455572 + ], + [ + 274.58520990066074, + 614.422873932298 + ], + [ + 245.2612141949794, + 574.0241640109527 + ], + [ + 230.4106161576205, + 585.8574438462688 + ], + [ + 244.5541749292958, + 599.4700148116335 + ], + [ + 259.4297453658798, + 587.3772885912392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.47773637981112, + "ymin": 492.83317291855417, + "xmax": 188.92626467641617, + "ymax": 543.2540937259021 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 176.86168578059426, + 521.3886264777456 + ], + [ + 162.92461675392877, + 531.568181331324 + ], + [ + 174.9574013138868, + 543.2540937259021 + ], + [ + 188.92626467641617, + 532.8741996673607 + ], + [ + 159.11300507592665, + 492.83317291855417 + ], + [ + 144.47773637981112, + 503.15004121778384 + ], + [ + 156.79203132697648, + 515.0020169903157 + ], + [ + 171.4648664534422, + 504.4741713680763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.0142248411719, + "ymin": 146.99114495859516, + "xmax": 994.3094306489891, + "ymax": 163.85922088395483 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 987.1310723294785, + 163.85922088395483 + ], + [ + 992.9972257464976, + 157.8621138009579 + ], + [ + 975.9557888507493, + 151.1029806010372 + ], + [ + 970.0142248411719, + 157.00059775756708 + ], + [ + 988.4310075886578, + 159.72997510636085 + ], + [ + 994.3094306489891, + 153.7408683231488 + ], + [ + 977.1942433150405, + 146.99114495859516 + ], + [ + 971.2396920839712, + 152.88052849649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.1476025748094, + "ymin": 137.56813684722238, + "xmax": 1149.7620292584584, + "ymax": 452.3158304320013 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1028.976875153005, + 452.3158304320013 + ], + [ + 1035.991903652196, + 442.08975814529765 + ], + [ + 905.8587679531905, + 373.89170587962906 + ], + [ + 898.1476025748094, + 382.88250395533504 + ], + [ + 1142.074103372152, + 215.58093688944277 + ], + [ + 1149.7620292584584, + 205.22709345590928 + ], + [ + 976.2448301400891, + 137.56813684722238 + ], + [ + 967.2480142237337, + 146.35187369047384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.8844268885892, + "ymin": 146.90146350694755, + "xmax": 994.4412088649593, + "ymax": 163.9510391488313 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 987.1856172681095, + 163.9510391488313 + ], + [ + 993.1144218950053, + 157.88879258404225 + ], + [ + 975.890270777717, + 151.05740908430414 + ], + [ + 969.8844268885892, + 157.0180141317279 + ], + [ + 988.4998732687134, + 159.77730697037387 + ], + [ + 994.4412088649593, + 153.72323242195418 + ], + [ + 977.141715584694, + 146.90146350694755 + ], + [ + 971.1225997299505, + 152.8536556060876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 991.9858069065165, + "ymin": 0.0, + "xmax": 1008.6803402187031, + "ymax": 15.112427826410908 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 991.9858069065165, + 14.733905054056379 + ], + [ + 993.1430424714297, + 15.112427826410908 + ], + [ + 993.9212885313041, + 14.456136100915217 + ], + [ + 992.7647448357566, + 14.078352388305518 + ], + [ + 1006.6704750294837, + -37.49003222854952 + ], + [ + 1007.8846431851333, + -37.12638184046688 + ], + [ + 1008.6803402187031, + -37.756876591861555 + ], + [ + 1007.4669404425837, + -38.119787373065776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 157.81683000132946, + "xmax": 38.58578002420836, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 38.58578002420836, + 427.90256704663386 + ], + [ + 30.7375854223352, + 419.9378152834265 + ], + [ + -544.6508173280145, + 767.9485716822708 + ], + [ + -539.887176677686, + 781.9283885766299 + ], + [ + -149.43366790059235, + 165.72609241848858 + ], + [ + -157.9035095164661, + 157.81683000132946 + ], + [ + -1083.9961118775775, + 540.9593748012743 + ], + [ + -1084.769560576766, + 558.1390047566758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1191.6471532520395, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 71.250482191159 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1290.3874185643185, + 71.250482191159 + ], + [ + 1293.4192575286606, + 66.83083959349085 + ], + [ + 1195.1269137963957, + 36.6219060636173 + ], + [ + 1191.6471532520395, + 40.679123275463155 + ], + [ + 1403.2351841623372, + -136.1392281673817 + ], + [ + 1405.9860856531045, + -139.8440717176661 + ], + [ + 1286.112799308593, + -164.95992432797982 + ], + [ + 1282.6791710262232, + -161.60761037965005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 30.182977641134812, + "ymin": 0.0, + "xmax": 213.7921048653978, + "ymax": 97.7754032905616 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 202.78833327873502, + 97.7754032905616 + ], + [ + 213.7921048653978, + 92.54432190438433 + ], + [ + 133.90250279973202, + 45.57771775639782 + ], + [ + 123.07045565181795, + 50.17146512216249 + ], + [ + 117.90687792309086, + -129.1281155409377 + ], + [ + 131.73117700192574, + -133.49009411716202 + ], + [ + 43.65789216078963, + -172.13446739013682 + ], + [ + 30.182977641134812, + -168.39542470168703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9667110459877, + "ymin": 0.0, + "xmax": 1009.7502937573659, + "ymax": 11.623064673251292 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 992.9667110459877, + 11.245458748629005 + ], + [ + 994.1277279701424, + 11.623064673251292 + ], + [ + 994.9071772126479, + 10.968363354877795 + ], + [ + 993.7468571074121, + 10.591496752033947 + ], + [ + 1007.735055858742, + -41.276062800973875 + ], + [ + 1008.9533783649055, + -40.91358614240653 + ], + [ + 1009.7502937573659, + -41.542045102558006 + ], + [ + 1008.5327453806374, + -41.90378240364822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.17860866661124, + "ymin": 368.5664079539474, + "xmax": 666.3394573450502, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 640.5106778945882, + 1052.9503582607335 + ], + [ + 656.5865800841901, + 1029.464424354088 + ], + [ + 247.38077351542353, + 620.3901475927992 + ], + [ + 230.9436707814986, + 633.8170115765188 + ], + [ + 640.8176523526241, + 924.570274061717 + ], + [ + 666.3394573450502, + 890.0753463201181 + ], + [ + 94.3610374074849, + 368.5664079539474 + ], + [ + 69.17860866661124, + 383.6082604075617 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00108/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00108/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c091bfe6bf4da200487bbcb98854cf65c9635f7e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00108/meta.json @@ -0,0 +1,4240 @@ +{ + "frame_id": 108, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 54.0, + "sim_timestamp": 12908.960134047316 + }, + "drone_pose": { + "x": -40.68248761938634, + "y": 12.553896851392587, + "z": 20.0, + "pitch": -46.578388264093164, + "yaw": -37.75668797282147, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5434404611587524, + 0.4208781123161316, + 0.726315438747406, + 12.865859031677246 + ], + [ + -0.6123096346855164, + 0.7906180620193481, + -1.4901161193847656e-08, + 14.98493766784668 + ], + [ + -0.574238121509552, + -0.44472992420196533, + 0.6873615384101868, + -42.69175720214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.56242392086548, + "y": 11.694739989178972, + "z": 20.0 + }, + "t1_image_uv": [ + -722.3567117553887, + -654.4048092384835 + ], + "t1_depth": 0.4268477276466154 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -26.16718292236328, + "y": 1.312236785888672, + "z": 0.6001010727882385 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 26.710018155399993, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 212, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -26.16718292236328, + "y": 1.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24256590008735657, + "y": 0.3548124134540558, + "z": 0.5503622889518738 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.1121997622342, + "ymin": 338.7922622290668, + "xmax": 654.0306806946019, + "ymax": 380.88688895380756 + }, + "corners_3d": [ + [ + -26.5895938873291, + 1.2328665256500244, + 0.04973876476287842 + ], + [ + -26.087812423706055, + 1.7346470355987549, + 0.04973876476287842 + ], + [ + -25.74477195739746, + 1.3916070461273193, + 0.04973876476287842 + ], + [ + -26.246553421020508, + 0.8898265361785889, + 0.04973876476287842 + ], + [ + -26.5895938873291, + 1.2328665256500244, + 1.150463342666626 + ], + [ + -26.087812423706055, + 1.7346470355987549, + 1.150463342666626 + ], + [ + -25.74477195739746, + 1.3916070461273193, + 1.150463342666626 + ], + [ + -26.246553421020508, + 0.8898265361785889, + 1.150463342666626 + ] + ], + "corners_2d": [ + [ + 628.5358379079363, + 380.88688895380756 + ], + [ + 653.6148471220876, + 378.5265499122997 + ], + [ + 651.2994581171633, + 366.0130013984599 + ], + [ + 626.5197302304753, + 368.31643396702304 + ], + [ + 628.1848673559042, + 353.71258360502713 + ], + [ + 654.0306806946019, + 351.34399989461167 + ], + [ + 651.6402665249304, + 338.7922622290668 + ], + [ + 626.1121997622342, + 341.1020271465154 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 108, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 399427, + "2": 264395, + "3": 13372, + "5": 2619, + "6": 9247, + "7": 2043, + "10": 27, + "12": 2026, + "14": 33713, + "15": 11815, + "20": 3580, + "24": 30170, + "25": 149166 + }, + "instance_pixel_counts": { + "3166": 4722, + "3424": 149166, + "3678": 8828, + "5214": 796, + "5506": 119, + "6215": 126967, + "6290": 4325, + "6796": 3361, + "8332": 14042, + "8338": 56269, + "9822": 1209, + "15184": 2619, + "17227": 620, + "17738": 180, + "17995": 97, + "18000": 3580, + "18763": 342, + "19275": 183, + "19531": 63, + "21140": 7758, + "21652": 5542, + "23114": 263, + "23627": 460, + "23700": 208065, + "24395": 843, + "24907": 383, + "25856": 7637, + "26112": 323, + "26442": 422, + "28234": 126, + "30338": 472, + "31819": 334, + "32587": 100, + "33370": 13372, + "35476": 360, + "35988": 833, + "37524": 11789, + "38540": 1350, + "40588": 17765, + "43409": 6166, + "44945": 33567, + "47947": 1159, + "48203": 15, + "52038": 583, + "56576": 212, + "56832": 196, + "57088": 647, + "57344": 601, + "57600": 370, + "57856": 6918, + "58368": 2987, + "59904": 15530, + "60928": 4538, + "62081": 2739, + "62611": 311, + "62613": 8093, + "63123": 44586, + "64149": 3505, + "64659": 133165 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 212, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -26.16718292236328, + "y": 1.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.29043087363243103, + "y": 0.2003469169139862, + "z": 0.5537346005439758 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 631.4698314277533, + "ymin": 337.9855246289234, + "xmax": 648.6481447177742, + "ymax": 381.7087170854367 + }, + "corners_3d": [ + [ + -26.51421546936035, + 1.3759357929229736, + 0.04636645317077637 + ], + [ + -26.23088264465332, + 1.659269094467163, + 0.04636645317077637 + ], + [ + -25.82015037536621, + 1.2485377788543701, + 0.04636645317077637 + ], + [ + -26.103483200073242, + 0.9652044773101807, + 0.04636645317077637 + ], + [ + -26.51421546936035, + 1.3759357929229736, + 1.153835654258728 + ], + [ + -26.23088264465332, + 1.659269094467163, + 1.153835654258728 + ], + [ + -25.82015037536621, + 1.2485377788543701, + 1.153835654258728 + ], + [ + -26.103483200073242, + 0.9652044773101807, + 1.153835654258728 + ] + ], + "corners_2d": [ + [ + 634.2132687506518, + 381.7087170854367 + ], + [ + 648.3898480038234, + 380.3727429014489 + ], + [ + 645.6955071606295, + 365.37505509643614 + ], + [ + 631.721231384174, + 366.67255939957806 + ], + [ + 634.0348766134401, + 354.3704993320251 + ], + [ + 648.6481447177742, + 353.0297301413773 + ], + [ + 645.8682352143778, + 337.9855246289234 + ], + [ + 631.4698314277533, + 339.28652304828864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 196, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -22.041194915771484, + "y": 4.30994176864624, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.23198120296001434, + "y": 0.2573361098766327, + "z": 0.5372188687324524 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 796.1535175525687, + "ymin": 303.4727506499308, + "xmax": 823.8468095628384, + "ymax": 344.406772421702 + }, + "corners_3d": [ + [ + -22.385738372802734, + 4.346360206604004, + 0.06288707256317139 + ], + [ + -21.9693603515625, + 4.648876667022705, + 0.06288707256317139 + ], + [ + -21.696651458740234, + 4.273523330688477, + 0.06288707256317139 + ], + [ + -22.11302947998047, + 3.9710066318511963, + 0.06288707256317139 + ], + [ + -22.385738372802734, + 4.346360206604004, + 1.1373248100280762 + ], + [ + -21.9693603515625, + 4.648876667022705, + 1.1373248100280762 + ], + [ + -21.696651458740234, + 4.273523330688477, + 1.1373248100280762 + ], + [ + -22.11302947998047, + 3.9710066318511963, + 1.1373248100280762 + ] + ], + "corners_2d": [ + [ + 802.337520021008, + 344.406772421702 + ], + [ + 818.7186785195528, + 340.87401369445985 + ], + [ + 812.3789858422165, + 330.0996998283366 + ], + [ + 796.1535175525687, + 333.5562490108771 + ], + [ + 807.0126223164918, + 317.79375439637687 + ], + [ + 823.8468095628384, + 314.25645730823624 + ], + [ + 817.2701423130898, + 303.4727506499308 + ], + [ + 800.6002847261843, + 306.93158345679575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 647, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -28.423004150390625, + "y": 8.254949569702148, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3885498046875, + "y": 0.4086129665374756, + "z": 0.8771436810493469 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 789.11624304457, + "ymin": 508.9189704390301, + "xmax": 842.4588098863873, + "ymax": 583.0039078778098 + }, + "corners_3d": [ + [ + -28.986652374267578, + 8.270282745361328, + -0.2770426273345947 + ], + [ + -28.379335403442383, + 8.817113876342773, + -0.2770426273345947 + ], + [ + -27.859355926513672, + 8.239616394042969, + -0.2770426273345947 + ], + [ + -28.466672897338867, + 7.692785263061523, + -0.2770426273345947 + ], + [ + -28.986652374267578, + 8.270282745361328, + 1.4772447347640991 + ], + [ + -28.379335403442383, + 8.817113876342773, + 1.4772447347640991 + ], + [ + -27.859355926513672, + 8.239616394042969, + 1.4772447347640991 + ], + [ + -28.466672897338867, + 7.692785263061523, + 1.4772447347640991 + ] + ], + "corners_2d": [ + [ + 798.3376346784394, + 583.0039078778098 + ], + [ + 831.2362013085356, + 577.626507143104 + ], + [ + 821.3185049372973, + 550.0831455996554 + ], + [ + 789.11624304457, + 555.2222975140503 + ], + [ + 807.6725533413681, + 542.589182526095 + ], + [ + 842.4588098863873, + 537.0821483357997 + ], + [ + 831.7075863562064, + 508.9189704390301 + ], + [ + 797.6987706165722, + 514.1681684375678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 601, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -34.79478454589844, + "y": -1.115246057510376, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.3832324147224426, + "y": 0.38606756925582886, + "z": 0.9033449292182922 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 311.7306164316514, + "ymin": 485.1579580909125, + "xmax": 365.97637918804634, + "ymax": 556.5341642146506 + }, + "corners_3d": [ + [ + -35.33790969848633, + -1.1457175016403198, + -0.30323898792266846 + ], + [ + -34.821250915527344, + -0.5719094276428223, + -0.30323898792266846 + ], + [ + -34.25165939331055, + -1.0847746133804321, + -0.30323898792266846 + ], + [ + -34.76831817626953, + -1.6585826873779297, + -0.30323898792266846 + ], + [ + -35.33790969848633, + -1.1457175016403198, + 1.503450870513916 + ], + [ + -34.821250915527344, + -0.5719094276428223, + 1.503450870513916 + ], + [ + -34.25165939331055, + -1.0847746133804321, + 1.503450870513916 + ], + [ + -34.76831817626953, + -1.6585826873779297, + 1.503450870513916 + ] + ], + "corners_2d": [ + [ + 330.12605664569355, + 556.5341642146506 + ], + [ + 362.1597074686889, + 554.5068214881503 + ], + [ + 365.97637918804634, + 528.02172989403 + ], + [ + 334.6519395480475, + 529.9611435233999 + ], + [ + 311.7306164316514, + 514.2680583419803 + ], + [ + 345.6951716329378, + 512.1955321042049 + ], + [ + 350.11436197807416, + 485.1579580909125 + ], + [ + 316.94601689019674, + 487.1354488382082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 370, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.921846389770508, + "y": -6.857978343963623, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.4647088646888733, + "y": 0.4186626970767975, + "z": 0.9167794585227966 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 639.8203137757218, + "ymin": 64.2159879230021, + "xmax": 662.9627861553419, + "ymax": 120.92360016763416 + }, + "corners_3d": [ + [ + -15.5438871383667, + -6.923534393310547, + -0.31667351722717285 + ], + [ + -15.051719665527344, + -6.246124267578125, + -0.31667351722717285 + ], + [ + -14.299805641174316, + -6.792422294616699, + -0.31667351722717285 + ], + [ + -14.791973114013672, + -7.469832420349121, + -0.31667351722717285 + ], + [ + -15.5438871383667, + -6.923534393310547, + 1.5168853998184204 + ], + [ + -15.051719665527344, + -6.246124267578125, + 1.5168853998184204 + ], + [ + -14.299805641174316, + -6.792422294616699, + 1.5168853998184204 + ], + [ + -14.791973114013672, + -7.469832420349121, + 1.5168853998184204 + ] + ], + "corners_2d": [ + [ + 639.8268491836222, + 120.55000272799217 + ], + [ + 661.7804927907163, + 120.92360016763416 + ], + [ + 662.1415279720109, + 107.62786306804585 + ], + [ + 640.5640076462864, + 107.26696607038517 + ], + [ + 639.8203137757218, + 77.22126262064103 + ], + [ + 662.6029874329452, + 77.58729105760864 + ], + [ + 662.9627861553419, + 64.5691159449392 + ], + [ + 640.584917151463, + 64.2159879230021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6918, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 761.1999474734005, + "ymin": 154.13353004296457, + "xmax": 906.9805060261124, + "ymax": 296.728277969888 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 761.1999474734005, + 269.89489807741256 + ], + [ + 817.3359308709936, + 296.728277969888 + ], + [ + 898.5118189871439, + 210.83490645606486 + ], + [ + 845.2262073015357, + 188.57241206378936 + ], + [ + 765.4509043352772, + 234.86944844864814 + ], + [ + 823.7428894664115, + 261.6187278513566 + ], + [ + 906.9805060261124, + 176.18602594910217 + ], + [ + 851.770790345139, + 154.13353004296457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2987, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 994.1575263321524, + "ymin": 0.0, + "xmax": 1112.534635198305, + "ymax": 60.101001244282656 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 994.1575263321524, + 45.18099155921635 + ], + [ + 1040.364668049151, + 60.101001244282656 + ], + [ + 1091.7769407992405, + 5.749421611072194 + ], + [ + 1048.0233154386397, + -7.007291676671628 + ], + [ + 1011.4493436217073, + -14.548458597522597 + ], + [ + 1060.3502660742022, + -0.22109818412366167 + ], + [ + 1112.534635198305, + -52.270497030943545 + ], + [ + 1066.3920918427252, + -64.42986273733004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 15530, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 270.13128704601104, + "ymin": 526.0381131614599, + "xmax": 521.8666326249088, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 290.7439856628953, + 725.0496396347053 + ], + [ + 355.1901534565255, + 785.8178434518602 + ], + [ + 521.8666326249088, + 609.2301930777411 + ], + [ + 458.7803900138375, + 562.1979086045055 + ], + [ + 270.13128704601104, + 693.3270109763541 + ], + [ + 337.5632678529418, + 756.3348678038194 + ], + [ + 515.4133196124477, + 574.1067803828388 + ], + [ + 449.34190791257953, + 526.0381131614599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4538, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 607.0327942762872, + "ymin": 93.00612564633883, + "xmax": 712.9820444089854, + "ymax": 196.3733623347348 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 710.6530290204231, + 147.03022216916474 + ], + [ + 670.9578585393904, + 130.13628444201188 + ], + [ + 608.168297275453, + 177.3636418547779 + ], + [ + 648.8636859297461, + 196.3733623347348 + ], + [ + 712.9820444089854, + 109.63789683787456 + ], + [ + 671.9395986330926, + 93.00612564633883 + ], + [ + 607.0327942762872, + 139.56755503461392 + ], + [ + 649.1464363578714, + 158.3578376685717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.97054977514574, + "ymin": 623.0454595885288, + "xmax": 285.6918848320462, + "ymax": 676.0990924639082 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 270.7275314549814, + 649.4157812081171 + ], + [ + 256.474141342296, + 662.2239783028479 + ], + [ + 271.43684012743347, + 676.0990924639082 + ], + [ + 285.6918848320462, + 663.0208587741765 + ], + [ + 254.99844595754104, + 623.0454595885288 + ], + [ + 239.97054977514574, + 636.1346107457568 + ], + [ + 255.40270523812427, + 650.3264536703249 + ], + [ + 270.435943809006, + 636.9493332971131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.2353071302736, + "ymin": 538.5256720772875, + "xmax": 192.58666346809514, + "ymax": 589.81640412028 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 179.4748405436705, + 566.4513023347914 + ], + [ + 165.29789198631363, + 577.6743247938675 + ], + [ + 178.3917212190484, + 589.81640412028 + ], + [ + 192.58666346809514, + 578.3721162401756 + ], + [ + 161.15671468136946, + 538.5256720772875 + ], + [ + 146.2353071302736, + 549.932354695324 + ], + [ + 159.66485441779082, + 562.2825358219458 + ], + [ + 174.60932783830748, + 550.6418407703951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.3471791715269, + "ymin": 159.7031589060696, + "xmax": 1003.898538378965, + "ymax": 176.84350106839926 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 997.0299801827564, + 176.84350106839926 + ], + [ + 1002.533377419971, + 170.53028911581097 + ], + [ + 984.9390981681769, + 163.82905517637005 + ], + [ + 979.3471791715269, + 170.03972090663342 + ], + [ + 998.3847454628262, + 172.70111506523654 + ], + [ + 1003.898538378965, + 166.3957092881058 + ], + [ + 986.2274149668227, + 159.7031589060696 + ], + [ + 980.6242670796133, + 165.9057628748285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.8041256477594, + "ymin": 150.1944822900859, + "xmax": 1163.989426273783, + "ymax": 464.5703707710604 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1039.5006487286082, + 464.5703707710604 + ], + [ + 1046.0104601518508, + 453.8919545040019 + ], + [ + 912.1269917268553, + 386.73150440538416 + ], + [ + 904.8041256477594, + 396.1494471063694 + ], + [ + 1157.0355532822955, + 228.04678679421687 + ], + [ + 1163.989426273783, + 217.17846254814745 + ], + [ + 985.124787040486, + 150.1944822900859 + ], + [ + 976.6544732930582, + 159.4475925585374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.2159709757768, + "ymin": 159.61203700230183, + "xmax": 1004.0316617020475, + "ymax": 176.93680728640632 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 997.0892605494955, + 176.93680728640632 + ], + [ + 1002.6513424182745, + 170.55503776197975 + ], + [ + 984.8684864267747, + 163.7821991619369 + ], + [ + 979.2159709757768, + 170.05920488720005 + ], + [ + 998.458964011084, + 172.74979884419648 + ], + [ + 1004.0316617020475, + 166.37600288734004 + ], + [ + 986.170303534775, + 159.61203700230183 + ], + [ + 980.5063118587898, + 165.88080523447516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.5288086087271, + "ymin": 0.0, + "xmax": 996.7537438457146, + "ymax": 18.678936038167876 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 980.5288086087271, + 18.31169355828945 + ], + [ + 981.6991767480758, + 18.678936038167876 + ], + [ + 982.4423219938624, + 18.002954623931487 + ], + [ + 981.2727235586177, + 17.63644921977607 + ], + [ + 994.7670681567572, + -33.96197859391867 + ], + [ + 995.994497785229, + -33.609102730849884 + ], + [ + 996.7537438457146, + -34.25862712065276 + ], + [ + 995.5271665964145, + -34.61076516750484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 192.40473531597573, + "xmax": 25.69021779543141, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 25.69021779543141, + 462.66115948595643 + ], + [ + 17.232209967869494, + 454.49033300922446 + ], + [ + -583.1864000758012, + 840.5904962291365 + ], + [ + -577.7340241256952, + 855.4800036656726 + ], + [ + -174.02627771564096, + 200.672959519374 + ], + [ + -183.2762850486472, + 192.40473531597573 + ], + [ + -1181.1653545466459, + 631.3920641239231 + ], + [ + -1181.9182735495056, + 650.5517912082012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.2730871975627, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 71.27863716708737 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1279.262251575301, + 71.27863716708737 + ], + [ + 1282.009376219979, + 66.77235308466334 + ], + [ + 1183.4994895164064, + 37.72032054936352 + ], + [ + 1180.2730871975627, + 41.86980555335225 + ], + [ + 1389.802399078174, + -135.74511166522302 + ], + [ + 1392.21684201375, + -139.51870881298964 + ], + [ + 1272.4233984374623, + -163.65410952176705 + ], + [ + 1269.286385873938, + -160.22717733352283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1.4448834416369891, + "ymin": 0.0, + "xmax": 195.9405282313291, + "ymax": 115.55551710976513 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 184.78567050385084, + 115.55551710976513 + ], + [ + 195.9405282313291, + 109.96702872974393 + ], + [ + 111.84981133605174, + 62.680548768139715 + ], + [ + 100.81324882039576, + 67.59675758577367 + ], + [ + 94.21150507111554, + -113.84887311621992 + ], + [ + 108.35362986028576, + -118.54617379112153 + ], + [ + 15.299330034054947, + -157.75619475559404 + ], + [ + 1.4448834416369891, + -153.72375514922294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.4798146327828, + "ymin": 0.0, + "xmax": 997.7913434646471, + "ymax": 15.186572349892174 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 981.4798146327828, + 14.820215056400002 + ], + [ + 982.6539737012172, + 15.186572349892174 + ], + [ + 983.3982318139093, + 14.512221158174327 + ], + [ + 982.2248478045072, + 14.146601214742361 + ], + [ + 995.7993846439686, + -37.75197648149572 + ], + [ + 997.0309767750537, + -37.400235050465255 + ], + [ + 997.7913434646471, + -38.04767043614777 + ], + [ + 996.5606099175557, + -38.398674285637014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.65608539435038, + "ymin": 412.39766313669696, + "xmax": 719.0744921331609, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 673.527105555117, + 1102.9038750576358 + ], + [ + 688.9967423853172, + 1077.4530289383301 + ], + [ + 249.80527067721545, + 659.4411717847552 + ], + [ + 233.2318650986163, + 674.0369957946109 + ], + [ + 694.6010428613076, + 998.8078857617403 + ], + [ + 719.0744921331609, + 960.166552169171 + ], + [ + 91.53975300150341, + 412.39766313669696 + ], + [ + 65.65608539435038, + 429.13141306576637 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00109/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00109/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c8447bee121cef1fbcf44942483194d1accc76 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00109/meta.json @@ -0,0 +1,4242 @@ +{ + "frame_id": 109, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 54.5, + "sim_timestamp": 12920.6028943446 + }, + "drone_pose": { + "x": -40.56242392086548, + "y": 11.694739989178972, + "z": 20.0, + "pitch": -46.44204403623099, + "yaw": -36.15196480351371, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.556407630443573, + 0.40651291608810425, + 0.7246776819229126, + 12.829753875732422 + ], + [ + -0.589928925037384, + 0.8074551820755005, + 0.0, + 14.485968589782715 + ], + [ + -0.5851447582244873, + -0.4275083541870117, + 0.689087986946106, + -42.51625061035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.44511714174283, + "y": 10.902588117682686, + "z": 20.0 + }, + "t1_image_uv": [ + -773.945579039513, + -649.5817225177449 + ], + "t1_depth": 0.38729035678889145 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -25.66718292236328, + "y": 0.8122367858886719, + "z": 0.6001059556006294 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.770374844349988, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -25.66718292236328, + "y": 0.8122367858886719, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.2183239459991455, + "y": 0.2596907317638397, + "z": 0.5547828674316406 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.4835688408772, + "ymin": 339.4733710293735, + "xmax": 650.6134970907117, + "ymax": 380.1831622929034 + }, + "corners_3d": [ + [ + -26.005189895629883, + 0.782986044883728, + 0.045323073863983154 + ], + [ + -25.63793182373047, + 1.1502442359924316, + 0.045323073863983154 + ], + [ + -25.32917594909668, + 0.8414875268936157, + 0.045323073863983154 + ], + [ + -25.696434020996094, + 0.4742293655872345, + 0.045323073863983154 + ], + [ + -26.005189895629883, + 0.782986044883728, + 1.1548888683319092 + ], + [ + -25.63793182373047, + 1.1502442359924316, + 1.1548888683319092 + ], + [ + -25.32917594909668, + 0.8414875268936157, + 1.1548888683319092 + ], + [ + -25.696434020996094, + 0.4742293655872345, + 1.1548888683319092 + ] + ], + "corners_2d": [ + [ + 632.0693383764968, + 380.1831622929034 + ], + [ + 650.2980194571752, + 378.0875666846508 + ], + [ + 647.8284834290665, + 366.9157299374034 + ], + [ + 629.7933866949869, + 368.96596558609656 + ], + [ + 631.8258736114736, + 352.7789261843944 + ], + [ + 650.6134970907117, + 350.6766091606267 + ], + [ + 648.065621241554, + 339.4733710293735 + ], + [ + 629.4835688408772, + 341.5288105002694 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 109, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 398073, + "2": 264796, + "3": 6136, + "5": 2734, + "6": 7822, + "7": 2158, + "10": 37, + "12": 2023, + "14": 34341, + "15": 12532, + "20": 3667, + "24": 31060, + "25": 156221 + }, + "instance_pixel_counts": { + "3166": 5084, + "3424": 156221, + "3678": 9281, + "4702": 506, + "5214": 2237, + "5506": 250, + "6215": 123962, + "6290": 4757, + "6796": 3397, + "8332": 14974, + "8338": 55744, + "9822": 2363, + "15184": 2734, + "17227": 659, + "17738": 258, + "17995": 40, + "18000": 3667, + "18763": 280, + "19275": 109, + "21140": 8122, + "21652": 2042, + "23114": 333, + "23627": 485, + "23700": 208088, + "24395": 759, + "24907": 401, + "25856": 6257, + "26112": 77, + "26442": 444, + "28234": 144, + "30338": 582, + "31819": 357, + "32587": 107, + "33099": 50, + "33370": 6136, + "35476": 400, + "35988": 1182, + "37524": 12146, + "38540": 1374, + "40588": 17546, + "43409": 6185, + "44945": 35766, + "47947": 1165, + "48203": 19, + "48459": 10, + "52038": 1091, + "56576": 211, + "56832": 196, + "57088": 623, + "57344": 608, + "57600": 385, + "57856": 7017, + "58368": 3251, + "59904": 12509, + "60928": 4625, + "62081": 2814, + "62611": 614, + "62613": 7973, + "63123": 38458, + "64149": 3739, + "64659": 140749 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -25.66718292236328, + "y": 0.8122367858886719, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.30907467007637024, + "y": 0.21658791601657867, + "z": 0.5492211580276489 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 630.5462974888485, + "ymin": 337.48753013899153, + "xmax": 649.5890827695546, + "ymax": 382.2373135202779 + }, + "corners_3d": [ + [ + -26.038883209228516, + 0.8776347637176514, + 0.050884783267974854 + ], + [ + -25.732580184936523, + 1.183936357498169, + 0.050884783267974854 + ], + [ + -25.295482635498047, + 0.7468388080596924, + 0.050884783267974854 + ], + [ + -25.60178565979004, + 0.4405372142791748, + 0.050884783267974854 + ], + [ + -26.038883209228516, + 0.8776347637176514, + 1.149327039718628 + ], + [ + -25.732580184936523, + 1.183936357498169, + 1.149327039718628 + ], + [ + -25.295482635498047, + 0.7468388080596924, + 1.149327039718628 + ], + [ + -25.60178565979004, + 0.4405372142791748, + 1.149327039718628 + ] + ], + "corners_2d": [ + [ + 634.0667497800698, + 382.2373135202779 + ], + [ + 649.3061763168797, + 380.4814518432451 + ], + [ + 645.8321741430238, + 364.6597268057248 + ], + [ + 630.8213866731918, + 366.362018253128 + ], + [ + 633.8860629822447, + 355.1151556021877 + ], + [ + 649.5890827695546, + 353.3534732336051 + ], + [ + 646.006666661689, + 337.48753013899153 + ], + [ + 630.5462974888485, + 339.1938680632785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 196, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -21.541194915771484, + "y": 3.809941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21527953445911407, + "y": 0.18064437806606293, + "z": 0.5172485709190369 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 796.465763876229, + "ymin": 301.75134257693963, + "xmax": 818.6208939671562, + "ymax": 339.88113842875845 + }, + "corners_3d": [ + [ + -21.81387710571289, + 3.8779258728027344, + 0.08285248279571533 + ], + [ + -21.521589279174805, + 4.0902862548828125, + 0.08285248279571533 + ], + [ + -21.268512725830078, + 3.7419567108154297, + 0.08285248279571533 + ], + [ + -21.560800552368164, + 3.5295963287353516, + 0.08285248279571533 + ], + [ + -21.81387710571289, + 3.8779258728027344, + 1.117349624633789 + ], + [ + -21.521589279174805, + 4.0902862548828125, + 1.117349624633789 + ], + [ + -21.268512725830078, + 3.7419567108154297, + 1.117349624633789 + ], + [ + -21.560800552368164, + 3.5295963287353516, + 1.117349624633789 + ] + ], + "corners_2d": [ + [ + 802.5590147161267, + 339.88113842875845 + ], + [ + 813.8587540801232, + 337.19615165166044 + ], + [ + 807.6695136516223, + 327.38406100832543 + ], + [ + 796.465763876229, + 330.0158453714211 + ], + [ + 807.0240933088487, + 314.25478973032125 + ], + [ + 818.6208939671562, + 311.56770275819343 + ], + [ + 812.2152199393817, + 301.75134257693963 + ], + [ + 800.7194618936144, + 304.3837474444573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 623, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -27.923004150390625, + "y": 7.75494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.412689208984375, + "y": 0.435464471578598, + "z": 0.8953045606613159 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 793.391586144974, + "ymin": 502.113603513226, + "xmax": 850.4983009557386, + "ymax": 579.634336383335 + }, + "corners_3d": [ + [ + -28.52276039123535, + 7.770254135131836, + -0.2952035069465637 + ], + [ + -27.875534057617188, + 8.353019714355469, + -0.2952035069465637 + ], + [ + -27.3232479095459, + 7.7396440505981445, + -0.2952035069465637 + ], + [ + -27.970474243164062, + 7.156878471374512, + -0.2952035069465637 + ], + [ + -28.52276039123535, + 7.770254135131836, + 1.495405673980713 + ], + [ + -27.875534057617188, + 8.353019714355469, + 1.495405673980713 + ], + [ + -27.3232479095459, + 7.7396440505981445, + 1.495405673980713 + ], + [ + -27.970474243164062, + 7.156878471374512, + 1.495405673980713 + ] + ], + "corners_2d": [ + [ + 804.176366750433, + 579.634336383335 + ], + [ + 838.6866051128185, + 573.0845496341657 + ], + [ + 827.146770695878, + 544.3455727857872 + ], + [ + 793.391586144974, + 550.5902842503793 + ], + [ + 813.9918781012485, + 538.1892814560797 + ], + [ + 850.4983009557386, + 531.4840826430616 + ], + [ + 837.9957657712598, + 502.113603513226 + ], + [ + 802.3329964944794, + 508.48856208804443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 608, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -34.26268768310547, + "y": -0.878852367401123, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.35887572169303894, + "y": 0.3595273792743683, + "z": 0.8953152298927307 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 341.8171487937409, + "ymin": 506.57454101578645, + "xmax": 391.19944756796883, + "ymax": 576.916036683909 + }, + "corners_3d": [ + [ + -34.769954681396484, + -0.9058984518051147, + -0.29520928859710693 + ], + [ + -34.288814544677734, + -0.3715367317199707, + -0.29520928859710693 + ], + [ + -33.75542068481445, + -0.8518062829971313, + -0.29520928859710693 + ], + [ + -34.2365608215332, + -1.3861680030822754, + -0.29520928859710693 + ], + [ + -34.769954681396484, + -0.9058984518051147, + 1.4954211711883545 + ], + [ + -34.288814544677734, + -0.3715367317199707, + 1.4954211711883545 + ], + [ + -33.75542068481445, + -0.8518062829971313, + 1.4954211711883545 + ], + [ + -34.2365608215332, + -1.3861680030822754, + 1.4954211711883545 + ] + ], + "corners_2d": [ + [ + 358.6017175582708, + 576.916036683909 + ], + [ + 388.93965919301047, + 574.2359020546446 + ], + [ + 391.19944756796883, + 548.716273084926 + ], + [ + 361.5003291121744, + 551.2856808781903 + ], + [ + 341.8171487937409, + 535.4054537696829 + ], + [ + 373.99932881433006, + 532.661933835841 + ], + [ + 376.72030076257664, + 506.57454101578645 + ], + [ + 345.25603898538094, + 509.1981854036169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 385, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.421846389770508, + "y": -7.357978343963623, + "z": 0.752493679523468 + }, + "extent": { + "x": 0.48880308866500854, + "y": 0.3384222388267517, + "z": 0.937017023563385 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 631.7458170292881, + "ymin": 61.04690241651792, + "xmax": 650.1934659211057, + "ymax": 119.1476704526657 + }, + "corners_3d": [ + [ + -15.016216278076172, + -7.344456672668457, + -0.184523344039917 + ], + [ + -14.618376731872559, + -6.796877861022949, + -0.184523344039917 + ], + [ + -13.827476501464844, + -7.371500015258789, + -0.184523344039917 + ], + [ + -14.225316047668457, + -7.919078826904297, + -0.184523344039917 + ], + [ + -15.016216278076172, + -7.344456672668457, + 1.689510703086853 + ], + [ + -14.618376731872559, + -6.796877861022949, + 1.689510703086853 + ], + [ + -13.827476501464844, + -7.371500015258789, + 1.689510703086853 + ], + [ + -14.225316047668457, + -7.919078826904297, + 1.689510703086853 + ] + ], + "corners_2d": [ + [ + 632.0522533253906, + 119.1216777470544 + ], + [ + 649.8150210072376, + 119.1476704526657 + ], + [ + 649.7043636619751, + 105.24674405797211 + ], + [ + 632.2627929509374, + 105.22168288926767 + ], + [ + 631.7458170292881, + 74.63796967692599 + ], + [ + 650.1934659211057, + 74.66340244654862 + ], + [ + 650.0715196233106, + 61.071389558921624 + ], + [ + 631.9700726957718, + 61.04690241651792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7017, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 761.9970577338406, + "ymin": 163.77387427040128, + "xmax": 905.8264078866002, + "ymax": 309.37135357300167 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 761.9970577338406, + 282.94689507047485 + ], + [ + 819.7640911211338, + 309.37135357300167 + ], + [ + 897.3494781544414, + 220.04186567710946 + ], + [ + 842.8850808762334, + 198.2552137363981 + ], + [ + 766.316538387495, + 247.89784049150924 + ], + [ + 826.3158250142764, + 274.25601302355716 + ], + [ + 905.8264078866002, + 185.36292031834236 + ], + [ + 849.3951886839545, + 163.77387427040128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3251, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 985.0590689718374, + "ymin": 0.0, + "xmax": 1100.272204975402, + "ymax": 64.63018592296919 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 985.0590689718374, + 50.18809910959516 + ], + [ + 1031.7364064387793, + 64.63018592296919 + ], + [ + 1080.0961727838328, + 9.003365495571416 + ], + [ + 1036.0832902365746, + -3.296038972525082 + ], + [ + 1001.9157395485395, + -9.540991510184597 + ], + [ + 1051.2880040085834, + 4.327667247795489 + ], + [ + 1100.272204975402, + -48.937326563359875 + ], + [ + 1053.887211410789, + -60.6588782385403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 12509, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 278.94403180727596, + "ymin": 556.1762626824177, + "xmax": 533.2102107747796, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 299.6136245642376, + 766.8901132543671 + ], + [ + 368.6131953675824, + 828.9076513628094 + ], + [ + 533.2102107747796, + 639.1776010919272 + ], + [ + 466.6418800289712, + 591.792576268234 + ], + [ + 278.94403180727596, + 736.520672239386 + ], + [ + 351.3312093803122, + 801.0329232780339 + ], + [ + 527.2402441277454, + 604.709364082127 + ], + [ + 457.41209252590215, + 556.1762626824177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4625, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 602.0050831396512, + "ymin": 104.25490428186151, + "xmax": 707.8253026961943, + "ymax": 209.64136660130126 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 705.6444369254613, + 158.10205270980538 + ], + [ + 664.8551647345104, + 141.482277529645 + ], + [ + 603.3220538020962, + 190.86132834695977 + ], + [ + 645.3301749234437, + 209.64136660130126 + ], + [ + 707.8253026961943, + 120.62577092334084 + ], + [ + 665.6455417065979, + 104.25490428186151 + ], + [ + 602.0050831396512, + 152.96909281559775 + ], + [ + 645.4902272602762, + 171.5459706112086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 253.58387253229444, + "ymin": 672.9973903873104, + "xmax": 300.608885565009, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 284.404827604276, + 698.3395536028579 + ], + [ + 270.0791061859063, + 712.3991528174474 + ], + [ + 286.30274486724363, + 726.776109410033 + ], + [ + 300.608885565009, + 712.41968404345 + ], + [ + 268.7193003856613, + 672.9973903873104 + ], + [ + 253.58387253229444, + 687.4078042620984 + ], + [ + 270.3569519513832, + 702.1572197806042 + ], + [ + 285.47477451127213, + 687.4288574833013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 151.72873026761528, + "ymin": 585.2873213909776, + "xmax": 199.79619030018586, + "ymax": 637.3807863181696 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 185.60004381042444, + 612.4848125657712 + ], + [ + 171.2313829001576, + 624.8022363048806 + ], + [ + 185.42562218389378, + 637.3807863181696 + ], + [ + 199.79619030018586, + 624.8202095219176 + ], + [ + 166.88543346243551, + 585.2873213909776 + ], + [ + 151.72873026761528, + 597.8407158729483 + ], + [ + 166.31899253048766, + 610.6706626651072 + ], + [ + 181.48167906248534, + 597.8590407880347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.8947820723504, + "ymin": 172.81499489391018, + "xmax": 1014.6481638511867, + "ymax": 190.18235846011 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1008.1129327169984, + 190.18235846011 + ], + [ + 1013.2283190131112, + 183.57067514082405 + ], + [ + 995.1118413046657, + 176.95080495120447 + ], + [ + 989.8947820723504, + 183.457420425648 + ], + [ + 1009.5244731770567, + 186.030823174951 + ], + [ + 1014.6481638511867, + 179.42679799257192 + ], + [ + 996.451992586998, + 172.81499489391018 + ], + [ + 991.2256792361703, + 179.31367793094424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.5400871120671, + "ymin": 163.23737706751703, + "xmax": 1179.0777853241525, + "ymax": 476.9440669473736 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1050.907581651948, + 476.9440669473736 + ], + [ + 1056.8907822837396, + 465.83850621421925 + ], + [ + 919.4528093758977, + 399.86689437956284 + ], + [ + 912.5400871120671, + 409.6918319995882 + ], + [ + 1172.8960215588745, + 240.65802810369075 + ], + [ + 1179.0777853241525, + 229.30960607356832 + ], + [ + 995.2005913517468, + 163.23737706751703 + ], + [ + 987.2954347120112, + 172.93423887196326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.7624517487909, + "ymin": 172.72267280792977, + "xmax": 1014.7823374864813, + "ymax": 190.2769059650482 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1008.1769085104629, + 190.2769059650482 + ], + [ + 1013.3467420147174, + 183.59343947341242 + ], + [ + 995.0361540211649, + 176.90285930937563 + ], + [ + 989.7624517487909, + 183.47898594717088 + ], + [ + 1009.6040253493752, + 186.08065422926333 + ], + [ + 1014.7823374864813, + 179.40500995900072 + ], + [ + 996.3903369229441, + 172.72267280792977 + ], + [ + 991.1071752838204, + 179.2906939738942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.9716208811581, + "ymin": 0.0, + "xmax": 985.7330660162283, + "ymax": 23.449757344172326 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 969.9716208811581, + 23.09420747719696 + ], + [ + 971.1539133927896, + 23.449757344172326 + ], + [ + 971.8617071948113, + 22.75603391501079 + ], + [ + 970.6802591525025, + 22.401216439149835 + ], + [ + 983.7712041412318, + -29.171361635366623 + ], + [ + 985.0105670794251, + -28.82971576159099 + ], + [ + 985.7330660162283, + -29.496296700842038 + ], + [ + 984.4946359910914, + -29.837209432184295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 228.64695228057758, + "xmax": 15.075796709536007, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 15.075796709536007, + 498.4483098715509 + ], + [ + 5.994057199469012, + 490.0859027927399 + ], + [ + -620.0617748080515, + 917.0830957796159 + ], + [ + -613.8752533027962, + 932.9292052842173 + ], + [ + -195.69264411663607, + 237.26442547019383 + ], + [ + -205.75958809544466, + 228.64695228057758 + ], + [ + -1281.3442879446027, + 730.3743051065175 + ], + [ + -1282.1139051579635, + 751.7705026611984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1169.6316288928033, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 72.53180218833484 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1268.7893491855602, + 72.53180218833484 + ], + [ + 1271.2565190585115, + 67.95240896544465 + ], + [ + 1172.6073017404347, + 40.063859783942576 + ], + [ + 1169.6316288928033, + 44.29314197169816 + ], + [ + 1376.9235210116794, + -133.8899040749326 + ], + [ + 1379.0090215715672, + -137.7184738217564 + ], + [ + 1259.4113961881121, + -160.85559822826406 + ], + [ + 1256.5669954833522, + -157.36650463119656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 179.85524699633208, + "ymax": 134.4180794562496 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 168.56153696966214, + 134.4180794562496 + ], + [ + 179.85524699633208, + 128.4727240862832 + ], + [ + 91.56533541418685, + 80.98936678811907 + ], + [ + 80.33262197521935, + 86.22875193358539 + ], + [ + 72.67209843114892, + -97.1368784102832 + ], + [ + 87.1157112175307, + -102.1706159211517 + ], + [ + -10.961755770609784, + -141.82357582494677 + ], + [ + -25.18618332511528, + -137.49556868022228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.8933198462547, + "ymin": 0.0, + "xmax": 986.73876703053, + "ymax": 19.957989414963663 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 970.8933198462547, + 19.603296189997764 + ], + [ + 972.0794051025332, + 19.957989414963663 + ], + [ + 972.7882183565168, + 19.265938376138877 + ], + [ + 971.6029833046392, + 18.911977815917737 + ], + [ + 984.771723844973, + -32.96080445685146 + ], + [ + 986.0152484138528, + -32.620256536506474 + ], + [ + 986.73876703053, + -33.28469425990812 + ], + [ + 985.496182004127, + -33.624509269882935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 66.105628879542, + "ymin": 457.5489735280508, + "xmax": 778.3621803866655, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 709.6734717390189, + 1152.6689800233382 + ], + [ + 724.4150064194314, + 1125.2024529033079 + ], + [ + 254.80213688096495, + 699.1176722639738 + ], + [ + 238.13869710887536, + 714.92040124533 + ], + [ + 755.340506273213, + 1073.8949353788998 + ], + [ + 778.3621803866655, + 1030.843097884816 + ], + [ + 92.61637887871666, + 457.5489735280508 + ], + [ + 66.105628879542, + 476.0745443486669 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00110/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00110/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93e9a3ae4dc99562992dae68f6142b778ea33ba1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00110/meta.json @@ -0,0 +1,4450 @@ +{ + "frame_id": 110, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.0, + "sim_timestamp": 12932.34286260535 + }, + "drone_pose": { + "x": -40.44511714174283, + "y": 10.902588117682686, + "z": 20.0, + "pitch": -46.22200785001636, + "yaw": -34.728907904095465, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.568614661693573, + 0.3941520154476166, + 0.722025990486145, + 12.854440689086914 + ], + [ + -0.5696942806243896, + 0.8218567371368408, + 1.4901161193847656e-08, + 14.080988883972168 + ], + [ + -0.5934019088745117, + -0.4113340973854065, + 0.6918659210205078, + -42.32213592529297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.32631327287443, + "y": 10.190248498792522, + "z": 20.0 + }, + "t1_image_uv": [ + -786.973882713603, + -641.8487749703118 + ], + "t1_depth": 0.34832371760817177 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -25.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 26.868697283801303, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 220, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.27802976965904236, + "y": 0.25324249267578125, + "z": 0.5595812201499939 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.6751751924479, + "ymin": 336.4224075420133, + "xmax": 653.266270295567, + "ymax": 383.32252951499896 + }, + "corners_3d": [ + [ + -25.445213317871094, + 0.058994293212890625, + 0.0405198335647583 + ], + [ + -25.445213317871094, + 0.5654792785644531, + 0.0405198335647583 + ], + [ + -24.88915252685547, + 0.5654792785644531, + 0.0405198335647583 + ], + [ + -24.88915252685547, + 0.058994293212890625, + 0.0405198335647583 + ], + [ + -25.445213317871094, + 0.058994293212890625, + 1.159682273864746 + ], + [ + -25.445213317871094, + 0.5654792785644531, + 1.159682273864746 + ], + [ + -24.88915252685547, + 0.5654792785644531, + 1.159682273864746 + ], + [ + -24.88915252685547, + 0.058994293212890625, + 1.159682273864746 + ] + ], + "corners_2d": [ + [ + 627.0708221908167, + 375.8023681729781 + ], + [ + 641.7674466326212, + 383.32252951499896 + ], + [ + 652.8740417353606, + 371.4626267460906 + ], + [ + 638.2656683983926, + 364.1148324248072 + ], + [ + 626.6751751924479, + 348.13601167270724 + ], + [ + 641.821944437881, + 355.677300485399 + ], + [ + 653.266270295567, + 343.7856298184033 + ], + [ + 638.2132239110607, + 336.4224075420133 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 110, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 397975, + "2": 262907, + "3": 1282, + "5": 2894, + "6": 6321, + "7": 1116, + "10": 25, + "12": 1984, + "14": 35159, + "15": 13322, + "20": 3891, + "24": 30770, + "25": 163954 + }, + "instance_pixel_counts": { + "3166": 5035, + "3424": 163954, + "3678": 9713, + "4190": 46, + "4702": 1474, + "5214": 3506, + "5506": 317, + "6215": 119096, + "6290": 5015, + "6796": 3480, + "8332": 15814, + "8338": 54616, + "9822": 3590, + "15184": 2894, + "17227": 704, + "17738": 316, + "18000": 3891, + "18763": 220, + "19275": 47, + "21140": 8753, + "21652": 1231, + "23114": 350, + "23627": 509, + "23700": 207669, + "24395": 688, + "24907": 426, + "25856": 3547, + "26442": 465, + "28234": 151, + "30338": 704, + "31819": 375, + "32587": 110, + "33370": 1282, + "35476": 443, + "35988": 769, + "37524": 12499, + "38540": 1441, + "40588": 17261, + "43409": 6263, + "44945": 38139, + "45898": 12, + "47947": 1131, + "48203": 20, + "48459": 104, + "52038": 1782, + "54859": 94, + "56576": 220, + "56832": 210, + "57088": 649, + "57344": 575, + "57600": 330, + "57856": 7111, + "58368": 3609, + "59904": 9712, + "60928": 4685, + "62081": 2869, + "62611": 1190, + "62613": 7360, + "63123": 31116, + "64149": 3977, + "64659": 148016 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 220, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2985595464706421, + "y": 0.26494115591049194, + "z": 0.54694664478302 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.9015624173591, + "ymin": 336.14861598403917, + "xmax": 654.0290182551362, + "ymax": 383.6380198365577 + }, + "corners_3d": [ + [ + -25.465742111206055, + 0.04729562997817993, + 0.05315440893173218 + ], + [ + -25.465742111206055, + 0.5771779417991638, + 0.05315440893173218 + ], + [ + -24.868623733520508, + 0.5771779417991638, + 0.05315440893173218 + ], + [ + -24.868623733520508, + 0.04729562997817993, + 0.05315440893173218 + ], + [ + -25.465742111206055, + 0.04729562997817993, + 1.147047758102417 + ], + [ + -25.465742111206055, + 0.5771779417991638, + 1.147047758102417 + ], + [ + -24.868623733520508, + 0.5771779417991638, + 1.147047758102417 + ], + [ + -24.868623733520508, + 0.04729562997817993, + 1.147047758102417 + ] + ], + "corners_2d": [ + [ + 626.3109715819975, + 375.7633566415191 + ], + [ + 641.6951076947793, + 383.6380198365577 + ], + [ + 653.623572972474, + 370.89754342119494 + ], + [ + 638.3386484762509, + 363.2165989784519 + ], + [ + 625.9015624173591, + 348.72261018525995 + ], + [ + 641.7462088303025, + 356.6191053710425 + ], + [ + 654.0290182551362, + 343.84513358548304 + ], + [ + 638.2895917698288, + 336.14861598403917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 210, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -21.679677963256836, + "y": 3.4432101249694824, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2608874440193176, + "y": 0.18774504959583282, + "z": 0.5414194464683533 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 787.1750142404293, + "ymin": 311.5642270080886, + "xmax": 810.0771777469363, + "ymax": 353.83411289616964 + }, + "corners_3d": [ + [ + -21.96672248840332, + 3.298588275909424, + 0.058681607246398926 + ], + [ + -21.907983779907227, + 3.6694555282592773, + 0.058681607246398926 + ], + [ + -21.39263343811035, + 3.587831974029541, + 0.058681607246398926 + ], + [ + -21.451372146606445, + 3.2169647216796875, + 0.058681607246398926 + ], + [ + -21.96672248840332, + 3.298588275909424, + 1.1415205001831055 + ], + [ + -21.907983779907227, + 3.6694555282592773, + 1.1415205001831055 + ], + [ + -21.39263343811035, + 3.587831974029541, + 1.1415205001831055 + ], + [ + -21.451372146606445, + 3.2169647216796875, + 1.1415205001831055 + ] + ], + "corners_2d": [ + [ + 787.1750142404293, + 349.8096691688952 + ], + [ + 799.4576889075154, + 353.83411289616964 + ], + [ + 805.3475410822626, + 342.316908556859 + ], + [ + 793.1828423234205, + 338.3848451436563 + ], + [ + 791.4178147194892, + 322.9967973813684 + ], + [ + 804.0737731893203, + 327.0257786965499 + ], + [ + 810.0771777469363, + 315.49809959237115 + ], + [ + 797.5465124085649, + 311.5642270080886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 649, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -27.423004150390625, + "y": 7.25494909286499, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5902868509292603, + "y": 0.3566845655441284, + "z": 0.8883635997772217 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 797.0335298427228, + "ymin": 490.4170361205415, + "xmax": 855.5212455307059, + "ymax": 581.374942834517 + }, + "corners_3d": [ + [ + -28.03114891052246, + 6.9296464920043945, + -0.28826743364334106 + ], + [ + -27.99381446838379, + 7.642037868499756, + -0.28826743364334106 + ], + [ + -26.81485939025879, + 7.580251693725586, + -0.28826743364334106 + ], + [ + -26.85219383239746, + 6.867860317230225, + -0.28826743364334106 + ], + [ + -28.03114891052246, + 6.9296464920043945, + 1.488459825515747 + ], + [ + -27.99381446838379, + 7.642037868499756, + 1.488459825515747 + ], + [ + -26.81485939025879, + 7.580251693725586, + 1.488459825515747 + ], + [ + -26.85219383239746, + 6.867860317230225, + 1.488459825515747 + ] + ], + "corners_2d": [ + [ + 797.0335298427228, + 567.7326566329026 + ], + [ + 824.1147829435715, + 581.374942834517 + ], + [ + 843.8596186328609, + 545.5311646986938 + ], + [ + 817.3495000312676, + 532.6724743671177 + ], + [ + 806.1942686546704, + 526.1875628068229 + ], + [ + 834.9836277195841, + 540.1389658417565 + ], + [ + 855.5212455307059, + 503.5222204525544 + ], + [ + 827.3785574170973, + 490.4170361205415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 575, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -34.0060920715332, + "y": -0.7290576696395874, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.36241209506988525, + "y": 0.3168941140174866, + "z": 0.8801102042198181 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 356.5607969609667, + "ymin": 528.8539663533373, + "xmax": 413.3561667962171, + "ymax": 605.6839559647395 + }, + "corners_3d": [ + [ + -34.35142135620117, + -1.0644845962524414, + -0.28000426292419434 + ], + [ + -34.38459396362305, + -0.4315650463104248, + -0.28000426292419434 + ], + [ + -33.660762786865234, + -0.3936306834220886, + -0.28000426292419434 + ], + [ + -33.62759017944336, + -1.02655029296875, + -0.28000426292419434 + ], + [ + -34.35142135620117, + -1.0644845962524414, + 1.480216145515442 + ], + [ + -34.38459396362305, + -0.4315650463104248, + 1.480216145515442 + ], + [ + -33.660762786865234, + -0.3936306834220886, + 1.480216145515442 + ], + [ + -33.62759017944336, + -1.02655029296875, + 1.480216145515442 + ] + ], + "corners_2d": [ + [ + 372.3433961172176, + 591.0177365356675 + ], + [ + 390.4936423057313, + 605.6839559647395 + ], + [ + 413.3561667962171, + 584.1263362674058 + ], + [ + 395.251749432422, + 569.9597287830102 + ], + [ + 356.5607969609667, + 550.3972488193256 + ], + [ + 375.59581898302054, + 565.4271009250833 + ], + [ + 400.0710019920423, + 543.3422631521571 + ], + [ + 381.0807359207148, + 528.8539663533373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 330, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.921846389770508, + "y": -7.857978343963623, + "z": 0.7523910999298096 + }, + "extent": { + "x": 0.49096372723579407, + "y": 0.3683856129646301, + "z": 0.9324829578399658 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 615.3761730831822, + "ymin": 61.695400776439214, + "xmax": 647.9774372694044, + "ymax": 122.68285375107399 + }, + "corners_3d": [ + [ + -14.349137306213379, + -8.298632621765137, + -0.18009185791015625 + ], + [ + -14.464393615722656, + -7.570931911468506, + -0.18009185791015625 + ], + [ + -13.494555473327637, + -7.417324542999268, + -0.18009185791015625 + ], + [ + -13.37929916381836, + -8.145024299621582, + -0.18009185791015625 + ], + [ + -14.349137306213379, + -8.298632621765137, + 1.6848740577697754 + ], + [ + -14.464393615722656, + -7.570931911468506, + 1.6848740577697754 + ], + [ + -13.494555473327637, + -7.417324542999268, + 1.6848740577697754 + ], + [ + -13.37929916381836, + -8.145024299621582, + 1.6848740577697754 + ] + ], + "corners_2d": [ + [ + 616.2728665836019, + 115.39754158412521 + ], + [ + 629.9997984667496, + 122.68285375107399 + ], + [ + 647.6880179232002, + 112.57064231947706 + ], + [ + 633.9746155749741, + 105.47588982180241 + ], + [ + 615.3761730831822, + 71.38880477267605 + ], + [ + 629.6180970935001, + 78.51263275700228 + ], + [ + 647.9774372694044, + 68.62596059534911 + ], + [ + 633.7499995876151, + 61.695400776439214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7111, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 764.1899220557439, + "ymin": 174.40163257167336, + "xmax": 906.0896058446718, + "ymax": 322.6844725098211 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 764.1899220557439, + 296.6495932105119 + ], + [ + 823.4545495153127, + 322.6844725098211 + ], + [ + 897.5771795326835, + 230.24080129528824 + ], + [ + 842.0400064496467, + 208.90206859543187 + ], + [ + 768.617835027921, + 261.5924475271099 + ], + [ + 830.1836134825804, + 287.5740873475624 + ], + [ + 906.0896058446718, + 195.55162288540456 + ], + [ + 848.5483969726258, + 174.40163257167336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3609, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 977.8021962145456, + "ymin": 0.0, + "xmax": 1090.0663362690007, + "ymax": 70.71854695107686 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 977.8021962145456, + 56.718165700871964 + ], + [ + 1024.8992398339758, + 70.71854695107686 + ], + [ + 1070.412201718064, + 14.01412429444889 + ], + [ + 1026.1707879319486, + 2.1347449890448615 + ], + [ + 994.2807826637926, + -2.950766317951036 + ], + [ + 1044.0703478269234, + 10.491524776999768 + ], + [ + 1090.0663362690007, + -43.79064455033824 + ], + [ + 1043.4709992398166, + -55.1083135801922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 9712, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 289.6372445374326, + "ymin": 586.008710351849, + "xmax": 545.8331126098441, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 310.181150609527, + 808.1739537483697 + ], + [ + 383.55038662147524, + 871.4240437588383 + ], + [ + 545.8331126098441, + 668.8196955906957 + ], + [ + 475.97311325739383, + 621.0978290963826 + ], + [ + 289.6372445374326, + 779.1495519734535 + ], + [ + 366.7956573369344, + 845.1395496370358 + ], + [ + 540.4563329108846, + 634.9791167122942 + ], + [ + 467.0703311056154, + 586.008710351849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4685, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 598.8825191209032, + "ymin": 116.4128971948486, + "xmax": 704.4788237974822, + "ymax": 223.58767748878546 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 702.394466172511, + 170.05326510781128 + ], + [ + 660.6091779728173, + 153.7001327722034 + ], + [ + 600.3158285706206, + 205.0352962045593 + ], + [ + 643.5262689951979, + 223.58767748878546 + ], + [ + 704.4788237974822, + 132.5273668649147 + ], + [ + 661.2645973746493, + 116.4128971948486 + ], + [ + 598.8825191209032, + 167.0809529611913 + ], + [ + 643.6233117989046, + 185.44283401822017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.003799367755, + "ymin": 631.6332509714977, + "xmax": 209.54416467075112, + "ymax": 684.4746992276675 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 194.29445213184653, + 658.054401176759 + ], + [ + 179.76872488655442, + 671.469396548056 + ], + [ + 195.03352751143728, + 684.4746992276675 + ], + [ + 209.54416467075112, + 670.7940867374905 + ], + [ + 175.35716889556625, + 631.6332509714977 + ], + [ + 160.003799367755, + 645.3399858891028 + ], + [ + 175.72671498278896, + 658.6396035357966 + ], + [ + 191.06787802915943, + 644.6497024943646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 986.4856541335312, + "ymin": 0.0, + "xmax": 1002.2737889238842, + "ymax": 0.9847033693569642 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 986.4856541335312, + 0.6663943975912048 + ], + [ + 987.6489812199502, + 0.9847033693569642 + ], + [ + 988.2743757412704, + 0.3301255385383115 + ], + [ + 987.1119232909416, + 0.012464325298310541 + ], + [ + 1000.4207532339121, + -50.78230855146961 + ], + [ + 1001.6380729813345, + -50.477704973560776 + ], + [ + 1002.2737889238842, + -51.10408553522262 + ], + [ + 1001.0574308006758, + -51.40804434814618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.4711435375218, + "ymin": 186.6115304898358, + "xmax": 1026.3894547137033, + "ymax": 204.17574202530452 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1020.1815948576682, + 204.17574202530452 + ], + [ + 1024.9140601948839, + 197.29206858763237 + ], + [ + 1006.3178071349628, + 190.7536268196606 + ], + [ + 1001.4711435375218, + 197.53000452138537 + ], + [ + 1021.6508500124773, + 200.0184855367245 + ], + [ + 1026.3894547137033, + 193.14238178770387 + ], + [ + 1007.7109390763483, + 186.6115304898358 + ], + [ + 1002.8570745752847, + 193.38004885824753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.4981125192468, + "ymin": 0.0, + "xmax": 974.2894875031066, + "ymax": 4.067289196788067 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 959.4981125192468, + 3.745920997758276 + ], + [ + 960.6535836922837, + 4.067289196788067 + ], + [ + 961.3095943817159, + 3.406421733638183 + ], + [ + 960.1549787817398, + 3.085710649125758 + ], + [ + 972.4118928042095, + -47.83486734097988 + ], + [ + 973.6207793673168, + -47.52721760052293 + ], + [ + 974.2894875031066, + -48.15986072674491 + ], + [ + 973.0815413220026, + -48.466856011271204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.2146198842227, + "ymin": 176.97736310114746, + "xmax": 1194.8066303049432, + "ymax": 489.9862926661499 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1062.9807602666483, + 489.9862926661499 + ], + [ + 1068.4551928998571, + 478.48717752333175 + ], + [ + 927.7289558093605, + 413.61118201750105 + ], + [ + 921.2146198842227, + 423.8110139833443 + ], + [ + 1189.380680488523, + 253.93550229085076 + ], + [ + 1194.8066303049432, + 242.15073681391905 + ], + [ + 1006.324516774788, + 176.97736310114746 + ], + [ + 998.9783551827138, + 187.0785712751657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.3378922864492, + "ymin": 186.51817042936023, + "xmax": 1026.52448056167, + "ymax": 204.2713685000758 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1020.2500019788392, + 204.2713685000758 + ], + [ + 1025.032735722393, + 197.31297258519854 + ], + [ + 1006.2372906081621, + 190.70471370308476 + ], + [ + 1001.3378922864492, + 197.5534937782637 + ], + [ + 1021.7354806556314, + 200.06933728992257 + ], + [ + 1026.52448056167, + 193.11867314825284 + ], + [ + 1007.6449988967697, + 186.51817042936023 + ], + [ + 1002.7382382316866, + 193.35891963618923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.3613589525404, + "ymin": 0.0, + "xmax": 976.7151360749615, + "ymax": 29.796340603507986 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 961.3613589525404, + 29.451631549164176 + ], + [ + 962.5542490122536, + 29.796340603507986 + ], + [ + 963.2289327755366, + 29.087486575622222 + ], + [ + 962.0369551428073, + 28.74350456263403 + ], + [ + 974.7772217950934, + -22.750769645413243 + ], + [ + 976.0271147586918, + -22.419587632593732 + ], + [ + 976.7151360749615, + -23.100609452752735 + ], + [ + 975.4662491018637, + -23.43106383427579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 265.01421952814866, + "xmax": 7.043575347554906, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 7.043575347554906, + 533.8855095352008 + ], + [ + -2.6308136026207194, + 525.3413589198926 + ], + [ + -654.2750219351817, + 994.0248778256157 + ], + [ + -647.3813183815184, + 1010.8579606368615 + ], + [ + -213.48579966850286, + 273.9656296472856 + ], + [ + -224.34240042884426, + 265.01421952814866 + ], + [ + -1380.7569190729446, + 833.5623805852767 + ], + [ + -1381.6705154383744, + 857.4036919525947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.8963117230144, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 75.70972826487758 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1260.2088852539923, + 75.70972826487758 + ], + [ + 1262.41741037456, + 71.07066989883543 + ], + [ + 1163.6396089290884, + 44.235049426616 + ], + [ + 1160.8963117230144, + 48.530379912285525 + ], + [ + 1366.1241247620264, + -129.93393684733837 + ], + [ + 1367.9061547869774, + -133.8044085668963 + ], + [ + 1248.505223856837, + -156.02750863632195 + ], + [ + 1245.9321363757244, + -152.48942064135724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 983.4195488042687, + "ymin": 0.0, + "xmax": 999.0847576578191, + "ymax": 0.9314557786994442 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 983.4195488042687, + 0.6131995027337211 + ], + [ + 984.5812607525472, + 0.9314557786994442 + ], + [ + 985.2097270317436, + 0.27698632900046505 + ], + [ + 984.0488864841438, + -0.040622349227135146 + ], + [ + 997.2301445635557, + -50.833211855930244 + ], + [ + 998.4457153781343, + -50.528660734089556 + ], + [ + 999.0847576578191, + -51.154933412820526 + ], + [ + 997.8701448219755, + -51.45883993615604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 166.61077122125175, + "ymax": 153.7184586801645 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 155.19206186916006, + 153.7184586801645 + ], + [ + 166.61077122125175, + 147.43879721237926 + ], + [ + 74.42960724108343, + 99.83314319853253 + ], + [ + 63.01592241015487, + 105.37547765290216 + ], + [ + 54.78389245849405, + -79.52392274843345 + ], + [ + 69.50016156175855, + -84.87306041924921 + ], + [ + -33.26076782806365, + -124.8634994796933 + ], + [ + -47.82642241018709, + -120.25809012321048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2574875770722, + "ymin": 0.0, + "xmax": 977.6928368215854, + "ymax": 26.30858492041881 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 962.2574875770722, + 25.96470964717679 + ], + [ + 963.4541672108189, + 26.30858492041881 + ], + [ + 964.1297789121702, + 25.60144653591476 + ], + [ + 962.9340177785849, + 25.25829856525303 + ], + [ + 975.7498467359683, + -26.53534600634316 + ], + [ + 977.0038947605049, + -26.205231714336833 + ], + [ + 977.6928368215854, + -26.884056826261485 + ], + [ + 976.439801792882, + -27.213443728587094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.85828613309377, + "ymin": 502.4798428221021, + "xmax": 840.5007495097016, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 746.5859562085238, + 1201.954457439791 + ], + [ + 760.555874225292, + 1172.4702908274012 + ], + [ + 261.6433143447613, + 738.2746948560923 + ], + [ + 244.91424422011494, + 755.269312806108 + ], + [ + 819.1980095301344, + 1148.8542534158364 + ], + [ + 840.5007495097016, + 1101.2302965205067 + ], + [ + 96.92672707603947, + 502.4798428221021 + ], + [ + 69.85828613309377, + 522.8144444335143 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00111/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00111/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d43a7027e41bfc775d03926436d0d263fe7d8c66 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00111/meta.json @@ -0,0 +1,4136 @@ +{ + "frame_id": 111, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.5, + "sim_timestamp": 12944.494974197121 + }, + "drone_pose": { + "x": -40.32631327287443, + "y": 10.190248498792522, + "z": 20.0, + "pitch": -46.33790305967517, + "yaw": -32.24433698301929, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.583930253982544, + 0.36835190653800964, + 0.7234240770339966, + 12.832871437072754 + ], + [ + -0.5335309505462646, + 0.8457805514335632, + -1.4901161193847656e-08, + 12.896618843078613 + ], + [ + -0.6118580102920532, + -0.3859691023826599, + 0.6904039978981018, + -42.41517639160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.19613761468758, + "y": 9.551408543998184, + "z": 20.0 + }, + "t1_image_uv": [ + -811.928842338971, + -645.914037311381 + ], + "t1_depth": 0.31133140612865406 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -24.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 26.81678106284859, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 220, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.25185298919677734, + "y": 0.2799913287162781, + "z": 0.5537234544754028 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.4882429416239, + "ymin": 336.7992240152086, + "xmax": 653.4668919100629, + "ymax": 382.9420306860002 + }, + "corners_3d": [ + [ + -24.919036865234375, + 0.0322454571723938, + 0.04637271165847778 + ], + [ + -24.919036865234375, + 0.59222811460495, + 0.04637271165847778 + ], + [ + -24.415328979492188, + 0.59222811460495, + 0.04637271165847778 + ], + [ + -24.415328979492188, + 0.0322454571723938, + 0.04637271165847778 + ], + [ + -24.919036865234375, + 0.0322454571723938, + 1.1538195610046387 + ], + [ + -24.919036865234375, + 0.59222811460495, + 1.1538195610046387 + ], + [ + -24.415328979492188, + 0.59222811460495, + 1.1538195610046387 + ], + [ + -24.415328979492188, + 0.0322454571723938, + 1.1538195610046387 + ] + ], + "corners_2d": [ + [ + 626.8866098167466, + 375.13209136419465 + ], + [ + 643.6467240516477, + 382.9420306860002 + ], + [ + 653.0711274153114, + 371.841391172165 + ], + [ + 636.4197115648278, + 364.19844434000123 + ], + [ + 626.4882429416239, + 347.7594364722202 + ], + [ + 643.758379860884, + 355.59271851687 + ], + [ + 653.4668919100629, + 344.4599908425029 + ], + [ + 636.3121469636626, + 336.7992240152086 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 111, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 393841, + "2": 273184, + "3": 455, + "5": 2966, + "6": 5775, + "7": 1146, + "10": 15, + "12": 2097, + "14": 30606, + "15": 13622, + "20": 3741, + "24": 28270, + "25": 165882 + }, + "instance_pixel_counts": { + "3166": 3055, + "3424": 165882, + "3678": 10413, + "4702": 804, + "5214": 4000, + "5506": 359, + "6215": 125789, + "6290": 4450, + "6796": 3243, + "8332": 16613, + "8338": 53921, + "9822": 4294, + "15184": 2966, + "17227": 768, + "17738": 331, + "18000": 3741, + "18763": 70, + "18784": 67, + "21140": 7682, + "21652": 139, + "23114": 376, + "23392": 7, + "23627": 545, + "23700": 207609, + "24395": 491, + "24907": 459, + "25856": 2840, + "26442": 499, + "28234": 53, + "30338": 858, + "31819": 405, + "33370": 455, + "35476": 410, + "37524": 12441, + "38540": 1284, + "40588": 17096, + "43409": 5356, + "44945": 40520, + "45898": 70, + "47947": 987, + "48203": 21, + "48459": 173, + "52038": 4912, + "54859": 153, + "56576": 220, + "56832": 215, + "57088": 645, + "57344": 684, + "57600": 333, + "57856": 7161, + "58368": 3209, + "59904": 6524, + "60928": 4768, + "62081": 2864, + "62611": 915, + "62613": 5705, + "63123": 22405, + "64149": 4239, + "64659": 155091 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 220, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2411828339099884, + "y": 0.2661818563938141, + "z": 0.5558133721351624 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.1204885196884, + "ymin": 337.16323821624337, + "xmax": 652.8378549736339, + "ymax": 382.5604756825911 + }, + "corners_3d": [ + [ + -24.90836524963379, + 0.04605492949485779, + 0.04428279399871826 + ], + [ + -24.90836524963379, + 0.5784186124801636, + 0.04428279399871826 + ], + [ + -24.426000595092773, + 0.5784186124801636, + 0.04428279399871826 + ], + [ + -24.426000595092773, + 0.04605492949485779, + 0.04428279399871826 + ], + [ + -24.90836524963379, + 0.04605492949485779, + 1.155909538269043 + ], + [ + -24.90836524963379, + 0.5784186124801636, + 1.155909538269043 + ], + [ + -24.426000595092773, + 0.5784186124801636, + 1.155909538269043 + ], + [ + -24.426000595092773, + 0.04605492949485779, + 1.155909538269043 + ] + ], + "corners_2d": [ + [ + 627.5016108710983, + 375.1392103905994 + ], + [ + 643.4319903502824, + 382.5604756825911 + ], + [ + 652.4591577107586, + 371.93428052427055 + ], + [ + 636.6277253508736, + 364.6650340378426 + ], + [ + 627.1204885196884, + 347.66307595382506 + ], + [ + 643.5374285164705, + 355.10649996921325 + ], + [ + 652.8378549736339, + 344.4495967009475 + ], + [ + 636.5259788709338, + 337.16323821624337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 215, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -21.64861297607422, + "y": 3.580416202545166, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21761474013328552, + "y": 0.20982559025287628, + "z": 0.529985785484314 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 782.067096198491, + "ymin": 319.18168449290465, + "xmax": 805.0056703985189, + "ymax": 359.4753488109905 + }, + "corners_3d": [ + [ + -21.896371841430664, + 3.4072163105010986, + 0.07011526823043823 + ], + [ + -21.830724716186523, + 3.8217010498046875, + 0.07011526823043823 + ], + [ + -21.400854110717773, + 3.7536160945892334, + 0.07011526823043823 + ], + [ + -21.466501235961914, + 3.3391313552856445, + 0.07011526823043823 + ], + [ + -21.896371841430664, + 3.4072163105010986, + 1.130086898803711 + ], + [ + -21.830724716186523, + 3.8217010498046875, + 1.130086898803711 + ], + [ + -21.400854110717773, + 3.7536160945892334, + 1.130086898803711 + ], + [ + -21.466501235961914, + 3.3391313552856445, + 1.130086898803711 + ] + ], + "corners_2d": [ + [ + 782.067096198491, + 355.32191620682585 + ], + [ + 796.0858214756655, + 359.4753488109905 + ], + [ + 800.4608249123187, + 349.50469019211295 + ], + [ + 786.5626622553473, + 345.4330632147188 + ], + [ + 786.1151486135589, + 329.0829865767801 + ], + [ + 800.5523002549602, + 333.24331005007775 + ], + [ + 805.0056703985189, + 323.2577624482952 + ], + [ + 790.696401415307, + 319.18168449290465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 645, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -26.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5699401497840881, + "y": 0.3640255630016327, + "z": 0.9101430773735046 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 807.2153236509378, + "ymin": 484.19448385557837, + "xmax": 864.576709189615, + "ymax": 574.8145008473837 + }, + "corners_3d": [ + [ + -27.511215209960938, + 6.921250820159912, + -0.31004202365875244 + ], + [ + -27.473112106323242, + 7.648303985595703, + -0.31004202365875244 + ], + [ + -26.334793090820312, + 7.588647365570068, + -0.31004202365875244 + ], + [ + -26.372896194458008, + 6.861594200134277, + -0.31004202365875244 + ], + [ + -27.511215209960938, + 6.921250820159912, + 1.5102441310882568 + ], + [ + -27.473112106323242, + 7.648303985595703, + 1.5102441310882568 + ], + [ + -26.334793090820312, + 7.588647365570068, + 1.5102441310882568 + ], + [ + -26.372896194458008, + 6.861594200134277, + 1.5102441310882568 + ] + ], + "corners_2d": [ + [ + 807.2153236509378, + 561.9931206512894 + ], + [ + 835.3511699881908, + 574.8145008473837 + ], + [ + 852.1620558238026, + 539.6255179613315 + ], + [ + 824.6574560928519, + 527.5290051659208 + ], + [ + 817.195545383341, + 519.3668834140767 + ], + [ + 847.1419055802579, + 532.4823519552665 + ], + [ + 864.576709189615, + 496.525967268042 + ], + [ + 835.3460475711996, + 484.19448385557837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 684, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -33.56096267700195, + "y": -0.40105199813842773, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.4865063428878784, + "y": 0.3044549822807312, + "z": 0.8952425122261047 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 372.3908653166553, + "ymin": 543.4345328571044, + "xmax": 436.08261312067043, + "ymax": 628.8146106607212 + }, + "corners_3d": [ + [ + -34.03086853027344, + -0.7305514812469482, + -0.29513657093048096 + ], + [ + -34.06273651123047, + -0.12247607111930847, + -0.29513657093048096 + ], + [ + -33.09105682373047, + -0.07155248522758484, + -0.29513657093048096 + ], + [ + -33.05918884277344, + -0.6796278953552246, + -0.29513657093048096 + ], + [ + -34.03086853027344, + -0.7305514812469482, + 1.4953484535217285 + ], + [ + -34.06273651123047, + -0.12247607111930847, + 1.4953484535217285 + ], + [ + -33.09105682373047, + -0.07155248522758484, + 1.4953484535217285 + ], + [ + -33.05918884277344, + -0.6796278953552246, + 1.4953484535217285 + ] + ], + "corners_2d": [ + [ + 387.8786461388615, + 614.9973117323227 + ], + [ + 406.68057569700693, + 628.8146106607212 + ], + [ + 436.08261312067043, + 597.9878580725863 + ], + [ + 417.41948489004267, + 584.8273160454428 + ], + [ + 372.3908653166553, + 574.3808457830265 + ], + [ + 392.1809730731534, + 588.5840764776432 + ], + [ + 423.73520919478614, + 556.9225372954783 + ], + [ + 404.09313931142543, + 543.4345328571044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 333, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.32696470618247986, + "y": 0.3812139928340912, + "z": 0.9332872629165649 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 601.9175621255732, + "ymin": 62.44160559111225, + "xmax": 629.3936138609405, + "ymax": 120.4848730095984 + }, + "corners_3d": [ + [ + -13.685150146484375, + -8.28564739227295, + -0.1808912754058838 + ], + [ + -13.804420471191406, + -7.532606601715088, + -0.1808912754058838 + ], + [ + -13.15854263305664, + -7.430309295654297, + -0.1808912754058838 + ], + [ + -13.03927230834961, + -8.183350563049316, + -0.1808912754058838 + ], + [ + -13.685150146484375, + -8.28564739227295, + 1.685683250427246 + ], + [ + -13.804420471191406, + -7.532606601715088, + 1.685683250427246 + ], + [ + -13.15854263305664, + -7.430309295654297, + 1.685683250427246 + ], + [ + -13.03927230834961, + -8.183350563049316, + 1.685683250427246 + ] + ], + "corners_2d": [ + [ + 603.3088364813401, + 113.28920526750036 + ], + [ + 617.9917806100931, + 120.4848730095984 + ], + [ + 629.3936138609405, + 113.44459040944454 + ], + [ + 614.7382080617475, + 106.37990407129661 + ], + [ + 601.9175621255732, + 69.19405248486407 + ], + [ + 617.1490492880408, + 76.23132072521207 + ], + [ + 628.9913500365271, + 69.34596367088625 + ], + [ + 613.7893634035416, + 62.44160559111225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7161, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 751.6789540205975, + "ymin": 176.11221769521322, + "xmax": 889.526699090307, + "ymax": 326.84185380718986 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 751.6789540205975, + 302.11551843352095 + ], + [ + 812.394634859218, + 326.84185380718986 + ], + [ + 881.5031804129603, + 230.80823041423014 + ], + [ + 825.0566755906744, + 210.67248973597538 + ], + [ + 755.7019381590685, + 267.0269674919452 + ], + [ + 818.7727293564894, + 291.71907260066575 + ], + [ + 889.526699090307, + 196.07753542961694 + ], + [ + 831.0590725528343, + 176.11221769521322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3209, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 951.923489630708, + "ymin": 0.0, + "xmax": 1059.1752274372468, + "ymax": 66.53469683728758 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 951.923489630708, + 53.46984936897945 + ], + [ + 999.1503753591318, + 66.53469683728758 + ], + [ + 1040.9119648080264, + 8.56686140088675 + ], + [ + 996.7582668065984, + -2.4749298300357054 + ], + [ + 967.1554411857604, + -6.238020662284384 + ], + [ + 1017.0324597586155, + 6.306417247786101 + ], + [ + 1059.1752274372468, + -49.17843968128739 + ], + [ + 1012.7236821350707, + -59.696543278703814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 6524, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 293.0365930417053, + "ymin": 611.1416883837874, + "xmax": 549.5866027509443, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 313.98263881673296, + 847.3395692758733 + ], + [ + 392.9874735860469, + 909.7671050717438 + ], + [ + 549.5866027509443, + 691.9512407907769 + ], + [ + 475.77487476738474, + 645.5146389401148 + ], + [ + 293.0365930417053, + 820.1413079710103 + ], + [ + 376.36730381253045, + 885.5111104452031 + ], + [ + 544.3098094279311, + 658.9051927359569 + ], + [ + 466.6545044940066, + 611.1416883837874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4768, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 579.6732746674224, + "ymin": 121.82052888581529, + "xmax": 684.5650219629727, + "ymax": 231.03679304265964 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 683.1156891039793, + 174.85282544010929 + ], + [ + 640.1792229907006, + 159.25491482783002 + ], + [ + 581.7908034068378, + 213.2570865517341 + ], + [ + 626.4486112020489, + 231.03679304265964 + ], + [ + 684.5650219629727, + 137.20248455469564 + ], + [ + 640.1587962404773, + 121.82052888581529 + ], + [ + 579.6732746674224, + 175.16870828971102 + ], + [ + 625.9229011988534, + 192.78315590744793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.9410442460142, + "ymin": 678.8133348346229, + "xmax": 209.7935761355538, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 193.11769851546262, + 704.0939366585349 + ], + [ + 178.56597226990903, + 718.9311966293076 + ], + [ + 195.287268658571, + 732.0258876392485 + ], + [ + 209.7935761355538, + 716.9041358205923 + ], + [ + 173.36993446071745, + 678.8133348346229 + ], + [ + 157.9410442460142, + 694.0235171757946 + ], + [ + 175.21041999508986, + 707.4596171676124 + ], + [ + 190.5942761607401, + 691.9446361409279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.6395209147894, + "ymin": 188.97361113987333, + "xmax": 1019.3625870309737, + "ymax": 206.4717324622073 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1013.6754885038955, + 206.4717324622073 + ], + [ + 1017.9037816120483, + 199.31299762485816 + ], + [ + 998.99557625344, + 193.12376002704193 + ], + [ + 994.6395209147894, + 200.1775931969874 + ], + [ + 1015.1302364458023, + 202.3072679088348 + ], + [ + 1019.3625870309737, + 195.15600865722087 + ], + [ + 1000.3712045380372, + 188.97361113987333 + ], + [ + 996.0099261085693, + 196.01967653823402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 930.9530851321297, + "ymin": 0.0, + "xmax": 944.5639304867868, + "ymax": 0.7567484662979496 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 930.9530851321297, + 0.4563400782095641 + ], + [ + 932.1127729497665, + 0.7567484662979496 + ], + [ + 932.7268681530782, + 0.07794900402541316 + ], + [ + 931.5681120991459, + -0.2218291939647088 + ], + [ + 942.7255910161882, + -51.16189217365854 + ], + [ + 943.937917566395, + -50.87428417275606 + ], + [ + 944.5639304867868, + -51.524144629017144 + ], + [ + 943.3526250665363, + -51.811124914099025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.3804825245721, + "ymin": 179.34459773737743, + "xmax": 1189.5808000675097, + "ymax": 488.9552183641833 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1059.364257438564, + 488.9552183641833 + ], + [ + 1064.141721244694, + 477.11137369429275 + ], + [ + 921.3193755282416, + 416.08891610471187 + ], + [ + 915.3804825245721, + 426.6745258210443 + ], + [ + 1185.090585893495, + 252.94299426862025 + ], + [ + 1189.5808000675097, + 240.78790787882446 + ], + [ + 998.7537728068655, + 179.34459773737743 + ], + [ + 992.1463301058661, + 189.8634956619902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.5072317524146, + "ymin": 188.88057626086928, + "xmax": 1019.4964704595169, + "ymax": 206.56696897906542 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1013.7484274554633, + 206.56696897906542 + ], + [ + 1018.0214995435476, + 199.3305651258001 + ], + [ + 998.9108253723812, + 193.07526322025566 + ], + [ + 994.5072317524146, + 200.20449719029395 + ], + [ + 1015.2192597040084, + 202.357656841708 + ], + [ + 1019.4964704595169, + 195.12888861096417 + ], + [ + 1000.3008259788903, + 188.88057626086928 + ], + [ + 995.8918900408939, + 196.001872889433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.0281703883327, + "ymin": 0.0, + "xmax": 948.2141792866887, + "ymax": 26.59389079993383 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 934.0281703883327, + 26.271588756523897 + ], + [ + 935.2260666547251, + 26.59389079993383 + ], + [ + 935.8562211369604, + 25.865634422862797 + ], + [ + 934.6593197699348, + 25.544029874002945 + ], + [ + 946.3175025219268, + -25.97020859818815 + ], + [ + 947.5716305481562, + -25.660525321587784 + ], + [ + 948.2141792866887, + -26.360251348668612 + ], + [ + 946.9611449199526, + -26.669236468010467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1131.5630985406901, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 66.39504339912776 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1229.8144451753337, + 66.39504339912776 + ], + [ + 1231.7038724106703, + 61.71092384833486 + ], + [ + 1134.0100419127696, + 36.98601624748801 + ], + [ + 1131.5630985406901, + 41.34750985952445 + ], + [ + 1329.6563722965575, + -138.39381678772833 + ], + [ + 1331.0963359890302, + -142.29186331801708 + ], + [ + 1213.6254826664294, + -162.72471750054353 + ], + [ + 1211.372296344471, + -159.13768487815832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 133.67204414232265, + "ymax": 172.37472872102506 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 122.0702621808673, + 172.37472872102506 + ], + [ + 133.67204414232265, + 165.56962432332554 + ], + [ + 35.235873849695736, + 118.5251368591801 + ], + [ + 23.534745846457895, + 124.56114773258096 + ], + [ + 11.106542866222071, + -64.11009611396838 + ], + [ + 26.287406773600424, + -69.97469063522516 + ], + [ + -84.12231018717625, + -109.95366215210379 + ], + [ + -99.28489678979236, + -104.87858099407521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8490146651659, + "ymin": 0.0, + "xmax": 949.1101294971477, + "ymax": 23.10371446164811 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 934.8490146651659, + 22.782189991486177 + ], + [ + 936.0506514110343, + 23.10371446164811 + ], + [ + 936.6816686114832, + 22.37721627218434 + ], + [ + 935.481033185185, + 22.05638955363969 + ], + [ + 947.2085014767124, + -29.757834022675183 + ], + [ + 948.4667256468176, + -29.44914706114878 + ], + [ + 949.1101294971477, + -30.14662064863569 + ], + [ + 947.8530063685046, + -30.454609677720555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.990804615630964, + "ymin": 549.4840768796837, + "xmax": 898.3163437621505, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 780.8234604046282, + 1233.7205470624217 + ], + [ + 793.4122121206503, + 1202.325660870533 + ], + [ + 260.2403674649928, + 776.6280752069799 + ], + [ + 243.64537270531036, + 795.1538559294247 + ], + [ + 879.9059306040917, + 1203.8451791241366 + ], + [ + 898.3163437621505, + 1151.8225090807732 + ], + [ + 87.5659583938442, + 549.4840768796837 + ], + [ + 59.990804615630964, + 572.2651878593076 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00113/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00113/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e13e88e752bcd4672cb057fdc1f81fcaa6355f52 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00113/meta.json @@ -0,0 +1,4028 @@ +{ + "frame_id": 113, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.5, + "sim_timestamp": 12968.508742337348 + }, + "drone_pose": { + "x": -40.04809022150267, + "y": 8.975856205749613, + "z": 20.0, + "pitch": -46.31250668644934, + "yaw": -27.873700698222997, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6105868816375732, + 0.32293039560317993, + 0.7231179475784302, + 12.889060974121094 + ], + [ + -0.46752411127090454, + 0.8839803338050842, + 0.0, + 10.78896713256836 + ], + [ + -0.6392220258712769, + -0.33807507157325745, + 0.6907245516777039, + -42.44862747192383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.87571137743442, + "y": 8.454101897439319, + "z": 20.0 + }, + "t1_image_uv": [ + -694.8456199713519, + -645.0217348733783 + ], + "t1_depth": 0.27374259553584745 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -23.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 26.828132496194726, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.26592525839805603, + "y": 0.26102524995803833, + "z": 0.5476877689361572 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.0659321851983, + "ymin": 337.0952171635114, + "xmax": 652.8578816956215, + "ymax": 382.65112580950813 + }, + "corners_3d": [ + [ + -23.933107376098633, + 0.051211535930633545, + 0.05240839719772339 + ], + [ + -23.933107376098633, + 0.5732620358467102, + 0.05240839719772339 + ], + [ + -23.40125846862793, + 0.5732620358467102, + 0.05240839719772339 + ], + [ + -23.40125846862793, + 0.051211535930633545, + 0.05240839719772339 + ], + [ + -23.933107376098633, + 0.051211535930633545, + 1.1477839946746826 + ], + [ + -23.933107376098633, + 0.5732620358467102, + 1.1477839946746826 + ], + [ + -23.40125846862793, + 0.5732620358467102, + 1.1477839946746826 + ], + [ + -23.40125846862793, + 0.051211535930633545, + 1.1477839946746826 + ] + ], + "corners_2d": [ + [ + 627.4433304604757, + 376.2689478627985 + ], + [ + 643.7868016190914, + 382.65112580950813 + ], + [ + 652.4848522246389, + 370.427721069288 + ], + [ + 636.2812024061246, + 364.19600242002144 + ], + [ + 627.0659321851983, + 349.19708036731777 + ], + [ + 643.9013489820533, + 355.59802046780015 + ], + [ + 652.8578816956215, + 343.34078873241884 + ], + [ + 636.1707922008995, + 337.0952171635114 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 113, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 386416, + "2": 290038, + "5": 2850, + "6": 3325, + "10": 1, + "12": 2065, + "14": 19468, + "15": 10318, + "20": 3659, + "24": 24888, + "25": 178572 + }, + "instance_pixel_counts": { + "3166": 517, + "3424": 178572, + "3678": 7391, + "5214": 710, + "5506": 301, + "6215": 135916, + "6290": 3801, + "6796": 2773, + "8332": 18313, + "8338": 52346, + "9822": 4862, + "15184": 2850, + "17227": 714, + "17738": 366, + "18000": 3659, + "18784": 224, + "19552": 36, + "21140": 6736, + "23114": 147, + "23392": 112, + "23627": 612, + "23700": 203879, + "23904": 25, + "24395": 246, + "24907": 526, + "25856": 12, + "26442": 568, + "30338": 174, + "31819": 378, + "35476": 383, + "37524": 11822, + "38540": 1113, + "40588": 16779, + "43409": 3482, + "44945": 45618, + "45898": 267, + "47947": 733, + "48203": 26, + "48459": 329, + "48715": 122, + "52038": 9897, + "54859": 336, + "56576": 211, + "56832": 208, + "57088": 650, + "57344": 669, + "57600": 327, + "57856": 7248, + "58368": 2927, + "59904": 1221, + "60928": 4910, + "62081": 2838, + "62611": 987, + "62613": 2189, + "63123": 8045, + "64149": 4727, + "64659": 166769 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.26530882716178894, + "y": 0.2573544681072235, + "z": 0.5575706362724304 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.1907596616949, + "ymin": 336.9008685556474, + "xmax": 652.7329902059869, + "ymax": 382.8284990443251 + }, + "corners_3d": [ + [ + -23.932491302490234, + 0.054882317781448364, + 0.042525529861450195 + ], + [ + -23.932491302490234, + 0.5695912837982178, + 0.042525529861450195 + ], + [ + -23.401874542236328, + 0.5695912837982178, + 0.042525529861450195 + ], + [ + -23.401874542236328, + 0.054882317781448364, + 0.042525529861450195 + ], + [ + -23.932491302490234, + 0.054882317781448364, + 1.157666802406311 + ], + [ + -23.932491302490234, + 0.5695912837982178, + 1.157666802406311 + ], + [ + -23.401874542236328, + 0.5695912837982178, + 1.157666802406311 + ], + [ + -23.401874542236328, + 0.054882317781448364, + 1.157666802406311 + ] + ], + "corners_2d": [ + [ + 627.571171134275, + 376.53645572412813 + ], + [ + 643.6803937871365, + 382.8284990443251 + ], + [ + 652.3570278004198, + 370.6348608778001 + ], + [ + 636.3852684985037, + 364.4907739350445 + ], + [ + 627.1907596616949, + 348.9759510142345 + ], + [ + 643.7937554728908, + 355.2868178045811 + ], + [ + 652.7329902059869, + 343.0588629138932 + ], + [ + 636.2759757555198, + 336.9008685556474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 208, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -21.508460998535156, + "y": 4.03825044631958, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2177758812904358, + "y": 0.21410506963729858, + "z": 0.5214837789535522 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 782.0994776958929, + "ymin": 335.6187071720737, + "xmax": 804.7755179485357, + "ymax": 375.5363141245709 + }, + "corners_3d": [ + [ + -21.757049560546875, + 3.860849142074585, + 0.07861727476119995 + ], + [ + -21.690061569213867, + 4.283787250518799, + 0.07861727476119995 + ], + [ + -21.259872436523438, + 4.215651988983154, + 0.07861727476119995 + ], + [ + -21.326860427856445, + 3.7927136421203613, + 0.07861727476119995 + ], + [ + -21.757049560546875, + 3.860849142074585, + 1.1215848922729492 + ], + [ + -21.690061569213867, + 4.283787250518799, + 1.1215848922729492 + ], + [ + -21.259872436523438, + 4.215651988983154, + 1.1215848922729492 + ], + [ + -21.326860427856445, + 3.7927136421203613, + 1.1215848922729492 + ] + ], + "corners_2d": [ + [ + 782.0994776958929, + 371.9498136870963 + ], + [ + 796.9383012612312, + 375.5363141245709 + ], + [ + 800.2424597188187, + 364.9389146105107 + ], + [ + 785.5456862519885, + 361.4263803722067 + ], + [ + 786.1479933148476, + 346.16442719838915 + ], + [ + 801.4258050971195, + 349.75994405433045 + ], + [ + 804.7755179485357, + 339.13798908735214 + ], + [ + 789.6482680151705, + 335.6187071720737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 650, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -25.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4162219166755676, + "y": 0.3298113942146301, + "z": 0.8732229471206665 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 826.860275848339, + "ymin": 477.73345689001064, + "xmax": 874.5665841301368, + "ymax": 554.8185059443683 + }, + "corners_3d": [ + [ + -26.35591697692871, + 6.947372913360596, + -0.2731218934059143 + ], + [ + -26.321393966674805, + 7.6060919761657715, + -0.2731218934059143 + ], + [ + -25.49009132385254, + 7.562525272369385, + -0.2731218934059143 + ], + [ + -25.524614334106445, + 6.903806209564209, + -0.2731218934059143 + ], + [ + -26.35591697692871, + 6.947372913360596, + 1.4733240604400635 + ], + [ + -26.321393966674805, + 7.6060919761657715, + 1.4733240604400635 + ], + [ + -25.49009132385254, + 7.562525272369385, + 1.4733240604400635 + ], + [ + -25.524614334106445, + 6.903806209564209, + 1.4733240604400635 + ] + ], + "corners_2d": [ + [ + 826.860275848339, + 545.1062789837029 + ], + [ + 852.8490232372276, + 554.8185059443683 + ], + [ + 862.2262963440319, + 528.745038862509 + ], + [ + 836.7235629905613, + 519.448698861965 + ], + [ + 837.3894663598218, + 503.86585627210127 + ], + [ + 864.9460643141217, + 513.7743906616433 + ], + [ + 874.5665841301368, + 487.19450607094325 + ], + [ + 847.5563926192365, + 477.73345689001064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 669, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -33.001041412353516, + "y": 0.18243081867694855, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5619396567344666, + "y": 0.3123736083507538, + "z": 0.8984659314155579 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 401.87655172897144, + "ymin": 581.4995850564643, + "xmax": 469.18882337102997, + "ymax": 674.7102733538809 + }, + "corners_3d": [ + [ + -33.54586410522461, + -0.15892435610294342, + -0.29836487770080566 + ], + [ + -33.57855987548828, + 0.46496665477752686, + -0.29836487770080566 + ], + [ + -32.45621871948242, + 0.5237860083580017, + -0.29836487770080566 + ], + [ + -32.42352294921875, + -0.10010500252246857, + -0.29836487770080566 + ], + [ + -33.54586410522461, + -0.15892435610294342, + 1.49856698513031 + ], + [ + -33.57855987548828, + 0.46496665477752686, + 1.49856698513031 + ], + [ + -32.45621871948242, + 0.5237860083580017, + 1.49856698513031 + ], + [ + -32.42352294921875, + -0.10010500252246857, + 1.49856698513031 + ] + ], + "corners_2d": [ + [ + 416.2025753425253, + 661.1796234405206 + ], + [ + 437.96526114694063, + 674.7102733538809 + ], + [ + 469.18882337102997, + 634.818893574723 + ], + [ + 447.7668713110355, + 622.0899150746873 + ], + [ + 401.87655172897144, + 621.7592101677757 + ], + [ + 424.88970036384046, + 635.7307799130384 + ], + [ + 458.4891151346626, + 594.5926149791749 + ], + [ + 435.85246539719503, + 581.4995850564643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 327, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -12.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.36118650436401367, + "y": 0.380096435546875, + "z": 0.9349483847618103 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 572.7914169381514, + "ymin": 63.86752872368419, + "xmax": 602.4726885511172, + "ymax": 122.6127211948907 + }, + "corners_3d": [ + [ + -12.719125747680664, + -8.289896965026855, + -0.18255239725112915 + ], + [ + -12.838046073913574, + -7.539063453674316, + -0.18255239725112915 + ], + [ + -12.124567031860352, + -7.426059246063232, + -0.18255239725112915 + ], + [ + -12.005646705627441, + -8.17689323425293, + -0.18255239725112915 + ], + [ + -12.719125747680664, + -8.289896965026855, + 1.6873443126678467 + ], + [ + -12.838046073913574, + -7.539063453674316, + 1.6873443126678467 + ], + [ + -12.124567031860352, + -7.426059246063232, + 1.6873443126678467 + ], + [ + -12.005646705627441, + -8.17689323425293, + 1.6873443126678467 + ] + ], + "corners_2d": [ + [ + 575.2570867326623, + 116.05041961398081 + ], + [ + 590.6751141090947, + 122.6127211948907 + ], + [ + 602.4726885511172, + 114.31836128799341 + ], + [ + 587.1200610295937, + 107.89650978879075 + ], + [ + 572.7914169381514, + 71.83699034925877 + ], + [ + 588.7798050869446, + 78.25557193415625 + ], + [ + 601.0468741739891, + 70.14356866082602 + ], + [ + 585.1285695817592, + 63.86752872368419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7248, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 729.8113245628494, + "ymin": 184.0581934594838, + "xmax": 860.0984906058674, + "ymax": 338.71189441945944 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 729.8113245628494, + 316.48458255691673 + ], + [ + 792.9960774151413, + 338.71189441945944 + ], + [ + 852.981598538094, + 236.57441290188774 + ], + [ + 795.0064515043244, + 218.68106197554752 + ], + [ + 733.0943880019818, + 281.37300884860355 + ], + [ + 798.7229959036612, + 303.590265861725 + ], + [ + 860.0984906058674, + 201.80820895955702 + ], + [ + 800.0775058685306, + 184.0581934594838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2927, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 906.0334227231856, + "ymin": 0.0, + "xmax": 1004.4830932312875, + "ymax": 64.53680774041294 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 906.0334227231856, + 53.15240162435771 + ], + [ + 953.4749832369281, + 64.53680774041294 + ], + [ + 988.7199113799295, + 4.603513180703942 + ], + [ + 944.7081684365987, + -4.951882124249039 + ], + [ + 919.0014469817065, + -6.504845791238608 + ], + [ + 969.0171051771279, + 4.423001100656279 + ], + [ + 1004.4830932312875, + -52.91238773652202 + ], + [ + 958.2702717823544, + -62.00941838890088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 1221, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 303.07916090440204, + "ymin": 661.2887673395122, + "xmax": 558.5182039462982, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 324.45517412310966, + 924.2946977208512 + ], + [ + 413.7868174804697, + 984.5329736473021 + ], + [ + 558.5182039462982, + 737.9050284862924 + ], + [ + 477.66151984363495, + 694.2742959658442 + ], + [ + 303.07916090440204, + 900.749328984663 + ], + [ + 397.7840021109118, + 964.2348466081932 + ], + [ + 553.585192115269, + 706.3444264327389 + ], + [ + 468.2967691871385, + 661.2887673395122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4910, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 545.9803146593816, + "ymin": 136.7802061236286, + "xmax": 649.4449706631974, + "ymax": 249.3989413392892 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 649.1505683302822, + 188.54037132548876 + ], + [ + 604.1866497141756, + 174.41063896348913 + ], + [ + 549.3347340543806, + 233.15407167912196 + ], + [ + 596.5568165409084, + 249.3989413392892 + ], + [ + 649.4449706631974, + 150.73012463288237 + ], + [ + 602.9387607262404, + 136.7802061236286 + ], + [ + 545.9803146593816, + 194.89255727709283 + ], + [ + 594.9052108605475, + 211.01109221180826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.1952394196331, + "ymin": 197.3443452732518, + "xmax": 1006.4667937539833, + "ymax": 214.6376152308101 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1001.739700550045, + 214.6376152308101 + ], + [ + 1005.0461514865655, + 207.02377289517355 + ], + [ + 985.6522673186532, + 201.5025899906088 + ], + [ + 982.1952394196331, + 209.01763622755917 + ], + [ + 1003.1601043831738, + 210.4661719737941 + ], + [ + 1006.4667937539833, + 202.85978848620505 + ], + [ + 986.988684550372, + 197.3443452732518 + ], + [ + 983.5300817701363, + 204.8516474133565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.405404118565, + "ymin": 0.0, + "xmax": 891.8863353270767, + "ymax": 0.5329771081266585 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 880.405404118565, + 0.27038332732672643 + ], + [ + 881.5726164512009, + 0.5329771081266585 + ], + [ + 882.1135692922813, + -0.17465746703237528 + ], + [ + 880.9474160937159, + -0.4366759878902826 + ], + [ + 890.1161887124279, + -51.30083111404679 + ], + [ + 891.3346800221138, + -51.04946013854186 + ], + [ + 891.8863353270767, + -51.72683276201411 + ], + [ + 890.6689998149322, + -51.97763085293582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.0819039624251, + "ymin": 187.75456047335857, + "xmax": 1179.2008685257756, + "ymax": 490.8755851119594 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1052.5523355545245, + 490.8755851119594 + ], + [ + 1056.074915935339, + 478.4689536810042 + ], + [ + 909.9688292003814, + 424.54294182228455 + ], + [ + 905.0819039624251, + 435.7811906109423 + ], + [ + 1176.3887164723012, + 254.90505112176095 + ], + [ + 1179.2008685257756, + 242.1670573159236 + ], + [ + 984.958940886758, + 187.75456047335857 + ], + [ + 979.7060416004458, + 198.9681107545671 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.0652213420503, + "ymin": 197.25235279009547, + "xmax": 1006.598083138223, + "ymax": 214.73168263391187 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1001.8204969142841, + 214.73168263391187 + ], + [ + 1005.1617010135981, + 207.0353070639735 + ], + [ + 985.5602545109236, + 201.45522870785885 + ], + [ + 982.0652213420503, + 209.05067217731903 + ], + [ + 1003.2566429635049, + 210.5153228253067 + ], + [ + 1006.598083138223, + 202.82656582027164 + ], + [ + 986.9105967148838, + 197.25235279009547 + ], + [ + 983.4139474134618, + 204.8398831396189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.603691387438, + "ymin": 0.0, + "xmax": 897.6785885884676, + "ymax": 26.46872744534795 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 885.603691387438, + 26.186875233036346 + ], + [ + 886.8103157669262, + 26.46872744534795 + ], + [ + 887.3625787362448, + 25.70921243902069 + ], + [ + 886.157087037825, + 25.427997332087557 + ], + [ + 895.8539473591978, + -26.01553401840488 + ], + [ + 897.1154361453512, + -25.744749536812265 + ], + [ + 897.6785885884676, + -26.47441834939957 + ], + [ + 896.4183395604334, + -26.744565237482163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.6706740820891, + "ymin": 0.0, + "xmax": 1266.0217196241983, + "ymax": 55.64898117590661 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1176.1265742599676, + 55.64898117590661 + ], + [ + 1177.47252037994, + 50.908482318688016 + ], + [ + 1081.6086933112724, + 29.83204728836961 + ], + [ + 1079.6706740820891, + 34.2888375449823 + ], + [ + 1265.1556035848141, + -147.16741348431748 + ], + [ + 1266.0217196241983, + -151.09065908931194 + ], + [ + 1151.8105246440796, + -168.42747784992991 + ], + [ + 1150.0999451811085, + -164.7758282939776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 74.64996654946992, + "ymax": 212.9448657599368 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 62.68834531857226, + 212.9448657599368 + ], + [ + 74.64996654946992, + 205.1249726353099 + ], + [ + -35.74225405626862, + 159.62286410936224 + ], + [ + -48.01868502920058, + 166.624628720662 + ], + [ + -68.36297360732158, + -28.597435788813186 + ], + [ + -52.25375538741105, + -35.476954940994574 + ], + [ + -177.60280227055694, + -74.95035682808958 + ], + [ + -193.9799501899946, + -68.93740091707906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2883768867201, + "ymin": 0.0, + "xmax": 898.4264469083033, + "ymax": 22.981085187363362 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 886.2883768867201, + 22.699915225351845 + ], + [ + 887.4986547817306, + 22.981085187363362 + ], + [ + 888.0516754908836, + 22.223410163073652 + ], + [ + 886.8425372546496, + 21.942877533426497 + ], + [ + 896.5970625268747, + -29.800064103399052 + ], + [ + 897.8625428729924, + -29.53015315117318 + ], + [ + 898.4264469083033, + -30.257466543750468 + ], + [ + 897.1622143023383, + -30.526740116273857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 46.702648570649785, + "ymin": 644.3325593801886, + "xmax": 1010.3116961229164, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 845.6064828786497, + 1293.3133508164033 + ], + [ + 855.4289676380604, + 1258.4013194822887 + ], + [ + 260.98361484242434, + 852.5181968701792 + ], + [ + 244.74100104718747, + 874.0443190214327 + ], + [ + 998.1501794422434, + 1305.4202027899737 + ], + [ + 1010.3116961229164, + 1245.0333192343378 + ], + [ + 75.0941863681644, + 644.3325593801886 + ], + [ + 46.702648570649785, + 672.1521223362663 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00114/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00114/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1751f5b0edeb5ee5859451fdc5e0cb5146f274c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00114/meta.json @@ -0,0 +1,4028 @@ +{ + "frame_id": 114, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.0, + "sim_timestamp": 12980.42936926079 + }, + "drone_pose": { + "x": -39.87571137743442, + "y": 8.454101897439319, + "z": 20.0, + "pitch": -46.226402308107, + "yaw": -25.979417646487313, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6219040751457214, + 0.3030463457107544, + 0.7220790982246399, + 12.919269561767578 + ], + [ + -0.43804824352264404, + 0.8989514708518982, + 1.4901161193847656e-08, + 9.867658615112305 + ], + [ + -0.6491140723228455, + -0.3163054585456848, + 0.6918104887008667, + -42.39417266845703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.673567720506014, + "y": 7.978486895837, + "z": 20.0 + }, + "t1_image_uv": [ + -566.0369043651681, + -642.0026063213991 + ], + "t1_depth": 0.2698473667803809 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -23.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 26.866729582641746, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -23.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28525510430336, + "y": 0.25367119908332825, + "z": 0.547886848449707 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.1495458420454, + "ymin": 336.85132115139527, + "xmax": 652.7532200102029, + "ymax": 382.90638910491384 + }, + "corners_3d": [ + [ + -23.452438354492188, + 0.05856558680534363, + 0.052209317684173584 + ], + [ + -23.452438354492188, + 0.5659079551696777, + 0.052209317684173584 + ], + [ + -22.881927490234375, + 0.5659079551696777, + 0.052209317684173584 + ], + [ + -22.881927490234375, + 0.05856558680534363, + 0.052209317684173584 + ], + [ + -23.452438354492188, + 0.05856558680534363, + 1.1479830741882324 + ], + [ + -23.452438354492188, + 0.5659079551696777, + 1.1479830741882324 + ], + [ + -22.881927490234375, + 0.5659079551696777, + 1.1479830741882324 + ], + [ + -22.881927490234375, + 0.05856558680534363, + 1.1479830741882324 + ] + ], + "corners_2d": [ + [ + 627.5238850175514, + 377.10493753612263 + ], + [ + 643.6640576217592, + 382.90638910491384 + ], + [ + 652.3844430341261, + 369.616819934081 + ], + [ + 636.4036591012851, + 363.9644281113355 + ], + [ + 627.1495458420454, + 350.0213112566764 + ], + [ + 643.774640446765, + 355.8390215679264 + ], + [ + 652.7532200102029, + 342.5151454208055 + ], + [ + 636.2971853617663, + 336.85132115139527 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 114, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 380714, + "2": 296269, + "5": 2804, + "6": 3136, + "10": 4, + "12": 2060, + "14": 17703, + "15": 7957, + "20": 3655, + "24": 24085, + "25": 183213 + }, + "instance_pixel_counts": { + "3166": 5, + "3424": 183213, + "3678": 5006, + "5506": 284, + "6215": 139628, + "6290": 3645, + "6796": 1858, + "7774": 42, + "8332": 19239, + "8338": 51570, + "9310": 345, + "9822": 5019, + "15184": 2804, + "17227": 586, + "17738": 376, + "18000": 3655, + "18784": 315, + "19552": 129, + "20064": 25, + "21140": 6661, + "23114": 25, + "23392": 170, + "23627": 650, + "23700": 200921, + "23904": 83, + "24395": 260, + "24907": 547, + "26442": 604, + "31819": 260, + "35476": 402, + "37524": 11650, + "38540": 1081, + "40588": 16560, + "43409": 2427, + "44945": 48257, + "45898": 414, + "47947": 694, + "48203": 26, + "48459": 345, + "48715": 217, + "52038": 12004, + "54859": 496, + "56576": 205, + "56832": 210, + "57088": 612, + "57344": 670, + "57600": 363, + "57856": 7298, + "58368": 2951, + "59904": 9, + "60928": 4985, + "62081": 2852, + "62611": 1274, + "62613": 943, + "63123": 2645, + "64149": 4868, + "64659": 169213 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -23.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2872948944568634, + "y": 0.2700560986995697, + "z": 0.5578632354736328 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.5790407040049, + "ymin": 336.36883868766074, + "xmax": 653.3231051694464, + "ymax": 383.3821332289674 + }, + "corners_3d": [ + [ + -23.454477310180664, + 0.04218068718910217, + 0.0422329306602478 + ], + [ + -23.454477310180664, + 0.582292914390564, + 0.0422329306602478 + ], + [ + -22.8798885345459, + 0.582292914390564, + 0.0422329306602478 + ], + [ + -22.8798885345459, + 0.04218068718910217, + 0.0422329306602478 + ], + [ + -23.454477310180664, + 0.04218068718910217, + 1.1579594612121582 + ], + [ + -23.454477310180664, + 0.582292914390564, + 1.1579594612121582 + ], + [ + -22.8798885345459, + 0.582292914390564, + 1.1579594612121582 + ], + [ + -22.8798885345459, + 0.04218068718910217, + 1.1579594612121582 + ] + ], + "corners_2d": [ + [ + 626.976958133972, + 377.2055708936047 + ], + [ + 644.1557123069225, + 383.3821332289674 + ], + [ + 652.9308843706708, + 369.9930754037964 + ], + [ + 635.9229372587856, + 363.97628880196686 + ], + [ + 626.5790407040049, + 349.6281906493216 + ], + [ + 644.2834827425754, + 355.8223943400457 + ], + [ + 653.3231051694464, + 342.397997667651 + ], + [ + 635.8000288252412, + 336.36883868766074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 210, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -21.329509735107422, + "y": 4.451505184173584, + "z": 0.6000766754150391 + }, + "extent": { + "x": 0.2984936535358429, + "y": 0.22440490126609802, + "z": 0.5311720371246338 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 790.2683634918768, + "ymin": 341.80226912222383, + "xmax": 814.7361519573781, + "ymax": 386.31863011169264 + }, + "corners_3d": [ + [ + -21.659433364868164, + 4.276557922363281, + 0.06890463829040527 + ], + [ + -21.589223861694336, + 4.719841957092285, + 0.06890463829040527 + ], + [ + -20.99958610534668, + 4.626452445983887, + 0.06890463829040527 + ], + [ + -21.069795608520508, + 4.183168411254883, + 0.06890463829040527 + ], + [ + -21.659433364868164, + 4.276557922363281, + 1.1312487125396729 + ], + [ + -21.589223861694336, + 4.719841957092285, + 1.1312487125396729 + ], + [ + -20.99958610534668, + 4.626452445983887, + 1.1312487125396729 + ], + [ + -21.069795608520508, + 4.183168411254883, + 1.1312487125396729 + ] + ], + "corners_2d": [ + [ + 790.2683634918768, + 382.8635816847077 + ], + [ + 806.0960892754322, + 386.31863011169264 + ], + [ + 809.824647579056, + 371.43506001902506 + ], + [ + 794.2129014562386, + 368.0791389868305 + ], + [ + 794.6647225897708, + 356.62339229892814 + ], + [ + 810.9723788225226, + 360.0888163825438 + ], + [ + 814.7361519573781, + 345.16541903472455 + ], + [ + 798.6577033828744, + 341.80226912222383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 612, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -25.423004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3367260694503784, + "y": 0.3139013648033142, + "z": 0.8721136450767517 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 834.4370787920964, + "ymin": 474.4122075112475, + "xmax": 878.2572383311621, + "ymax": 545.4314207173295 + }, + "corners_3d": [ + [ + -25.775697708129883, + 6.959100723266602, + -0.2720125913619995 + ], + [ + -25.742839813232422, + 7.586043357849121, + -0.2720125913619995 + ], + [ + -25.070310592651367, + 7.550797462463379, + -0.2720125913619995 + ], + [ + -25.103168487548828, + 6.923854827880859, + -0.2720125913619995 + ], + [ + -25.775697708129883, + 6.959100723266602, + 1.472214698791504 + ], + [ + -25.742839813232422, + 7.586043357849121, + 1.472214698791504 + ], + [ + -25.070310592651367, + 7.550797462463379, + 1.472214698791504 + ], + [ + -25.103168487548828, + 6.923854827880859, + 1.472214698791504 + ] + ], + "corners_2d": [ + [ + 834.4370787920964, + 536.9930299513076 + ], + [ + 859.2502793309482, + 545.4314207173295 + ], + [ + 865.8158273061415, + 524.3144608426526 + ], + [ + 841.3949830767612, + 516.1725038570064 + ], + [ + 845.2726073224322, + 495.6004518838849 + ], + [ + 871.5609500840646, + 504.1997568991001 + ], + [ + 878.2572383311621, + 482.6929998187816 + ], + [ + 852.4092221685538, + 474.4122075112475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 670, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3161291480064392, + "y": 0.313603013753891, + "z": 0.8865858316421509 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 422.2584661264427, + "ymin": 604.1962265343981, + "xmax": 474.6970313207853, + "ymax": 679.4832500852203 + }, + "corners_3d": [ + [ + -32.96646499633789, + -0.01748138666152954, + -0.2864847779273987 + ], + [ + -32.999290466308594, + 0.6088650822639465, + -0.2864847779273987 + ], + [ + -32.36790084838867, + 0.6419549584388733, + -0.2864847779273987 + ], + [ + -32.33507537841797, + 0.015608489513397217, + -0.2864847779273987 + ], + [ + -32.96646499633789, + -0.01748138666152954, + 1.4866869449615479 + ], + [ + -32.999290466308594, + 0.6088650822639465, + 1.4866869449615479 + ], + [ + -32.36790084838867, + 0.6419549584388733, + 1.4866869449615479 + ], + [ + -32.33507537841797, + 0.015608489513397217, + 1.4866869449615479 + ] + ], + "corners_2d": [ + [ + 435.2178271467725, + 666.5693817525778 + ], + [ + 457.9231792120971, + 679.4832500852203 + ], + [ + 474.6970313207853, + 656.1654067970707 + ], + [ + 452.22741892989694, + 643.7011032691423 + ], + [ + 422.2584661264427, + 627.7645693535028 + ], + [ + 446.27971222655196, + 641.096814011413 + ], + [ + 464.32444825714947, + 617.0356384617287 + ], + [ + 440.5650476907524, + 604.1962265343981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 363, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -11.921846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.37801146507263184, + "y": 0.38411712646484375, + "z": 0.940265417098999 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 560.1907089295688, + "ymin": 65.36753657661268, + "xmax": 590.9915075161618, + "ymax": 124.69321370308555 + }, + "corners_3d": [ + [ + -12.235115051269531, + -8.296500205993652, + -0.18786942958831787 + ], + [ + -12.355293273925781, + -7.537724494934082, + -0.18786942958831787 + ], + [ + -11.608577728271484, + -7.4194560050964355, + -0.18786942958831787 + ], + [ + -11.488399505615234, + -8.178232192993164, + -0.18786942958831787 + ], + [ + -12.235115051269531, + -8.296500205993652, + 1.6926614046096802 + ], + [ + -12.355293273925781, + -7.537724494934082, + 1.6926614046096802 + ], + [ + -11.608577728271484, + -7.4194560050964355, + 1.6926614046096802 + ], + [ + -11.488399505615234, + -8.178232192993164, + 1.6926614046096802 + ] + ], + "corners_2d": [ + [ + 563.1321542861103, + 118.35284937920534 + ], + [ + 579.0293298764057, + 124.69321370308555 + ], + [ + 590.9915075161618, + 115.80522195340376 + ], + [ + 575.1793175842024, + 109.610411276494 + ], + [ + 560.1907089295688, + 73.91020876034588 + ], + [ + 576.6760039804498, + 80.11039918776515 + ], + [ + 589.1226587394979, + 71.42001896059014 + ], + [ + 572.7284702335137, + 65.36753657661268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7298, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 720.4462194580478, + "ymin": 189.7123383632896, + "xmax": 847.3808616238649, + "ymax": 346.09087045201994 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 720.4462194580478, + 324.9952750331612 + ], + [ + 784.7119310647979, + 346.09087045201994 + ], + [ + 840.6617069843077, + 241.2490300215373 + ], + [ + 782.0143030366659, + 224.35435000339723 + ], + [ + 723.4047624419845, + 289.8822910217659 + ], + [ + 790.1544214211722, + 310.9764553323781 + ], + [ + 847.3808616238649, + 206.47456781407584 + ], + [ + 786.675705084122, + 189.7123383632896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2951, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 886.1648638015421, + "ymin": 0.0, + "xmax": 980.8750097226986, + "ymax": 65.86539825771473 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 886.1648638015421, + 55.20958494130241 + ], + [ + 933.7206326541157, + 65.86539825771473 + ], + [ + 966.1878319932571, + 5.112748969866971 + ], + [ + 922.2099160471319, + -3.804007380416124 + ], + [ + 898.1487154030782, + -4.404152359118598 + ], + [ + 948.2489518513767, + 5.822559970526868 + ], + [ + 980.8750097226986, + -52.28038707076445 + ], + [ + 934.7340480731048, + -60.766928294862566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 234, + "instance_id": 59904, + "pixel_count": 9, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -36.12148666381836, + "y": 2.6373984813690186, + "z": 0.7644689679145813 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -0.1299438178539276 + }, + "bbox_2d": { + "xmin": 308.7508332552431, + "ymin": 686.4982503076058, + "xmax": 563.252114194097, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.60932922363281, + 1.6245778799057007, + -0.012655493803322315 + ], + [ + -38.60470962524414, + 3.662972927093506, + -0.010699799284338951 + ], + [ + -33.630489349365234, + 3.651691436767578, + -0.0005207769572734833 + ], + [ + -33.635108947753906, + 1.613296627998352, + -0.002476472407579422 + ], + [ + -38.61248779296875, + 1.623105525970459, + 1.52945876121521 + ], + [ + -38.60786819458008, + 3.6615004539489746, + 1.5314143896102905 + ], + [ + -33.63364791870117, + 3.650219202041626, + 1.5415934324264526 + ], + [ + -33.638267517089844, + 1.6118242740631104, + 1.539637804031372 + ] + ], + "corners_2d": [ + [ + 330.24136976815254, + 962.5100342488131 + ], + [ + 424.31037043878734, + 1021.5870638916656 + ], + [ + 563.252114194097, + 761.0432626216818 + ], + [ + 479.23367581228774, + 718.786258187163 + ], + [ + 308.7508332552431, + 940.8444415441276 + ], + [ + 408.7034735496548, + 1003.2933027130323 + ], + [ + 558.5282662274863, + 730.2135359914103 + ], + [ + 469.8022634495761, + 686.4982503076058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4985, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 531.3452068110215, + "ymin": 145.62044784818985, + "xmax": 634.4146330668209, + "ymax": 259.7536819466353 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 634.4146330668209, + 196.7782704870565 + ], + [ + 588.5412702085242, + 183.32375583654294 + ], + [ + 535.2525416404765, + 244.22486874580767 + ], + [ + 583.6261070069235, + 259.7536819466353 + ], + [ + 634.1963410412064, + 158.91004273443875 + ], + [ + 586.7464638260201, + 145.62044784818985 + ], + [ + 531.3452068110215, + 205.9027802565699 + ], + [ + 581.4736967206331, + 221.32092398899536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.972325637234, + "ymin": 203.18872335554363, + "xmax": 1001.0310104179946, + "ymax": 220.38660669556324 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 996.7322191859901, + 220.38660669556324 + ], + [ + 999.6270996318964, + 212.57166224179946 + ], + [ + 980.0275080635286, + 207.3495055233759 + ], + [ + 976.972325637234, + 215.06879267566646 + ], + [ + 998.1376143144423, + 216.21306857070684 + ], + [ + 1001.0310104179946, + 208.40558428625624 + ], + [ + 981.3467630723312, + 203.18872335554363 + ], + [ + 978.2916557659644, + 210.90027034787744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.5149878869886, + "ymin": 0.0, + "xmax": 869.0720639728753, + "ymax": 2.6490328098732334 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 858.5149878869886, + 2.402904384237786 + ], + [ + 859.6861283280796, + 2.6490328098732334 + ], + [ + 860.195885385025, + 1.9291822624023212 + ], + [ + 859.0258577913603, + 1.683603104005556 + ], + [ + 867.3301503849054, + -49.12716963053799 + ], + [ + 868.5520576406271, + -48.891584168803774 + ], + [ + 869.0720639728753, + -49.58057933079698 + ], + [ + 867.8513692902989, + -49.815617877040665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.7891958228893, + "ymin": 193.61891561733492, + "xmax": 1174.789828642111, + "ymax": 493.8470421567883 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1049.718486681536, + 493.8470421567883 + ], + [ + 1052.6867792599166, + 481.19442942495806 + ], + [ + 905.207173488344, + 430.3886337309083 + ], + [ + 900.7891958228893, + 441.9166177492349 + ], + [ + 1172.7188282155905, + 257.91107629409504 + ], + [ + 1174.789828642111, + 244.9206678889 + ], + [ + 979.136165746487, + 193.61891561733492 + ], + [ + 974.4889668876115, + 205.14022733531363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.843384574916, + "ymin": 203.09721837166109, + "xmax": 1001.1610833449108, + "ymax": 220.48013202595138 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 996.8164596021243, + 220.48013202595138 + ], + [ + 999.7416197269631, + 212.5805072763545 + ], + [ + 979.9323088452614, + 207.3026614405464 + ], + [ + 976.843384574916, + 215.104560841841 + ], + [ + 998.2374475859065, + 216.2616572205217 + ], + [ + 1001.1610833449108, + 208.36965241627985 + ], + [ + 981.2652928915265, + 203.09721837166109 + ], + [ + 978.1764377801336, + 210.89120870252395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.632466328457, + "ymin": 0.0, + "xmax": 875.7910379941839, + "ymax": 28.618098430162718 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 864.632466328457, + 28.35386408857096 + ], + [ + 865.8434980116274, + 28.618098430162718 + ], + [ + 866.3624543916993, + 27.845312039907867 + ], + [ + 865.1526134447125, + 27.58168620596723 + ], + [ + 873.9963910760815, + -23.811591601665157 + ], + [ + 875.2617708933171, + -23.55775753165983 + ], + [ + 875.7910379941839, + -24.300103550632514 + ], + [ + 874.5269594728695, + -24.553328735165053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.3205364897226, + "ymin": 0.0, + "xmax": 1238.1540287297098, + "ymax": 53.28575516657179 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1153.0753269017966, + 53.28575516657179 + ], + [ + 1154.1923712583891, + 48.52420917003593 + ], + [ + 1059.0431765324392, + 28.980972511913365 + ], + [ + 1057.3205364897226, + 33.47593107087522 + ], + [ + 1237.5273756580104, + -148.59123190533995 + ], + [ + 1238.1540287297098, + -152.52201956796262 + ], + [ + 1125.2256624826273, + -168.56320293009492 + ], + [ + 1123.7427680810633, + -164.88680147465925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 48.14965042456299, + "ymax": 233.974914992822 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 36.00118910222125, + 233.974914992822 + ], + [ + 48.14965042456299, + 225.66226177585798 + ], + [ + -67.92642564633525, + 181.01673567873453 + ], + [ + -80.49843713046812, + 188.49226040865932 + ], + [ + -104.67986541742971, + -9.604835052985607 + ], + [ + -88.09254725693086, + -16.98747535719741 + ], + [ + -220.69428910791362, + -56.08752064313694 + ], + [ + -237.6996618290217, + -49.6044730675614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 865.2579753189673, + "ymin": 0.0, + "xmax": 876.4745262405097, + "ymax": 25.13281128435699 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 865.2579753189673, + 24.86921823677767 + ], + [ + 866.4726278036574, + 25.13281128435699 + ], + [ + 866.9923011726192, + 24.36190206719658 + ], + [ + 865.7788466354007, + 24.098917738162356 + ], + [ + 874.6752151544099, + -27.593250290078686 + ], + [ + 875.9445468925314, + -27.340236828734817 + ], + [ + 876.4745262405097, + -28.080181254616946 + ], + [ + 875.2065040314553, + -28.332586041074705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 41.68476977056889, + "ymin": 692.5542188431853, + "xmax": 1063.903549911289, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 875.7786693757764, + 1322.883049782326 + ], + [ + 884.2651470255087, + 1286.294793890444 + ], + [ + 262.24978378423515, + 890.2918117054118 + ], + [ + 246.19010819447158, + 913.3056424314359 + ], + [ + 1054.9664451120905, + 1355.6572877758117 + ], + [ + 1063.903549911289, + 1291.102043981688 + ], + [ + 70.4606013449029, + 692.5542188431853 + ], + [ + 41.68476977056889, + 723.0070169300227 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00115/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00115/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..710b4b4d8b9e88bdc4b31d662f929428707b1acc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00115/meta.json @@ -0,0 +1,4026 @@ +{ + "frame_id": 115, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.5, + "sim_timestamp": 12990.090853595408 + }, + "drone_pose": { + "x": -39.673567720506014, + "y": 7.978486895837, + "z": 20.0, + "pitch": -46.122233736895446, + "yaw": -24.26521282476437, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6318868398666382, + 0.28484612703323364, + 0.7208201289176941, + 12.925447463989258 + ], + [ + -0.4109609127044678, + 0.9116529822349548, + 0.0, + 9.030675888061523 + ], + [ + -0.6571378111839294, + -0.29622891545295715, + 0.693122148513794, + -42.296905517578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.439149697621616, + "y": 7.5426689547924495, + "z": 20.0 + }, + "t1_image_uv": [ + -421.23488969452796, + -638.3627174261009 + ], + "t1_depth": 0.27226672321508216 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -22.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 26.913654201705363, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.27312374114990234, + "y": 0.25434207916259766, + "z": 0.5568466186523438 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.492464823161, + "ymin": 337.0098133234846, + "xmax": 652.4134099722847, + "ymax": 382.72460775071005 + }, + "corners_3d": [ + [ + -22.9403076171875, + 0.05789470672607422, + 0.043249547481536865 + ], + [ + -22.9403076171875, + 0.5665788650512695, + 0.043249547481536865 + ], + [ + -22.394058227539062, + 0.5665788650512695, + 0.043249547481536865 + ], + [ + -22.394058227539062, + 0.05789470672607422, + 0.043249547481536865 + ], + [ + -22.9403076171875, + 0.05789470672607422, + 1.1569428443908691 + ], + [ + -22.9403076171875, + 0.5665788650512695, + 1.1569428443908691 + ], + [ + -22.394058227539062, + 0.5665788650512695, + 1.1569428443908691 + ], + [ + -22.394058227539062, + 0.05789470672607422, + 1.1569428443908691 + ] + ], + "corners_2d": [ + [ + 627.8614062524089, + 377.28816783382297 + ], + [ + 644.2424444893516, + 382.72460775071005 + ], + [ + 652.0499198827988, + 369.8687178424659 + ], + [ + 635.832993321902, + 364.56795464577414 + ], + [ + 627.492464823161, + 349.7565012560841 + ], + [ + 644.3721009948428, + 355.2072166299891 + ], + [ + 652.4134099722847, + 342.3204299384769 + ], + [ + 635.7079747827878, + 337.0098133234846 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 115, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 374774, + "2": 300885, + "5": 2925, + "6": 3146, + "10": 5, + "12": 2046, + "14": 19167, + "15": 5910, + "20": 3616, + "24": 23721, + "25": 185405 + }, + "instance_pixel_counts": { + "3424": 185405, + "3678": 2866, + "5506": 272, + "6215": 142677, + "6290": 3576, + "6796": 327, + "7262": 79, + "7774": 431, + "8332": 20204, + "8338": 50837, + "9310": 1031, + "9822": 5185, + "15184": 2925, + "17227": 453, + "17738": 392, + "18000": 3616, + "18784": 336, + "19552": 225, + "21140": 6771, + "23392": 232, + "23627": 688, + "23700": 197160, + "23904": 147, + "24395": 276, + "24416": 67, + "24907": 436, + "26442": 640, + "31819": 141, + "35476": 418, + "37524": 11522, + "38540": 1072, + "40588": 16305, + "43409": 1140, + "44945": 50774, + "45898": 565, + "47947": 643, + "48203": 31, + "48459": 361, + "48715": 308, + "52038": 13973, + "54859": 680, + "56576": 205, + "56832": 223, + "57088": 670, + "57344": 616, + "57600": 332, + "57856": 7375, + "58368": 3044, + "60928": 5066, + "62081": 2874, + "62611": 1743, + "62613": 46, + "63123": 331, + "64149": 5114, + "64659": 168769 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.29515621066093445, + "y": 0.25474974513053894, + "z": 0.5476645827293396 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.146366487647, + "ymin": 336.7323426127615, + "xmax": 652.743653218304, + "ymax": 383.03420655789165 + }, + "corners_3d": [ + [ + -22.962339401245117, + 0.057487040758132935, + 0.052431583404541016 + ], + [ + -22.962339401245117, + 0.5669865608215332, + 0.052431583404541016 + ], + [ + -22.372026443481445, + 0.5669865608215332, + 0.052431583404541016 + ], + [ + -22.372026443481445, + 0.057487040758132935, + 0.052431583404541016 + ], + [ + -22.962339401245117, + 0.057487040758132935, + 1.1477607488632202 + ], + [ + -22.962339401245117, + 0.5669865608215332, + 1.1477607488632202 + ], + [ + -22.372026443481445, + 0.5669865608215332, + 1.1477607488632202 + ], + [ + -22.372026443481445, + 0.057487040758132935, + 1.1477607488632202 + ] + ], + "corners_2d": [ + [ + 627.519545061684, + 377.5833109063649 + ], + [ + 643.9375354847349, + 383.03420655789165 + ], + [ + 652.3767423033814, + 369.14071755693277 + ], + [ + 636.136472721126, + 363.8367192645493 + ], + [ + 627.146366487647, + 350.50708006831 + ], + [ + 644.0559225767103, + 355.97222293608087 + ], + [ + 652.743653218304, + 342.04588040518223 + ], + [ + 636.0225584565146, + 336.7323426127615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -20.9112491607666, + "y": 5.121989727020264, + "z": 0.600027859210968 + }, + "extent": { + "x": 0.23167602717876434, + "y": 0.19203291833400726, + "z": 0.5336748361587524 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 813.3330215467801, + "ymin": 349.2417696221371, + "xmax": 834.7292000894341, + "ymax": 389.97847968092503 + }, + "corners_3d": [ + [ + -21.17011260986328, + 4.968563079833984, + 0.06635302305221558 + ], + [ + -21.11003303527832, + 5.347900390625, + 0.06635302305221558 + ], + [ + -20.652385711669922, + 5.275416374206543, + 0.06635302305221558 + ], + [ + -20.712465286254883, + 4.896079063415527, + 0.06635302305221558 + ], + [ + -21.17011260986328, + 4.968563079833984, + 1.1337027549743652 + ], + [ + -21.11003303527832, + 5.347900390625, + 1.1337027549743652 + ], + [ + -20.652385711669922, + 5.275416374206543, + 1.1337027549743652 + ], + [ + -20.712465286254883, + 4.896079063415527, + 1.1337027549743652 + ] + ], + "corners_2d": [ + [ + 813.3330215467801, + 387.30088093448524 + ], + [ + 827.0339813304424, + 389.97847968092503 + ], + [ + 829.2126107937597, + 378.2466973720236 + ], + [ + 815.6619472328306, + 375.62976691109833 + ], + [ + 818.4329664368413, + 360.9436166993151 + ], + [ + 832.5518371269206, + 363.6293713833538 + ], + [ + 834.7292000894341, + 351.864909817741 + ], + [ + 820.7698930556064, + 349.2417696221371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 670, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -24.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5109814405441284, + "y": 0.340576171875, + "z": 0.877303957939148 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 836.8149789443543, + "ymin": 462.9756062874392, + "xmax": 885.1619293784829, + "ymax": 545.2801120380461 + }, + "corners_3d": [ + [ + -25.451108932495117, + 6.941582202911377, + -0.27720290422439575 + ], + [ + -25.41546058654785, + 7.621801376342773, + -0.27720290422439575 + ], + [ + -24.394899368286133, + 7.5683159828186035, + -0.27720290422439575 + ], + [ + -24.4305477142334, + 6.888096809387207, + -0.27720290422439575 + ], + [ + -25.451108932495117, + 6.941582202911377, + 1.477405071258545 + ], + [ + -25.41546058654785, + 7.621801376342773, + 1.477405071258545 + ], + [ + -24.394899368286133, + 7.5683159828186035, + 1.477405071258545 + ], + [ + -24.4305477142334, + 6.888096809387207, + 1.477405071258545 + ] + ], + "corners_2d": [ + [ + 836.8149789443543, + 536.7993658536064 + ], + [ + 863.9180728693937, + 545.2801120380461 + ], + [ + 872.4475901524477, + 513.241507056746 + ], + [ + 846.0135313027731, + 505.2121003500562 + ], + [ + 847.8128248658103, + 495.09611368702247 + ], + [ + 876.5257970981593, + 503.73646523168065 + ], + [ + 885.1619293784829, + 471.13142581812 + ], + [ + 857.199155663775, + 462.9756062874392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 616, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5066442489624023, + "y": 0.30078503489494324, + "z": 0.8843387961387634 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 429.22434065459504, + "ymin": 601.655759257469, + "xmax": 489.8274974438902, + "ymax": 690.5746400784966 + }, + "corners_3d": [ + [ + -32.65739059448242, + -0.014651745557785034, + -0.28423774242401123 + ], + [ + -32.688873291015625, + 0.5860939025878906, + -0.28423774242401123 + ], + [ + -31.67697525024414, + 0.6391253471374512, + -0.28423774242401123 + ], + [ + -31.645490646362305, + 0.03837969899177551, + -0.28423774242401123 + ], + [ + -32.65739059448242, + -0.014651745557785034, + 1.4844398498535156 + ], + [ + -32.688873291015625, + 0.5860939025878906, + 1.4844398498535156 + ], + [ + -31.67697525024414, + 0.6391253471374512, + 1.4844398498535156 + ], + [ + -31.645490646362305, + 0.03837969899177551, + 1.4844398498535156 + ] + ], + "corners_2d": [ + [ + 441.8215398523372, + 678.6746473580486 + ], + [ + 464.31338584035825, + 690.5746400784966 + ], + [ + 489.8274974438902, + 652.455568014879 + ], + [ + 467.7532654321228, + 641.225505523788 + ], + [ + 429.22434065459504, + 640.2536701402242 + ], + [ + 453.0385004269883, + 652.5479296322826 + ], + [ + 480.48364959875164, + 613.2156806705403 + ], + [ + 457.13493014496646, + 601.655759257469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 332, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -11.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.2982446253299713, + "y": 0.3759893774986267, + "z": 0.9072080254554749 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 550.759352571816, + "ymin": 69.24181797801049, + "xmax": 578.9212185546977, + "ymax": 124.8670357747014 + }, + "corners_3d": [ + [ + -11.657601356506348, + -8.275994300842285, + -0.1548120379447937 + ], + [ + -11.775237083435059, + -7.533273696899414, + -0.1548120379447937 + ], + [ + -11.186091423034668, + -7.439962387084961, + -0.1548120379447937 + ], + [ + -11.068455696105957, + -8.182682991027832, + -0.1548120379447937 + ], + [ + -11.657601356506348, + -8.275994300842285, + 1.6596040725708008 + ], + [ + -11.775237083435059, + -7.533273696899414, + 1.6596040725708008 + ], + [ + -11.186091423034668, + -7.439962387084961, + 1.6596040725708008 + ], + [ + -11.068455696105957, + -8.182682991027832, + 1.6596040725708008 + ] + ], + "corners_2d": [ + [ + 553.9257110990219, + 118.94742386038433 + ], + [ + 569.7562104479064, + 124.8670357747014 + ], + [ + 578.9212185546977, + 117.72080943669553 + ], + [ + 563.1673800624716, + 111.91110895554027 + ], + [ + 550.759352571816, + 76.12208586903904 + ], + [ + 567.1512508311764, + 81.91406015592042 + ], + [ + 576.6781262946498, + 74.92233607561519 + ], + [ + 560.3682060373411, + 69.24181797801049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7375, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 712.0520580212533, + "ymin": 196.1571820729449, + "xmax": 835.9770538400849, + "ymax": 354.247001091835 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 712.0520580212533, + 334.18361154438975 + ], + [ + 777.3372679806237, + 354.247001091835 + ], + [ + 829.6126313771572, + 246.8089314761172 + ], + [ + 770.321791748377, + 230.81873197831476 + ], + [ + 714.7180708126425, + 299.07214247411315 + ], + [ + 782.5277070997171, + 319.1420790760635 + ], + [ + 835.9770538400849, + 212.02503219556348 + ], + [ + 774.6144713902827, + 196.1571820729449 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3044, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 868.281222856971, + "ymin": 0.0, + "xmax": 959.6902511373245, + "ymax": 68.23169838514406 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 868.281222856971, + 58.22791141799195 + ], + [ + 915.9720780045774, + 68.23169838514406 + ], + [ + 945.9575112768869, + 6.6994181839035605 + ], + [ + 901.9779337692044, + -1.648206298365949 + ], + [ + 879.3858063749141, + -1.35570550882926 + ], + [ + 929.5988597116869, + 8.244106397714063 + ], + [ + 959.6902511373245, + -50.59165320772496 + ], + [ + 913.577768483912, + -58.53467303047677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5066, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 517.9958706539725, + "ymin": 154.99588086539592, + "xmax": 621.0433917963387, + "ymax": 270.61194012708455 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 621.0433917963387, + 205.6007455207348 + ], + [ + 574.306651022951, + 192.7675798435851 + ], + [ + 522.4187308020098, + 255.7459715534017 + ], + [ + 571.8825009719682, + 270.61194012708455 + ], + [ + 620.3536226189252, + 167.67770509536524 + ], + [ + 572.0058661451737, + 154.99588086539592 + ], + [ + 517.9958706539725, + 217.37053502257197 + ], + [ + 569.2662712692728, + 232.1400739456564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.8275293696099, + "ymin": 0.0, + "xmax": 874.4529711000878, + "ymax": 0.27207791968089623 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 863.8275293696099, + 0.04459339215242153 + ], + [ + 865.0021105495307, + 0.27207791968089623 + ], + [ + 865.4518255002088, + -0.44709241909311004 + ], + [ + 864.2784065422104, + -0.6740649828562937 + ], + [ + 872.7709881190179, + -51.22280449261109 + ], + [ + 873.9958335554126, + -51.00522540648382 + ], + [ + 874.4529711000878, + -51.69305948270181 + ], + [ + 873.2293903646307, + -51.910129362673445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.5748111510034, + "ymin": 210.03289213615136, + "xmax": 996.4502101928022, + "ymax": 227.161656063263 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 992.5431228735595, + 227.161656063263 + ], + [ + 995.0591391079113, + 219.14983808797507 + ], + [ + 975.260087855862, + 214.1964632842586 + ], + [ + 972.5748111510034, + 222.11555566334107 + ], + [ + 993.9372924044302, + 222.98578974926176 + ], + [ + 996.4502101928022, + 214.98138840418179 + ], + [ + 976.5659721582857, + 210.03289213615136 + ], + [ + 973.8823159358044, + 217.9442922692828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.7849121998325, + "ymin": 0.0, + "xmax": 848.5155121468069, + "ymax": 5.683412448303557 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 838.7849121998325, + 5.452057282953831 + ], + [ + 839.960446459387, + 5.683412448303557 + ], + [ + 840.442405879945, + 4.952009984227743 + ], + [ + 839.2680331877015, + 4.721179897203399 + ], + [ + 846.797734699096, + -46.04912239886869 + ], + [ + 848.0236668135906, + -45.82769130179457 + ], + [ + 848.5155121468069, + -46.52769806186785 + ], + [ + 847.2908441925413, + -46.74860637866618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.1238305661385, + "ymin": 200.47625091972907, + "xmax": 1171.2479651546205, + "ymax": 498.1154671050326 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1047.4327999466907, + 498.1154671050326 + ], + [ + 1049.8934373607158, + 485.22378554946494 + ], + [ + 901.111546910875, + 437.2197249904171 + ], + [ + 897.1238305661385, + 449.0275768550953 + ], + [ + 1169.8587216745489, + 262.23890061424447 + ], + [ + 1171.2479651546205, + 248.99830557155164 + ], + [ + 974.190000081423, + 200.47625091972907 + ], + [ + 970.1004540810991, + 212.2987579656064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 972.4467951376637, + "ymin": 209.9417376226015, + "xmax": 996.579233380219, + "ymax": 227.2547852277271 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 992.6305754198306, + 227.2547852277271 + ], + [ + 995.1727534834781, + 219.1561844590867 + ], + [ + 975.1618893273408, + 214.15000216077732 + ], + [ + 972.4467951376637, + 222.15387276265994 + ], + [ + 994.0402290777367, + 223.03395971000367 + ], + [ + 996.579233380219, + 214.94293443116112 + ], + [ + 976.4813475452978, + 209.9417376226015 + ], + [ + 973.7679009261085, + 217.93774812748705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.7370447823707, + "ymin": 0.0, + "xmax": 856.0762810179475, + "ymax": 31.698228174714018 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 845.7370447823707, + 31.4498016790198 + ], + [ + 846.952905053873, + 31.698228174714018 + ], + [ + 847.442126766379, + 30.91287653135481 + ], + [ + 846.2275098608994, + 30.665031928217218 + ], + [ + 854.3073861014412, + -20.690380830255208 + ], + [ + 855.5772258698269, + -20.451745822011674 + ], + [ + 856.0762810179475, + -21.20611840793356 + ], + [ + 854.8077984290861, + -21.444171212099548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.3207735792441, + "ymin": 0.0, + "xmax": 1213.3932028345093, + "ymax": 52.34299538015148 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1132.5189611858484, + 52.34299538015148 + ], + [ + 1133.431901338438, + 47.55989847714858 + ], + [ + 1038.8512675546358, + 29.366931143239242 + ], + [ + 1037.3207735792441, + 33.89882494526876 + ], + [ + 1212.9797989689323, + -148.72267780228896 + ], + [ + 1213.3932028345093, + -152.66287875997477 + ], + [ + 1101.5020478256329, + -167.56880721481082 + ], + [ + 1100.2217854738692, + -163.86766475956233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.9029626882493, + "ymin": 0.0, + "xmax": 871.4174285859003, + "ymax": 0.47356860973962966 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 860.9029626882493, + 0.24594052588003024 + ], + [ + 862.0768720876948, + 0.47356860973962966 + ], + [ + 862.530023930699, + -0.24605534461159095 + ], + [ + 861.3572751395968, + -0.4731709803002673 + ], + [ + 869.7324598492294, + -51.03022500529886 + ], + [ + 870.9565808918017, + -50.81250312434116 + ], + [ + 871.4174285859003, + -51.500788390959485 + ], + [ + 870.1945704370899, + -51.718000564710394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 23.26683383306306, + "ymax": 255.11699954259956 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 10.920983487087824, + 255.11699954259956 + ], + [ + 23.26683383306306, + 246.3165711428377 + ], + [ + -98.31281054785325, + 202.51800212261804 + ], + [ + -111.190650919012, + 210.46470641921957 + ], + [ + -139.25569440890774, + 9.709381369234336 + ], + [ + -122.17045914462551, + 1.8208301795150987 + ], + [ + -261.8913962812055, + -36.89534179264899 + ], + [ + -279.54778076481216, + -29.937270725142355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.3095572523972, + "ymin": 0.0, + "xmax": 856.7021604972037, + "ymax": 28.214576959168426 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 846.3095572523972, + 27.966754322482075 + ], + [ + 847.5290151339209, + 28.214576959168426 + ], + [ + 848.0189200152942, + 27.43113604521926 + ], + [ + 846.8007129287672, + 27.183895499435266 + ], + [ + 854.9286621067279, + -24.47009544117668 + ], + [ + 856.2024252837829, + -24.232232874424767 + ], + [ + 856.7021604972037, + -24.984161799506694 + ], + [ + 855.42976296812, + -25.221442367146608 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00116/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00116/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5211dc344b0b2f30d2324423499b1305c70eb136 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00116/meta.json @@ -0,0 +1,4131 @@ +{ + "frame_id": 116, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.0, + "sim_timestamp": 13001.481058956357 + }, + "drone_pose": { + "x": -39.439149697621616, + "y": 7.5426689547924495, + "z": 20.0, + "pitch": -46.01521596508343, + "yaw": -22.715277610597344, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6406010389328003, + 0.26816990971565247, + 0.7195242643356323, + 12.896989822387695 + ], + [ + -0.3861519992351532, + 0.9224351644515991, + 0.0, + 8.271883010864258 + ], + [ + -0.6637145280838013, + -0.27784574031829834, + 0.694467306137085, + -42.161376953125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.17308577526708, + "y": 7.141316566731414, + "z": 20.0 + }, + "t1_image_uv": [ + -283.4359890229707, + -634.6375769317189 + ], + "t1_depth": 0.27807148320515285 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -22.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 26.962126278781056, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.23342160880565643, + "y": 0.26906952261924744, + "z": 0.5570885539054871 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.7358802985955, + "ymin": 337.90005990705873, + "xmax": 652.1928769542657, + "ymax": 381.8081898234181 + }, + "corners_3d": [ + [ + -22.400604248046875, + 0.04316726326942444, + 0.043007612228393555 + ], + [ + -22.400604248046875, + 0.5813063383102417, + 0.043007612228393555 + ], + [ + -21.933761596679688, + 0.5813063383102417, + 0.043007612228393555 + ], + [ + -21.933761596679688, + 0.04316726326942444, + 0.043007612228393555 + ], + [ + -22.400604248046875, + 0.04316726326942444, + 1.1571847200393677 + ], + [ + -22.400604248046875, + 0.5813063383102417, + 1.1571847200393677 + ], + [ + -21.933761596679688, + 0.5813063383102417, + 1.1571847200393677 + ], + [ + -21.933761596679688, + 0.04316726326942444, + 1.1571847200393677 + ] + ], + "corners_2d": [ + [ + 628.096212170728, + 376.4322365490715 + ], + [ + 645.5907673496356, + 381.8081898234181 + ], + [ + 651.8366585168266, + 370.7304049307992 + ], + [ + 634.499094928687, + 365.47069011809765 + ], + [ + 627.7358802985955, + 348.8820849853471 + ], + [ + 645.7609290800953, + 354.27071661841876 + ], + [ + 652.1928769542657, + 343.1687016635212 + ], + [ + 634.3344398912869, + 337.90005990705873 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 116, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 369343, + "2": 303672, + "3": 733, + "5": 3053, + "6": 3128, + "10": 2, + "12": 1989, + "14": 20645, + "15": 4442, + "20": 3592, + "24": 23990, + "25": 187011 + }, + "instance_pixel_counts": { + "3424": 187011, + "3678": 1263, + "5506": 270, + "6215": 144660, + "6284": 5, + "6290": 3562, + "7262": 592, + "7774": 1015, + "8332": 20152, + "8338": 50128, + "9310": 1053, + "9822": 5355, + "15184": 3053, + "17227": 315, + "17738": 407, + "18000": 3592, + "18784": 355, + "19552": 315, + "21140": 7004, + "23392": 287, + "23627": 725, + "23700": 193914, + "23904": 213, + "24395": 293, + "24416": 75, + "24907": 323, + "24928": 53, + "26442": 677, + "31819": 22, + "35476": 455, + "37524": 11345, + "38540": 1083, + "40588": 16084, + "41562": 733, + "44945": 52458, + "45898": 762, + "47947": 641, + "48203": 32, + "48459": 376, + "48715": 329, + "52038": 15540, + "54859": 883, + "56576": 204, + "56832": 223, + "57088": 618, + "57344": 604, + "57600": 340, + "57856": 7467, + "58368": 3179, + "60928": 5163, + "62081": 2858, + "62101": 21, + "62611": 2386, + "64149": 5086, + "64659": 166039 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2941857576370239, + "y": 0.2546197474002838, + "z": 0.5451346039772034 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.352159818894, + "ymin": 336.93354007914354, + "xmax": 652.5339432474096, + "ymax": 382.8357750223411 + }, + "corners_3d": [ + [ + -22.461368560791016, + 0.05761703848838806, + 0.054961562156677246 + ], + [ + -22.461368560791016, + 0.5668565034866333, + 0.054961562156677246 + ], + [ + -21.872997283935547, + 0.5668565034866333, + 0.054961562156677246 + ], + [ + -21.872997283935547, + 0.05761703848838806, + 0.054961562156677246 + ], + [ + -22.461368560791016, + 0.05761703848838806, + 1.145230770111084 + ], + [ + -22.461368560791016, + 0.5668565034866333, + 1.145230770111084 + ], + [ + -21.872997283935547, + 0.5668565034866333, + 1.145230770111084 + ], + [ + -21.872997283935547, + 0.05761703848838806, + 1.145230770111084 + ] + ], + "corners_2d": [ + [ + 627.7164782117261, + 377.7337714530724 + ], + [ + 644.2962806145847, + 382.8357750223411 + ], + [ + 652.1760640058556, + 368.8774996518868 + ], + [ + 635.7836148581953, + 363.91417880842823 + ], + [ + 627.352159818894, + 350.77853262615287 + ], + [ + 644.4243658157176, + 355.89274735592426 + ], + [ + 652.5339432474096, + 341.9046935114083 + ], + [ + 635.660317602915, + 336.93354007914354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 223, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -19.774911880493164, + "y": 6.145857334136963, + "z": 0.6001596450805664 + }, + "extent": { + "x": 0.21216857433319092, + "y": 0.1983279436826706, + "z": 0.5310853123664856 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 853.936552241681, + "ymin": 341.3938450208237, + "xmax": 875.7961627455632, + "ymax": 380.65932895144533 + }, + "corners_3d": [ + [ + -20.015493392944336, + 5.983161449432373, + 0.06907433271408081 + ], + [ + -19.95344352722168, + 6.374934196472168, + 0.06907433271408081 + ], + [ + -19.534330368041992, + 6.308553218841553, + 0.06907433271408081 + ], + [ + -19.59638023376465, + 5.916780471801758, + 0.06907433271408081 + ], + [ + -20.015493392944336, + 5.983161449432373, + 1.1312448978424072 + ], + [ + -19.95344352722168, + 6.374934196472168, + 1.1312448978424072 + ], + [ + -19.534330368041992, + 6.308553218841553, + 1.1312448978424072 + ], + [ + -19.59638023376465, + 5.916780471801758, + 1.1312448978424072 + ] + ], + "corners_2d": [ + [ + 853.936552241681, + 378.2215668121435 + ], + [ + 868.0837170079096, + 380.65932895144533 + ], + [ + 869.2246574098531, + 370.05993146592914 + ], + [ + 855.2221230066297, + 367.6727428260773 + ], + [ + 860.1210353303526, + 351.96304700778677 + ], + [ + 874.6934957628788, + 354.4064237315208 + ], + [ + 875.7961627455632, + 343.78508816316594 + ], + [ + 861.377118488232, + 341.3938450208237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 618, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -24.423004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.44138914346694946, + "y": 0.3156948685646057, + "z": 0.8834383487701416 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 842.8363151301028, + "ymin": 460.0602579697977, + "xmax": 887.051467040049, + "ymax": 537.142483201215 + }, + "corners_3d": [ + [ + -24.88031005859375, + 6.962787628173828, + -0.2833372950553894 + ], + [ + -24.847265243530273, + 7.593311786651611, + -0.2833372950553894 + ], + [ + -23.9656982421875, + 7.547110557556152, + -0.2833372950553894 + ], + [ + -23.998743057250977, + 6.916586399078369, + -0.2833372950553894 + ], + [ + -24.88031005859375, + 6.962787628173828, + 1.483539342880249 + ], + [ + -24.847265243530273, + 7.593311786651611, + 1.483539342880249 + ], + [ + -23.9656982421875, + 7.547110557556152, + 1.483539342880249 + ], + [ + -23.998743057250977, + 6.916586399078369, + 1.483539342880249 + ] + ], + "corners_2d": [ + [ + 842.8363151301028, + 529.9433341899058 + ], + [ + 867.9365098173637, + 537.142483201215 + ], + [ + 874.2347722998758, + 509.5461692554529 + ], + [ + 849.6843703401958, + 502.68112491052 + ], + [ + 854.1438546017752, + 487.7636552030384 + ], + [ + 880.7262705694535, + 495.09138124175166 + ], + [ + 887.051467040049, + 467.02959546003336 + ], + [ + 861.0851508427684, + 460.0602579697977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 604, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -31.66718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5640515089035034, + "y": 0.305675208568573, + "z": 0.8804919719696045 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 438.767395635243, + "ymin": 602.8188638682401, + "xmax": 501.17306306185446, + "ymax": 696.2332810089513 + }, + "corners_3d": [ + [ + -32.21446228027344, + -0.02253967523574829, + -0.2803909182548523 + ], + [ + -32.246456146240234, + 0.58797287940979, + -0.2803909182548523 + ], + [ + -31.11989974975586, + 0.647013247013092, + -0.2803909182548523 + ], + [ + -31.08790397644043, + 0.03650069236755371, + -0.2803909182548523 + ], + [ + -32.21446228027344, + -0.02253967523574829, + 1.480592966079712 + ], + [ + -32.246456146240234, + 0.58797287940979, + 1.480592966079712 + ], + [ + -31.11989974975586, + 0.647013247013092, + 1.480592966079712 + ], + [ + -31.08790397644043, + 0.03650069236755371, + 1.480592966079712 + ] + ], + "corners_2d": [ + [ + 450.7667496347687, + 684.6954819364295 + ], + [ + 474.2138695594525, + 696.2332810089513 + ], + [ + 501.17306306185446, + 653.0844735489129 + ], + [ + 478.253591237471, + 642.2795835996413 + ], + [ + 438.767395635243, + 646.5304700798571 + ], + [ + 463.60348851778315, + 658.4515725884244 + ], + [ + 492.59394742008755, + 613.9369265840884 + ], + [ + 468.347122222729, + 602.8188638682401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 340, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.921846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.5124499201774597, + "y": 0.39324644207954407, + "z": 0.9397150874137878 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 537.0382565083779, + "ymin": 68.02104990249882, + "xmax": 572.9454364245793, + "ymax": 130.38976516599925 + }, + "corners_3d": [ + [ + -11.366469383239746, + -8.32654857635498, + -0.1873190999031067 + ], + [ + -11.48950481414795, + -7.54973840713501, + -0.1873190999031067 + ], + [ + -10.47722339630127, + -7.389408588409424, + -0.1873190999031067 + ], + [ + -10.354187965393066, + -8.166217803955078, + -0.1873190999031067 + ], + [ + -11.366469383239746, + -8.32654857635498, + 1.6921110153198242 + ], + [ + -11.48950481414795, + -7.54973840713501, + 1.6921110153198242 + ], + [ + -10.47722339630127, + -7.389408588409424, + 1.6921110153198242 + ], + [ + -10.354187965393066, + -8.166217803955078, + 1.6921110153198242 + ] + ], + "corners_2d": [ + [ + 540.8254821721946, + 124.41480637544913 + ], + [ + 557.6526768904631, + 130.38976516599925 + ], + [ + 572.9454364245793, + 117.89865558204244 + ], + [ + 556.2733982719227, + 112.116485914968 + ], + [ + 537.0382565083779, + 80.03507083354805 + ], + [ + 554.4823331842734, + 85.8772743862068 + ], + [ + 570.4076051560162, + 73.66770239647758 + ], + [ + 553.1298381405395, + 68.02104990249882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7467, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 704.5400954619373, + "ymin": 203.2149931389612, + "xmax": 825.803710948522, + "ymax": 363.0778315165438 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 704.5400954619373, + 343.9449566324428 + ], + [ + 770.808188588672, + 363.0778315165438 + ], + [ + 819.7514815622284, + 253.07866346820015 + ], + [ + 759.827738322664, + 237.8999534801871 + ], + [ + 706.9438778968532, + 308.83713306735007 + ], + [ + 775.7789860950804, + 327.9845707448379 + ], + [ + 825.803710948522, + 218.28107275324115 + ], + [ + 763.7910685459543, + 203.2149931389612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3179, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 852.2333133394568, + "ymin": 0.0, + "xmax": 940.7504891652063, + "ymax": 71.34616364525368 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 852.2333133394568, + 61.9222703942404 + ], + [ + 900.0872015237633, + 71.34616364525368 + ], + [ + 927.8573168962597, + 9.037422622399504 + ], + [ + 883.837082357492, + 1.1943507298714735 + ], + [ + 862.5582883822681, + 2.344237431589079 + ], + [ + 912.9198601302758, + 11.387291209315379 + ], + [ + 940.7504891652063, + -48.18339222907349 + ], + [ + 894.6196204180308, + -55.64522922064111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5163, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 505.76308660284445, + "ymin": 164.73010160553793, + "xmax": 608.8920759933942, + "ymax": 281.8472479568595 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 608.8920759933942, + 214.83921096845233 + ], + [ + 561.3229593079493, + 202.57084429579785 + ], + [ + 510.6708063785951, + 267.5862055728013 + ], + [ + 561.180987471004, + 281.8472479568595 + ], + [ + 607.7674225736869, + 176.85978975160586 + ], + [ + 558.5516031911909, + 164.73010160553793 + ], + [ + 505.76308660284445, + 229.16089853782552 + ], + [ + 558.1323240520804, + 243.3388754302525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.1896960504306, + "ymin": 0.0, + "xmax": 840.4643210430295, + "ymax": 1.8767911721174073 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 832.1896960504306, + 1.556563988532389 + ], + [ + 833.9485663214626, + 1.8767911721174073 + ], + [ + 838.0588367109987, + -4.923316635489698 + ], + [ + 836.31670194401, + -5.236739852254971 + ], + [ + 834.5482120447551, + -14.21286396415735 + ], + [ + 836.3298795713999, + -13.89673998083839 + ], + [ + 840.4643210430295, + -20.608876289276907 + ], + [ + 838.6998263841912, + -20.918202374112866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.8429197265592, + "ymin": 0.0, + "xmax": 855.7235724804489, + "ymax": 3.565932601423924 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 845.8429197265592, + 3.3516357541582806 + ], + [ + 847.021234464187, + 3.565932601423924 + ], + [ + 847.4460676844878, + 2.8364281237080036 + ], + [ + 846.2689568907001, + 2.6226208224047696 + ], + [ + 854.0633590701643, + -47.89427384501198 + ], + [ + 855.2916183360059, + -47.68931681653237 + ], + [ + 855.7235724804489, + -48.3870043941684 + ], + [ + 854.4966220446428, + -48.59147454471412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.0429203275934, + "ymin": 217.80380545125985, + "xmax": 992.772741855603, + "ymax": 234.8985358049682 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 989.2226617007846, + 234.8985358049682 + ], + [ + 991.3897103516967, + 226.68640712447726 + ], + [ + 971.3876677276235, + 221.97091626009708 + ], + [ + 969.0429203275934, + 230.09294364361944 + ], + [ + 990.6103209398086, + 230.71965535205024 + ], + [ + 992.772741855603, + 222.51482641662054 + ], + [ + 972.6848047440673, + 217.80380545125985 + ], + [ + 970.343139577275, + 225.91826013146706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 821.0408955821358, + "ymin": 0.0, + "xmax": 830.0363477352594, + "ymax": 9.329095318717293 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 821.0408955821358, + 9.110911407040476 + ], + [ + 822.2214443557422, + 9.329095318717293 + ], + [ + 822.6787128420544, + 8.586363745462506 + ], + [ + 821.4993704670816, + 8.368682751854692 + ], + [ + 828.3387511863051, + -42.38409533975596 + ], + [ + 829.5694784767803, + -42.175270068377415 + ], + [ + 830.0363477352594, + -42.88612004266594 + ], + [ + 828.806932219889, + -43.094444595987284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.0869258697547, + "ymin": 208.2506477474629, + "xmax": 1168.7071437725003, + "ymax": 503.60968533155364 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1045.756754186966, + 503.60968533155364 + ], + [ + 1047.7519467682569, + 490.4766385388135 + ], + [ + 897.6805996680773, + 444.96424722418374 + ], + [ + 894.0869258697547, + 457.05057237310933 + ], + [ + 1167.948151341838, + 267.8259326231436 + ], + [ + 1168.7071437725003, + 254.32456809418298 + ], + [ + 970.1570527800793, + 208.2506477474629 + ], + [ + 966.5809454130092, + 220.37920586619404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 161.81902041884348, + "ymax": 7.022708772950466 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 154.14984815850914, + 7.022708772950466 + ], + [ + 161.81902041884348, + 2.4000287797484248 + ], + [ + 65.32303819256958, + -19.367608999105812 + ], + [ + 57.24169028380834, + -15.056501061059862 + ], + [ + 76.09300070268682, + -198.54956945325057 + ], + [ + 85.6359461637586, + -202.19178444929923 + ], + [ + -22.626340226763773, + -219.22994930833136 + ], + [ + -32.66579497174928, + -215.870187295366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.9156330820313, + "ymin": 217.71281737237499, + "xmax": 992.9009251333409, + "ymax": 234.99146256749046 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 989.3131589869681, + 234.99146256749046 + ], + [ + 991.5025757751395, + 226.69041025656475 + ], + [ + 971.2865865140654, + 221.92466245997778 + ], + [ + 968.9156330820313, + 230.13366573541944 + ], + [ + 990.7162448462817, + 230.76759338855734 + ], + [ + 992.9009251333409, + 222.47399716937366 + ], + [ + 972.5971915559754, + 217.71281737237499 + ], + [ + 970.2293786927047, + 225.91408269330842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.7535174123814, + "ymin": 0.0, + "xmax": 838.3648132037578, + "ymax": 35.41250335395159 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 828.7535174123814, + 35.17816963387912 + ], + [ + 829.97480357325, + 35.41250335395159 + ], + [ + 830.437557985734, + 34.61481655839441 + ], + [ + 829.2175635994031, + 34.3810403519924 + ], + [ + 836.6175612903447, + -16.958552401870463 + ], + [ + 837.8926143651602, + -16.733452207788105 + ], + [ + 838.3648132037578, + -17.499680647823936 + ], + [ + 837.0911688687979, + -17.72422302109021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.5108588481662, + "ymin": 0.0, + "xmax": 1191.5454418270178, + "ymax": 52.47015117996028 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1114.2960358184005, + 52.47015117996028 + ], + [ + 1115.0264089492243, + 47.66251510398416 + ], + [ + 1020.869708823732, + 30.654363230191905 + ], + [ + 1019.5108588481662, + 35.22449556483059 + ], + [ + 1191.323186581007, + -147.95128224147794 + ], + [ + 1191.5454418270178, + -151.90512518160784 + ], + [ + 1080.4530140796937, + -165.82102658467852 + ], + [ + 1079.3537343544551, + -162.09273763203475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 842.9338527110804, + "ymin": 0.0, + "xmax": 852.7046767329882, + "ymax": 3.8053362450455097 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 842.9338527110804, + 3.5908786054443453 + ], + [ + 844.1116320347138, + 3.8053362450455097 + ], + [ + 844.539951531097, + 3.0752846725741847 + ], + [ + 843.3633748204902, + 2.8613171296849487 + ], + [ + 851.041277490427, + -47.66545769078664 + ], + [ + 852.268959935784, + -47.460340732307486 + ], + [ + 852.7046767329882, + -48.15857244618212 + ], + [ + 851.4783016289515, + -48.36320195709828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.2788451408799, + "ymin": 0.0, + "xmax": 838.9394531078201, + "ymax": 31.92913726398831 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.2788451408799, + 31.695372973099154 + ], + [ + 830.5037158028214, + 31.92913726398831 + ], + [ + 830.9671256252518, + 31.13339070403265 + ], + [ + 829.7435543768457, + 30.90018411742915 + ], + [ + 837.1876404822347, + -20.738040516022068 + ], + [ + 838.4666001935611, + -20.513668771115647 + ], + [ + 838.9394531078201, + -21.277415671007134 + ], + [ + 837.6619108338081, + -21.50122979085006 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75774ccd7d7aa24be6f40c274da4699773847360 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00117/meta.json @@ -0,0 +1,5176 @@ +{ + "frame_id": 117, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 13012.009184998693 + }, + "drone_pose": { + "x": -39.17308577526708, + "y": 7.141316566731414, + "z": 20.0, + "pitch": -45.91378195642325, + "yaw": -21.310833528758657, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.648167073726654, + 0.2528509795665741, + 0.7182936668395996, + 12.830520629882812 + ], + [ + -0.36342737078666687, + 0.9316225051879883, + 1.4901161193847656e-08, + 7.583559989929199 + ], + [ + -0.6691786050796509, + -0.2610476016998291, + 0.6957399845123291, + -41.99281311035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -38.87859883341431, + "y": 6.76965619807279, + "z": 20.0 + }, + "t1_image_uv": [ + -166.22254638397408, + -631.1200846130083 + ], + "t1_depth": 0.28485143527527484 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -21.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.00831785185094, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28832516074180603, + "y": 0.26601067185401917, + "z": 0.5607819557189941 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.2195256770895, + "ymin": 336.67733297534534, + "xmax": 652.666062894825, + "ymax": 383.0673205820395 + }, + "corners_3d": [ + [ + -21.955507278442383, + 0.04622611403465271, + 0.039314210414886475 + ], + [ + -21.955507278442383, + 0.5782474279403687, + 0.039314210414886475 + ], + [ + -21.37885856628418, + 0.5782474279403687, + 0.039314210414886475 + ], + [ + -21.37885856628418, + 0.04622611403465271, + 0.039314210414886475 + ], + [ + -21.955507278442383, + 0.04622611403465271, + 1.1608781814575195 + ], + [ + -21.955507278442383, + 0.5782474279403687, + 1.1608781814575195 + ], + [ + -21.37885856628418, + 0.5782474279403687, + 1.1608781814575195 + ], + [ + -21.37885856628418, + 0.04622611403465271, + 1.1608781814575195 + ] + ], + "corners_2d": [ + [ + 627.5967898926463, + 378.06830551623966 + ], + [ + 645.0563455215114, + 383.0673205820395 + ], + [ + 652.2954250501144, + 369.298442681809 + ], + [ + 635.0365524489458, + 364.4339166111899 + ], + [ + 627.2195256770895, + 350.3347378997158 + ], + [ + 645.2109277852655, + 355.34500437036536 + ], + [ + 652.666062894825, + 341.54878315594493 + ], + [ + 634.8876817952815, + 336.67733297534534 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 364720, + "2": 303382, + "3": 3800, + "5": 3118, + "6": 3258, + "10": 2, + "12": 2010, + "14": 22012, + "15": 3499, + "20": 3478, + "24": 23878, + "25": 188443 + }, + "instance_pixel_counts": { + "3424": 188443, + "3678": 162, + "5506": 269, + "6215": 144295, + "6284": 82, + "6290": 3604, + "7262": 1253, + "7774": 1741, + "8332": 19763, + "8338": 49461, + "9310": 634, + "9802": 62, + "9822": 5551, + "15184": 3118, + "17227": 174, + "17738": 420, + "18000": 3478, + "18784": 369, + "19552": 241, + "20064": 2, + "21140": 7343, + "23392": 317, + "23627": 766, + "23700": 190933, + "23904": 276, + "24395": 312, + "24416": 83, + "24907": 208, + "24928": 56, + "25696": 1, + "26442": 634, + "31362": 106, + "35476": 487, + "37524": 11168, + "38540": 1106, + "40588": 15904, + "41562": 3530, + "42330": 270, + "42897": 5, + "44945": 52651, + "45898": 930, + "47947": 531, + "48203": 32, + "48459": 391, + "48715": 349, + "52038": 16511, + "54859": 1101, + "56576": 203, + "56832": 209, + "57088": 622, + "57344": 639, + "57600": 337, + "57856": 7572, + "58368": 3337, + "60928": 5261, + "62081": 2883, + "62101": 51, + "62611": 3112, + "64149": 4917, + "64659": 163332 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 203, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2694140374660492, + "y": 0.28995177149772644, + "z": 0.5455899238586426 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.6748889440844, + "ymin": 337.2879793107765, + "xmax": 653.224056778961, + "ymax": 382.47119578530936 + }, + "corners_3d": [ + [ + -21.93659782409668, + 0.022285014390945435, + 0.05450624227523804 + ], + [ + -21.93659782409668, + 0.6021885871887207, + 0.05450624227523804 + ], + [ + -21.397768020629883, + 0.6021885871887207, + 0.05450624227523804 + ], + [ + -21.397768020629883, + 0.022285014390945435, + 0.05450624227523804 + ], + [ + -21.93659782409668, + 0.022285014390945435, + 1.145686149597168 + ], + [ + -21.93659782409668, + 0.6021885871887207, + 1.145686149597168 + ], + [ + -21.397768020629883, + 0.6021885871887207, + 1.145686149597168 + ], + [ + -21.397768020629883, + 0.022285014390945435, + 1.145686149597168 + ] + ], + "corners_2d": [ + [ + 627.0574705489223, + 377.026944692443 + ], + [ + 646.0887857024258, + 382.47119578530936 + ], + [ + 652.847173940515, + 369.599234974536 + ], + [ + 634.0204201279854, + 364.2920208660209 + ], + [ + 626.6748889440844, + 350.04365609368244 + ], + [ + 646.2697712664635, + 355.4996863575361 + ], + [ + 653.224056778961, + 342.6026846229011 + ], + [ + 633.8459614806455, + 337.2879793107765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 209, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -17.24856185913086, + "y": 6.7422709465026855, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.29060789942741394, + "y": 0.18013396859169006, + "z": 0.5583857893943787 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 888.0595426752805, + "ymin": 295.0760655150131, + "xmax": 908.4445632511803, + "ymax": 337.7663715730946 + }, + "corners_3d": [ + [ + -17.563770294189453, + 6.609816074371338, + 0.041715264320373535 + ], + [ + -17.50741195678711, + 6.965648174285889, + 0.041715264320373535 + ], + [ + -16.933353424072266, + 6.874725818634033, + 0.041715264320373535 + ], + [ + -16.98971176147461, + 6.518893718719482, + 0.041715264320373535 + ], + [ + -17.563770294189453, + 6.609816074371338, + 1.1584868431091309 + ], + [ + -17.50741195678711, + 6.965648174285889, + 1.1584868431091309 + ], + [ + -16.933353424072266, + 6.874725818634033, + 1.1584868431091309 + ], + [ + -16.98971176147461, + 6.518893718719482, + 1.1584868431091309 + ] + ], + "corners_2d": [ + [ + 888.0595426752805, + 335.9480431087855 + ], + [ + 900.4142302316372, + 337.7663715730946 + ], + [ + 900.9723124180764, + 324.48375633987297 + ], + [ + 888.7856506495427, + 322.714896123392 + ], + [ + 895.249748725439, + 308.29822059983735 + ], + [ + 907.977151766672, + 310.1158583754384 + ], + [ + 908.4445632511803, + 296.84284935824394 + ], + [ + 895.8954063506259, + 295.0760655150131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 622, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -23.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4996374547481537, + "y": 0.32133880257606506, + "z": 0.8958327770233154 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 845.9483515583719, + "ymin": 453.17378526642295, + "xmax": 890.5999024337988, + "ymax": 534.0908205253966 + }, + "corners_3d": [ + [ + -24.43877410888672, + 6.96019983291626, + -0.29573172330856323 + ], + [ + -24.405139923095703, + 7.601996421813965, + -0.29573172330856323 + ], + [ + -23.40723419189453, + 7.549698352813721, + -0.29573172330856323 + ], + [ + -23.440868377685547, + 6.907901763916016, + -0.29573172330856323 + ], + [ + -24.43877410888672, + 6.96019983291626, + 1.4959337711334229 + ], + [ + -24.405139923095703, + 7.601996421813965, + 1.4959337711334229 + ], + [ + -23.40723419189453, + 7.549698352813721, + 1.4959337711334229 + ], + [ + -23.440868377685547, + 6.907901763916016, + 1.4959337711334229 + ] + ], + "corners_2d": [ + [ + 845.9483515583719, + 527.3197335074099 + ], + [ + 871.5231175565131, + 534.0908205253966 + ], + [ + 877.5397140280807, + 502.94642220429716 + ], + [ + 852.6106242669669, + 496.53146412213096 + ], + [ + 857.5286559036185, + 484.4428949443561 + ], + [ + 884.6218670726116, + 491.3322715625617 + ], + [ + 890.5999024337988, + 459.6812312660012 + ], + [ + 864.2304475901965, + 453.17378526642295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 639, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -31.16718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.32267454266548157, + "y": 0.3129858374595642, + "z": 0.886943519115448 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 455.12204097200026, + "ymin": 614.4816629788428, + "xmax": 505.15111692657473, + "ymax": 689.6720012723066 + }, + "corners_3d": [ + [ + -31.473031997680664, + -0.017207592725753784, + -0.2868424654006958 + ], + [ + -31.505794525146484, + 0.6079062223434448, + -0.2868424654006958 + ], + [ + -30.861330032348633, + 0.6416811943054199, + -0.2868424654006958 + ], + [ + -30.828567504882812, + 0.016567379236221313, + -0.2868424654006958 + ], + [ + -31.473031997680664, + -0.017207592725753784, + 1.4870445728302002 + ], + [ + -31.505794525146484, + 0.6079062223434448, + 1.4870445728302002 + ], + [ + -30.861330032348633, + 0.6416811943054199, + 1.4870445728302002 + ], + [ + -30.828567504882812, + 0.016567379236221313, + 1.4870445728302002 + ] + ], + "corners_2d": [ + [ + 466.1437833500056, + 678.5919250584885 + ], + [ + 490.51310271620287, + 689.6720012723066 + ], + [ + 505.15111692657473, + 664.6547051140749 + ], + [ + 481.1190895972145, + 653.9886973039067 + ], + [ + 455.12204097200026, + 639.840323976855 + ], + [ + 480.9509694536662, + 651.2803459434622 + ], + [ + 496.69894708764195, + 625.4677552583448 + ], + [ + 471.2476853433569, + 614.4816629788428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 337, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.3314465284347534, + "y": 0.38488951325416565, + "z": 0.9045126438140869 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 531.2977614558523, + "ymin": 73.15301968575153, + "xmax": 561.440370032968, + "ymax": 129.25969250284308 + }, + "corners_3d": [ + [ + -10.68900203704834, + -8.289978981018066, + -0.15211665630340576 + ], + [ + -10.809422492980957, + -7.529677391052246, + -0.15211665630340576 + ], + [ + -10.154690742492676, + -7.42597770690918, + -0.15211665630340576 + ], + [ + -10.034270286560059, + -8.186279296875, + -0.15211665630340576 + ], + [ + -10.68900203704834, + -8.289978981018066, + 1.656908631324768 + ], + [ + -10.809422492980957, + -7.529677391052246, + 1.656908631324768 + ], + [ + -10.154690742492676, + -7.42597770690918, + 1.656908631324768 + ], + [ + -10.034270286560059, + -8.186279296875, + 1.656908631324768 + ] + ], + "corners_2d": [ + [ + 535.1319423204435, + 123.68068512098901 + ], + [ + 551.8023695075406, + 129.25969250284308 + ], + [ + 561.440370032968, + 121.07004022138563 + ], + [ + 544.8782288192231, + 115.61013132325218 + ], + [ + 531.2977614558523, + 81.0430010697466 + ], + [ + 548.5529791074323, + 86.50078960375617 + ], + [ + 558.5783730141932, + 78.49009242205858 + ], + [ + 541.4389218155081, + 73.15301968575153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7572, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 697.8127494593105, + "ymin": 210.76450699640776, + "xmax": 816.7426900530371, + "ymax": 372.50694867768584 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 697.8127494593105, + 354.20935998134735 + ], + [ + 765.045472946307, + 372.50694867768584 + ], + [ + 810.9632943711933, + 259.9304742895332 + ], + [ + 750.4049599428326, + 245.47795961402304 + ], + [ + 699.9816440608206, + 319.1077388512209 + ], + [ + 769.8271071833824, + 337.42824844322956 + ], + [ + 816.7426900530371, + 225.1139176865449 + ], + [ + 754.0746402091982, + 210.76450699640776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3337, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 837.8216857161084, + "ymin": 0.0, + "xmax": 923.810850628068, + "ymax": 75.00607619646115 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 837.8216857161084, + 66.09783372712201 + ], + [ + 885.8690698266336, + 75.00607619646115 + ], + [ + 911.6547796871058, + 11.901629097891089 + ], + [ + 867.5552999968148, + 4.506110842277224 + ], + [ + 847.4562866738859, + 6.49652311634037 + ], + [ + 898.0042947127326, + 15.045342606915426 + ], + [ + 923.810850628068, + -45.284615875927386 + ], + [ + 877.6157063576142, + -52.32030798379543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5261, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 494.4813620621708, + "ymin": 174.7230403239018, + "xmax": 597.8044541463677, + "ymax": 293.39069512866405 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 597.8044541463677, + 224.39289597438653 + ], + [ + 549.4222689735935, + 212.635561095982 + ], + [ + 499.8498392042294, + 279.6784062853326 + ], + [ + 551.3769366730307, + 293.39069512866405 + ], + [ + 596.2759756121745, + 186.3536955559611 + ], + [ + 546.209658722091, + 174.7230403239018 + ], + [ + 494.4813620621708, + 241.20554076903488 + ], + [ + 547.9214372366603, + 254.84758384541806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303389181723, + "ymin": 0.0, + "xmax": 826.1428003547034, + "ymax": 2.5544187969470613 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303389181723, + 2.251995184166617 + ], + [ + 820.0043383616284, + 2.5544187969470613 + ], + [ + 823.8998548712243, + -4.335648971284741 + ], + [ + 822.1432964226492, + -4.631533250855227 + ], + [ + 820.4272645249132, + -13.61944700538055 + ], + [ + 822.2242033654502, + -13.320965600223076 + ], + [ + 826.1428003547034, + -20.12034698151666 + ], + [ + 824.363756445248, + -20.41229603261712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303378811597, + "ymin": 0.0, + "xmax": 826.1427993387882, + "ymax": 2.554420622963164 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303378811597, + 2.251997008440128 + ], + [ + 820.0043373292327, + 2.554420622963164 + ], + [ + 823.8998538611575, + -4.3356471847619105 + ], + [ + 822.1432954080549, + -4.631531466018828 + ], + [ + 820.4272634815238, + -13.619445204897602 + ], + [ + 822.2242023267984, + -13.320963797999127 + ], + [ + 826.1427993387882, + -20.12034521874432 + ], + [ + 824.3637554246881, + -20.412294271528992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303389181723, + "ymin": 0.0, + "xmax": 826.1428003547034, + "ymax": 2.5544187969470613 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303389181723, + 2.251995184166617 + ], + [ + 820.0043383616284, + 2.5544187969470613 + ], + [ + 823.8998548712243, + -4.335648971284741 + ], + [ + 822.1432964226492, + -4.631533250855227 + ], + [ + 820.4272645249132, + -13.61944700538055 + ], + [ + 822.2242033654502, + -13.320965600223076 + ], + [ + 826.1428003547034, + -20.12034698151666 + ], + [ + 824.363756445248, + -20.41229603261712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303391790791, + "ymin": 0.0, + "xmax": 826.1428005293026, + "ymax": 2.5544188266274546 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303391790791, + 2.2519952286447165 + ], + [ + 820.0043385357325, + 2.5544188266274546 + ], + [ + 823.8998550436157, + -4.335648942246166 + ], + [ + 822.1432966809923, + -4.631533207338521 + ], + [ + 820.4272647891922, + -13.619446961482367 + ], + [ + 822.2242035418066, + -13.320965570929388 + ], + [ + 826.1428005293026, + -20.120346952864168 + ], + [ + 824.3637567068965, + -20.41229598967948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.230338140964, + "ymin": 0.0, + "xmax": 826.1427995081074, + "ymax": 2.5544203186271375 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.230338140964, + 2.2519967192205854 + ], + [ + 820.0043375012987, + 2.5544203186271375 + ], + [ + 823.899854029502, + -4.33564748251564 + ], + [ + 822.1432956632683, + -4.631531748985935 + ], + [ + 820.4272637435151, + -13.61944549034547 + ], + [ + 822.224202499907, + -13.320964098369814 + ], + [ + 826.1427995081074, + -20.120345512539643 + ], + [ + 824.3637556819976, + -20.412294550731076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303378811597, + "ymin": 0.0, + "xmax": 826.1427993387882, + "ymax": 2.554420622963164 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303378811597, + 2.251997008440128 + ], + [ + 820.0043373292327, + 2.554420622963164 + ], + [ + 823.8998538611575, + -4.3356471847619105 + ], + [ + 822.1432954080549, + -4.631531466018828 + ], + [ + 820.4272634815238, + -13.619445204897602 + ], + [ + 822.2242023267984, + -13.320963797999127 + ], + [ + 826.1427993387882, + -20.12034521874432 + ], + [ + 824.3637554246881, + -20.412294271528992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2303391790791, + "ymin": 0.0, + "xmax": 826.1428005293026, + "ymax": 2.5544188266274546 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.2303391790791, + 2.2519952286447165 + ], + [ + 820.0043385357325, + 2.5544188266274546 + ], + [ + 823.8998550436157, + -4.335648942246166 + ], + [ + 822.1432966809923, + -4.631533207338521 + ], + [ + 820.4272647891922, + -13.619446961482367 + ], + [ + 822.2242035418066, + -13.320965570929388 + ], + [ + 826.1428005293026, + -20.120346952864168 + ], + [ + 824.3637567068965, + -20.41229598967948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.230340045461, + "ymin": 0.0, + "xmax": 826.1428013864585, + "ymax": 2.5544179729804455 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 818.230340045461, + 2.2519943758123304 + ], + [ + 820.0043394001383, + 2.5544179729804455 + ], + [ + 823.899855893432, + -4.335649777430376 + ], + [ + 822.1432975327468, + -4.631534041734483 + ], + [ + 820.4272656632589, + -13.619447803192884 + ], + [ + 822.2242044138452, + -13.320966413453732 + ], + [ + 826.1428013864585, + -20.120347776945323 + ], + [ + 824.3637575660413, + -20.412296812973295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.5546424212577, + "ymin": 0.0, + "xmax": 824.4390597952245, + "ymax": 6.056650612182466 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 816.5546424212577, + 5.753524602193465 + ], + [ + 818.3221884253778, + 6.056650612182466 + ], + [ + 822.2236526974739, + -0.8496489975341319 + ], + [ + 820.4734199980614, + -1.1462410392156812 + ], + [ + 818.7238922611612, + -10.023695033061358 + ], + [ + 820.5142109617818, + -9.724444476496672 + ], + [ + 824.4390597952245, + -16.54157890921033 + ], + [ + 822.6665033627755, + -16.834301063020575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.6659497060693, + "ymin": 0.0, + "xmax": 838.8861573370713, + "ymax": 7.28999720654889 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 829.6659497060693, + 7.087436765691734 + ], + [ + 830.8487845228983, + 7.28999720654889 + ], + [ + 831.2514606726993, + 6.550057005243559 + ], + [ + 830.0698687527588, + 6.347965767599305 + ], + [ + 837.243988819956, + -44.16519098845083 + ], + [ + 838.4766003238568, + -43.9714518530638 + ], + [ + 838.8861573370713, + -44.67914458702961 + ], + [ + 837.6548960383134, + -44.87241705153809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.9558960452682, + "ymin": 0.0, + "xmax": 842.2129213891941, + "ymax": 1.2633628225431153 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 832.9558960452682, + 1.0646081037658064 + ], + [ + 834.1285991589039, + 1.2633628225431153 + ], + [ + 834.5237128044761, + 0.5373189088048775 + ], + [ + 833.3522316173461, + 0.33902023988406427 + ], + [ + 840.5897502517057, + -49.923487208547385 + ], + [ + 841.8113588346523, + -49.73353138106148 + ], + [ + 842.2129213891941, + -50.4274103612953 + ], + [ + 840.9926392623788, + -50.61691311253003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.3667126482085, + "ymin": 226.43238056179297, + "xmax": 989.9909987433326, + "ymax": 243.53134006136796 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 986.7671601404368, + 243.53134006136796 + ], + [ + 988.6108922387941, + 235.11032419787756 + ], + [ + 968.3962673365298, + 230.60392840817553 + ], + [ + 966.3667126482085, + 238.93712798027684 + ], + [ + 988.153366570855, + 239.348638823064 + ], + [ + 989.9909987433326, + 230.93471508178354 + ], + [ + 969.6895566470168, + 226.43238056179297 + ], + [ + 967.6644879032532, + 234.75821567244344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.0583024054216, + "ymin": 0.0, + "xmax": 813.3996307173903, + "ymax": 13.382487184997103 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 805.0583024054216, + 13.176042832797748 + ], + [ + 806.2445401280161, + 13.382487184997103 + ], + [ + 806.6798436398569, + 12.628365107169202 + ], + [ + 805.4948541993451, + 12.422403509556318 + ], + [ + 811.718605954947, + -38.33959093219988 + ], + [ + 812.9549459963915, + -38.141986362163266 + ], + [ + 813.3996307173903, + -38.86379277726405 + ], + [ + 812.1646471111118, + -39.06091664918023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.6561874413378, + "ymin": 216.87202145743748, + "xmax": 1167.2063456709352, + "ymax": 510.23397458600124 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1044.7077485865952, + 510.23397458600124 + ], + [ + 1046.273793799217, + 496.85122992187144 + ], + [ + 894.8878159248345, + 453.5486108789502 + ], + [ + 891.6561874413378, + 465.9179171546141 + ], + [ + 1167.0354256864155, + 274.58372968805884 + ], + [ + 1167.2063456709352, + 260.80298076118413 + ], + [ + 967.0214642249952, + 216.87202145743748 + ], + [ + 963.920663526827, + 229.31920481136387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 138.27874063426987, + "ymax": 18.858343666907388 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 130.52970532513973, + 18.858343666907388 + ], + [ + 138.27874063426987, + 14.05114527132747 + ], + [ + 38.90667876084217, + -7.070331983231256 + ], + [ + 30.69721164796954, + -2.5738183563903476 + ], + [ + 47.432387457475556, + -188.4483134139216 + ], + [ + 57.14843510473315, + -192.25169933113682 + ], + [ + -54.61530629838296, + -208.85467916651066 + ], + [ + -64.89228129371008, + -205.33476728994196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.2399444319824, + "ymin": 226.34135776661415, + "xmax": 990.118563573211, + "ymax": 243.6242752163402 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 986.8605896502868, + 243.6242752163402 + ], + [ + 988.7231736696122, + 235.1121011528604 + ], + [ + 968.2923643663319, + 230.55769089503485 + ], + [ + 966.2399444319824, + 238.98015042891234 + ], + [ + 988.2622204671804, + 239.3965475780309 + ], + [ + 990.118563573211, + 230.89161749610466 + ], + [ + 969.5990676671963, + 226.34135776661415 + ], + [ + 967.5512220002244, + 234.75629209562737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.4684718990427, + "ymin": 0.0, + "xmax": 822.4332038744104, + "ymax": 39.561983901929295 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 813.4684718990427, + 39.34020938126616 + ], + [ + 814.6958497965551, + 39.561983901929295 + ], + [ + 815.1350040424427, + 38.75188467590573 + ], + [ + 813.9089631329263, + 38.53064549453592 + ], + [ + 820.7038378138067, + -12.818818939321545 + ], + [ + 821.984920425281, + -12.605764034350273 + ], + [ + 822.4332038744104, + -13.383983715724924 + ], + [ + 821.1535783542731, + -13.596502915305507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.6612145933666, + "ymin": 0.0, + "xmax": 1172.3096121388494, + "ymax": 53.40495900549547 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1098.1672135604085, + 53.40495900549547 + ], + [ + 1098.7331613317765, + 48.56852639926126 + ], + [ + 1004.8659146175542, + 32.60182692708861 + ], + [ + 1003.6612145933666, + 37.21292852743403 + ], + [ + 1172.2603520971675, + -146.5495848916612 + ], + [ + 1172.3096121388494, + -150.5223870893712 + ], + [ + 1061.7977139632974, + -163.57380727002214 + ], + [ + 1060.8612637767437, + -159.8146966174994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.7681402913763, + "ymin": 0.0, + "xmax": 835.8792707243883, + "ymax": 7.564326120914984 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 826.7681402913763, + 7.361591573422402 + ], + [ + 827.9505633307674, + 7.564326120914984 + ], + [ + 828.3567728966286, + 6.82375023770345 + ], + [ + 827.175591689796, + 6.621485498127754 + ], + [ + 834.2337321031237, + -43.90297417426251 + ], + [ + 835.465900476542, + -43.7090618559518 + ], + [ + 835.8792707243883, + -44.417386869270615 + ], + [ + 834.6484513671162, + -44.610831891222404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.9517828460758, + "ymin": 0.0, + "xmax": 822.962268781076, + "ymax": 36.07730609422464 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 813.9517828460758, + 35.8560691634907 + ], + [ + 815.1827418642315, + 36.07730609422464 + ], + [ + 815.6225288463077, + 35.26917255549711 + ], + [ + 814.3929146632903, + 35.0484711518431 + ], + [ + 821.2283683202897, + -16.60010683339152 + ], + [ + 822.5133520939144, + -16.387740022094135 + ], + [ + 822.962268781076, + -17.16344426484926 + ], + [ + 821.6787510254902, + -17.375275553590143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1266.0802831184935, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 31.692107679569745 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1315.0325104970957, + 19.357470042688078 + ], + [ + 1492.3117666441058, + 31.692107679569745 + ], + [ + 1423.1602900527714, + -40.7375924085697 + ], + [ + 1266.0802831184935, + -50.543687556228974 + ], + [ + 1483.2243232170417, + -297.2015466221977 + ], + [ + 1709.7288136928134, + -289.254425722257 + ], + [ + 1596.2806996770314, + -334.87034249797 + ], + [ + 1401.6809707877687, + -340.8567143827496 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00118/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00118/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74d2844a882f62cde9e029bc2688d11c7e8142ac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00118/meta.json @@ -0,0 +1,6423 @@ +{ + "frame_id": 118, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 59.0, + "sim_timestamp": 13022.12411202048 + }, + "drone_pose": { + "x": -38.87859883341431, + "y": 6.76965619807279, + "z": 20.0, + "pitch": -45.82084092075961, + "yaw": -20.03139062679508, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6547451019287109, + 0.23871402442455292, + 0.717164158821106, + 12.728300094604492 + ], + [ + -0.3425348997116089, + 0.9395051002502441, + 7.450580596923828e-09, + 6.957151412963867 + ], + [ + -0.6737793684005737, + -0.24565377831459045, + 0.6969043016433716, + -41.79667282104492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -38.56028915873528, + "y": 6.423403226357537, + "z": 20.0 + }, + "t1_image_uv": [ + -73.31744412366402, + -627.9083785918781 + ], + "t1_depth": 0.29106715972398434 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.050855566456182, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2546423077583313, + "y": 0.2613948583602905, + "z": 0.5504009127616882 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.967161914529, + "ymin": 337.88424195559196, + "xmax": 651.9390165477548, + "ymax": 381.84662491166966 + }, + "corners_3d": [ + [ + -21.421825408935547, + 0.05084192752838135, + 0.04969525337219238 + ], + [ + -21.421825408935547, + 0.5736316442489624, + 0.04969525337219238 + ], + [ + -20.912540435791016, + 0.5736316442489624, + 0.04969525337219238 + ], + [ + -20.912540435791016, + 0.05084192752838135, + 0.04969525337219238 + ], + [ + -21.421825408935547, + 0.05084192752838135, + 1.1504970788955688 + ], + [ + -21.421825408935547, + 0.5736316442489624, + 1.1504970788955688 + ], + [ + -20.912540435791016, + 0.5736316442489624, + 1.1504970788955688 + ], + [ + -20.912540435791016, + 0.05084192752838135, + 1.1504970788955688 + ] + ], + "corners_2d": [ + [ + 628.3145999193258, + 377.23766875316335 + ], + [ + 645.5857209195731, + 381.84662491166966 + ], + [ + 651.5968984323454, + 369.6249998340821 + ], + [ + 634.5067697269812, + 365.12668947625883 + ], + [ + 627.967161914529, + 350.01318746402603 + ], + [ + 645.7525835277281, + 354.63126405850943 + ], + [ + 651.9390165477548, + 342.3882111748488 + ], + [ + 634.3454671150204, + 337.88424195559196 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 118, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 360699, + "2": 301986, + "3": 7281, + "5": 3079, + "6": 3455, + "10": 3, + "12": 2013, + "14": 23199, + "15": 3571, + "20": 3405, + "24": 23523, + "25": 189386 + }, + "instance_pixel_counts": { + "3424": 189386, + "5506": 269, + "6215": 143246, + "6284": 181, + "6290": 3674, + "6750": 56, + "7262": 1958, + "7774": 2423, + "8332": 19394, + "8338": 48813, + "9802": 129, + "9822": 5726, + "15184": 3079, + "17227": 27, + "17738": 438, + "18000": 3405, + "18784": 392, + "19552": 159, + "21140": 7753, + "23392": 327, + "23627": 808, + "23700": 188195, + "23904": 311, + "24395": 233, + "24416": 84, + "24907": 92, + "24928": 58, + "25696": 68, + "25952": 15, + "26442": 528, + "31362": 246, + "35476": 527, + "37524": 10952, + "38540": 1140, + "40588": 15763, + "41562": 6238, + "42330": 1043, + "42897": 170, + "44945": 52411, + "45898": 1153, + "47947": 410, + "48203": 36, + "48459": 408, + "48715": 368, + "52038": 17194, + "54859": 1134, + "56576": 208, + "56832": 184, + "57088": 641, + "57344": 644, + "57600": 336, + "57856": 7717, + "58368": 3515, + "60928": 5375, + "62081": 2940, + "62101": 80, + "62611": 3873, + "64149": 4786, + "64659": 160878 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 208, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28254637122154236, + "y": 0.2743819057941437, + "z": 0.5592523813247681 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.1700274188867, + "ymin": 336.89162260371074, + "xmax": 652.7154261547173, + "ymax": 382.85253486279095 + }, + "corners_3d": [ + [ + -21.449729919433594, + 0.0378548800945282, + 0.04084378480911255 + ], + [ + -21.449729919433594, + 0.5866186618804932, + 0.04084378480911255 + ], + [ + -20.88463592529297, + 0.5866186618804932, + 0.04084378480911255 + ], + [ + -20.88463592529297, + 0.0378548800945282, + 0.04084378480911255 + ], + [ + -21.449729919433594, + 0.0378548800945282, + 1.159348487854004 + ], + [ + -21.449729919433594, + 0.5866186618804932, + 1.159348487854004 + ], + [ + -20.88463592529297, + 0.5866186618804932, + 1.159348487854004 + ], + [ + -20.88463592529297, + 0.0378548800945282, + 1.159348487854004 + ] + ], + "corners_2d": [ + [ + 627.54656108039, + 378.0082066179328 + ], + [ + 645.6820867077413, + 382.85253486279095 + ], + [ + 652.3454889309808, + 369.28871122668284 + ], + [ + 634.4206711751564, + 364.57322346571164 + ], + [ + 627.1700274188867, + 350.3467678374972 + ], + [ + 645.8547388936374, + 355.201032040543 + ], + [ + 652.7154261547173, + 341.6129495742762 + ], + [ + 634.2542986438344, + 336.89162260371074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 184, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -15.036897659301758, + "y": 5.873445987701416, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2701495289802551, + "y": 0.1854144185781479, + "z": 0.5441986918449402 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 867.1576727248964, + "ymin": 250.89225487192454, + "xmax": 885.9077920527818, + "ymax": 290.38630999161364 + }, + "corners_3d": [ + [ + -15.33272647857666, + 5.732574939727783, + 0.05590236186981201 + ], + [ + -15.2747163772583, + 6.0988383293151855, + 0.05590236186981201 + ], + [ + -14.741068840026855, + 6.014317035675049, + 0.05590236186981201 + ], + [ + -14.799078941345215, + 5.6480536460876465, + 0.05590236186981201 + ], + [ + -15.33272647857666, + 5.732574939727783, + 1.1442997455596924 + ], + [ + -15.2747163772583, + 6.0988383293151855, + 1.1442997455596924 + ], + [ + -14.741068840026855, + 6.014317035675049, + 1.1442997455596924 + ], + [ + -14.799078941345215, + 5.6480536460876465, + 1.1442997455596924 + ] + ], + "corners_2d": [ + [ + 867.1576727248964, + 288.8709908337875 + ], + [ + 879.2123738222521, + 290.38630999161364 + ], + [ + 879.5703223296698, + 279.180905270432 + ], + [ + 867.6618943464114, + 277.70231179047016 + ], + [ + 873.2326944020471, + 262.0201404222833 + ], + [ + 885.6206393825364, + 263.5304835492956 + ], + [ + 885.9077920527818, + 252.3650314902938 + ], + [ + 873.6742685574415, + 250.89225487192454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -23.423004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3791894316673279, + "y": 0.3338116407394409, + "z": 0.8891095519065857 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 849.5635429091672, + "ymin": 452.5706559897863, + "xmax": 892.8632814285696, + "ymax": 525.399064219418 + }, + "corners_3d": [ + [ + -23.81914520263672, + 6.941440105438232, + -0.2890084981918335 + ], + [ + -23.784204483032227, + 7.608148574829102, + -0.2890084981918335 + ], + [ + -23.02686309814453, + 7.568458080291748, + -0.2890084981918335 + ], + [ + -23.061803817749023, + 6.901749610900879, + -0.2890084981918335 + ], + [ + -23.81914520263672, + 6.941440105438232, + 1.489210605621338 + ], + [ + -23.784204483032227, + 7.608148574829102, + 1.489210605621338 + ], + [ + -23.02686309814453, + 7.568458080291748, + 1.489210605621338 + ], + [ + -23.061803817749023, + 6.901749610900879, + 1.489210605621338 + ] + ], + "corners_2d": [ + [ + 849.5635429091672, + 518.949752221098 + ], + [ + 876.0298983417916, + 525.399064219418 + ], + [ + 879.8282361371323, + 501.84033135156153 + ], + [ + 853.8787410830254, + 495.6511028369865 + ], + [ + 861.1356763465681, + 476.21319439016554 + ], + [ + 889.1408736240083, + 482.7670753441077 + ], + [ + 892.8632814285696, + 458.84606806734314 + ], + [ + 865.436264145696, + 452.5706559897863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 644, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.31598997116088867, + "y": 0.31381842494010925, + "z": 0.8862912058830261 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 464.69166192788714, + "ymin": 617.1434942448386, + "xmax": 513.6078159445071, + "ymax": 691.5942525307794 + }, + "corners_3d": [ + [ + -30.9663143157959, + -0.01768919825553894, + -0.2861901521682739 + ], + [ + -30.999162673950195, + 0.6090874671936035, + -0.2861901521682739 + ], + [ + -30.3680477142334, + 0.6421627998352051, + -0.2861901521682739 + ], + [ + -30.3351993560791, + 0.015386074781417847, + -0.2861901521682739 + ], + [ + -30.9663143157959, + -0.01768919825553894, + 1.4863922595977783 + ], + [ + -30.999162673950195, + 0.6090874671936035, + 1.4863922595977783 + ], + [ + -30.3680477142334, + 0.6421627998352051, + 1.4863922595977783 + ], + [ + -30.3351993560791, + 0.015386074781417847, + 1.4863922595977783 + ] + ], + "corners_2d": [ + [ + 475.1303059204239, + 681.0176280558592 + ], + [ + 499.9809037888833, + 691.5942525307794 + ], + [ + 513.6078159445071, + 666.8148504846145 + ], + [ + 489.1130297899721, + 656.6302063712319 + ], + [ + 464.69166192788714, + 642.2778593882266 + ], + [ + 491.03945419722436, + 653.1968722141485 + ], + [ + 505.697623400598, + 627.6328696591218 + ], + [ + 479.7487358998413, + 617.1434942448386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 336, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -9.921846389770508, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.5347692966461182, + "y": 0.38507017493247986, + "z": 0.9377675652503967 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 520.0837410994842, + "ymin": 71.96176592842744, + "xmax": 556.5282216522162, + "ymax": 134.49377147335863 + }, + "corners_3d": [ + [ + -10.389793395996094, + -8.321964263916016, + -0.185366690158844 + ], + [ + -10.510270118713379, + -7.561305522918701, + -0.185366690158844 + ], + [ + -9.453899383544922, + -7.3939924240112305, + -0.185366690158844 + ], + [ + -9.333422660827637, + -8.154650688171387, + -0.185366690158844 + ], + [ + -10.389793395996094, + -8.321964263916016, + 1.6901683807373047 + ], + [ + -10.510270118713379, + -7.561305522918701, + 1.6901683807373047 + ], + [ + -9.453899383544922, + -7.3939924240112305, + 1.6901683807373047 + ], + [ + -9.333422660827637, + -8.154650688171387, + 1.6901683807373047 + ] + ], + "corners_2d": [ + [ + 524.4749155097489, + 129.08764164719145 + ], + [ + 541.3745408908195, + 134.49377147335863 + ], + [ + 556.5282216522162, + 121.10939082293194 + ], + [ + 539.8176422087774, + 115.89076251393891 + ], + [ + 520.0837410994842, + 84.85122851954878 + ], + [ + 537.597933372676, + 90.13635807758209 + ], + [ + 553.390108231166, + 77.05678707131005 + ], + [ + 536.0785168260694, + 71.96176592842744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7717, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 691.7759844173978, + "ymin": 218.7295466548083, + "xmax": 808.6604733554134, + "ymax": 382.4768676868445 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 691.7759844173978, + 364.9318018210642 + ], + [ + 759.9673640867537, + 382.4768676868445 + ], + [ + 803.1192332868065, + 267.27572272348385 + ], + [ + 741.9177851048287, + 253.47610719214964 + ], + [ + 693.733970348055, + 329.84005803594147 + ], + [ + 764.5873674959016, + 347.4167848416365 + ], + [ + 808.6604733554134, + 232.43544313463678 + ], + [ + 745.3248267802373, + 218.7295466548083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3515, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 824.8229412450916, + "ymin": 0.0, + "xmax": 908.5928615287498, + "ymax": 79.08258818846787 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 824.8229412450916, + 70.63568570306984 + ], + [ + 873.093121241953, + 79.08258818846787 + ], + [ + 897.0867634194616, + 15.152878939516938 + ], + [ + 852.8729042412724, + 8.1569740897707 + ], + [ + 833.8433447020775, + 10.983258066854262 + ], + [ + 884.6137446978103, + 19.090670669559756 + ], + [ + 908.5928615287498, + -42.03269446926765 + ], + [ + 862.2919461434437, + -48.68849602704108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5375, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 484.00265855965097, + "ymin": 184.93289718029655, + "xmax": 587.6286961510035, + "ymax": 305.21542291951135 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 587.6286961510035, + 234.21319704553156 + ], + [ + 538.4442755790487, + 222.91980050968394 + ], + [ + 489.8133616189316, + 292.0021881560399 + ], + [ + 542.3389541434635, + 305.21542291951135 + ], + [ + 585.721994405149, + 196.11109086343814 + ], + [ + 534.8140235000908, + 184.93289718029655 + ], + [ + 484.00265855965097, + 253.48463559024688 + ], + [ + 538.4970942916166, + 266.6400637018058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.0607770183115, + "ymin": 0.0, + "xmax": 811.6241051888858, + "ymax": 7.022899104678174 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.0607770183115, + 6.735763515799704 + ], + [ + 805.8444253361153, + 7.022899104678174 + ], + [ + 809.5521109632492, + 0.0246317529793032 + ], + [ + 807.7864551210018, + -0.2562104523366884 + ], + [ + 806.0873571975051, + -9.151485891433538 + ], + [ + 807.8939765622281, + -8.868078589236404 + ], + [ + 811.6241051888858, + -15.774575399469597 + ], + [ + 809.8359440820844, + -16.051695567719776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.060776030783, + "ymin": 0.0, + "xmax": 811.6241042219797, + "ymax": 7.022900959648723 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.060776030783, + 6.73576536909286 + ], + [ + 805.8444243533509, + 7.022900959648723 + ], + [ + 809.5521100020297, + 0.024633567283842694 + ], + [ + 807.7864541551129, + -0.25620863965457374 + ], + [ + 806.0873562037692, + -9.151484062214593 + ], + [ + 807.8939755733803, + -8.868076758341317 + ], + [ + 811.6241042219797, + -15.774573609200388 + ], + [ + 809.8359431103887, + -16.051693779071172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4456021888603, + "ymin": 0.0, + "xmax": 811.2885938988534, + "ymax": 0.1698605542063092 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.4456021888603, + 0.13230397065086663 + ], + [ + 805.6814345016116, + 0.1698605542063092 + ], + [ + 808.9665935976552, + -5.960989277565659 + ], + [ + 808.7328686526132, + -5.997816260179377 + ], + [ + 807.7417997621397, + -17.809570319613726 + ], + [ + 807.9810445762823, + -17.772580270349295 + ], + [ + 811.2885938988534, + -23.81013435879396 + ], + [ + 811.051517833028, + -23.84639598721384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.445579942294, + "ymin": 0.0, + "xmax": 811.2885722418092, + "ymax": 0.16993298770711363 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.445579942294, + 0.1323763954893593 + ], + [ + 805.6814122809126, + 0.16993298770711363 + ], + [ + 808.9665719690234, + -5.960918251251087 + ], + [ + 808.7328469985723, + -5.9977452422759825 + ], + [ + 807.7417774752857, + -17.80949898734991 + ], + [ + 807.9810223160512, + -17.772508929435503 + ], + [ + 811.2885722418092, + -23.81006442279204 + ], + [ + 811.0514961498393, + -23.84632605960769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.0607770183115, + "ymin": 0.0, + "xmax": 811.6241051888858, + "ymax": 7.022899104678174 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.0607770183115, + 6.735763515799704 + ], + [ + 805.8444253361153, + 7.022899104678174 + ], + [ + 809.5521109632492, + 0.0246317529793032 + ], + [ + 807.7864551210018, + -0.2562104523366884 + ], + [ + 806.0873571975051, + -9.151485891433538 + ], + [ + 807.8939765622281, + -8.868078589236404 + ], + [ + 811.6241051888858, + -15.774575399469597 + ], + [ + 809.8359440820844, + -16.051695567719776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.060777280644, + "ymin": 0.0, + "xmax": 811.6241053643754, + "ymax": 7.02289913285756 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.060777280644, + 6.735763558030612 + ], + [ + 805.8444255111618, + 7.02289913285756 + ], + [ + 809.5521111365292, + 0.02463178054091486 + ], + [ + 807.7864553806893, + -0.2562104110311907 + ], + [ + 806.0873574632146, + -9.151485849751339 + ], + [ + 807.8939767395301, + -8.868078561422806 + ], + [ + 811.6241053643754, + -15.774575372273091 + ], + [ + 809.8359443450806, + -16.051695526961964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.0607762828153, + "ymin": 0.0, + "xmax": 811.6241043831307, + "ymax": 7.022900650486974 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.0607762828153, + 6.735765074287656 + ], + [ + 805.844424517145, + 7.022900650486974 + ], + [ + 809.5521101622329, + 0.024633264899819096 + ], + [ + 807.7864544026569, + -0.2562089279997508 + ], + [ + 806.0873564579617, + -9.151484353190199 + ], + [ + 807.8939757381884, + -8.868077063490489 + ], + [ + 811.6241043831307, + -15.7745739075786 + ], + [ + 809.8359433600034, + -16.051694063593345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4456671662933, + "ymin": 0.0, + "xmax": 811.2886582807605, + "ymax": 0.16976960091596993 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.4456671662933, + 0.1322130282374019 + ], + [ + 805.6814994487788, + 0.16976960091596993 + ], + [ + 808.9666574397681, + -5.96107846388071 + ], + [ + 808.7329325244596, + -5.997905435932864 + ], + [ + 807.7418653042739, + -17.809659890102694 + ], + [ + 807.9811100872638, + -17.772669851699845 + ], + [ + 811.2886582807605, + -23.810222176024922 + ], + [ + 811.0515822455319, + -23.846483793902564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.060776030783, + "ymin": 0.0, + "xmax": 811.6241042219797, + "ymax": 7.022900959648723 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.060776030783, + 6.73576536909286 + ], + [ + 805.8444243533509, + 7.022900959648723 + ], + [ + 809.5521100020297, + 0.024633567283842694 + ], + [ + 807.7864541551129, + -0.25620863965457374 + ], + [ + 806.0873562037692, + -9.151484062214593 + ], + [ + 807.8939755733803, + -8.868076758341317 + ], + [ + 811.6241042219797, + -15.774573609200388 + ], + [ + 809.8359431103887, + -16.051693779071172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3971436482614, + "ymin": 0.0, + "xmax": 812.5113294283542, + "ymax": 2.2446510415818466 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 805.3971436482614, + 2.199384969978155 + ], + [ + 805.6804508714861, + 2.2446510415818466 + ], + [ + 810.0551450388298, + -5.946463171741755 + ], + [ + 809.7752099900513, + -5.990560140723574 + ], + [ + 807.817795856145, + -16.690233613504233 + ], + [ + 808.105426135701, + -16.64568187271186 + ], + [ + 812.5113294283542, + -24.706009446134942 + ], + [ + 812.2271747821848, + -24.749394025044182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4456841936898, + "ymin": 0.0, + "xmax": 811.2886759383784, + "ymax": 0.16982996185521415 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.4456841936898, + 0.13227338195821403 + ], + [ + 805.681516499858, + 0.16982996185521415 + ], + [ + 808.9666746370424, + -5.961019275590445 + ], + [ + 808.7329496984743, + -5.99784625465179 + ], + [ + 807.7418827917149, + -17.809600446856393 + ], + [ + 807.9811275990767, + -17.772610401245345 + ], + [ + 811.2886759383784, + -23.810163896324127 + ], + [ + 811.0515998792198, + -23.846425521198114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.060777280644, + "ymin": 0.0, + "xmax": 811.6241053643754, + "ymax": 7.02289913285756 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.060777280644, + 6.735763558030612 + ], + [ + 805.8444255111618, + 7.02289913285756 + ], + [ + 809.5521111365292, + 0.02463178054091486 + ], + [ + 807.7864553806893, + -0.2562104110311907 + ], + [ + 806.0873574632146, + -9.151485849751339 + ], + [ + 807.8939767395301, + -8.868078561422806 + ], + [ + 811.6241053643754, + -15.774575372273091 + ], + [ + 809.8359443450806, + -16.051695526961964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3970656421318, + "ymin": 0.0, + "xmax": 812.5112510894261, + "ymax": 2.244638562126454 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 805.3970656421318, + 2.199372506366956 + ], + [ + 805.6803727661919, + 2.244638562126454 + ], + [ + 810.0550678632865, + -5.946475328874499 + ], + [ + 809.775132912348, + -5.99057228244402 + ], + [ + 807.8177166597836, + -16.69024588041782 + ], + [ + 808.1053468384952, + -16.645694155245508 + ], + [ + 812.5112510894261, + -24.70602140688044 + ], + [ + 812.2270965427318, + -24.749405970601856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3971208423743, + "ymin": 0.0, + "xmax": 812.511307234563, + "ymax": 2.2447156628388143 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 805.3971208423743, + 2.1994495960029212 + ], + [ + 805.6804280050633, + 2.2447156628388143 + ], + [ + 810.0551229124258, + -5.946400219539328 + ], + [ + 809.7751879237812, + -5.990497183758862 + ], + [ + 807.8177729683889, + -16.690170007390805 + ], + [ + 808.1054031869121, + -16.645618271157275 + ], + [ + 812.511307234563, + -24.705947510866906 + ], + [ + 812.2271526490225, + -24.74933208521759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.0607781241849, + "ymin": 0.0, + "xmax": 811.6241061988076, + "ymax": 7.022898261731086 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 804.0607781241849, + 6.735762687691874 + ], + [ + 805.8444263526372, + 7.022898261731086 + ], + [ + 809.5521119636988, + 0.02463092851184001 + ], + [ + 807.7864562098838, + -0.2562112622982795 + ], + [ + 806.087358314362, + -9.151486708784375 + ], + [ + 807.893977588558, + -8.868079421242953 + ], + [ + 811.6241061988076, + -15.774576213014655 + ], + [ + 809.8359451815899, + -16.051696366942508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3972212700207, + "ymin": 0.0, + "xmax": 812.5114073124047, + "ymax": 2.244665119083038 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 805.3972212700207, + 2.1993990454568575 + ], + [ + 805.6805285051507, + 2.244665119083038 + ], + [ + 810.0552217598241, + -5.946449457837787 + ], + [ + 809.7752866994341, + -5.990546428764219 + ], + [ + 807.8178746687938, + -16.690219760161142 + ], + [ + 808.1055049606141, + -16.645668017349067 + ], + [ + 812.5114073124047, + -24.705995953766376 + ], + [ + 812.227252654278, + -24.749380534616364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.3971438899546, + "ymin": 0.0, + "xmax": 812.5113295750187, + "ymax": 2.2446503967422586 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 805.3971438899546, + 2.199384339282517 + ], + [ + 805.6804510249566, + 2.2446503967422586 + ], + [ + 810.055145185887, + -5.946463799926278 + ], + [ + 809.7752102242778, + -5.990560755130446 + ], + [ + 807.8177960989171, + -16.690234234246304 + ], + [ + 808.1054262888999, + -16.64568250737608 + ], + [ + 812.5113295750187, + -24.706010064171664 + ], + [ + 812.2271750173368, + -24.74939462952466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.4184280924317, + "ymin": 0.0, + "xmax": 809.9552132900305, + "ymax": 10.538749217019358 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 802.4184280924317, + 10.25094074699092 + ], + [ + 804.1956676573723, + 10.538749217019358 + ], + [ + 807.9098163155894, + 3.523845977564406 + ], + [ + 806.1504394383759, + 3.2423259277187526 + ], + [ + 804.4182695408143, + -5.541939716460604 + ], + [ + 806.2183150995284, + -5.257796166532842 + ], + [ + 809.9552132900305, + -12.182473641382217 + ], + [ + 808.1734911669295, + -12.46033365980145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4456021888603, + "ymin": 0.0, + "xmax": 811.2885938988534, + "ymax": 0.1698605542063092 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.4456021888603, + 0.13230397065086663 + ], + [ + 805.6814345016116, + 0.1698605542063092 + ], + [ + 808.9665935976552, + -5.960989277565659 + ], + [ + 808.7328686526132, + -5.997816260179377 + ], + [ + 807.7417997621397, + -17.809570319613726 + ], + [ + 807.9810445762823, + -17.772580270349295 + ], + [ + 811.2885938988534, + -23.81013435879396 + ], + [ + 811.051517833028, + -23.84639598721384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4455863298615, + "ymin": 0.0, + "xmax": 811.2885785580268, + "ymax": 0.169922675194357 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 805.4455863298615, + 0.1323660842098775 + ], + [ + 805.6814186649899, + 0.169922675194357 + ], + [ + 808.9665782373711, + -5.960928363419896 + ], + [ + 808.7328532703485, + -5.997755353247214 + ], + [ + 807.7417839132829, + -17.809509143077207 + ], + [ + 807.981028750456, + -17.77251908639431 + ], + [ + 811.2885785580268, + -23.810074379730622 + ], + [ + 811.0515024695851, + -23.84633601535097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.0430012143228, + "ymin": 0.0, + "xmax": 823.6742946147941, + "ymax": 11.321633636620959 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 815.0430012143228, + 11.12958276998836 + ], + [ + 816.2310936627568, + 11.321633636620959 + ], + [ + 816.6138981856491, + 10.571020281216079 + ], + [ + 815.4270855563527, + 10.379420112144714 + ], + [ + 822.0469654341975, + -40.15686812559153 + ], + [ + 823.2848008312176, + -39.97316045812494 + ], + [ + 823.6742946147941, + -40.69114006740119 + ], + [ + 822.4378488225273, + -40.87439939545038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.1710575587308, + "ymin": 0.0, + "xmax": 826.837635219287, + "ymax": 5.208732888845418 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 818.1710575587308, + 5.020337049328134 + ], + [ + 819.3487194716431, + 5.208732888845418 + ], + [ + 819.7242416336576, + 4.472398721773857 + ], + [ + 818.5478373560152, + 4.284440782386696 + ], + [ + 825.2293292414247, + -45.99840719505477 + ], + [ + 826.4558430357732, + -45.81833360442312 + ], + [ + 826.837635219287, + -46.52211660974808 + ], + [ + 825.6124859307669, + -46.701755090504435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.5054877605011, + "ymin": 235.85080641915107, + "xmax": 988.0620617085611, + "ymax": 252.99101178035 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 985.1389069638219, + 252.99101178035 + ], + [ + 986.6798751374978, + 244.3497179731038 + ], + [ + 966.2402472181545, + 240.0275675824776 + ], + [ + 964.5054877605011, + 248.5830110143304 + ], + [ + 986.5286368946712, + 248.80381390947647 + ], + [ + 988.0620617085611, + 240.1693065227463 + ], + [ + 967.5344718510721, + 235.85080641915107 + ], + [ + 965.8055709162567, + 244.39918972928058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 790.5896231803861, + "ymin": 0.0, + "xmax": 798.3455057164944, + "ymax": 17.726352734543013 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 790.5896231803861, + 17.530434765037114 + ], + [ + 791.7821965920693, + 17.726352734543013 + ], + [ + 792.1978283775709, + 16.96063160180421 + ], + [ + 791.0065429522031, + 16.76517800279703 + ], + [ + 796.6779327668647, + -34.03170488305926 + ], + [ + 797.920659719885, + -33.84414775398932 + ], + [ + 798.3455057164944, + -34.577165413902776 + ], + [ + 797.10417771818, + -34.76426004679416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.7973965333784, + "ymin": 226.2730154754739, + "xmax": 1167.1030909438607, + "ymax": 517.874879628614 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1044.2728687563672, + 517.874879628614 + ], + [ + 1045.439315749799, + 504.2309177047797 + ], + [ + 892.693607143575, + 462.8971017197682 + ], + [ + 889.7973965333784, + 475.55740684501205 + ], + [ + 1167.1030909438607, + 282.40507089342884 + ], + [ + 1166.718272346219, + 268.3225141353652 + ], + [ + 964.7353223362227, + 226.2730154754739 + ], + [ + 962.079151289833, + 239.0556883308388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 116.04516467746544, + "ymax": 30.562648048635026 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 108.20739716123387, + 30.562648048635026 + ], + [ + 116.04516467746544, + 25.571522986666878 + ], + [ + 13.855339628935553, + 5.051501070449035 + ], + [ + 5.509762467404585, + 9.73298418374577 + ], + [ + 20.138122638134973, + -178.48760132275345 + ], + [ + 30.03956654057572, + -182.4533276457937 + ], + [ + -85.18650435656889, + -198.65368166076587 + ], + [ + -95.71287760548921, + -194.97234320445023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.3790397315158, + "ymin": 235.75955409664795, + "xmax": 988.1892165285526, + "ymax": 253.0841590114562 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 985.2352000488754, + 253.0841590114562 + ], + [ + 986.7917258060477, + 244.34934856633083 + ], + [ + 966.1335421588539, + 239.9811604103693 + ], + [ + 964.3790397315158, + 248.62826484815474 + ], + [ + 986.640406731629, + 248.85189037415478 + ], + [ + 988.1892165285526, + 240.12401158866936 + ], + [ + 967.4411771631497, + 235.75955409664795 + ], + [ + 965.6926508828365, + 244.3994442453402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.6457107455203, + "ymin": 0.0, + "xmax": 808.0330541972246, + "ymax": 44.029467216603734 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 799.6457107455203, + 43.81895200146357 + ], + [ + 800.8798276650234, + 44.029467216603734 + ], + [ + 801.2977927415142, + 43.20671840259797 + ], + [ + 800.065055667202, + 42.99671831855841 + ], + [ + 806.3183223088935, + -8.387269938099223 + ], + [ + 807.6062162665505, + -8.18499824510468 + ], + [ + 808.0330541972246, + -8.975499093233111 + ], + [ + 806.7466633654615, + -9.177255175737741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 989.505061855383, + "ymin": 0.0, + "xmax": 1155.434039220915, + "ymax": 54.96398749569073 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1083.8494006358105, + 54.96398749569073 + ], + [ + 1084.2657154810652, + 50.094221237253294 + ], + [ + 990.570018987528, + 35.049788739618805 + ], + [ + 989.505061855383, + 39.70509508161581 + ], + [ + 1155.434039220915, + -144.6888058383562 + ], + [ + 1155.3247994056483, + -148.68596404802173 + ], + [ + 1045.204611295158, + -160.97679316946062 + ], + [ + 1044.416257636572, + -157.1828525582173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.1527249249011, + "ymin": 0.0, + "xmax": 820.6753506692953, + "ymax": 11.628506515791287 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 812.1527249249011, + 11.436271225158634 + ], + [ + 813.3405187824042, + 11.628506515791287 + ], + [ + 813.7269027348651, + 10.877172722366822 + ], + [ + 812.5403878846422, + 10.68538877825307 + ], + [ + 819.0444792357878, + -39.863500924775735 + ], + [ + 820.2819938312052, + -39.67960978054157 + ], + [ + 820.6753506692953, + -40.39830609190011 + ], + [ + 819.4392247733564, + -40.58174822531106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.4149942931722, + "ymin": 0.0, + "xmax": 826.0023672186223, + "ymax": 1.6811835187275506 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 817.4149942931722, + 1.4948808856542541 + ], + [ + 818.5858708932467, + 1.6811835187275506 + ], + [ + 818.9601854500693, + 0.9530270655542381 + ], + [ + 817.790551999889, + 0.7671550590350762 + ], + [ + 824.4026243157189, + -49.36734578083167 + ], + [ + 825.6217808240549, + -49.18935151531912 + ], + [ + 826.0023672186223, + -49.88501145544137 + ], + [ + 824.7845588550306, + -50.06257812118287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.0913961016051, + "ymin": 0.0, + "xmax": 808.5213529291059, + "ymax": 40.5419364428447 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 800.0913961016051, + 40.331929207764745 + ], + [ + 801.3290994719193, + 40.5419364428447 + ], + [ + 801.7476786798652, + 39.72117503687639 + ], + [ + 800.5113632117104, + 39.51168312208188 + ], + [ + 806.8020987600112, + -12.172315798526483 + ], + [ + 808.0938985017145, + -11.970694958862055 + ], + [ + 808.5213529291059, + -12.758650021748906 + ], + [ + 807.2310654733062, + -12.959755417685983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.4247844472893, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 28.83607388846559 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1296.8471108500285, + 18.365802452982734 + ], + [ + 1471.2738063021034, + 28.83607388846559 + ], + [ + 1401.1062814478319, + -42.76737136112814 + ], + [ + 1246.4247844472893, + -51.09346601662526 + ], + [ + 1459.2087690343437, + -296.6728729067552 + ], + [ + 1680.9193132128253, + -289.95315582374496 + ], + [ + 1567.5511837388149, + -334.857591865868 + ], + [ + 1376.7500918856044, + -339.9236125277398 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00119/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00119/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..867e5f8b3af36a7c3034a57716de4ae8908021a4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00119/meta.json @@ -0,0 +1,6421 @@ +{ + "frame_id": 119, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 59.5, + "sim_timestamp": 13032.249647879275 + }, + "drone_pose": { + "x": -38.56028915873528, + "y": 6.423403226357537, + "z": 20.0, + "pitch": -45.73579720049403, + "yaw": -18.856959260574595, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6605069637298584, + 0.2255878895521164, + 0.716128945350647, + 12.595800399780273 + ], + [ + -0.3232066035270691, + 0.9463284015655518, + 0.0, + 6.3842902183532715 + ], + [ + -0.6776931285858154, + -0.23145760595798492, + 0.6979680061340332, + -41.578147888183594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -38.22282082943779, + "y": 6.098914176917118, + "z": 20.0 + }, + "t1_image_uv": [ + -1.9470955609921248, + -624.9789558773145 + ], + "t1_depth": 0.2961009753704126 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -20.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.089958912619213, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -20.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.22908933460712433, + "y": 0.2944682538509369, + "z": 0.5466828942298889 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.2772185683316, + "ymin": 338.4227565723589, + "xmax": 652.642135521969, + "ymax": 381.3022213259252 + }, + "corners_3d": [ + [ + -20.896272659301758, + 0.017768532037734985, + 0.0534132719039917 + ], + [ + -20.896272659301758, + 0.6067050695419312, + 0.0534132719039917 + ], + [ + -20.438093185424805, + 0.6067050695419312, + 0.0534132719039917 + ], + [ + -20.438093185424805, + 0.017768532037734985, + 0.0534132719039917 + ], + [ + -20.896272659301758, + 0.017768532037734985, + 1.1467790603637695 + ], + [ + -20.896272659301758, + 0.6067050695419312, + 1.1467790603637695 + ], + [ + -20.438093185424805, + 0.6067050695419312, + 1.1467790603637695 + ], + [ + -20.438093185424805, + 0.017768532037734985, + 1.1467790603637695 + ] + ], + "corners_2d": [ + [ + 627.6408342659427, + 376.4223602290615 + ], + [ + 647.2050196209724, + 381.3022213259252 + ], + [ + 652.2830498932599, + 370.2549951874512 + ], + [ + 632.9082589038868, + 365.48143668537966 + ], + [ + 627.2772185683316, + 349.3778779605494 + ], + [ + 647.418060083036, + 354.2663430336796 + ], + [ + 652.642135521969, + 343.20164372956293 + ], + [ + 632.7019605710759, + 338.4227565723589 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 119, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 356938, + "2": 300008, + "3": 10817, + "5": 3069, + "6": 3564, + "10": 2, + "12": 2005, + "14": 25012, + "15": 4227, + "20": 3419, + "24": 22974, + "25": 189565 + }, + "instance_pixel_counts": { + "3424": 189449, + "5506": 273, + "6215": 141819, + "6284": 281, + "6290": 3781, + "6750": 495, + "7262": 2691, + "7774": 3026, + "8332": 19060, + "8338": 48197, + "9802": 204, + "9822": 5935, + "15184": 3069, + "17738": 456, + "18000": 3419, + "18784": 406, + "19552": 74, + "21140": 8201, + "23392": 337, + "23627": 852, + "23700": 185588, + "23904": 325, + "24395": 93, + "24416": 87, + "24928": 61, + "25696": 137, + "26442": 417, + "31362": 310, + "35476": 574, + "37524": 10791, + "38540": 1183, + "40588": 15697, + "41562": 8841, + "42330": 1976, + "42897": 455, + "44945": 51835, + "45898": 1104, + "47947": 289, + "48203": 38, + "48459": 426, + "48715": 295, + "52038": 17700, + "54859": 1107, + "56576": 199, + "56647": 116, + "56832": 185, + "57088": 656, + "57344": 634, + "57600": 331, + "57856": 7870, + "58368": 3732, + "60928": 5490, + "62081": 2981, + "62101": 101, + "62611": 4668, + "64149": 4800, + "64659": 158481 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 199, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -20.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.18853086233139038, + "y": 0.2790825068950653, + "z": 0.5568311810493469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.2823625823446, + "ymin": 339.2485667854195, + "xmax": 651.6637054432429, + "ymax": 380.4302505552152 + }, + "corners_3d": [ + [ + -20.855712890625, + 0.03315427899360657, + 0.04326498508453369 + ], + [ + -20.855712890625, + 0.5913193225860596, + 0.04326498508453369 + ], + [ + -20.478652954101562, + 0.5913193225860596, + 0.04326498508453369 + ], + [ + -20.478652954101562, + 0.03315427899360657, + 0.04326498508453369 + ], + [ + -20.855712890625, + 0.03315427899360657, + 1.1569273471832275 + ], + [ + -20.855712890625, + 0.5913193225860596, + 1.1569273471832275 + ], + [ + -20.478652954101562, + 0.5913193225860596, + 1.1569273471832275 + ], + [ + -20.478652954101562, + 0.03315427899360657, + 1.1569273471832275 + ] + ], + "corners_2d": [ + [ + 628.6230876455143, + 375.8145193435507 + ], + [ + 647.1441013358207, + 380.4302505552152 + ], + [ + 651.3260644665244, + 371.3414939363815 + ], + [ + 632.9526901876677, + 366.8086485246057 + ], + [ + 628.2823625823446, + 348.26640010400456 + ], + [ + 647.3590751977704, + 352.89014665023933 + ], + [ + 651.6637054432429, + 343.7868257050733 + ], + [ + 632.7435872105025, + 339.2485667854195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 185, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -14.152315139770508, + "y": 4.925731658935547, + "z": 0.6000766754150391 + }, + "extent": { + "x": 0.25550535321235657, + "y": 0.23200683295726776, + "z": 0.5275515913963318 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 834.5984561850335, + "ymin": 235.1671194851909, + "xmax": 854.925442539055, + "ymax": 272.8796832758705 + }, + "corners_3d": [ + [ + -14.44096851348877, + 4.736551284790039, + 0.07252508401870728 + ], + [ + -14.368380546569824, + 5.194851875305176, + 0.07252508401870728 + ], + [ + -13.863661766052246, + 5.114912033081055, + 0.07252508401870728 + ], + [ + -13.936249732971191, + 4.656611442565918, + 0.07252508401870728 + ], + [ + -14.44096851348877, + 4.736551284790039, + 1.1276283264160156 + ], + [ + -14.368380546569824, + 5.194851875305176, + 1.1276283264160156 + ], + [ + -13.863661766052246, + 5.114912033081055, + 1.1276283264160156 + ], + [ + -13.936249732971191, + 4.656611442565918, + 1.1276283264160156 + ] + ], + "corners_2d": [ + [ + 834.5984561850335, + 271.25196077011253 + ], + [ + 849.3287095897641, + 272.8796832758705 + ], + [ + 849.6661996377059, + 262.66173883134127 + ], + [ + 835.1026763177795, + 261.0708207922023 + ], + [ + 839.5281773094518, + 245.3009898619728 + ], + [ + 854.6414645304183, + 246.92169589811664 + ], + [ + 854.925442539055, + 236.75026671087235 + ], + [ + 839.9876184599841, + 235.1671194851909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 656, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -22.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.41514647006988525, + "y": 0.31267088651657104, + "z": 0.879273533821106 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 853.1254316173984, + "ymin": 447.93653041515313, + "xmax": 894.1986601617949, + "ymax": 521.6727523655595 + }, + "corners_3d": [ + [ + -23.353944778442383, + 6.964433670043945, + -0.27917248010635376 + ], + [ + -23.321218490600586, + 7.588918685913086, + -0.27917248010635376 + ], + [ + -22.492063522338867, + 7.545464515686035, + -0.27917248010635376 + ], + [ + -22.524789810180664, + 6.9209794998168945, + -0.27917248010635376 + ], + [ + -23.353944778442383, + 6.964433670043945, + 1.479374647140503 + ], + [ + -23.321218490600586, + 7.588918685913086, + 1.479374647140503 + ], + [ + -22.492063522338867, + 7.545464515686035, + 1.479374647140503 + ], + [ + -22.524789810180664, + 6.9209794998168945, + 1.479374647140503 + ] + ], + "corners_2d": [ + [ + 853.1254316173984, + 516.0784106759659 + ], + [ + 877.9105774775405, + 521.6727523655595 + ], + [ + 881.3332526571196, + 495.98332321984947 + ], + [ + 857.0844147143159, + 490.6362588263496 + ], + [ + 864.7018276283909, + 473.7339492444735 + ], + [ + 890.9000514421622, + 479.41479155582516 + ], + [ + 894.1986601617949, + 453.35307834445325 + ], + [ + 868.5989928797574, + 447.93653041515313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 634, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4664977788925171, + "y": 0.30959776043891907, + "z": 0.8910948634147644 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 470.1089707335209, + "ymin": 613.2429182497794, + "xmax": 524.4260297277316, + "ymax": 699.5497854789648 + }, + "corners_3d": [ + [ + -30.616836547851562, + -0.02135130763053894, + -0.2909938097000122 + ], + [ + -30.649242401123047, + 0.5969955921173096, + -0.2909938097000122 + ], + [ + -29.717525482177734, + 0.6458249092102051, + -0.2909938097000122 + ], + [ + -29.68511962890625, + 0.027477949857711792, + -0.2909938097000122 + ], + [ + -30.616836547851562, + -0.02135130763053894, + 1.4911959171295166 + ], + [ + -30.649242401123047, + 0.5969955921173096, + 1.4911959171295166 + ], + [ + -29.717525482177734, + 0.6458249092102051, + 1.4911959171295166 + ], + [ + -29.68511962890625, + 0.027477949857711792, + 1.4911959171295166 + ] + ], + "corners_2d": [ + [ + 480.32152260116135, + 689.5123003748334 + ], + [ + 505.2854782804244, + 699.5497854789648 + ], + [ + 524.4260297277316, + 662.6163963370119 + ], + [ + 500.012006504459, + 653.1288751661338 + ], + [ + 470.1089707335209, + 650.7452803497781 + ], + [ + 496.59951193652535, + 661.114838094946 + ], + [ + 517.1949747186727, + 623.0094381707409 + ], + [ + 491.3219950945686, + 613.2429182497794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 331, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -9.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.4374340772628784, + "y": 0.3664935231208801, + "z": 0.9312992691993713 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 514.682432275367, + "ymin": 75.31933672294173, + "xmax": 547.5784650851714, + "ymax": 134.8126128180446 + }, + "corners_3d": [ + [ + -9.796562194824219, + -8.288389205932617, + -0.17890328168869019 + ], + [ + -9.911227226257324, + -7.564426898956299, + -0.17890328168869019 + ], + [ + -9.047130584716797, + -7.427567005157471, + -0.17890328168869019 + ], + [ + -8.932465553283691, + -8.151529312133789, + -0.17890328168869019 + ], + [ + -9.796562194824219, + -8.288389205932617, + 1.6836953163146973 + ], + [ + -9.911227226257324, + -7.564426898956299, + 1.6836953163146973 + ], + [ + -9.047130584716797, + -7.427567005157471, + 1.6836953163146973 + ], + [ + -8.932465553283691, + -8.151529312133789, + 1.6836953163146973 + ] + ], + "corners_2d": [ + [ + 519.2286558718102, + 129.87270171951977 + ], + [ + 535.4692178001325, + 134.8126128180446 + ], + [ + 547.5784650851714, + 123.74709743910324 + ], + [ + 531.4953222288277, + 118.94957285002295 + ], + [ + 514.682432275367, + 85.98890798805598 + ], + [ + 531.5076148295, + 90.8179673921677 + ], + [ + 544.1287060889517, + 80.00406574402672 + ], + [ + 527.4721516173419, + 75.31933672294173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 7870, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 686.348367336109, + "ymin": 227.06499788569124, + "xmax": 801.42793827835, + "ymax": 392.94367920380347 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 686.348367336109, + 376.0832907273623 + ], + [ + 755.4999037909568, + 392.94367920380347 + ], + [ + 796.0951582259269, + 275.0544844412233 + ], + [ + 734.2391269413639, + 261.8479211964633 + ], + [ + 688.116316537481, + 341.00643059201343 + ], + [ + 759.9827078534181, + 357.9074961756448 + ], + [ + 801.42793827835, + 240.18706441942533 + ], + [ + 737.409848010711, + 227.06499788569124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3732, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 813.0200796920376, + "ymin": 0.0, + "xmax": 894.8235909946364, + "ymax": 83.50029709376815 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 813.0200796920376, + 75.47064174603872 + ], + [ + 861.5390480493472, + 83.50029709376815 + ], + [ + 883.8957475321661, + 18.71367485947121 + ], + [ + 839.5373926861452, + 12.078535605779848 + ], + [ + 821.4893159976862, + 15.743322726106669 + ], + [ + 872.5137324817156, + 23.452147292294285 + ], + [ + 894.8235909946364, + -38.50015388780264 + ], + [ + 848.3815017011689, + -44.81348685147009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5490, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 474.20484071388194, + "ymin": 195.35358481423663, + "xmax": 578.2308325805852, + "ymax": 317.3192550390222 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 578.2308325805852, + 244.28430606319392 + ], + [ + 528.2492042431039, + 233.4161514176551 + ], + [ + 480.44347667329623, + 304.5641155167398 + ], + [ + 533.9573250195989, + 317.3192550390222 + ], + [ + 575.9668026114537, + 206.1175632745338 + ], + [ + 524.2201787834726, + 195.35358481423663 + ], + [ + 474.20484071388194, + 266.00614634802815 + ], + [ + 529.7455502720769, + 278.7155939724132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601153500601, + "ymin": 0.0, + "xmax": 798.4093709217731, + "ymax": 11.73553642188216 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601153500601, + 11.462240470715017 + ], + [ + 792.95433308423, + 11.73553642188216 + ], + [ + 796.491669018661, + 4.626168717302164 + ], + [ + 794.7159751125079, + 4.3589404980115205 + ], + [ + 793.0328442352701, + -4.44767033695598 + ], + [ + 794.8501144111931, + -4.177903634987729 + ], + [ + 798.4093709217731, + -11.194529713833106 + ], + [ + 796.6111024948203, + -11.45823407737032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601144074065, + "ymin": 0.0, + "xmax": 798.4093699992956, + "ymax": 11.735538306574881 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601144074065, + 11.462242353790202 + ], + [ + 792.9543321464826, + 11.735538306574881 + ], + [ + 796.4916681017378, + 4.626170560141929 + ], + [ + 794.7159741907788, + 4.358942339287353 + ], + [ + 793.0328432865476, + -4.447668478208072 + ], + [ + 794.850113467504, + -4.177901774623422 + ], + [ + 798.4093699992956, + -11.19452789528475 + ], + [ + 796.6111015674135, + -11.458232260384307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4764302681863, + "ymin": 0.0, + "xmax": 797.9966265203378, + "ymax": 4.876241097902778 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.4764302681863, + 4.840493942147077 + ], + [ + 792.7136563586814, + 4.876241097902778 + ], + [ + 795.8488568778249, + -1.3522975829475854 + ], + [ + 795.6138003694514, + -1.3873412580888385 + ], + [ + 794.5988810503083, + -13.127458272725221 + ], + [ + 794.8395316277071, + -13.092247510600203 + ], + [ + 797.9966265203378, + -19.226486064038397 + ], + [ + 797.7582085042676, + -19.260994400528375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.47640981883, + "ymin": 0.0, + "xmax": 797.9966066390781, + "ymax": 4.876314538625991 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.47640981883, + 4.8405673745343165 + ], + [ + 792.713635935825, + 4.876314538625991 + ], + [ + 795.8488370188743, + -1.3522255875300857 + ], + [ + 795.6137804844818, + -1.3872692707625447 + ], + [ + 794.5988605672068, + -13.127385942263516 + ], + [ + 794.8395111718772, + -13.092175171813267 + ], + [ + 797.9966066390781, + -19.226415168391497 + ], + [ + 797.7581885962381, + -19.26092351295881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601153500601, + "ymin": 0.0, + "xmax": 798.4093709217731, + "ymax": 11.73553642188216 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601153500601, + 11.462240470715017 + ], + [ + 792.95433308423, + 11.73553642188216 + ], + [ + 796.491669018661, + 4.626168717302164 + ], + [ + 794.7159751125079, + 4.3589404980115205 + ], + [ + 793.0328442352701, + -4.44767033695598 + ], + [ + 794.8501144111931, + -4.177903634987729 + ], + [ + 798.4093709217731, + -11.194529713833106 + ], + [ + 796.6111024948203, + -11.45823407737032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601156139532, + "ymin": 0.0, + "xmax": 798.4093710982504, + "ymax": 11.73553644870276 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601156139532, + 11.462240510911215 + ], + [ + 792.9543332603098, + 11.73553644870276 + ], + [ + 796.491669192922, + 4.626168743527103 + ], + [ + 794.7159753736777, + 4.358940537315561 + ], + [ + 793.0328445025523, + -4.447670297279046 + ], + [ + 794.8501145895361, + -4.177903608513418 + ], + [ + 798.4093710982504, + -11.194529687953832 + ], + [ + 796.611102759309, + -11.458234038584806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601146524797, + "ymin": 0.0, + "xmax": 798.4093701530418, + "ymax": 11.735537992459399 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601146524797, + 11.462242053342948 + ], + [ + 792.9543323027739, + 11.735537992459399 + ], + [ + 796.4916682545584, + 4.626170253001931 + ], + [ + 794.7159744314569, + 4.358942045509252 + ], + [ + 793.032843533762, + -4.447668774773831 + ], + [ + 794.8501136247854, + -4.177902084684206 + ], + [ + 798.4093701530418, + -11.19452819837619 + ], + [ + 796.6111018101442, + -11.45823255028688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4764930581628, + "ymin": 0.0, + "xmax": 797.9966887354017, + "ymax": 4.876148530643491 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.4764930581628, + 4.840401385394671 + ], + [ + 792.7137191173575, + 4.876148530643491 + ], + [ + 795.8489185596792, + -1.3523883284929639 + ], + [ + 795.6138620820414, + -1.3874319934358823 + ], + [ + 794.5989443980602, + -13.127549440571784 + ], + [ + 794.839594943245, + -13.092338688940117 + ], + [ + 797.9966887354017, + -19.226575423394138 + ], + [ + 797.7582707509561, + -19.261083749703175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601144074065, + "ymin": 0.0, + "xmax": 798.4093699992956, + "ymax": 11.735538306574881 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601144074065, + 11.462242353790202 + ], + [ + 792.9543321464826, + 11.735538306574881 + ], + [ + 796.4916681017378, + 4.626170560141929 + ], + [ + 794.7159741907788, + 4.358942339287353 + ], + [ + 793.0328432865476, + -4.447668478208072 + ], + [ + 794.850113467504, + -4.177901774623422 + ], + [ + 798.4093699992956, + -11.19452789528475 + ], + [ + 796.6111015674135, + -11.458232260384307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4659728969538, + "ymin": 0.0, + "xmax": 799.1981904786181, + "ymax": 6.963853014637266 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 792.4659728969538, + 6.9207668297841 + ], + [ + 792.7509604000404, + 6.963853014637266 + ], + [ + 796.9253252178902, + -1.3576046302266036 + ], + [ + 796.6438093305935, + -1.3995636012938348 + ], + [ + 794.7039945297942, + -11.996332744035783 + ], + [ + 794.9933204445574, + -11.953922861292028 + ], + [ + 799.1981904786181, + -20.143187955516737 + ], + [ + 798.9124423279054, + -20.184472356367223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4765116497294, + "ymin": 0.0, + "xmax": 797.9967079332956, + "ymax": 4.876209395632031 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.4765116497294, + 4.840462243474576 + ], + [ + 792.7137377329034, + 4.876209395632031 + ], + [ + 795.8489372911076, + -1.3523286613209962 + ], + [ + 795.6138807899288, + -1.387372332969619 + ], + [ + 794.5989634563616, + -13.127489495727673 + ], + [ + 794.8396140262216, + -13.092278737196352 + ], + [ + 797.9967079332956, + -19.22651666767206 + ], + [ + 797.758289924632, + -19.261025000675374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601156139532, + "ymin": 0.0, + "xmax": 798.4093710982504, + "ymax": 11.73553644870276 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601156139532, + 11.462240510911215 + ], + [ + 792.9543332603098, + 11.73553644870276 + ], + [ + 796.491669192922, + 4.626168743527103 + ], + [ + 794.7159753736777, + 4.358940537315561 + ], + [ + 793.0328445025523, + -4.447670297279046 + ], + [ + 794.8501145895361, + -4.177903608513418 + ], + [ + 798.4093710982504, + -11.194529687953832 + ], + [ + 796.611102759309, + -11.458234038584806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4658944278873, + "ymin": 0.0, + "xmax": 799.1981117006636, + "ymax": 6.963841136200756 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 792.4658944278873, + 6.920754966342088 + ], + [ + 792.7508818317949, + 6.963841136200756 + ], + [ + 796.9252476068046, + -1.3576161978909909 + ], + [ + 796.6437318173396, + -1.3995751543766914 + ], + [ + 794.7039148662599, + -11.996344421251592 + ], + [ + 794.9932406801748, + -11.953934553290367 + ], + [ + 799.1981117006636, + -20.143199337219983 + ], + [ + 798.9123636494066, + -20.18448372370125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4659516874909, + "ymin": 0.0, + "xmax": 799.1981698543871, + "ymax": 6.963918565316703 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 792.4659516874909, + 6.9208323848999385 + ], + [ + 792.7509391302211, + 6.963918565316703 + ], + [ + 796.9253046554533, + -1.357540794530962 + ], + [ + 796.6437888281133, + -1.3994997611630993 + ], + [ + 794.7039732445883, + -11.996268217969998 + ], + [ + 794.9932990985124, + -11.953858339463864 + ], + [ + 799.1981698543871, + -20.14312514603995 + ], + [ + 798.9124217641122, + -20.184409542649064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.1601164371373, + "ymin": 0.0, + "xmax": 798.4093719124442, + "ymax": 11.735535559997572 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 791.1601164371373, + 11.46223962296881 + ], + [ + 792.9543340813432, + 11.735535559997572 + ], + [ + 796.4916699999059, + 4.6261678745570975 + ], + [ + 794.7159761827687, + 4.358939669083043 + ], + [ + 793.0328453332897, + -4.447671173750166 + ], + [ + 794.8501154180669, + -4.177904485746808 + ], + [ + 798.4093719124442, + -11.194530545469433 + ], + [ + 796.6111035756642, + -11.45823489536366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4660510218141, + "ymin": 0.0, + "xmax": 799.1982688406637, + "ymax": 6.963866513216146 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 792.4660510218141, + 6.9207803265222765 + ], + [ + 792.751038536315, + 6.963866513216146 + ], + [ + 796.9254024132542, + -1.3575914848071875 + ], + [ + 796.64388651483, + -1.3995504576432722 + ], + [ + 794.7040738499393, + -11.99631945916235 + ], + [ + 794.9933997764613, + -11.953909574580166 + ], + [ + 799.1982688406637, + -20.143175021422223 + ], + [ + 798.912520678492, + -20.184459424038437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4659731231031, + "ymin": 0.0, + "xmax": 799.1981906094975, + "ymax": 6.963852361229954 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 792.4659731231031, + 6.920766189840663 + ], + [ + 792.7509605374389, + 6.963852361229954 + ], + [ + 796.9253253492201, + -1.3576052665391671 + ], + [ + 796.6438095495898, + -1.399564224495748 + ], + [ + 794.7039947569633, + -11.99633337393368 + ], + [ + 794.9933205816203, + -11.953923504443765 + ], + [ + 799.1981906094975, + -20.14318858159993 + ], + [ + 798.9124425477734, + -20.184472969549404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.5466762071176, + "ymin": 0.0, + "xmax": 796.7707002315578, + "ymax": 15.265604255388212 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 789.5466762071176, + 14.99166415927374 + ], + [ + 791.3345137958638, + 15.265604255388212 + ], + [ + 794.8787874847883, + 8.139237157371383 + ], + [ + 793.1093417430529, + 7.871360133876578 + ], + [ + 791.3934707985981, + -0.8236068506953416 + ], + [ + 793.204196760527, + -0.5531357052565227 + ], + [ + 796.7707002315578, + -7.588330132185433 + ], + [ + 794.9788389296345, + -7.852742287226135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4764302681863, + "ymin": 0.0, + "xmax": 797.9966265203378, + "ymax": 4.876241097902778 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.4764302681863, + 4.840493942147077 + ], + [ + 792.7136563586814, + 4.876241097902778 + ], + [ + 795.8488568778249, + -1.3522975829475854 + ], + [ + 795.6138003694514, + -1.3873412580888385 + ], + [ + 794.5988810503083, + -13.127458272725221 + ], + [ + 794.8395316277071, + -13.092247510600203 + ], + [ + 797.9966265203378, + -19.226486064038397 + ], + [ + 797.7582085042676, + -19.260994400528375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.4764159565464, + "ymin": 0.0, + "xmax": 797.9966127079479, + "ymax": 4.876304052353703 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 792.4764159565464, + 4.840556889452273 + ], + [ + 792.7136420699401, + 4.876304052353703 + ], + [ + 795.8488430406493, + -1.3522358674337056 + ], + [ + 795.6137865097928, + -1.387279549510822 + ], + [ + 794.5988667545333, + -13.127396270006557 + ], + [ + 794.8395173554975, + -13.092185500745074 + ], + [ + 797.9966127079479, + -19.22642529126381 + ], + [ + 797.7581946687463, + -19.260933634677713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 801.7288168553292, + "ymin": 0.0, + "xmax": 809.8300234744623, + "ymax": 15.599121315134823 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 801.7288168553292, + 15.416583445122171 + ], + [ + 802.9228105637645, + 15.599121315134823 + ], + [ + 803.2875982788499, + 14.837555834237435 + ], + [ + 802.0949198467038, + 14.655451672935271 + ], + [ + 808.21488603123, + -35.92684377716614 + ], + [ + 809.4587015249281, + -35.75220512183449 + ], + [ + 809.8300234744623, + -36.48078790286786 + ], + [ + 808.5876355929439, + -36.65499500534838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 804.7101229091388, + "ymin": 0.0, + "xmax": 812.8453622025188, + "ymax": 9.397675486909407 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 804.7101229091388, + 9.218654318843562 + ], + [ + 805.8933991092905, + 9.397675486909407 + ], + [ + 806.2511619665433, + 8.65077548744 + ], + [ + 805.0691776931471, + 8.472175562426003 + ], + [ + 811.2492868441262, + -41.85419286354801 + ], + [ + 812.4814733112793, + -41.68305164603663 + ], + [ + 812.8453622025188, + -42.397050066938164 + ], + [ + 811.614576947327, + -42.56777262253837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.4070920992469, + "ymin": 245.99493180506028, + "xmax": 986.9289756759454, + "ymax": 263.2096367545473 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 984.2864669517264, + 263.2096367545473 + ], + [ + 985.5400314344181, + 254.33553638698834 + ], + [ + 964.8623770222001, + 250.17741435038386 + ], + [ + 963.4070920992469, + 258.96736064012407 + ], + [ + 985.6843954976662, + 259.0175342594864 + ], + [ + 986.9289756759454, + 250.14981589979914 + ], + [ + 966.162004943505, + 245.99493180506028 + ], + [ + 964.7139453957634, + 254.7782193113959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.3963807442118, + "ymin": 0.0, + "xmax": 784.6233029777354, + "ymax": 22.303287347573814 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 777.3963807442118, + 22.116909291070726 + ], + [ + 778.5958618629886, + 22.303287347573814 + ], + [ + 778.9936867474042, + 21.525707331580406 + ], + [ + 777.7955317387396, + 21.33977673363387 + ], + [ + 782.9665970089586, + -29.513852783458844 + ], + [ + 784.2163905324891, + -29.335390343166694 + ], + [ + 784.6233029777354, + -30.07991837428642 + ], + [ + 783.3749494093605, + -30.257935019808485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.4743379242753, + "ymin": 236.39075636086955, + "xmax": 1168.0989013996714, + "ymax": 526.4156621178124 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1044.4239647016223, + 526.4156621178124 + ], + [ + 1045.2136695825764, + 512.4978053753994 + ], + [ + 891.0561241830203, + 472.93657593147424 + ], + [ + 888.4743379242753, + 485.8976267646891 + ], + [ + 1168.0989013996714, + 291.178451097975 + ], + [ + 1167.181366002717, + 276.7707653425242 + ], + [ + 963.2391584455124, + 236.39075636086955 + ], + [ + 961.0046126690402, + 249.527587358612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 94.88048350936106, + "ymax": 42.17325909345368 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 86.94569122964924, + 42.17325909345368 + ], + [ + 94.88048350936106, + 36.9976127775455 + ], + [ + -10.08682692693867, + 17.042171771320284 + ], + [ + -18.576297674980196, + 21.909345287182532 + ], + [ + -6.064032047563273, + -168.6305303571212 + ], + [ + 4.034914983992962, + -172.76079383488855 + ], + [ + -114.6343495650209, + -188.58536380230566 + ], + [ + -125.42229628183406, + -184.74032358643183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.2807902297948, + "ymin": 245.9032748579877, + "xmax": 987.0559020179583, + "ymax": 263.30317892663646 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 984.3855881680402, + 263.30317892663646 + ], + [ + 985.6515813987636, + 254.33306764705566 + ], + [ + 964.7528604761112, + 250.1306684031259 + ], + [ + 963.2807902297948, + 259.01480675497885 + ], + [ + 985.7990972696989, + 259.06595748246326 + ], + [ + 987.0559020179583, + 250.1023646846163 + ], + [ + 966.065942105259, + 245.9032748579877 + ], + [ + 964.601244018626, + 254.7806089243025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.0571627160379, + "ymin": 0.0, + "xmax": 794.9241486538499, + "ymax": 48.75481649027847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 787.0571627160379, + 48.55450354605938 + ], + [ + 788.298596036908, + 48.75481649027847 + ], + [ + 788.6973306511063, + 47.91912447032428 + ], + [ + 787.4573183294875, + 47.71930807620123 + ], + [ + 793.2213559041297, + -3.7201712004342085 + ], + [ + 794.5167526319591, + -3.5276578224127775 + ], + [ + 794.9241486538499, + -4.330778823695596 + ], + [ + 793.6302994496867, + -4.522795017957719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.7775805775615, + "ymin": 0.0, + "xmax": 1140.4844394469424, + "ymax": 57.02530239836574 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1071.0587976358029, + 57.02530239836574 + ], + [ + 1071.3372295597014, + 52.11800204453607 + ], + [ + 977.7143238642465, + 37.89984486873482 + ], + [ + 976.7775805775615, + 42.60249774996828 + ], + [ + 1140.4844394469424, + -142.46634006841765 + ], + [ + 1140.2280103001033, + -146.49272496669374 + ], + [ + 1030.343044528389, + -158.10611085665073 + ], + [ + 1029.6911478072575, + -154.27358780794464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.8429547484436, + "ymin": 0.0, + "xmax": 806.8356209429696, + "ymax": 15.9366859208003 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 798.8429547484436, + 15.753955631579458 + ], + [ + 800.0367547181892, + 15.9366859208003 + ], + [ + 800.4051673939083, + 15.174318063676992 + ], + [ + 799.2126821298694, + 14.99202216870475 + ], + [ + 805.2167782588452, + -35.60406803591724 + ], + [ + 806.4603862497798, + -35.429237898562974 + ], + [ + 806.8356209429696, + -36.15861910637011 + ], + [ + 805.5934399299844, + -36.33301698137035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 803.8669918364151, + "ymin": 0.0, + "xmax": 811.9224483834034, + "ymax": 5.8438688612168335 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 803.8669918364151, + 5.666847552404079 + ], + [ + 805.0434026843775, + 5.8438688612168335 + ], + [ + 805.4001588502556, + 5.105308885781653 + ], + [ + 804.2250249486551, + 4.928701785244527 + ], + [ + 810.3348095553079, + -45.24886739167357 + ], + [ + 811.5595539835995, + -45.079713256876744 + ], + [ + 811.9224483834034, + -45.78542537697325 + ], + [ + 810.6990882555389, + -45.954168115756204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.4688446815228, + "ymin": 0.0, + "xmax": 795.3756411724823, + "ymax": 45.263118432521935 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 787.4688446815228, + 45.06328576815247 + ], + [ + 788.7138771725312, + 45.263118432521935 + ], + [ + 789.1132104250963, + 44.429432309200536 + ], + [ + 787.8696072036981, + 44.23009638873856 + ], + [ + 793.668326593905, + -7.510650621870695 + ], + [ + 794.9676422810455, + -7.318753484909621 + ], + [ + 795.3756411724823, + -8.119301376646547 + ], + [ + 794.077882408246, + -8.310701478213446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.875816381184, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 26.85511330174097 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1280.698748397339, + 18.046034217929844 + ], + [ + 1452.7051068360395, + 26.85511330174097 + ], + [ + 1381.5273262786334, + -44.094313764856565 + ], + [ + 1228.875816381184, + -51.10039280850896 + ], + [ + 1438.0928199195407, + -295.8112972449877 + ], + [ + 1655.772750179989, + -290.17513631507256 + ], + [ + 1542.2710533774443, + -334.5168124340422 + ], + [ + 1354.6601957039372, + -338.76839434773603 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00120/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00120/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2156c7a869169a478dbf1af2bc8b08fed116a66 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00120/meta.json @@ -0,0 +1,6418 @@ +{ + "frame_id": 120, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.0, + "sim_timestamp": 13043.167850286933 + }, + "drone_pose": { + "x": -38.22282082943779, + "y": 6.098914176917118, + "z": 20.0, + "pitch": -45.656625742837704, + "yaw": -17.770209917626083, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6656083464622498, + 0.21332181990146637, + 0.7151638865470886, + 12.439186096191406 + ], + [ + -0.3052002787590027, + 0.9522882103919983, + 0.0, + 5.857688903808594 + ], + [ + -0.6810421347618103, + -0.21826818585395813, + 0.6989568471908569, + -41.3416862487793 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -37.870307212345516, + "y": 5.792983082527828, + "z": 20.0 + }, + "t1_image_uv": [ + 51.80811922845237, + -622.2598181419417 + ], + "t1_depth": 0.29989779227708935 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -20.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.126517714174355, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 216, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -20.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28652217984199524, + "y": 0.2844353914260864, + "z": 0.5480221509933472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.0706895351511, + "ymin": 337.22335664255354, + "xmax": 652.804144800306, + "ymax": 382.5418584657391 + }, + "corners_3d": [ + [ + -20.453704833984375, + 0.02780139446258545, + 0.05207401514053345 + ], + [ + -20.453704833984375, + 0.5966721773147583, + 0.05207401514053345 + ], + [ + -19.880661010742188, + 0.5966721773147583, + 0.05207401514053345 + ], + [ + -19.880661010742188, + 0.02780139446258545, + 0.05207401514053345 + ], + [ + -20.453704833984375, + 0.02780139446258545, + 1.148118257522583 + ], + [ + -20.453704833984375, + 0.5966721773147583, + 1.148118257522583 + ], + [ + -19.880661010742188, + 0.5966721773147583, + 1.148118257522583 + ], + [ + -19.880661010742188, + 0.02780139446258545, + 1.148118257522583 + ] + ], + "corners_2d": [ + [ + 627.4407240096385, + 378.08978407289834 + ], + [ + 646.4576536565872, + 382.5418584657391 + ], + [ + 652.4411395086341, + 368.6801825485915 + ], + [ + 633.6592627498617, + 364.3498327749592 + ], + [ + 627.0706895351511, + 350.97922330029587 + ], + [ + 646.6487876043944, + 355.43884317263024 + ], + [ + 652.804144800306, + 341.5575212139859 + ], + [ + 633.475085840299, + 337.22335664255354 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 120, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 353547, + "2": 298006, + "3": 14004, + "5": 3029, + "6": 3646, + "12": 1988, + "14": 26421, + "15": 4547, + "20": 3477, + "24": 22630, + "25": 190305 + }, + "instance_pixel_counts": { + "3424": 189793, + "5506": 287, + "6215": 140272, + "6284": 382, + "6290": 3904, + "6750": 603, + "7262": 3199, + "7774": 3421, + "8332": 18740, + "8338": 47600, + "9802": 271, + "9822": 6136, + "15184": 3029, + "17738": 477, + "18000": 3477, + "18784": 425, + "21140": 8725, + "23392": 358, + "23627": 887, + "23700": 183128, + "23904": 342, + "24416": 97, + "24928": 68, + "25696": 207, + "26442": 305, + "31362": 329, + "35476": 610, + "37524": 10654, + "38540": 1237, + "40588": 15680, + "41562": 11176, + "42330": 2828, + "42897": 744, + "44945": 51156, + "45898": 1042, + "47947": 164, + "48203": 39, + "48459": 448, + "48715": 214, + "52038": 18291, + "54859": 1079, + "56576": 216, + "56647": 512, + "56832": 178, + "57088": 600, + "57344": 656, + "57600": 338, + "57856": 8042, + "58368": 3944, + "60928": 5623, + "62081": 3030, + "62101": 120, + "62611": 5489, + "64149": 4823, + "64659": 156205 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 216, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -20.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.20360898971557617, + "y": 0.2843066155910492, + "z": 0.561564564704895 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.0087140647088, + "ymin": 338.84550673954453, + "xmax": 651.9242825296081, + "ymax": 380.83648523826594 + }, + "corners_3d": [ + [ + -20.370792388916016, + 0.02793017029762268, + 0.038531601428985596 + ], + [ + -20.370792388916016, + 0.5965434312820435, + 0.038531601428985596 + ], + [ + -19.963573455810547, + 0.5965434312820435, + 0.038531601428985596 + ], + [ + -19.963573455810547, + 0.02793017029762268, + 0.038531601428985596 + ], + [ + -20.370792388916016, + 0.02793017029762268, + 1.1616606712341309 + ], + [ + -20.370792388916016, + 0.5965434312820435, + 1.1616606712341309 + ], + [ + -19.963573455810547, + 0.5965434312820435, + 1.1616606712341309 + ], + [ + -19.963573455810547, + 0.02793017029762268, + 1.1616606712341309 + ] + ], + "corners_2d": [ + [ + 628.3595524835389, + 376.40447223227807 + ], + [ + 647.326815813394, + 380.83648523826594 + ], + [ + 651.5772972013405, + 370.98655764899223 + ], + [ + 632.7768720541626, + 366.64096926803444 + ], + [ + 628.0087140647088, + 348.62057964242456 + ], + [ + 647.5486527938709, + 353.0597459337277 + ], + [ + 651.9242825296081, + 343.1955334439057 + ], + [ + 632.5613617566618, + 338.84550673954453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 178, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -13.818037986755371, + "y": 4.33205509185791, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.296365350484848, + "y": 0.2314266860485077, + "z": 0.5407744646072388 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 811.7233591732756, + "ymin": 231.54738373147072, + "xmax": 831.4301927162251, + "ymax": 271.24347764948527 + }, + "corners_3d": [ + [ + -14.146957397460938, + 4.149839401245117, + 0.05933147668838501 + ], + [ + -14.074551582336426, + 4.606994152069092, + 0.05933147668838501 + ], + [ + -13.489118576049805, + 4.514270782470703, + 0.05933147668838501 + ], + [ + -13.561524391174316, + 4.0571160316467285, + 0.05933147668838501 + ], + [ + -14.146957397460938, + 4.149839401245117, + 1.1408803462982178 + ], + [ + -14.074551582336426, + 4.606994152069092, + 1.1408803462982178 + ], + [ + -13.489118576049805, + 4.514270782470703, + 1.1408803462982178 + ], + [ + -13.561524391174316, + 4.0571160316467285, + 1.1408803462982178 + ] + ], + "corners_2d": [ + [ + 811.7233591732756, + 269.80792383023163 + ], + [ + 826.3262745003299, + 271.24347764948527 + ], + [ + 826.6633053550502, + 259.46555250125766 + ], + [ + 812.2520422474634, + 258.0675658202787 + ], + [ + 816.161488176022, + 243.2283437616984 + ], + [ + 831.149760622528, + 244.65717992570046 + ], + [ + 831.4301927162251, + 232.9378809381339 + ], + [ + 816.6437517758299, + 231.54738373147072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 600, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -22.423004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.47776609659194946, + "y": 0.3342025578022003, + "z": 0.8888548016548157 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 854.5062428801648, + "ymin": 441.9362181844014, + "xmax": 897.1646090854008, + "ymax": 519.9241917559018 + }, + "corners_3d": [ + [ + -22.917606353759766, + 6.946208953857422, + -0.2887537479400635 + ], + [ + -22.882625579833984, + 7.6136980056762695, + -0.2887537479400635 + ], + [ + -21.928401947021484, + 7.563689231872559, + -0.2887537479400635 + ], + [ + -21.963382720947266, + 6.896200180053711, + -0.2887537479400635 + ], + [ + -22.917606353759766, + 6.946208953857422, + 1.4889558553695679 + ], + [ + -22.882625579833984, + 7.6136980056762695, + 1.4889558553695679 + ], + [ + -21.928401947021484, + 7.563689231872559, + 1.4889558553695679 + ], + [ + -21.963382720947266, + 6.896200180053711, + 1.4889558553695679 + ] + ], + "corners_2d": [ + [ + 854.5062428801648, + 514.3751727582799 + ], + [ + 880.9852738712526, + 519.9241917559018 + ], + [ + 884.1091869599505, + 490.46964517042704 + ], + [ + 858.2949755286003, + 485.2024713729086 + ], + [ + 866.2383886536009, + 471.50243105824507 + ], + [ + 894.2335402297001, + 477.135699673628 + ], + [ + 897.1646090854008, + 447.26830750061026 + ], + [ + 869.9116002958184, + 441.9362181844014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 656, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.32240110635757446, + "y": 0.3159518241882324, + "z": 0.8804547786712646 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 481.4871861626724, + "ymin": 620.7896770563605, + "xmax": 529.1706594015716, + "ymax": 695.1213064452253 + }, + "corners_3d": [ + [ + -29.972604751586914, + -0.020155221223831177, + -0.28035372495651245 + ], + [ + -30.00567626953125, + 0.6108824014663696, + -0.28035372495651245 + ], + [ + -29.361757278442383, + 0.6446287631988525, + -0.28035372495651245 + ], + [ + -29.328685760498047, + 0.013591140508651733, + -0.28035372495651245 + ], + [ + -29.972604751586914, + -0.020155221223831177, + 1.480555772781372 + ], + [ + -30.00567626953125, + 0.6108824014663696, + 1.480555772781372 + ], + [ + -29.361757278442383, + 0.6446287631988525, + 1.480555772781372 + ], + [ + -29.328685760498047, + 0.013591140508651733, + 1.480555772781372 + ] + ], + "corners_2d": [ + [ + 490.8588511700834, + 685.4343531299585 + ], + [ + 516.5799104717098, + 695.1213064452253 + ], + [ + 529.1706594015716, + 669.3788692754431 + ], + [ + 503.8577952601147, + 660.065456978383 + ], + [ + 481.4871861626724, + 646.9268541838234 + ], + [ + 508.76340601313575, + 656.9239905256945 + ], + [ + 522.2972225246102, + 630.377742952512 + ], + [ + 495.4791274903025, + 620.7896770563605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 338, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -8.921846389770508, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.5811086893081665, + "y": 0.33947935700416565, + "z": 0.907377302646637 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 506.538678565229, + "ymin": 76.17627830374101, + "xmax": 542.2306221765, + "ymax": 137.7250144220414 + }, + "corners_3d": [ + [ + -9.442694664001465, + -8.284183502197266, + -0.15497153997421265 + ], + [ + -9.548907279968262, + -7.613584041595459, + -0.15497153997421265 + ], + [ + -8.40099811553955, + -7.431772708892822, + -0.15497153997421265 + ], + [ + -8.294785499572754, + -8.102372169494629, + -0.15497153997421265 + ], + [ + -9.442694664001465, + -8.284183502197266, + 1.659783124923706 + ], + [ + -9.548907279968262, + -7.613584041595459, + 1.659783124923706 + ], + [ + -8.40099811553955, + -7.431772708892822, + 1.659783124923706 + ], + [ + -8.294785499572754, + -8.102372169494629, + 1.659783124923706 + ] + ], + "corners_2d": [ + [ + 511.2662670901969, + 133.2912684667836 + ], + [ + 526.4872803778401, + 137.7250144220414 + ], + [ + 542.2306221765, + 122.88800983692954 + ], + [ + 527.2150014835802, + 118.62520644886982 + ], + [ + 506.538678565229, + 90.50978438043535 + ], + [ + 522.2932987030683, + 94.84701785302013 + ], + [ + 538.6913886687677, + 80.34031619776437 + ], + [ + 523.1564024127398, + 76.17627830374101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 8042, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 681.4646565726126, + "ymin": 235.74404319616403, + "xmax": 794.9345605073916, + "ymax": 403.8741415251418 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 681.4646565726126, + 387.6446238310739 + ], + [ + 751.5822218110442, + 403.8741415251418 + ], + [ + 789.7849368370986, + 283.22607341130254 + ], + [ + 727.262030120752, + 270.56501937261174 + ], + [ + 683.060937265108, + 352.5889082126672 + ], + [ + 755.9495792519006, + 368.8682459089566 + ], + [ + 794.9345605073916, + 248.32961655071443 + ], + [ + 730.2187386507518, + 235.74404319616403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3944, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 802.226715987495, + "ymin": 0.0, + "xmax": 882.2676651283497, + "ymax": 88.21586115686517 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 802.226715987495, + 80.56833797115081 + ], + [ + 851.0166129399837, + 88.21586115686517 + ], + [ + 871.8596601839429, + 22.542463579332434 + ], + [ + 827.331777783697, + 16.237133468653383 + ], + [ + 810.1964748746512, + 20.74720189037015 + ], + [ + 861.5016926324295, + 28.09145721260586 + ], + [ + 882.2676651283497, + -34.72284272283065 + ], + [ + 835.6550752568863, + -40.72346278368394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5623, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 464.9931112438702, + "ymin": 205.99422048531056, + "xmax": 569.5020551457599, + "ymax": 329.7100604674281 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 569.5020551457599, + 254.60563794665933 + ], + [ + 518.7243630906663, + 244.13208250026406 + ], + [ + 471.6484020307681, + 317.38066463925554 + ], + [ + 526.1461399563824, + 329.7100604674281 + ], + [ + 566.8979120200763, + 216.37421096971562 + ], + [ + 514.3118126500527, + 205.99422048531056 + ], + [ + 464.9931112438702, + 278.7881206897357 + ], + [ + 521.5779594548602, + 291.08361860095795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269218776844, + "ymin": 0.0, + "xmax": 786.2904481530742, + "ymax": 16.666862501852563 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269218776844, + 16.40625351877833 + ], + [ + 781.1324931924676, + 16.666862501852563 + ], + [ + 784.5134364457482, + 9.443515955589532 + ], + [ + 782.7269062214746, + 9.188765086440753 + ], + [ + 781.0592758854107, + 0.46821498703553743 + ], + [ + 782.8880221534167, + 0.7254812060995164 + ], + [ + 786.2904481530742, + -6.404246889556816 + ], + [ + 784.4812333655607, + -6.6556594483528215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269209762257, + "ymin": 0.0, + "xmax": 786.2904472713701, + "ymax": 16.666864417031547 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269209762257, + 16.406255432395312 + ], + [ + 781.1324922960532, + 16.666864417031547 + ], + [ + 784.5134355694879, + 9.443517827709513 + ], + [ + 782.7269053402752, + 9.18876695705103 + ], + [ + 781.0592749779985, + 0.4682168760975287 + ], + [ + 782.8880212511797, + 0.7254830967226553 + ], + [ + 786.2904472713701, + -6.404245041960337 + ], + [ + 784.4812324787911, + -6.655657602264569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5810204557156, + "ymin": 0.0, + "xmax": 785.8061776834118, + "ymax": 9.798250274283305 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5810204557156, + 9.764161642052557 + ], + [ + 780.8197456200157, + 9.798250274283305 + ], + [ + 783.817305879319, + 3.4694629012655582 + ], + [ + 783.5808108906594, + 3.436053491134942 + ], + [ + 782.5449677741153, + -8.236189708122026 + ], + [ + 782.7871355697825, + -8.20260924902658 + ], + [ + 785.8061776834118, + -14.43618348442908 + ], + [ + 785.5663046861501, + -14.46908564127392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5810016702876, + "ymin": 0.0, + "xmax": 785.8061594459207, + "ymax": 9.798324761287063 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5810016702876, + 9.764236121022009 + ], + [ + 780.819726861708, + 9.798324761287063 + ], + [ + 783.8172876585584, + 3.469535904062866 + ], + [ + 783.5807926432817, + 3.436126486136857 + ], + [ + 782.5449489609196, + -8.236116339496164 + ], + [ + 782.7871167844958, + -8.202535872375677 + ], + [ + 785.8061594459207, + -14.436111589976122 + ], + [ + 785.5662864212752, + -14.469013754604134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269218776844, + "ymin": 0.0, + "xmax": 786.2904481530742, + "ymax": 16.666862501852563 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269218776844, + 16.40625351877833 + ], + [ + 781.1324931924676, + 16.666862501852563 + ], + [ + 784.5134364457482, + 9.443515955589532 + ], + [ + 782.7269062214746, + 9.188765086440753 + ], + [ + 781.0592758854107, + 0.46821498703553743 + ], + [ + 782.8880221534167, + 0.7254812060995164 + ], + [ + 786.2904481530742, + -6.404246889556816 + ], + [ + 784.4812333655607, + -6.6556594483528215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269221432531, + "ymin": 0.0, + "xmax": 786.2904483306221, + "ymax": 16.666862527427497 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269221432531, + 16.40625355710938 + ], + [ + 781.1324933696578, + 16.666862527427497 + ], + [ + 784.5134366210691, + 9.443515980589552 + ], + [ + 782.7269064842437, + 9.188765123910343 + ], + [ + 781.0592761543865, + 0.4682150248748371 + ], + [ + 782.8880223328822, + 0.7254812313465777 + ], + [ + 786.2904483306221, + -6.404246864884271 + ], + [ + 784.4812336316652, + -6.655659411374415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269212149917, + "ymin": 0.0, + "xmax": 786.2904474183208, + "ymax": 16.66686409783506 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269212149917, + 16.40625512623609 + ], + [ + 781.1324924454556, + 16.66686409783506 + ], + [ + 784.5134357155314, + 9.443517515689507 + ], + [ + 782.7269055747315, + 9.188766657772419 + ], + [ + 781.0592752188925, + 0.46821657386686866 + ], + [ + 782.8880214015525, + 0.7254827816187799 + ], + [ + 786.2904474183208, + -6.404245349893131 + ], + [ + 784.4812327152875, + -6.6556578976199035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5810812517057, + "ymin": 0.0, + "xmax": 785.8062379245882, + "ymax": 9.79815606358045 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5810812517057, + 9.764067441511543 + ], + [ + 780.8198063837019, + 9.79815606358045 + ], + [ + 783.8173655922553, + 3.469370567777446 + ], + [ + 783.5808706353032, + 3.435961167506605 + ], + [ + 782.5450291226309, + -8.236282504307042 + ], + [ + 782.7871968850529, + -8.20270205536184 + ], + [ + 785.8062379245882, + -14.436274416089702 + ], + [ + 785.5663649599492, + -14.469176563090286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269209762257, + "ymin": 0.0, + "xmax": 786.2904472713701, + "ymax": 16.666864417031547 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269209762257, + 16.406255432395312 + ], + [ + 781.1324922960532, + 16.666864417031547 + ], + [ + 784.5134355694879, + 9.443517827709513 + ], + [ + 782.7269053402752, + 9.18876695705103 + ], + [ + 781.0592749779985, + 0.4682168760975287 + ], + [ + 782.8880212511797, + 0.7254830967226553 + ], + [ + 786.2904472713701, + -6.404245041960337 + ], + [ + 784.4812324787911, + -6.655657602264569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.6059792080931, + "ymin": 0.0, + "xmax": 786.9889541463306, + "ymax": 11.899867084873279 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 780.6059792080931, + 11.858779032844552 + ], + [ + 780.8927729642398, + 11.899867084873279 + ], + [ + 784.8832482308707, + 3.4446490692274097 + ], + [ + 784.600022935247, + 3.4046493282347114 + ], + [ + 782.6774053595132, + -7.092429929137666 + ], + [ + 782.9685606741805, + -7.0519825678535994 + ], + [ + 786.9889541463306, + -15.373730648613673 + ], + [ + 786.7014762055476, + -15.413091204869318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5811013214452, + "ymin": 0.0, + "xmax": 785.8062585788479, + "ymax": 9.798217483956307 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5811013214452, + 9.76412885526247 + ], + [ + 780.8198264777221, + 9.798217483956307 + ], + [ + 783.8173857734463, + 3.4694307643089246 + ], + [ + 783.5808907926665, + 3.4360213576100023 + ], + [ + 782.5450496662519, + -8.236222006121807 + ], + [ + 782.787217453659, + -8.202641550559179 + ], + [ + 785.8062585788479, + -14.4362151334754 + ], + [ + 785.5663855896967, + -14.469117286893834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3269221432531, + "ymin": 0.0, + "xmax": 786.2904483306221, + "ymax": 16.666862527427497 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.3269221432531, + 16.40625355710938 + ], + [ + 781.1324933696578, + 16.666862527427497 + ], + [ + 784.5134366210691, + 9.443515980589552 + ], + [ + 782.7269064842437, + 9.188765123910343 + ], + [ + 781.0592761543865, + 0.4682150248748371 + ], + [ + 782.8880223328822, + 0.7254812313465777 + ], + [ + 786.2904483306221, + -6.404246864884271 + ], + [ + 784.4812336316652, + -6.655659411374415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.6059002414213, + "ymin": 0.0, + "xmax": 786.9888748917595, + "ymax": 11.899855757340731 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 780.6059002414213, + 11.858767719534455 + ], + [ + 780.8926938982961, + 11.899855757340731 + ], + [ + 784.8831701487804, + 3.4446380417400064 + ], + [ + 784.5999449510587, + 3.4046383145739014 + ], + [ + 782.677325191993, + -7.0924410660274475 + ], + [ + 782.9684804057256, + -7.051993718765289 + ], + [ + 786.9888748917595, + -15.373741499895004 + ], + [ + 786.7013970504954, + -15.41310204252477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.605959474251, + "ymin": 0.0, + "xmax": 786.9889349723599, + "ymax": 11.899933598158668 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 780.605959474251, + 11.858845550265869 + ], + [ + 780.8927531701668, + 11.899933598158668 + ], + [ + 784.8832291136681, + 3.444713820700258 + ], + [ + 784.6000038778777, + 3.4047140838458176 + ], + [ + 782.6773855554378, + -7.092364448992612 + ], + [ + 782.9685408094041, + -7.051917091654957 + ], + [ + 786.9889349723599, + -15.373666931792059 + ], + [ + 786.7014570918791, + -15.413027484094016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.326922948074, + "ymin": 0.0, + "xmax": 786.2904491265699, + "ymax": 16.666861620987845 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 779.326922948074, + 16.406252651409034 + ], + [ + 781.1324941722455, + 16.666861620987845 + ], + [ + 784.5134374098409, + 9.443515094529403 + ], + [ + 782.7269072752024, + 9.188764238564715 + ], + [ + 781.0592769667271, + 0.4682141307961274 + ], + [ + 782.8880231429317, + 0.7254803365289604 + ], + [ + 786.2904491265699, + -6.40424773933762 + ], + [ + 784.4812344298559, + -6.655660285113868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.6060578678395, + "ymin": 0.0, + "xmax": 786.9890330210803, + "ymax": 11.899880055514984 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 780.6060578678395, + 11.858792001805625 + ], + [ + 780.8928516349488, + 11.899880055514984 + ], + [ + 784.8833259331973, + 3.4446616963010683 + ], + [ + 784.600100626891, + 3.404661953694074 + ], + [ + 782.6774852210742, + -7.092417162415302 + ], + [ + 782.9686405470353, + -7.051969799452422 + ], + [ + 786.9890330210803, + -15.373718223305616 + ], + [ + 786.7015550692963, + -15.413078781172771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.6059794198911, + "ymin": 0.0, + "xmax": 786.9889542625601, + "ymax": 11.899866422527339 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 780.6059794198911, + 11.858778383338972 + ], + [ + 780.8927730867196, + 11.899866422527339 + ], + [ + 784.8832483476051, + 3.4446484244256794 + ], + [ + 784.6000231401849, + 3.4046486959322237 + ], + [ + 782.6774055722784, + -7.092430568514885 + ], + [ + 782.9685607962647, + -7.05198321987217 + ], + [ + 786.9889542625601, + -15.37373128311225 + ], + [ + 786.7014764113092, + -15.413091827067262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.7387443083, + "ymin": 0.0, + "xmax": 784.6782010530059, + "ymax": 20.21162650486798 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 777.7387443083, + 19.95040132032034 + ], + [ + 779.5379509143443, + 20.21162650486798 + ], + [ + 782.926277257928, + 12.970950324718387 + ], + [ + 781.1459774692999, + 12.715578825157138 + ], + [ + 779.4458618643191, + 4.107375226774707 + ], + [ + 781.2680798013126, + 4.365315132247133 + ], + [ + 784.6782010530059, + -2.7833363359166583 + ], + [ + 782.8753751314274, + -3.0354257461382304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5810204557156, + "ymin": 0.0, + "xmax": 785.8061776834118, + "ymax": 9.798250274283305 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5810204557156, + 9.764161642052557 + ], + [ + 780.8197456200157, + 9.798250274283305 + ], + [ + 783.817305879319, + 3.4694629012655582 + ], + [ + 783.5808108906594, + 3.436053491134942 + ], + [ + 782.5449677741153, + -8.236189708122026 + ], + [ + 782.7871355697825, + -8.20260924902658 + ], + [ + 785.8061776834118, + -14.43618348442908 + ], + [ + 785.5663046861501, + -14.46908564127392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5810075793983, + "ymin": 0.0, + "xmax": 785.8061652886016, + "ymax": 9.79831409739586 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 780.5810075793983, + 9.764225458280976 + ], + [ + 780.8197327671096, + 9.79831409739586 + ], + [ + 783.8172934547617, + 3.4695254526571944 + ], + [ + 783.5807984431256, + 3.436116035847135 + ], + [ + 782.5449549189856, + -8.236126843275542 + ], + [ + 782.7871227387448, + -8.202546377303804 + ], + [ + 785.8061652886016, + -14.436121882706288 + ], + [ + 785.5662922677016, + -14.469024046220113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.5132533001862, + "ymin": 0.0, + "xmax": 797.132314583649, + "ymax": 20.094247622309922 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 789.5132533001862, + 19.92042817631682 + ], + [ + 790.7136897035193, + 20.094247622309922 + ], + [ + 791.0619438687579, + 19.32145643122533 + ], + [ + 789.862857150055, + 19.148054908032464 + ], + [ + 795.5272251692498, + -31.498463606483767 + ], + [ + 796.7776544280628, + -31.332128103023024 + ], + [ + 797.132314583649, + -32.07161837535273 + ], + [ + 795.8833499736584, + -32.237537891352304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.3599172156476, + "ymin": 0.0, + "xmax": 800.011964096954, + "ymax": 13.802028053023207 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 792.3599172156476, + 13.631596795355904 + ], + [ + 793.5493576300989, + 13.802028053023207 + ], + [ + 793.8908264094964, + 13.044293629858657 + ], + [ + 792.7027111980904, + 12.874268142317362 + ], + [ + 798.4259871062375, + -37.51408893639524 + ], + [ + 799.6644877674855, + -37.35112418675459 + ], + [ + 800.011964096954, + -38.075636002726355 + ], + [ + 798.7749004162233, + -38.23819733776406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.0220754199736, + "ymin": 256.81005828891347, + "xmax": 986.5369474467032, + "ymax": 274.12819886687925 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 984.1600128221772, + 274.12819886687925 + ], + [ + 985.1369292402077, + 265.0084652236405 + ], + [ + 964.208683707837, + 260.99846542109697 + ], + [ + 963.0220754199736, + 270.03552768879985 + ], + [ + 985.5704763304277, + 269.93108473095737 + ], + [ + 986.5369474467032, + 260.8172317731977 + ], + [ + 965.5178405975369, + 256.81005828891347 + ], + [ + 964.3398408423411, + 265.840958631204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.2746461103613, + "ymin": 0.0, + "xmax": 772.0186709505529, + "ymax": 27.088340383666832 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.2746461103613, + 26.91071574577768 + ], + [ + 766.4815206007681, + 27.088340383666832 + ], + [ + 766.8630318386845, + 26.29863927813966 + ], + [ + 765.6575204480478, + 26.121446353001772 + ], + [ + 770.3707343212108, + -24.806291450256538 + ], + [ + 771.6281687519495, + -24.636165604614064 + ], + [ + 772.0186709505529, + -25.392498832106696 + ], + [ + 770.7627164120238, + -25.562194399798443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.6547607317596, + "ymin": 247.1720124279747, + "xmax": 1169.9630982342846, + "ymax": 535.7526080992641 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1045.1298527764231, + 535.7526080992641 + ], + [ + 1045.5598361534028, + 521.5480352580223 + ], + [ + 889.9380617606323, + 483.603688088912 + ], + [ + 887.6547607317596, + 496.8759837929365 + ], + [ + 1169.9630982342846, + 300.80484228175266 + ], + [ + 1168.5279252495648, + 286.04913326048114 + ], + [ + 962.4771052661515, + 247.1720124279747 + ], + [ + 960.6480215973608, + 260.6822175342767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 74.59149138986959, + "ymax": 53.74852833736486 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 66.55199721766724, + 53.74852833736486 + ], + [ + 74.59149138986959, + 48.38686978434697 + ], + [ + -33.128614268224965, + 28.96772493767429 + ], + [ + -41.769506539102736, + 34.02221896697927 + ], + [ + -31.393960935220775, + -158.81366132885228 + ], + [ + -21.08574107800314, + -163.1114180735667 + ], + [ + -143.19647184238738, + -178.58041176007953 + ], + [ + -154.2583154528711, + -174.56861986760282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.8957735565745, + "ymin": 256.71784432235984, + "xmax": 986.6637971728742, + "ymax": 274.22229505214574 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 984.2619510535351, + 274.22229505214574 + ], + [ + 985.2482830021731, + 265.0039174788744 + ], + [ + 964.0963260350641, + 260.951230988062 + ], + [ + 962.8957735565745, + 270.08515050488745 + ], + [ + 985.6881467365481, + 269.98001318082663 + ], + [ + 986.6637971728742, + 260.76764189735746 + ], + [ + 965.4190232255189, + 256.71784432235984 + ], + [ + 964.2272555570796, + 265.8454671358223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.5075535740178, + "ymin": 0.34290486215115834, + "xmax": 782.9007894721883, + "ymax": 53.70950282793194 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 775.5075535740178, + 53.51854954674775 + ], + [ + 776.756796565653, + 53.70950282793194 + ], + [ + 777.1378668213903, + 52.86057039141906 + ], + [ + 775.8900847665187, + 52.67009636808717 + ], + [ + 781.2077491201904, + 1.158501158458705 + ], + [ + 782.5112361070866, + 1.3420715303302586 + ], + [ + 782.9007894721883, + 0.5259951603389936 + ], + [ + 781.5988932683181, + 0.34290486215115834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.2486833680044, + "ymin": 0.0, + "xmax": 1127.097363166547, + "ymax": 59.50877425156858 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1059.547545596598, + 59.50877425156858 + ], + [ + 1059.6973293467274, + 54.56030139898303 + ], + [ + 966.0663262561509, + 41.092095982723265 + ], + [ + 965.2486833680044, + 45.84489348847495 + ], + [ + 1127.097363166547, + -139.93556042848348 + ], + [ + 1126.702487704813, + -143.99532329343646 + ], + [ + 1016.9257189580267, + -154.99688740508657 + ], + [ + 1016.4011918386761, + -151.1225084579927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.6292540847444, + "ymin": 0.0, + "xmax": 794.1396744211954, + "ymax": 20.461076099921513 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 786.6292540847444, + 20.28705808647777 + ], + [ + 787.8295950417813, + 20.461076099921513 + ], + [ + 788.1815195659539, + 19.687402554206017 + ], + [ + 786.9825279557441, + 19.51380317946007 + ], + [ + 792.530723675782, + -31.147615018449414 + ], + [ + 793.7810516494851, + -30.981081846376185 + ], + [ + 794.1396744211954, + -31.72145043184429 + ], + [ + 792.8908107236039, + -31.887566875192363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.4348790670198, + "ymin": 0.0, + "xmax": 799.006476672334, + "ymax": 10.219239621080135 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 791.4348790670198, + 10.050722689387499 + ], + [ + 792.617373189282, + 10.219239621080135 + ], + [ + 792.9580248506662, + 9.470012412468918 + ], + [ + 791.7768404688575, + 9.301894437570581 + ], + [ + 797.4288232905667, + -40.93728271149433 + ], + [ + 798.6597953731224, + -40.77622067136724 + ], + [ + 799.006476672334, + -41.492277361575475 + ], + [ + 797.7769241199175, + -41.65294302729484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.888196342016, + "ymin": 0.0, + "xmax": 783.3187092395211, + "ymax": 50.21259421700279 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.888196342016, + 50.022095155034606 + ], + [ + 777.1410573301184, + 50.21259421700279 + ], + [ + 777.5227130353626, + 49.36568344638317 + ], + [ + 776.2713214722223, + 49.175663842954066 + ], + [ + 781.6211381567676, + -2.6387492662047407 + ], + [ + 782.9285643417655, + -2.4557627332400216 + ], + [ + 783.3187092395211, + -3.269241185755277 + ], + [ + 782.0128834826647, + -3.4517477734864883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1213.066610136354, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.586224691615143 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1266.2371933335369, + 18.278724198328803 + ], + [ + 1436.1683374356587, + 25.586224691615143 + ], + [ + 1363.9821949778484, + -44.847605841709196 + ], + [ + 1213.066610136354, + -50.659658250546954 + ], + [ + 1419.3511312144988, + -294.67078172946026 + ], + [ + 1633.6016335482886, + -290.0067624244497 + ], + [ + 1519.7952604141074, + -333.9034969112503 + ], + [ + 1334.8947662521573, + -337.4230455298243 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00121/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00121/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..312ef54030cff810f45900a72e5813bdbce98271 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00121/meta.json @@ -0,0 +1,6419 @@ +{ + "frame_id": 121, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.5, + "sim_timestamp": 13053.90767140803 + }, + "drone_pose": { + "x": -37.870307212345516, + "y": 5.792983082527828, + "z": 20.0, + "pitch": -45.58111274435031, + "yaw": -16.75642931795872, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6701804399490356, + 0.2017834484577179, + 0.7142419815063477, + 12.264028549194336 + ], + [ + -0.2883037328720093, + 0.9575390219688416, + 7.450580596923828e-09, + 5.371143341064453 + ], + [ + -0.6839145421981812, + -0.20591861009597778, + 0.6998988389968872, + -41.090911865234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -37.50621443174939, + "y": 5.502604621154281, + "z": 20.0 + }, + "t1_image_uv": [ + 90.90731017986423, + -619.6734845457535 + ], + "t1_depth": 0.30260141974478394 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -19.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.16152760289551, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -19.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.29903316497802734, + "y": 0.2600539028644562, + "z": 0.5428076982498169 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 627.9134437588642, + "ymin": 337.3388949627412, + "xmax": 651.9537265241789, + "ymax": 382.4372643555239 + }, + "corners_3d": [ + [ + -19.966217041015625, + 0.0521828830242157, + 0.05728846788406372 + ], + [ + -19.966217041015625, + 0.5722906589508057, + 0.05728846788406372 + ], + [ + -19.368148803710938, + 0.5722906589508057, + 0.05728846788406372 + ], + [ + -19.368148803710938, + 0.0521828830242157, + 0.05728846788406372 + ], + [ + -19.966217041015625, + 0.0521828830242157, + 1.1429038047790527 + ], + [ + -19.966217041015625, + 0.5722906589508057, + 1.1429038047790527 + ], + [ + -19.368148803710938, + 0.5722906589508057, + 1.1429038047790527 + ], + [ + -19.368148803710938, + 0.0521828830242157, + 1.1429038047790527 + ] + ], + "corners_2d": [ + [ + 628.2554648597956, + 378.5991002198383 + ], + [ + 645.7255699825963, + 382.4372643555239 + ], + [ + 651.6190775523776, + 367.93542715093565 + ], + [ + 634.3785858965185, + 364.2073389871574 + ], + [ + 627.9134437588642, + 351.74530430034054 + ], + [ + 645.8929682666749, + 355.5894184279788 + ], + [ + 651.9537265241789, + 341.06961705864944 + ], + [ + 634.2173084256257, + 337.3388949627412 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 121, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 350398, + "2": 296217, + "3": 16843, + "5": 2971, + "6": 3363, + "10": 4, + "12": 1991, + "14": 27184, + "15": 4752, + "20": 3559, + "24": 22366, + "25": 191952 + }, + "instance_pixel_counts": { + "3424": 190652, + "5506": 292, + "6215": 138708, + "6284": 487, + "6290": 4039, + "6750": 579, + "7262": 3304, + "7774": 3517, + "8332": 18449, + "8338": 47018, + "9802": 308, + "9822": 6370, + "15184": 2971, + "17738": 495, + "18000": 3559, + "18784": 437, + "21140": 9299, + "23392": 368, + "23627": 794, + "23700": 180561, + "23904": 358, + "24416": 95, + "24928": 66, + "25696": 274, + "26442": 190, + "31362": 9, + "35476": 651, + "37524": 10660, + "38540": 1288, + "40588": 15657, + "41562": 13303, + "42330": 3540, + "42897": 1036, + "44945": 50517, + "45898": 1083, + "47947": 31, + "48203": 43, + "48459": 468, + "48715": 130, + "52038": 19018, + "54859": 1051, + "56576": 202, + "56647": 1300, + "56832": 176, + "57088": 625, + "57344": 656, + "57600": 332, + "57856": 8233, + "58368": 4173, + "60928": 5760, + "62081": 3062, + "62101": 135, + "62611": 6343, + "64149": 4729, + "64659": 154195 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 202, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -19.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28324827551841736, + "y": 0.2599174678325653, + "z": 0.5641807317733765 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.0801282327523, + "ymin": 337.1701591395025, + "xmax": 651.7981026270099, + "ymax": 382.5613112752661 + }, + "corners_3d": [ + [ + -19.95043182373047, + 0.05231931805610657, + 0.03591543436050415 + ], + [ + -19.95043182373047, + 0.5721542835235596, + 0.03591543436050415 + ], + [ + -19.383934020996094, + 0.5721542835235596, + 0.03591543436050415 + ], + [ + -19.383934020996094, + 0.05231931805610657, + 0.03591543436050415 + ], + [ + -19.95043182373047, + 0.05231931805610657, + 1.1642768383026123 + ], + [ + -19.95043182373047, + 0.5721542835235596, + 1.1642768383026123 + ], + [ + -19.383934020996094, + 0.5721542835235596, + 1.1642768383026123 + ], + [ + -19.383934020996094, + 0.05231931805610657, + 1.1642768383026123 + ] + ], + "corners_2d": [ + [ + 628.4303838978846, + 378.7282968861778 + ], + [ + 645.8754628896762, + 382.5613112752661 + ], + [ + 651.4548635781136, + 368.8256250314987 + ], + [ + 634.226921620288, + 365.09675861659935 + ], + [ + 628.0801282327523, + 350.8161023959334 + ], + [ + 646.0540388176853, + 354.6551994903542 + ], + [ + 651.7981026270099, + 340.90184547850316 + ], + [ + 634.0546063482777, + 337.1701591395025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 176, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -13.66890811920166, + "y": 3.9619295597076416, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.2909216284751892, + "y": 0.2218475341796875, + "z": 0.5273260474205017 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 795.5560585971803, + "ymin": 234.90580271831232, + "xmax": 814.0149005992428, + "ymax": 273.5835625890233 + }, + "corners_3d": [ + [ + -13.990952491760254, + 3.7883236408233643, + 0.07277989387512207 + ], + [ + -13.92154312133789, + 4.226555824279785, + 0.07277989387512207 + ], + [ + -13.346863746643066, + 4.135535717010498, + 0.07277989387512207 + ], + [ + -13.41627311706543, + 3.697303056716919, + 0.07277989387512207 + ], + [ + -13.990952491760254, + 3.7883236408233643, + 1.1274319887161255 + ], + [ + -13.92154312133789, + 4.226555824279785, + 1.1274319887161255 + ], + [ + -13.346863746643066, + 4.135535717010498, + 1.1274319887161255 + ], + [ + -13.41627311706543, + 3.697303056716919, + 1.1274319887161255 + ] + ], + "corners_2d": [ + [ + 795.5560585971803, + 272.36174663183635 + ], + [ + 809.5620882800501, + 273.5835625890233 + ], + [ + 809.7868007180728, + 261.95757632405156 + ], + [ + 795.9624992889783, + 260.76733401807724 + ], + [ + 799.4766448744618, + 246.44328653373105 + ], + [ + 813.8416794022958, + 247.65954362653162 + ], + [ + 814.0149005992428, + 236.08985284629563 + ], + [ + 799.8409670447293, + 234.90580271831232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -21.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5936682224273682, + "y": 0.3632470667362213, + "z": 0.8983693718910217 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 855.2339603582111, + "ymin": 434.5826836156584, + "xmax": 900.2013274597056, + "ymax": 520.1444158126945 + }, + "corners_3d": [ + [ + -22.534870147705078, + 6.923270225524902, + -0.29826831817626953 + ], + [ + -22.49684715270996, + 7.648768424987793, + -0.29826831817626953 + ], + [ + -21.311138153076172, + 7.586627960205078, + -0.29826831817626953 + ], + [ + -21.34916114807129, + 6.8611297607421875, + -0.29826831817626953 + ], + [ + -22.534870147705078, + 6.923270225524902, + 1.498470425605774 + ], + [ + -22.49684715270996, + 7.648768424987793, + 1.498470425605774 + ], + [ + -21.311138153076172, + 7.586627960205078, + 1.498470425605774 + ], + [ + -21.34916114807129, + 6.8611297607421875, + 1.498470425605774 + ] + ], + "corners_2d": [ + [ + 855.2339603582111, + 514.5300819306257 + ], + [ + 884.0328409618107, + 520.1444158126945 + ], + [ + 886.9682464124434, + 483.68364256868983 + ], + [ + 859.0721998143977, + 478.4219201468602 + ], + [ + 867.1068549323106, + 471.1616056069856 + ], + [ + 897.5646904403202, + 476.8606806703629 + ], + [ + 900.2013274597056, + 439.9050209836334 + ], + [ + 870.7515891101439, + 434.5826836156584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 656, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.31646728515625, + "y": 0.3158389925956726, + "z": 0.8804264664649963 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 489.3737202661149, + "ymin": 622.5200328117674, + "xmax": 536.0320417476404, + "ymax": 696.1458254613806 + }, + "corners_3d": [ + [ + -29.466684341430664, + -0.019731998443603516, + -0.28032541275024414 + ], + [ + -29.499744415283203, + 0.6110802888870239, + -0.28032541275024414 + ], + [ + -28.867677688598633, + 0.6442055702209473, + -0.28032541275024414 + ], + [ + -28.834617614746094, + 0.013393282890319824, + -0.28032541275024414 + ], + [ + -29.466684341430664, + -0.019731998443603516, + 1.4805275201797485 + ], + [ + -29.499744415283203, + 0.6110802888870239, + 1.4805275201797485 + ], + [ + -28.867677688598633, + 0.6442055702209473, + 1.4805275201797485 + ], + [ + -28.834617614746094, + 0.013393282890319824, + 1.4805275201797485 + ] + ], + "corners_2d": [ + [ + 498.2717801626808, + 686.9094851755708 + ], + [ + 524.2662738075684, + 696.1458254613806 + ], + [ + 536.0320417476404, + 670.6981970620836 + ], + [ + 510.4558111807878, + 661.8144533238458 + ], + [ + 489.3737202661149, + 648.3727922161179 + ], + [ + 516.9456012821495, + 657.9037213740255 + ], + [ + 529.5906729022228, + 631.6648916465648 + ], + [ + 502.4885127701218, + 622.5200328117674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 332, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -8.421846389770508, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.43263792991638184, + "y": 0.33780547976493835, + "z": 0.9137609601020813 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 502.4731242082652, + "ymin": 79.62533322544817, + "xmax": 534.0803875458822, + "ymax": 137.65646552652277 + }, + "corners_3d": [ + [ + -8.796313285827637, + -8.25930404663086, + -0.16136497259140015 + ], + [ + -8.902002334594727, + -7.592011451721191, + -0.16136497259140015 + ], + [ + -8.047379493713379, + -7.4566521644592285, + -0.16136497259140015 + ], + [ + -7.941690444946289, + -8.123945236206055, + -0.16136497259140015 + ], + [ + -8.796313285827637, + -8.25930404663086, + 1.6661570072174072 + ], + [ + -8.902002334594727, + -7.592011451721191, + 1.6661570072174072 + ], + [ + -8.047379493713379, + -7.4566521644592285, + 1.6661570072174072 + ], + [ + -7.941690444946289, + -8.123945236206055, + 1.6661570072174072 + ] + ], + "corners_2d": [ + [ + 507.36176090369725, + 133.41861679138313 + ], + [ + 522.6128877127759, + 137.65646552652277 + ], + [ + 534.0803875458822, + 126.51042301707116 + ], + [ + 518.9892405421064, + 122.39605709172389 + ], + [ + 502.4731242082652, + 90.39542681192017 + ], + [ + 518.2611114581741, + 94.53930299286702 + ], + [ + 530.2136350181777, + 83.64410298022835 + ], + [ + 514.5968060031029, + 79.62533322544817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 8233, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 677.0748651217974, + "ymin": 244.74896929524147, + "xmax": 789.090222181972, + "ymax": 415.2423413930195 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 677.0748651217974, + 399.60226444684656 + ], + [ + 748.1671562441029, + 415.2423413930195 + ], + [ + 784.1020122820503, + 291.76072343420515 + ], + [ + 720.8999192413414, + 279.6082703086455 + ], + [ + 678.5159947390712, + 364.57503650317113 + ], + [ + 752.438763573253, + 380.27405907938464 + ], + [ + 789.090222181972, + 256.8347115527737 + ], + [ + 723.6617230264346, + 244.74896929524147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4173, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 792.2884108983385, + "ymin": 0.0, + "xmax": 870.7296942350793, + "ymax": 93.20146916349194 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 792.2884108983385, + 85.90850329119246 + ], + [ + 841.367837263603, + 93.20146916349194 + ], + [ + 860.7939669700987, + 26.614329161732257 + ], + [ + 816.0759723528734, + 20.614420973187862 + ], + [ + 799.8011369821102, + 25.97907120608687 + ], + [ + 851.409558955643, + 32.985393073034174 + ], + [ + 870.7296942350793, + -30.720490459414407 + ], + [ + 823.9225538762813, + -36.43177983298574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5760, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 456.29452564259157, + "ymin": 216.86844319168355, + "xmax": 561.3557523367731, + "ymax": 342.3989010600127 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 561.3557523367731, + 265.18214091632706 + ], + [ + 509.78020838894327, + 255.07971593645556 + ], + [ + 463.35735119297874, + 330.4706981338752 + ], + [ + 518.83921868459, + 342.3989010600127 + ], + [ + 558.4259008271832, + 226.88752042443292 + ], + [ + 504.99664029190404, + 216.86844319168355 + ], + [ + 456.29452564259157, + 291.8508520814977 + ], + [ + 513.9260325113397, + 303.756616716147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944793212816, + "ymin": 0.0, + "xmax": 775.0950464785105, + "ymax": 21.804801023666812 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944793212816, + 21.55597540041657 + ], + [ + 770.2120642827671, + 21.804801023666812 + ], + [ + 773.4476077930278, + 14.464768221169038 + ], + [ + 771.649571645893, + 14.221603250842236 + ], + [ + 769.9974821580431, + 5.585614969810308 + ], + [ + 771.8383983575345, + 5.831273782722917 + ], + [ + 775.0950464785105, + -1.4143418353316406 + ], + [ + 773.2741822968251, + -1.6543434611676275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944784581192, + "ymin": 0.0, + "xmax": 775.095045634702, + "ymax": 21.804802970053345 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944784581192, + 21.555977345293456 + ], + [ + 770.2120634247849, + 21.804802970053345 + ], + [ + 773.4476069545678, + 14.46477012326784 + ], + [ + 771.6495708023635, + 14.221605151482606 + ], + [ + 769.997481289027, + 5.5856168899253476 + ], + [ + 771.8383974938324, + 5.831275704347092 + ], + [ + 775.095045634702, + -1.4143399579684228 + ], + [ + 773.2741814478172, + -1.6543415852616477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5914890989172, + "ymin": 0.0, + "xmax": 774.5439248526725, + "ymax": 14.924481569561692 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5914890989172, + 14.89193319702855 + ], + [ + 769.8318019172308, + 14.924481569561692 + ], + [ + 772.7014227066613, + 8.493039783552888 + ], + [ + 772.4633995655447, + 8.461147785461094 + ], + [ + 771.4093972835997, + -3.1456731076585243 + ], + [ + 771.6531759361447, + -3.1136062941855016 + ], + [ + 774.5439248526725, + -9.448997551022728 + ], + [ + 774.3025021902574, + -9.480408769185146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5914718728432, + "ymin": 0.0, + "xmax": 774.543908155409, + "ymax": 14.924557138098294 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5914718728432, + 14.892008757813528 + ], + [ + 769.8317847188899, + 14.924557138098294 + ], + [ + 772.701406020874, + 8.493113828126639 + ], + [ + 772.4633828525492, + 8.461221822516507 + ], + [ + 771.4093800353822, + -3.1455986648624616 + ], + [ + 771.6531587164668, + -3.113531843645376 + ], + [ + 774.543908155409, + -9.448924622638174 + ], + [ + 774.3024854650023, + -9.4803358483083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944793212816, + "ymin": 0.0, + "xmax": 775.0950464785105, + "ymax": 21.804801023666812 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944793212816, + 21.55597540041657 + ], + [ + 770.2120642827671, + 21.804801023666812 + ], + [ + 773.4476077930278, + 14.464768221169038 + ], + [ + 771.649571645893, + 14.221603250842236 + ], + [ + 769.9974821580431, + 5.585614969810308 + ], + [ + 771.8383983575345, + 5.831273782722917 + ], + [ + 775.0950464785105, + -1.4143418353316406 + ], + [ + 773.2741822968251, + -1.6543434611676275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944795886225, + "ymin": 0.0, + "xmax": 775.095046657198, + "ymax": 21.804801048084926 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944795886225, + 21.555975437015263 + ], + [ + 770.2120644611327, + 21.804801048084926 + ], + [ + 773.4476079694743, + 14.464768245031507 + ], + [ + 771.6495719103599, + 14.221603286608513 + ], + [ + 769.9974824288145, + 5.585615005943055 + ], + [ + 771.8383985381906, + 5.8312738068303815 + ], + [ + 775.095046657198, + -1.4143418117794795 + ], + [ + 773.2741825646483, + -1.6543434258667844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944786910932, + "ymin": 0.0, + "xmax": 775.0950457753369, + "ymax": 21.80480264565557 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944786910932, + 21.555977033346835 + ], + [ + 770.2120635677818, + 21.80480264565557 + ], + [ + 773.4476070943113, + 14.464769806251411 + ], + [ + 771.6495710311074, + 14.221604846631351 + ], + [ + 769.9974815241201, + 5.585616581950376 + ], + [ + 771.8383976377827, + 5.831275384076321 + ], + [ + 775.0950457753369, + -1.414340270862283 + ], + [ + 773.274181678593, + -1.6543418861456871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5915480536133, + "ymin": 0.0, + "xmax": 774.5439832722016, + "ymax": 14.924385686126413 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5915480536133, + 14.891837323428547 + ], + [ + 769.8318608386412, + 14.924385686126413 + ], + [ + 772.7014806017366, + 8.492945833763372 + ], + [ + 772.4634574932782, + 8.461053845210813 + ], + [ + 771.4094567867992, + -3.1457675627231083 + ], + [ + 771.6532354050892, + -3.1137007590758117 + ], + [ + 774.5439832722016, + -9.449090084560567 + ], + [ + 774.3025606433865, + -9.480501293196937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944784581192, + "ymin": 0.0, + "xmax": 775.095045634702, + "ymax": 21.804802970053345 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944784581192, + 21.555977345293456 + ], + [ + 770.2120634247849, + 21.804802970053345 + ], + [ + 773.4476069545678, + 14.46477012326784 + ], + [ + 771.6495708023635, + 14.221605151482606 + ], + [ + 769.997481289027, + 5.5856168899253476 + ], + [ + 771.8383974938324, + 5.831275704347092 + ], + [ + 775.095045634702, + -1.4143399579684228 + ], + [ + 773.2741814478172, + -1.6543415852616477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6498194898834, + "ymin": 0.0, + "xmax": 775.7098066546866, + "ymax": 17.041094442167946 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 769.6498194898834, + 17.001862083274204 + ], + [ + 769.9385255193793, + 17.041094442167946 + ], + [ + 773.7580574928279, + 8.448905374838887 + ], + [ + 773.473015018182, + 8.410724687430786 + ], + [ + 771.5677639310658, + -1.9885470794549178 + ], + [ + 771.8608610665759, + -1.949921823344198 + ], + [ + 775.7098066546866, + -10.407469936270218 + ], + [ + 775.4204848310103, + -10.445044791474743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5915695349086, + "ymin": 0.0, + "xmax": 774.544005317883, + "ymax": 14.924447705645662 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5915695349086, + 14.89189933658605 + ], + [ + 769.8318823445242, + 14.924447705645662 + ], + [ + 772.7015021672714, + 8.493006602557955 + ], + [ + 772.4634790346929, + 8.461114607835157 + ], + [ + 771.4094787495819, + -3.14570646710564 + ], + [ + 771.6532573931729, + -3.1136396571027376 + ], + [ + 774.544005317883, + -9.449030231828885 + ], + [ + 774.3025826642549, + -9.480441446626912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944795886225, + "ymin": 0.0, + "xmax": 775.095046657198, + "ymax": 21.804801048084926 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944795886225, + 21.555975437015263 + ], + [ + 770.2120644611327, + 21.804801048084926 + ], + [ + 773.4476079694743, + 14.464768245031507 + ], + [ + 771.6495719103599, + 14.221603286608513 + ], + [ + 769.9974824288145, + 5.585615005943055 + ], + [ + 771.8383985381906, + 5.8312738068303815 + ], + [ + 775.095046657198, + -1.4143418117794795 + ], + [ + 773.2741825646483, + -1.6543434258667844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6497399964279, + "ymin": 0.0, + "xmax": 775.7097268920307, + "ymax": 17.041083626264253 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 769.6497399964279, + 17.001851280882022 + ], + [ + 769.938445926495, + 17.041083626264253 + ], + [ + 773.7579789100083, + 8.4488948488775 + ], + [ + 773.472936533399, + 8.410714174601196 + ], + [ + 771.5676832286196, + -1.9885577146753803 + ], + [ + 771.8607802630413, + -1.9499324718864273 + ], + [ + 775.7097268920307, + -10.407480295220012 + ], + [ + 775.4204051680042, + -10.445055137482825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6498011368135, + "ymin": 0.0, + "xmax": 775.709788837331, + "ymax": 17.041161948253546 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 769.6498011368135, + 17.00192959321953 + ], + [ + 769.9385071061618, + 17.041161948253546 + ], + [ + 773.7580397275806, + 8.44897107128628 + ], + [ + 773.4729973126866, + 8.410790387743873 + ], + [ + 771.5677455128721, + -1.9884806142555362 + ], + [ + 771.8608425877758, + -1.9498553618236656 + ], + [ + 775.709788837331, + -10.407405282203968 + ], + [ + 775.4204670738648, + -10.4449801337189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.3944803766583, + "ymin": 0.0, + "xmax": 775.0950474364772, + "ymax": 21.804800123727773 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 768.3944803766583, + 21.555974513375133 + ], + [ + 770.2120652468553, + 21.804800123727773 + ], + [ + 773.4476087415973, + 14.464767341707045 + ], + [ + 771.6495726847471, + 14.221602383976688 + ], + [ + 769.9974832243511, + 5.585614094062521 + ], + [ + 771.8383993313539, + 5.831272894233166 + ], + [ + 775.0950474364772, + -1.4143427033567946 + ], + [ + 773.2741833462499, + -1.6543443167520309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6498987114347, + "ymin": 0.0, + "xmax": 775.709886071349, + "ymax": 17.04110692493225 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 769.6498987114347, + 17.001874564500213 + ], + [ + 769.9386047514724, + 17.04110692493225 + ], + [ + 773.7581357295893, + 8.44891752297724 + ], + [ + 773.4730932446753, + 8.410736834092404 + ], + [ + 771.5678443627179, + -1.988534791381369 + ], + [ + 771.8609415090888, + -1.9499095337338304 + ], + [ + 775.709886071349, + -10.40745798088193 + ], + [ + 775.420564237098, + -10.44503283756103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6498196882667, + "ymin": 0.0, + "xmax": 775.7098067571561, + "ymax": 17.04109377055181 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 769.6498196882667, + 17.001861423919422 + ], + [ + 769.9385256278441, + 17.04109377055181 + ], + [ + 773.7580575958546, + 8.448904721226711 + ], + [ + 773.4730152099823, + 8.410724045750328 + ], + [ + 771.5677641303682, + -1.9885477286058517 + ], + [ + 771.8608611745877, + -1.9499224845680487 + ], + [ + 775.7098067571561, + -10.40747057951171 + ], + [ + 775.4204850235906, + -10.44504542297284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.8285656204085, + "ymin": 1.9810917405324062, + "xmax": 773.5061085064682, + "ymax": 25.364614320829673 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 766.8285656204085, + 25.11519968282164 + ], + [ + 768.6397906170878, + 25.364614320829673 + ], + [ + 771.8831420371438, + 18.00694849390584 + ], + [ + 770.0913291938524, + 17.76319025565681 + ], + [ + 768.4069444164844, + 9.240305317441425 + ], + [ + 770.2413370407619, + 9.486608015970035 + ], + [ + 773.5061085064682, + 2.221740286635793 + ], + [ + 771.6916259537048, + 1.9810917405324062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5914890989172, + "ymin": 0.0, + "xmax": 774.5439248526725, + "ymax": 14.924481569561692 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5914890989172, + 14.89193319702855 + ], + [ + 769.8318019172308, + 14.924481569561692 + ], + [ + 772.7014227066613, + 8.493039783552888 + ], + [ + 772.4633995655447, + 8.461147785461094 + ], + [ + 771.4093972835997, + -3.1456731076585243 + ], + [ + 771.6531759361447, + -3.1136062941855016 + ], + [ + 774.5439248526725, + -9.448997551022728 + ], + [ + 774.3025021902574, + -9.480408769185146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.5914775700953, + "ymin": 0.0, + "xmax": 774.5439137885744, + "ymax": 14.924546292871185 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 769.5914775700953, + 14.891997913698845 + ], + [ + 769.8317904123272, + 14.924546292871185 + ], + [ + 772.7014116080655, + 8.493103201611234 + ], + [ + 772.4633884434836, + 8.461211197080047 + ], + [ + 771.4093857810531, + -3.1456093485288648 + ], + [ + 771.6531644582119, + -3.1135425284231815 + ], + [ + 774.5439137885744, + -9.448935088963594 + ], + [ + 774.3024911020184, + -9.48034631355631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 778.2220927112506, + "ymin": 0.0, + "xmax": 785.3980814614849, + "ymax": 24.79307976187323 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 778.2220927112506, + 24.627353555070613 + ], + [ + 779.429422282849, + 24.79307976187323 + ], + [ + 779.7623148616592, + 24.00880942249114 + ], + [ + 778.5563686475891, + 23.84348627272834 + ], + [ + 783.801323669388, + -26.881231945657646 + ], + [ + 785.0588922573943, + -26.722598432738323 + ], + [ + 785.3980814614849, + -27.473274747451512 + ], + [ + 784.1420139017462, + -27.63150690789621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.943683571606, + "ymin": 0.0, + "xmax": 788.1517536617374, + "ymax": 18.408026951957595 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 780.943683571606, + 18.245567928759442 + ], + [ + 782.1397446331711, + 18.408026951957595 + ], + [ + 782.4660774196401, + 17.639210677877372 + ], + [ + 781.2713741242985, + 17.477142858720697 + ], + [ + 786.5741681226351, + -32.98738737287283 + ], + [ + 787.8195138635685, + -32.83200551854907 + ], + [ + 788.1517536617374, + -33.5673020874068 + ], + [ + 786.9078800337338, + -33.72229485853342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.3118337482103, + "ymin": 268.2506307805439, + "xmax": 986.842331366548, + "ymax": 285.697119958242 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 984.7202011102775, + 285.697119958242 + ], + [ + 985.4272209194424, + 276.3189159809912 + ], + [ + 964.2366192048576, + 272.4448800695843 + ], + [ + 963.3118337482103, + 281.74173623909616 + ], + [ + 986.1472577132084, + 281.49516901290644 + ], + [ + 986.842331366548, + 272.1222492417949 + ], + [ + 965.559151548372, + 268.2506307805439 + ], + [ + 964.644393551225, + 277.54191596002687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.0555048343786, + "ymin": 0.0, + "xmax": 760.3542123296158, + "ymax": 32.070120848266185 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 754.0555048343786, + 31.9006314423454 + ], + [ + 755.2701803540688, + 32.070120848266185 + ], + [ + 755.6365588454169, + 31.268050244845313 + ], + [ + 754.4232826207843, + 31.09897769361129 + ], + [ + 758.7133622372069, + -19.916131917513837 + ], + [ + 759.9789178412962, + -19.753748273679093 + ], + [ + 760.3542123296158, + -20.522161985438004 + ], + [ + 759.0901758349796, + -20.684129970125298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.314141483342, + "ymin": 258.5725980883412, + "xmax": 1172.6441281140783, + "ymax": 545.7973708170438 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1046.3640893440866, + 545.7973708170438 + ], + [ + 1046.4463900332594, + 531.2934980766638 + ], + [ + 889.3104949201703, + 494.8451644476328 + ], + [ + 887.314141483342, + 508.43954777268596 + ], + [ + 1172.6441281140783, + 311.20021418733205 + ], + [ + 1170.6996573996662, + 296.074396578779 + ], + [ + 962.4051139496028, + 258.5725980883412 + ], + [ + 960.9713003821514, + 272.4755059566773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 55.019254165029565, + "ymax": 65.34865662572145 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 46.86790483237371, + 65.34865662572145 + ], + [ + 55.019254165029565, + 59.79872731416344 + ], + [ + -55.44326431311595, + 40.89581888518575 + ], + [ + -64.2429280249703, + 46.14006654443432 + ], + [ + -56.03216865469631, + -148.971166677226 + ], + [ + -45.50316414322367, + -153.44002999213558 + ], + [ + -171.07006991629316, + -168.5671772128369 + ], + [ + -182.41835766905228, + -164.38488854083732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.1854121473002, + "ymin": 268.15772857355404, + "xmax": 986.9692284523795, + "ymax": 285.7919070838625 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 984.824964087144, + 285.7919070838625 + ], + [ + 985.5384585108542, + 276.31228759486294 + ], + [ + 964.1213751567406, + 272.39702552431584 + ], + [ + 963.1854121473002, + 281.7935392580017 + ], + [ + 986.267949312675, + 281.54474202105655 + ], + [ + 986.9692284523795, + 272.0705194083458 + ], + [ + 965.4575746429766, + 268.15772857355404 + ], + [ + 964.5318456150771, + 277.5485492928825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.8351361640678, + "ymin": 5.409189804258062, + "xmax": 771.7927331325119, + "ymax": 58.87869687125357 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 764.8351361640678, + 58.696441283229944 + ], + [ + 766.0926049335646, + 58.87869687125357 + ], + [ + 766.4572464760448, + 58.01624096288435 + ], + [ + 765.2012777340506, + 57.834448320710294 + ], + [ + 770.1076925529962, + 6.2380722316175365 + ], + [ + 771.4197632511574, + 6.413338484105168 + ], + [ + 771.7927331325119, + 5.583992095955352 + ], + [ + 770.4822957132745, + 5.409189804258062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.7266728130023, + "ymin": 0.0, + "xmax": 1115.0116291330723, + "ymax": 62.35747033303187 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1049.1087370882406, + 62.35747033303187 + ], + [ + 1049.1370572833807, + 57.36476373728732 + ], + [ + 955.4323395701826, + 44.586300226118624 + ], + [ + 954.7266728130023, + 49.39164963493346 + ], + [ + 1115.0116291330723, + -137.129291063911 + ], + [ + 1114.484985553397, + -141.22588303856395 + ], + [ + 1004.7141585229533, + -151.6669822135608 + ], + [ + 1004.3099961099177, + -147.7479716362045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.3378921461908, + "ymin": 0.0, + "xmax": 782.4049571771915, + "ymax": 25.188085279055656 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 775.3378921461908, + 25.022155871493794 + ], + [ + 776.5452194699167, + 25.188085279055656 + ], + [ + 776.8818278562951, + 24.402853843043943 + ], + [ + 775.6758837790399, + 24.237328233580058 + ], + [ + 780.8041871135124, + -26.503320821083435 + ], + [ + 782.0617551580116, + -26.344484944780447 + ], + [ + 782.4049571771915, + -27.096118341929525 + ], + [ + 781.1488900430927, + -27.254552098025897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.9407746990528, + "ymin": 0.0, + "xmax": 787.0676456014322, + "ymax": 14.793959060488817 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 779.9407746990528, + 14.633334905627805 + ], + [ + 781.1298074357908, + 14.793959060488817 + ], + [ + 781.4555040774399, + 14.033822023547259 + ], + [ + 780.2678131702957, + 13.873582467808262 + ], + [ + 785.4982815192598, + -36.44144494631814 + ], + [ + 786.7360102949059, + -36.287887526415034 + ], + [ + 787.0676456014322, + -37.014554702878115 + ], + [ + 785.8313709562703, + -37.16772986791284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1871686154409, + "ymin": 1.6067613593125998, + "xmax": 772.179723165171, + "ymax": 55.3757825781089 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 765.1871686154409, + 55.19395655095576 + ], + [ + 766.4482792220131, + 55.3757825781089 + ], + [ + 766.813494667993, + 54.51536183764398 + ], + [ + 765.5538927998468, + 54.33399896532296 + ], + [ + 770.4901355391256, + 2.433023252018188 + ], + [ + 771.806171471392, + 2.6077362193105955 + ], + [ + 772.179723165171, + 1.7810104734992933 + ], + [ + 770.8653304097304, + 1.6067613593125998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.6934941710815, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 24.908792794894566 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1253.1715555498436, + 18.97721419180931 + ], + [ + 1421.3022847214738, + 24.908792794894566 + ], + [ + 1348.1072635569788, + -45.11951067655946 + ], + [ + 1198.6934941710815, + -49.836978515842816 + ], + [ + 1402.5520561783387, + -293.28061169459943 + ], + [ + 1613.8461768984084, + -289.50211684596877 + ], + [ + 1499.5984974436533, + -333.0464106667 + ], + [ + 1317.0301527427673, + -335.89828065191557 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00123/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00123/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1dd9e538da6e16ab1973e04187641cc7c962366 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00123/meta.json @@ -0,0 +1,6727 @@ +{ + "frame_id": 123, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.5, + "sim_timestamp": 13075.749446886824 + }, + "drone_pose": { + "x": -37.13327716648669, + "y": 5.2251223118664365, + "z": 20.0, + "pitch": -45.43363118134769, + "yaw": -14.898370824609573, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6781449317932129, + 0.18041980266571045, + 0.71243816614151, + 11.87569808959961 + ], + [ + -0.25710535049438477, + 0.9663833975791931, + -7.450580596923828e-09, + 4.497691631317139 + ], + [ + -0.6884884238243103, + -0.18317162990570068, + 0.7017349004745483, + -40.55762481689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -36.75335320365866, + "y": 4.9585699328458235, + "z": 20.0 + }, + "t1_image_uv": [ + 137.88237889649315, + -614.6422164922637 + ], + "t1_depth": 0.3057348764886617 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -18.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.230302030319077, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -18.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.18446896970272064, + "y": 0.29161909222602844, + "z": 0.5585317015647888 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.1885166679671, + "ymin": 339.6569394777029, + "xmax": 651.7478408682689, + "ymax": 380.01667668460243 + }, + "corners_3d": [ + [ + -18.851652145385742, + 0.020617693662643433, + 0.0415644645690918 + ], + [ + -18.851652145385742, + 0.6038558483123779, + 0.0415644645690918 + ], + [ + -18.48271369934082, + 0.6038558483123779, + 0.0415644645690918 + ], + [ + -18.48271369934082, + 0.020617693662643433, + 0.0415644645690918 + ], + [ + -18.851652145385742, + 0.020617693662643433, + 1.1586278676986694 + ], + [ + -18.851652145385742, + 0.6038558483123779, + 1.1586278676986694 + ], + [ + -18.48271369934082, + 0.6038558483123779, + 1.1586278676986694 + ], + [ + -18.48271369934082, + 0.020617693662643433, + 1.1586278676986694 + ] + ], + "corners_2d": [ + [ + 628.529644640011, + 376.21835071682597 + ], + [ + 648.1970165232877, + 380.01667668460243 + ], + [ + 651.4103265625879, + 371.0328810967882 + ], + [ + 631.9077585347179, + 367.3027298531016 + ], + [ + 628.1885166679671, + 348.5792341172348 + ], + [ + 648.441757905735, + 352.38185400806896 + ], + [ + 651.7478408682689, + 343.38930202307006 + ], + [ + 631.6693248079581, + 339.6569394777029 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 123, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 345112, + "2": 293465, + "3": 21636, + "5": 3198, + "6": 3498, + "10": 8, + "12": 1972, + "14": 28861, + "15": 4699, + "20": 3378, + "24": 21269, + "25": 194504 + }, + "instance_pixel_counts": { + "3424": 190233, + "5506": 310, + "6215": 135793, + "6284": 697, + "6290": 4385, + "6750": 101, + "7262": 3549, + "7774": 3739, + "8332": 17911, + "8338": 46056, + "9802": 340, + "9822": 6837, + "15184": 3198, + "17738": 536, + "18000": 3378, + "18784": 273, + "21140": 10617, + "23392": 395, + "23627": 579, + "23700": 175961, + "23904": 379, + "24416": 106, + "24928": 72, + "25696": 156, + "35476": 739, + "37524": 10431, + "38540": 1415, + "40588": 15498, + "41562": 17169, + "42330": 4467, + "42897": 1636, + "44945": 49298, + "45898": 1017, + "48203": 50, + "48459": 507, + "52038": 20776, + "54859": 1004, + "56576": 198, + "56647": 4271, + "56832": 188, + "57088": 582, + "57344": 658, + "57600": 346, + "57856": 8659, + "58368": 4598, + "60928": 6077, + "62081": 3188, + "62101": 201, + "62611": 8093, + "64149": 4484, + "64659": 150441 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 198, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -18.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.24632932245731354, + "y": 0.26501649618148804, + "z": 0.5483893752098083 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.5232619965424, + "ymin": 338.6044792949498, + "xmax": 651.3752194921742, + "ymax": 381.1209841617378 + }, + "corners_3d": [ + [ + -18.91351318359375, + 0.04722028970718384, + 0.051706790924072266 + ], + [ + -18.91351318359375, + 0.5772532820701599, + 0.051706790924072266 + ], + [ + -18.420852661132812, + 0.5772532820701599, + 0.051706790924072266 + ], + [ + -18.420852661132812, + 0.04722028970718384, + 0.051706790924072266 + ], + [ + -18.91351318359375, + 0.04722028970718384, + 1.148485541343689 + ], + [ + -18.91351318359375, + 0.5772532820701599, + 1.148485541343689 + ], + [ + -18.420852661132812, + 0.5772532820701599, + 1.148485541343689 + ], + [ + -18.420852661132812, + 0.04722028970718384, + 1.148485541343689 + ] + ], + "corners_2d": [ + [ + 628.8493419440415, + 377.6585410904626 + ], + [ + 646.752639183062, + 381.1209841617378 + ], + [ + 651.0548022410856, + 369.1283003423621 + ], + [ + 633.3516065486702, + 365.7486148302695 + ], + [ + 628.5232619965424, + 350.5232951371297 + ], + [ + 646.9508166190924, + 353.9898924800167 + ], + [ + 651.3752194921742, + 341.98583738099694 + ], + [ + 633.1595877177738, + 338.6044792949498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 188, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -13.547216415405273, + "y": 3.543004035949707, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.23100890219211578, + "y": 0.23107878863811493, + "z": 0.5257011651992798 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 772.3760877442114, + "ymin": 248.26348877556336, + "xmax": 790.8051141458185, + "ymax": 284.51597475339986 + }, + "corners_3d": [ + [ + -13.811530113220215, + 3.350908041000366, + 0.074404776096344 + ], + [ + -13.739232063293457, + 3.80737566947937, + 0.074404776096344 + ], + [ + -13.282902717590332, + 3.735100030899048, + 0.074404776096344 + ], + [ + -13.35520076751709, + 3.278632402420044, + 0.074404776096344 + ], + [ + -13.811530113220215, + 3.350908041000366, + 1.1258070468902588 + ], + [ + -13.739232063293457, + 3.80737566947937, + 1.1258070468902588 + ], + [ + -13.282902717590332, + 3.735100030899048, + 1.1258070468902588 + ], + [ + -13.35520076751709, + 3.278632402420044, + 1.1258070468902588 + ] + ], + "corners_2d": [ + [ + 772.3760877442114, + 283.5285934804167 + ], + [ + 787.0789773131721, + 284.51597475339986 + ], + [ + 787.0184974204875, + 275.05156521005966 + ], + [ + 772.4702659056923, + 274.08484943357917 + ], + [ + 775.7259618766909, + 257.66488871258144 + ], + [ + 790.8051141458185, + 258.64813163187637 + ], + [ + 790.7029148841498, + 249.22564016779813 + ], + [ + 775.7863939086569, + 248.26348877556336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 582, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -20.923004150390625, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.47200071811676025, + "y": 0.3347979784011841, + "z": 0.8761137127876282 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 860.8479301247023, + "ymin": 432.6770639942934, + "xmax": 901.088896404337, + "ymax": 508.3881695099774 + }, + "corners_3d": [ + [ + -21.411880493164062, + 6.9453125, + -0.276012659072876 + ], + [ + -21.3768367767334, + 7.613990783691406, + -0.276012659072876 + ], + [ + -20.434127807617188, + 7.5645856857299805, + -0.276012659072876 + ], + [ + -20.46917152404785, + 6.895907402038574, + -0.276012659072876 + ], + [ + -21.411880493164062, + 6.9453125, + 1.4762147665023804 + ], + [ + -21.3768367767334, + 7.613990783691406, + 1.4762147665023804 + ], + [ + -20.434127807617188, + 7.5645856857299805, + 1.4762147665023804 + ], + [ + -20.46917152404785, + 6.895907402038574, + 1.4762147665023804 + ] + ], + "corners_2d": [ + [ + 860.8479301247023, + 504.0005618625329 + ], + [ + 887.180243696455, + 508.3881695099774 + ], + [ + 888.2305134947321, + 479.6694130914329 + ], + [ + 862.5650218108694, + 475.5029245448505 + ], + [ + 872.5557332637542, + 461.5065797603105 + ], + [ + 900.3381330677922, + 465.95220363134865 + ], + [ + 901.088896404337, + 436.8872201523327 + ], + [ + 874.047767975434, + 432.6770639942934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 658, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -28.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.34208860993385315, + "y": 0.29973605275154114, + "z": 0.8701155185699463 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 504.0512066303707, + "ymin": 624.2670976065729, + "xmax": 548.6739349854416, + "ymax": 698.6650377833134 + }, + "corners_3d": [ + [ + -28.49311637878418, + -0.004992008209228516, + -0.2700144648551941 + ], + [ + -28.524490356445312, + 0.5936585068702698, + -0.2700144648551941 + ], + [ + -27.841249465942383, + 0.6294655799865723, + -0.2700144648551941 + ], + [ + -27.80987548828125, + 0.030815064907073975, + -0.2700144648551941 + ], + [ + -28.49311637878418, + -0.004992008209228516, + 1.4702165126800537 + ], + [ + -28.524490356445312, + 0.5936585068702698, + 1.4702165126800537 + ], + [ + -27.841249465942383, + 0.6294655799865723, + 1.4702165126800537 + ], + [ + -27.80987548828125, + 0.030815064907073975, + 1.4702165126800537 + ] + ], + "corners_2d": [ + [ + 511.9852121666946, + 690.6726606535058 + ], + [ + 537.1378161457596, + 698.6650377833134 + ], + [ + 548.6739349854416, + 670.8498472866185 + ], + [ + 523.9821497046047, + 663.1914469983196 + ], + [ + 504.0512066303707, + 652.5625288977874 + ], + [ + 530.7212305327743, + 660.8055711620417 + ], + [ + 543.1049935631186, + 632.1449874820747 + ], + [ + 516.9522375207582, + 624.2670976065729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 346, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -7.421846866607666, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.572080671787262, + "y": 0.33881834149360657, + "z": 0.9129610061645508 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 489.1808667439682, + "ymin": 81.42117197699923, + "xmax": 524.6542419687414, + "ymax": 142.87581369492693 + }, + "corners_3d": [ + [ + -7.9338812828063965, + -8.282118797302246, + -0.16055524349212646 + ], + [ + -8.039887428283691, + -7.6128249168396, + -0.16055524349212646 + ], + [ + -6.9098124504089355, + -7.433837890625, + -0.16055524349212646 + ], + [ + -6.803806304931641, + -8.103132247924805, + -0.16055524349212646 + ], + [ + -7.9338812828063965, + -8.282118797302246, + 1.665366768836975 + ], + [ + -8.039887428283691, + -7.6128249168396, + 1.665366768836975 + ], + [ + -6.9098124504089355, + -7.433837890625, + 1.665366768836975 + ], + [ + -6.803806304931641, + -8.103132247924805, + 1.665366768836975 + ] + ], + "corners_2d": [ + [ + 494.5411328539901, + 138.8888417190514 + ], + [ + 510.107015936362, + 142.87581369492693 + ], + [ + 524.6542419687414, + 127.904872978323 + ], + [ + 509.3193312343618, + 124.07353376674578 + ], + [ + 489.1808667439682, + 95.8954981642301 + ], + [ + 505.29409921058846, + 99.79429034953864 + ], + [ + 520.4678740188363, + 85.16232139067341 + ], + [ + 504.60175252570957, + 81.42117197699923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 8659, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 669.6429347015918, + "ymin": 263.6863948067318, + "xmax": 779.0750495261871, + "ymax": 439.2115731286619 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 669.6429347015918, + 424.6691005548438 + ], + [ + 742.7188867322637, + 439.2115731286619 + ], + [ + 774.3549380894759, + 309.82857424853205 + ], + [ + 709.758225085154, + 298.6186914942826 + ], + [ + 670.818838401274, + 389.7243908801914 + ], + [ + 746.8529459825165, + 404.3435050794747 + ], + [ + 779.0750495261871, + 274.84625675545635 + ], + [ + 712.1781993431962, + 263.6863948067318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4598, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 774.4843146516937, + "ymin": 0.0, + "xmax": 850.0824246304583, + "ymax": 103.90371563133897 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 774.4843146516937, + 97.26185980596694 + ], + [ + 824.1872090821848, + 103.90371563133897 + ], + [ + 840.9821607538792, + 35.41930358951629 + ], + [ + 795.8362147115857, + 29.978386966075618 + ], + [ + 781.1817713042751, + 37.08649022085717 + ], + [ + 833.4498031732762, + 43.47270676024607 + ], + [ + 850.0824246304583, + -22.092154337358636 + ], + [ + 802.830607724716, + -27.274308314196503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6077, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 440.22630516304355, + "ymin": 239.3759489701273, + "xmax": 546.5491755735636, + "ymax": 368.7202873854825 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 546.5491755735636, + 287.1290074108157 + ], + [ + 493.36236331753514, + 277.7236125411035 + ], + [ + 448.08267407931737, + 357.54874771531377 + ], + [ + 505.54945041084966, + 368.7202873854825 + ], + [ + 543.0030378838703, + 248.7173173263022 + ], + [ + 487.8663142452864, + 239.3759489701273 + ], + [ + 440.22630516304355, + 318.90083998990724 + ], + [ + 499.9749397847944, + 330.0717808277588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.699176426747, + "ymin": 8.922803258018803, + "xmax": 754.9242194957254, + "ymax": 32.673233331875906 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.699176426747, + 32.446081763453265 + ], + [ + 750.5423815567693, + 32.673233331875906 + ], + [ + 753.5102602158279, + 25.092405532603323 + ], + [ + 751.6876044314722, + 24.870542324022267 + ], + [ + 750.0689661960699, + 16.40251271596844 + ], + [ + 751.9358939296519, + 16.62682491463903 + ], + [ + 754.9242194957254, + 9.14182854809087 + ], + [ + 753.0783709964782, + 8.922803258018803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.699175634081, + "ymin": 8.922805195508545, + "xmax": 754.9242187216545, + "ymax": 32.67323534266171 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.699175634081, + 32.44608377282822 + ], + [ + 750.5423807695507, + 32.67323534266171 + ], + [ + 753.5102594469397, + 25.092407496567603 + ], + [ + 751.6876036572572, + 24.870544286624522 + ], + [ + 750.0689653977222, + 16.402514700217523 + ], + [ + 751.9358931368929, + 16.62682690029908 + ], + [ + 754.9242187216545, + 9.141830486941899 + ], + [ + 753.0783702169437, + 8.922805195508545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.9347952660596, + "ymin": 0.0, + "xmax": 763.8741574179712, + "ymax": 2.1139357611234004 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 757.9347952660596, + 1.9077218550644943 + ], + [ + 759.6940729035289, + 2.1139357611234004 + ], + [ + 762.421230572163, + -4.77182365279549 + ], + [ + 760.6806861992536, + -4.973459474662832 + ], + [ + 759.349989756904, + -13.736063730666046 + ], + [ + 761.1308645415328, + -13.53266955498242 + ], + [ + 763.8741574179712, + -20.323391569668672 + ], + [ + 762.1124766577263, + -20.522216983358817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.9198416286708, + "ymin": 0.0, + "xmax": 766.8576578902519, + "ymax": 1.6730348191651956 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 760.9198416286708, + 1.4671155809930383 + ], + [ + 762.6788593738064, + 1.6730348191651956 + ], + [ + 765.3707892062624, + -5.202938135687589 + ], + [ + 763.6305002278334, + -5.40428904443479 + ], + [ + 762.3698067170245, + -14.170639766092222 + ], + [ + 764.1504146281293, + -13.967539713594476 + ], + [ + 766.8576578902519, + -20.748495263209122 + ], + [ + 765.0962393188304, + -20.9470364046353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7937431222331, + "ymin": 1.067523795866066, + "xmax": 754.2502720498418, + "ymax": 25.764474156955202 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7937431222331, + 25.734758706513617 + ], + [ + 750.0374448507323, + 25.764474156955202 + ], + [ + 752.6715957631178, + 19.12113271934504 + ], + [ + 752.4303010307474, + 19.09203057126956 + ], + [ + 751.3483777068175, + 7.612704298936762 + ], + [ + 751.5956034760221, + 7.641987701444464 + ], + [ + 754.2502720498418, + 1.0961943898589652 + ], + [ + 754.0055231125714, + 1.067523795866066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7937287967702, + "ymin": 1.0675988759368806, + "xmax": 754.2502582171402, + "ymax": 25.764551980440217 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7937287967702, + 25.734836522776618 + ], + [ + 750.0374305542198, + 25.764551980440217 + ], + [ + 752.6715819316986, + 19.12120893658073 + ], + [ + 752.4302871709463, + 19.092106781505777 + ], + [ + 751.3483633701003, + 7.612780983739583 + ], + [ + 751.5955891690991, + 7.642064393465034 + ], + [ + 754.2502582171402, + 1.0962694769222026 + ], + [ + 754.005509250669, + 1.0675988759368806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.699176426747, + "ymin": 8.922803258018803, + "xmax": 754.9242194957254, + "ymax": 32.673233331875906 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.699176426747, + 32.446081763453265 + ], + [ + 750.5423815567693, + 32.673233331875906 + ], + [ + 753.5102602158279, + 25.092405532603323 + ], + [ + 751.6876044314722, + 24.870542324022267 + ], + [ + 750.0689661960699, + 16.40251271596844 + ], + [ + 751.9358939296519, + 16.62682491463903 + ], + [ + 754.9242194957254, + 9.14182854809087 + ], + [ + 753.0783709964782, + 8.922803258018803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.6991766978664, + "ymin": 8.922803290235436, + "xmax": 754.924219676858, + "ymax": 32.67323335416626 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.6991766978664, + 32.44608179686526 + ], + [ + 750.5423817376425, + 32.67323335416626 + ], + [ + 753.5102603946838, + 25.09240555437458 + ], + [ + 751.68760469957, + 24.87054235665653 + ], + [ + 750.0689664706774, + 16.402512748962636 + ], + [ + 751.9358941128538, + 16.626824936650905 + ], + [ + 754.924219676858, + 9.141828569583765 + ], + [ + 753.0783712679863, + 8.922803290235436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.6991758565651, + "ymin": 8.922804883332446, + "xmax": 754.9242188506663, + "ymax": 32.67323500753082 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.6991758565651, + 32.446083449069704 + ], + [ + 750.5423809007539, + 32.67323500753082 + ], + [ + 753.5102595750877, + 25.09240716924029 + ], + [ + 751.687603875659, + 24.87054397040231 + ], + [ + 750.068965622316, + 16.402514380507455 + ], + [ + 751.9358932690194, + 16.626826569355842 + ], + [ + 754.9242188506663, + 9.14183016380008 + ], + [ + 753.0783704373689, + 8.922804883332446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.0613562832364, + "ymin": 0.0, + "xmax": 742.0504900385044, + "ymax": 9.359927819465724 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 736.0613562832364, + 9.148840766578644 + ], + [ + 737.8339017478073, + 9.359927819465724 + ], + [ + 740.8396305227056, + 2.3123457504445355 + ], + [ + 739.0860924839893, + 2.1059990865836653 + ], + [ + 737.2277763491858, + -6.592980495846689 + ], + [ + 739.0222517311513, + -6.384721091005645 + ], + [ + 742.0504900385044, + -13.336971045588655 + ], + [ + 740.2754931924217, + -13.540497735128383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7937987171128, + "ymin": 1.0674279825457234, + "xmax": 754.2503271479335, + "ymax": 25.764374842630787 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7937987171128, + 25.73465940140545 + ], + [ + 750.0375004103985, + 25.764374842630787 + ], + [ + 752.671650342162, + 19.12103545483302 + ], + [ + 752.4303556443156, + 19.09193331568997 + ], + [ + 751.3484338444025, + 7.612606437740169 + ], + [ + 751.5956595773664, + 7.641889831037076 + ], + [ + 754.2503271479335, + 1.0960985676153996 + ], + [ + 754.005578246184, + 1.0674279825457234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.699175634081, + "ymin": 8.922805195508545, + "xmax": 754.9242187216545, + "ymax": 32.67323534266171 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.699175634081, + 32.44608377282822 + ], + [ + 750.5423807695507, + 32.67323534266171 + ], + [ + 753.5102594469397, + 25.092407496567603 + ], + [ + 751.6876036572572, + 24.870544286624522 + ], + [ + 750.0689653977222, + 16.402514700217523 + ], + [ + 751.9358931368929, + 16.62682690029908 + ], + [ + 754.9242187216545, + 9.141830486941899 + ], + [ + 753.0783702169437, + 8.922805195508545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9144556840213, + "ymin": 0.06115719011353349, + "xmax": 755.3864240097996, + "ymax": 27.913410017650733 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 749.9144556840213, + 27.877590858036 + ], + [ + 750.2072420530926, + 27.913410017650733 + ], + [ + 753.7121239529541, + 19.0384851947847 + ], + [ + 753.4231886218594, + 19.003648637662536 + ], + [ + 751.5557504295556, + 8.7983664338268 + ], + [ + 751.8530019360172, + 8.833640981306871 + ], + [ + 755.3864240097996, + 0.09544992811692055 + ], + [ + 755.0931412255092, + 0.06115719011353349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7938228867353, + "ymin": 1.0674890734265432, + "xmax": 754.2503518452882, + "ymax": 25.76443816576301 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7938228867353, + 25.734722718661374 + ], + [ + 750.0375246052396, + 25.76443816576301 + ], + [ + 752.6716745437766, + 19.121097470998222 + ], + [ + 752.4303798212082, + 19.091995326159918 + ], + [ + 751.348458512148, + 7.6126688343533715 + ], + [ + 751.5956842710644, + 7.641952233523114 + ], + [ + 754.2503518452882, + 1.0961596641856204 + ], + [ + 754.0056029181047, + 1.0674890734265432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.6991766978664, + "ymin": 8.922803290235436, + "xmax": 754.924219676858, + "ymax": 32.67323335416626 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.6991766978664, + 32.44608179686526 + ], + [ + 750.5423817376425, + 32.67323335416626 + ], + [ + 753.5102603946838, + 25.09240555437458 + ], + [ + 751.68760469957, + 24.87054235665653 + ], + [ + 750.0689664706774, + 16.402512748962636 + ], + [ + 751.9358941128538, + 16.626824936650905 + ], + [ + 754.924219676858, + 9.141828569583765 + ], + [ + 753.0783712679863, + 8.922803290235436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9143750665955, + "ymin": 0.06114774776079912, + "xmax": 755.386343155629, + "ymax": 27.91340014278427 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 749.9143750665955, + 27.877580995389565 + ], + [ + 750.2071613357803, + 27.91340014278427 + ], + [ + 753.712044297383, + 19.038475590816176 + ], + [ + 753.4231090647386, + 19.003639045564 + ], + [ + 751.5556685827423, + 8.798356721144899 + ], + [ + 751.8529199876576, + 8.833631256574677 + ], + [ + 755.386343155629, + 0.09544047406421896 + ], + [ + 755.0930604714009, + 0.06114774776079912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9144398943805, + "ymin": 0.06122379978631898, + "xmax": 755.3864087100145, + "ymax": 27.913479588860753 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 749.9144398943805, + 27.87766043260882 + ], + [ + 750.2072262033795, + 27.913479588860753 + ], + [ + 753.7121086963975, + 19.038552857443165 + ], + [ + 753.4231734249838, + 19.00371630369574 + ], + [ + 751.5557345845161, + 8.798434950496528 + ], + [ + 751.8529860304672, + 8.833709494778986 + ], + [ + 755.3864087100145, + 0.09551653457549492 + ], + [ + 755.0931259858442, + 0.06122379978631898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.6991774556918, + "ymin": 8.92280236444617, + "xmax": 754.9242204261586, + "ymax": 32.67323239335383 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.6991774556918, + 32.446080836727106 + ], + [ + 750.5423824929982, + 32.67323239335383 + ], + [ + 753.5102611368396, + 25.09240461593498 + ], + [ + 751.6876054441412, + 24.870541418867617 + ], + [ + 750.0689672359947, + 16.40251180083021 + ], + [ + 751.9358948756371, + 16.62682398784432 + ], + [ + 754.9242204261586, + 9.141827643143984 + ], + [ + 753.0783720197643, + 8.92280236444617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9145360948876, + "ymin": 0.06116828619030912, + "xmax": 755.386504580923, + "ymax": 27.9134216089235 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 749.9145360948876, + 27.87760244801649 + ], + [ + 750.2073224737234, + 27.9134216089235 + ], + [ + 753.7122033251742, + 19.038496468073333 + ], + [ + 753.4232679845761, + 19.003659909711644 + ], + [ + 751.5558320712034, + 8.79837784757791 + ], + [ + 751.8530835877267, + 8.833652396349692 + ], + [ + 755.386504580923, + 0.09546102543185953 + ], + [ + 755.0932217868437, + 0.06116828619030912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.9144558575338, + "ymin": 0.061156539269234145, + "xmax": 755.3864240865988, + "ymax": 27.91340932664025 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 749.9144558575338, + 27.877590178221737 + ], + [ + 750.2072421354071, + 27.91340932664025 + ], + [ + 753.7121240304147, + 19.0384845227307 + ], + [ + 753.4231887893144, + 19.00364797649661 + ], + [ + 751.5557506038966, + 8.798365764349228 + ], + [ + 751.8530020177647, + 8.833640300802244 + ], + [ + 755.3864240865988, + 0.09544926655348718 + ], + [ + 755.0931413936615, + 0.061156539269234145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.1708111325327, + "ymin": 12.58955802292769, + "xmax": 753.3746706995435, + "ymax": 36.263829811473045 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 747.1708111325327, + 36.03614168714455 + ], + [ + 749.007641552778, + 36.263829811473045 + ], + [ + 751.9841442251156, + 28.66482141821365 + ], + [ + 750.1677214492735, + 28.44241764712126 + ], + [ + 748.5170096260383, + 20.089122245875217 + ], + [ + 750.3773980796685, + 20.31402106099989 + ], + [ + 753.3746706995435, + 12.80917280474921 + ], + [ + 751.53521428325, + 12.58955802292769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7937431222331, + "ymin": 1.067523795866066, + "xmax": 754.2502720498418, + "ymax": 25.764474156955202 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7937431222331, + 25.734758706513617 + ], + [ + 750.0374448507323, + 25.764474156955202 + ], + [ + 752.6715957631178, + 19.12113271934504 + ], + [ + 752.4303010307474, + 19.09203057126956 + ], + [ + 751.3483777068175, + 7.612704298936762 + ], + [ + 751.5956034760221, + 7.641987701444464 + ], + [ + 754.2502720498418, + 1.0961943898589652 + ], + [ + 754.0055231125714, + 1.067523795866066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7937341056081, + "ymin": 1.0675880530274071, + "xmax": 754.2502634664252, + "ymax": 25.764540762063234 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 749.7937341056081, + 25.73482530544078 + ], + [ + 750.037435859035, + 25.764540762063234 + ], + [ + 752.6715871358183, + 19.121197949747227 + ], + [ + 752.4302923790099, + 19.092095795681246 + ], + [ + 751.3483687264915, + 7.6127699295054185 + ], + [ + 751.5955945213501, + 7.642053338190465 + ], + [ + 754.2502634664252, + 1.0962586530047815 + ], + [ + 754.0055145040119, + 1.0675880530274071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.8541802563881, + "ymin": 0.0, + "xmax": 764.2336969468797, + "ymax": 34.769469580823795 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 757.8541802563881, + 34.61860824498041 + ], + [ + 759.0763647973268, + 34.769469580823795 + ], + [ + 759.3810215216165, + 33.96156117849483 + ], + [ + 758.1602864161117, + 33.81107492738511 + ], + [ + 762.6498421187858, + -17.09860959510297 + ], + [ + 763.9229308596898, + -16.95411404841269 + ], + [ + 764.2336969468797, + -17.727899846858293 + ], + [ + 762.9621809559474, + -17.872021543891094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.3459463408292, + "ymin": 0.0, + "xmax": 766.7559704068955, + "ymax": 28.193244066284308 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 760.3459463408292, + 28.045422287829012 + ], + [ + 761.5563276291559, + 28.193244066284308 + ], + [ + 761.8548490423738, + 27.401605308797286 + ], + [ + 760.6458894102767, + 27.254147343416548 + ], + [ + 765.191427389038, + -23.391779378077047 + ], + [ + 766.4517132124683, + -23.250311741660994 + ], + [ + 766.7559704068955, + -24.00789122858771 + ], + [ + 765.4972259491151, + -24.14899669721632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.8304080888424, + "ymin": 292.85794051921965, + "xmax": 989.4419713949757, + "ymax": 310.6219554796976 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 987.8119848066765, + 310.6219554796976 + ], + [ + 987.9853502582939, + 300.68847610083037 + ], + [ + 966.2381678313075, + 297.062660720337 + ], + [ + 965.8304080888424, + 306.917170860046 + ], + [ + 989.2837469868646, + 306.4118121201515 + ], + [ + 989.4419713949757, + 296.4821410810399 + ], + [ + 967.5983261680933, + 292.85794051921965 + ], + [ + 967.203611683857, + 302.7083423661231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.7834659475756, + "ymin": 0.0, + "xmax": 739.2779252868353, + "ymax": 42.599622518716615 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 733.7834659475756, + 42.44510177495658 + ], + [ + 735.0147258423912, + 42.599622518716615 + ], + [ + 735.3533459216276, + 41.77212668483003 + ], + [ + 734.1235563611303, + 41.61799474706845 + ], + [ + 737.6475521597685, + -9.598757173426975 + ], + [ + 738.9305012346264, + -9.450611297952037 + ], + [ + 739.2779252868353, + -10.24393469833916 + ], + [ + 737.9965726364915, + -10.391692477845254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.0183553676889, + "ymin": 283.08629009420787, + "xmax": 1180.3205125061281, + "ymax": 567.7152128665274 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1050.3526470505105, + 567.7152128665274 + ], + [ + 1049.7586666054774, + 552.5764843542926 + ], + [ + 889.4600357344267, + 518.8753790576959 + ], + [ + 888.0183553676889, + 533.1471782780268 + ], + [ + 1180.3205125061281, + 334.017634884474 + ], + [ + 1177.3592703008724, + 318.0886634014856 + ], + [ + 964.227770370253, + 283.08629009420787 + ], + [ + 963.5750569110892, + 297.832713187498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 17.494625909618435, + "ymax": 88.8494242206699 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 9.099583913032575, + 88.8494242206699 + ], + [ + 17.494625909618435, + 82.9131021835878 + ], + [ + -98.47990846978507, + 65.01354196017138 + ], + [ + -107.6190962512602, + 70.64789734885545 + ], + [ + -103.84418589953657, + -128.96923800863152 + ], + [ + -92.83921011887298, + -133.7939128074383 + ], + [ + -225.43318375850492, + -148.25385824319181 + ], + [ + -237.39392170558278, + -143.7163526574534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.7034828940291, + "ymin": 292.76334136807435, + "xmax": 989.5692353457276, + "ymax": 310.71845868797993 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 987.9224817461884, + 310.71845868797993 + ], + [ + 988.0965044137051, + 300.6776079779725 + ], + [ + 966.1169616877369, + 297.01323383810916 + ], + [ + 965.7034828940291, + 306.9734090359742 + ], + [ + 989.4106929378928, + 306.4630258885801 + ], + [ + 989.5692353457276, + 296.42606418807264 + ], + [ + 967.4911544035576, + 292.76334136807435 + ], + [ + 967.0909917003639, + 302.71931782029895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.6042914328044, + "ymin": 16.12085793832921, + "xmax": 751.7785725030786, + "ymax": 69.82473571735488 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 745.6042914328044, + 69.65848365887518 + ], + [ + 746.8792188702407, + 69.82473571735488 + ], + [ + 747.2136116223019, + 68.93444637244875 + ], + [ + 745.9402609706863, + 68.7686264699604 + ], + [ + 750.1056959698099, + 16.977171710955417 + ], + [ + 751.436121468027, + 17.137167376233606 + ], + [ + 751.7785725030786, + 16.280420016776418 + ], + [ + 750.4498641135435, + 16.12085793832921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.0893690893147, + "ymin": 0.0, + "xmax": 1093.9142593804722, + "ymax": 68.97958524019856 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1030.785758379794, + 68.97958524019856 + ], + [ + 1030.5861033525257, + 63.891262831248866 + ], + [ + 936.5859850159761, + 52.362992600455584 + ], + [ + 936.0893690893147, + 57.27925500873175 + ], + [ + 1093.9142593804722, + -130.78355143502966 + ], + [ + 1093.1375034437128, + -134.9617633185677 + ], + [ + 983.1498207473858, + -144.39103263519644 + ], + [ + 982.9721196452535, + -140.37616039033168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.9649561726578, + "ymin": 0.0, + "xmax": 761.2345769354494, + "ymax": 35.2186701851158 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 754.9649561726578, + 35.067600088309064 + ], + [ + 756.1873143864008, + 35.2186701851158 + ], + [ + 756.4957782214299, + 34.409644425618296 + ], + [ + 755.2748697764548, + 34.25895019187658 + ], + [ + 759.6464180506493, + -16.668555507626138 + ], + [ + 760.9196965477706, + -16.52385186319708 + ], + [ + 761.2345769354494, + -17.298751402339008 + ], + [ + 759.962871570434, + -17.443080389747195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.1956573209047, + "ymin": 0.0, + "xmax": 765.5227456584485, + "ymax": 24.511179636971747 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 759.1956573209047, + 24.36504620793852 + ], + [ + 760.3988427525899, + 24.511179636971747 + ], + [ + 760.6970736383098, + 23.728578161420728 + ], + [ + 759.495292989146, + 23.582802334115684 + ], + [ + 763.9662417969691, + -26.913109400903068 + ], + [ + 765.2187285921177, + -26.773322023258743 + ], + [ + 765.5227456584485, + -27.521908078209776 + ], + [ + 764.2717811888534, + -27.661339717194267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.9047317743484, + "ymin": 12.300769123187933, + "xmax": 752.1098068492155, + "ymax": 66.30820706268202 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.9047317743484, + 66.14233859248571 + ], + [ + 747.1833604175963, + 66.30820706268202 + ], + [ + 747.5183067727594, + 65.41997452884647 + ], + [ + 746.2412640873899, + 65.25453844192242 + ], + [ + 750.4323344564557, + 13.154421751976372 + ], + [ + 751.7667907711505, + 13.313920964275496 + ], + [ + 752.1098068492155, + 12.459834814208477 + ], + [ + 750.777078067852, + 12.300769123187933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.286712158479, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 24.9654707042651 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1230.299249371123, + 21.511551294654623 + ], + [ + 1395.435221451191, + 24.9654707042651 + ], + [ + 1320.214026981222, + -44.49189674190677 + ], + [ + 1173.286712158479, + -47.238001883942786 + ], + [ + 1373.4252701117905, + -289.8276320885449 + ], + [ + 1579.8379146900406, + -287.6336082142973 + ], + [ + 1464.4019984281276, + -330.67212358712663 + ], + [ + 1285.6706440706703, + -332.32808674926673 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00124/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00124/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0dbf02db43a748e068b3d98d26b9bc08de9ea45a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00124/meta.json @@ -0,0 +1,6728 @@ +{ + "frame_id": 124, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.0, + "sim_timestamp": 13085.539826459484 + }, + "drone_pose": { + "x": -36.75335320365866, + "y": 4.9585699328458235, + "z": 20.0, + "pitch": -45.35925452074702, + "yaw": -14.035635850710618, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6816813945770264, + 0.17041265964508057, + 0.7115265130996704, + 11.668550491333008 + ], + [ + -0.24252533912658691, + 0.970145046710968, + 7.450580596923828e-09, + 4.103086948394775 + ], + [ + -0.6902838945388794, + -0.17256319522857666, + 0.7026592493057251, + -40.27909851074219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -36.36753061678006, + "y": 4.701915834398869, + "z": 20.0 + }, + "t1_image_uv": [ + 153.59250291713408, + -612.1148555614435 + ], + "t1_depth": 0.3067451852761418 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -18.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.26518669065022, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -18.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2889159917831421, + "y": 0.2677825391292572, + "z": 0.559242308139801 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.1470466476885, + "ymin": 337.3862293762413, + "xmax": 651.7201918344044, + "ymax": 382.35756365608614 + }, + "corners_3d": [ + [ + -18.456098556518555, + 0.04445424675941467, + 0.04085385799407959 + ], + [ + -18.456098556518555, + 0.5800193548202515, + 0.04085385799407959 + ], + [ + -17.878267288208008, + 0.5800193548202515, + 0.04085385799407959 + ], + [ + -17.878267288208008, + 0.04445424675941467, + 0.04085385799407959 + ], + [ + -18.456098556518555, + 0.04445424675941467, + 1.1593384742736816 + ], + [ + -18.456098556518555, + 0.5800193548202515, + 1.1593384742736816 + ], + [ + -17.878267288208008, + 0.5800193548202515, + 1.1593384742736816 + ], + [ + -17.878267288208008, + 0.04445424675941467, + 1.1593384742736816 + ] + ], + "corners_2d": [ + [ + 628.4899161694532, + 379.0585198782239 + ], + [ + 646.6420998494572, + 382.35756365608614 + ], + [ + 651.384851440735, + 368.274237031475 + ], + [ + 633.4733796623765, + 365.06782050776667 + ], + [ + 628.1470466476885, + 351.3855583574391 + ], + [ + 646.8406370858229, + 354.68835251046517 + ], + [ + 651.7201918344044, + 340.5935841166331 + ], + [ + 633.2817854858403, + 337.3862293762413 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 124, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 342776, + "2": 292222, + "3": 23665, + "5": 3368, + "6": 3576, + "10": 1, + "12": 1963, + "14": 29763, + "15": 4653, + "20": 3433, + "24": 21052, + "25": 195128 + }, + "instance_pixel_counts": { + "3424": 188527, + "5506": 321, + "6215": 134226, + "6284": 807, + "6290": 4571, + "7262": 3681, + "7774": 3856, + "8332": 17651, + "8338": 45602, + "9802": 321, + "9822": 7102, + "15184": 3368, + "17738": 576, + "18000": 3433, + "18784": 188, + "21140": 11504, + "23392": 414, + "23627": 469, + "23700": 173765, + "23904": 388, + "24416": 110, + "24928": 77, + "25696": 86, + "28000": 35, + "28256": 1, + "35476": 792, + "37524": 10261, + "38540": 1491, + "40588": 15379, + "41562": 18963, + "42330": 4702, + "42897": 1950, + "44945": 48739, + "45898": 1020, + "48203": 53, + "48459": 535, + "52038": 21806, + "54859": 988, + "56576": 205, + "56647": 6601, + "56832": 182, + "57088": 594, + "57344": 649, + "57600": 333, + "57856": 8891, + "58368": 4653, + "60928": 6233, + "62081": 3255, + "62101": 233, + "62611": 9007, + "64149": 4505, + "64659": 148500 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -18.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.18648312985897064, + "y": 0.29078802466392517, + "z": 0.5571566224098206 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.2707631640823, + "ymin": 339.75328460654407, + "xmax": 651.6617097811965, + "ymax": 379.9229520343348 + }, + "corners_3d": [ + [ + -18.353666305541992, + 0.021448761224746704, + 0.04293954372406006 + ], + [ + -18.353666305541992, + 0.6030248403549194, + 0.04293954372406006 + ], + [ + -17.98069953918457, + 0.6030248403549194, + 0.04293954372406006 + ], + [ + -17.98069953918457, + 0.021448761224746704, + 0.04293954372406006 + ], + [ + -18.353666305541992, + 0.021448761224746704, + 1.1572527885437012 + ], + [ + -18.353666305541992, + 0.6030248403549194, + 1.1572527885437012 + ], + [ + -17.98069953918457, + 0.6030248403549194, + 1.1572527885437012 + ], + [ + -17.98069953918457, + 0.021448761224746704, + 1.1572527885437012 + ] + ], + "corners_2d": [ + [ + 628.6079030344617, + 376.3586163732079 + ], + [ + 648.2737836934859, + 379.9229520343348 + ], + [ + 651.3283855402407, + 370.8303942178443 + ], + [ + 631.8312367249205, + 367.3309819780014 + ], + [ + 628.2707631640823, + 348.78637614439634 + ], + [ + 648.5195487638597, + 352.35421111281556 + ], + [ + 651.6617097811965, + 343.25423277142187 + ], + [ + 631.5917613873528, + 339.75328460654407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 182, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -13.519344329833984, + "y": 3.4151225090026855, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2920709252357483, + "y": 0.1890910267829895, + "z": 0.5297145247459412 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 765.1158617421884, + "ymin": 254.65541850322072, + "xmax": 780.8371807753522, + "ymax": 293.5259138786531 + }, + "corners_3d": [ + [ + -13.83739948272705, + 3.2740495204925537, + 0.07038652896881104 + ], + [ + -13.778239250183105, + 3.647575616836548, + 0.07038652896881104 + ], + [ + -13.201289176940918, + 3.5561954975128174, + 0.07038652896881104 + ], + [ + -13.260449409484863, + 3.1826694011688232, + 0.07038652896881104 + ], + [ + -13.83739948272705, + 3.2740495204925537, + 1.1298155784606934 + ], + [ + -13.778239250183105, + 3.647575616836548, + 1.1298155784606934 + ], + [ + -13.201289176940918, + 3.5561954975128174, + 1.1298155784606934 + ], + [ + -13.260449409484863, + 3.1826694011688232, + 1.1298155784606934 + ] + ], + "corners_2d": [ + [ + 765.1801317201301, + 292.82385393916985 + ], + [ + 777.3060735050785, + 293.5259138786531 + ], + [ + 777.0790633738069, + 281.37514078705397 + ], + [ + 765.1158617421884, + 280.69178611475604 + ], + [ + 768.3968358019094, + 266.7363478075429 + ], + [ + 780.8371807753522, + 267.43570324055963 + ], + [ + 780.5558352651542, + 255.3356715827701 + ], + [ + 768.2867193109773, + 254.65541850322072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 594, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -20.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5527600049972534, + "y": 0.3466418385505676, + "z": 0.875852644443512 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 861.9881966503233, + "ymin": 427.28340421534875, + "xmax": 902.5777541687912, + "ymax": 507.6061990361704 + }, + "corners_3d": [ + [ + -20.99315071105957, + 6.937711715698242, + -0.27575159072875977 + ], + [ + -20.956867218017578, + 7.630044937133789, + -0.27575159072875977 + ], + [ + -19.852861404418945, + 7.572186470031738, + -0.27575159072875977 + ], + [ + -19.889144897460938, + 6.879853248596191, + -0.27575159072875977 + ], + [ + -20.99315071105957, + 6.937711715698242, + 1.4759536981582642 + ], + [ + -20.956867218017578, + 7.630044937133789, + 1.4759536981582642 + ], + [ + -19.852861404418945, + 7.572186470031738, + 1.4759536981582642 + ], + [ + -19.889144897460938, + 6.879853248596191, + 1.4759536981582642 + ] + ], + "corners_2d": [ + [ + 861.9881966503233, + 503.40160029351273 + ], + [ + 889.2296817819881, + 507.6061990361704 + ], + [ + 889.744575133275, + 474.1297244699484 + ], + [ + 863.3126899023769, + 470.17233429796073 + ], + [ + 873.7187425598804, + 460.88221247828164 + ], + [ + 902.4520265244901, + 465.1411108579705 + ], + [ + 902.5777541687912, + 431.2792636676241 + ], + [ + 874.7437153966771, + 427.28340421534875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 649, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -27.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3141137659549713, + "y": 0.3154686987400055, + "z": 0.8840035200119019 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 510.60458503380454, + "ymin": 625.7443809413695, + "xmax": 554.9554408466864, + "ymax": 698.6572839174515 + }, + "corners_3d": [ + [ + -27.96435546875, + -0.01923900842666626, + -0.28390246629714966 + ], + [ + -27.997377395629883, + 0.6108337044715881, + -0.28390246629714966 + ], + [ + -27.370010375976562, + 0.64371258020401, + -0.28390246629714966 + ], + [ + -27.33698844909668, + 0.013639867305755615, + -0.28390246629714966 + ], + [ + -27.96435546875, + -0.01923900842666626, + 1.4841046333312988 + ], + [ + -27.997377395629883, + 0.6108337044715881, + 1.4841046333312988 + ], + [ + -27.370010375976562, + 0.64371258020401, + 1.4841046333312988 + ], + [ + -27.33698844909668, + 0.013639867305755615, + 1.4841046333312988 + ] + ], + "corners_2d": [ + [ + 518.2567331560772, + 690.6539998644639 + ], + [ + 544.9006017703147, + 698.6572839174515 + ], + [ + 554.9554408466864, + 673.0025395799955 + ], + [ + 528.7697320540749, + 665.3085545901974 + ], + [ + 510.60458503380454, + 651.8485727852105 + ], + [ + 538.8841041605527, + 660.1047125595042 + ], + [ + 549.686895965137, + 633.6619518283987 + ], + [ + 521.9227663353125, + 625.7443809413695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 333, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -6.921846866607666, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.41859403252601624, + "y": 0.36963438987731934, + "z": 0.9323276877403259 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 485.26638356245417, + "ymin": 84.44382945652058, + "xmax": 518.337779844355, + "ymax": 143.1211915741386 + }, + "corners_3d": [ + [ + -7.277463436126709, + -8.288544654846191, + -0.17993170022964478 + ], + [ + -7.393111228942871, + -7.558377265930176, + -0.17993170022964478 + ], + [ + -6.566230297088623, + -7.427412033081055, + -0.17993170022964478 + ], + [ + -6.450582504272461, + -8.15757942199707, + -0.17993170022964478 + ], + [ + -7.277463436126709, + -8.288544654846191, + 1.6847236156463623 + ], + [ + -7.393111228942871, + -7.558377265930176, + 1.6847236156463623 + ], + [ + -6.566230297088623, + -7.427412033081055, + 1.6847236156463623 + ], + [ + -6.450582504272461, + -8.15757942199707, + 1.6847236156463623 + ] + ], + "corners_2d": [ + [ + 490.8587991715942, + 138.9393284561464 + ], + [ + 507.91884218652933, + 143.1211915741386 + ], + [ + 518.337779844355, + 132.08535059031362 + ], + [ + 501.4688124645446, + 128.024480418894 + ], + [ + 485.26638356245417, + 95.10117284842988 + ], + [ + 502.9375181292588, + 99.18745511305866 + ], + [ + 513.8189345897928, + 88.40753864188406 + ], + [ + 496.35252453390666, + 84.44382945652058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 8891, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 666.558565468426, + "ymin": 273.6006585031609, + "xmax": 774.8090522043706, + "ymax": 451.7853001213663 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 666.558565468426, + 437.7673261488011 + ], + [ + 740.6466674479427, + 451.7853001213663 + ], + [ + 770.1990523047473, + 319.32844095744156 + ], + [ + 704.886970641086, + 308.566015019775 + ], + [ + 667.6233005733726, + 402.8781774412751 + ], + [ + 744.7376647993061, + 416.9811685741688 + ], + [ + 774.8090522043706, + 284.3209486593912 + ], + [ + 707.1569695542883, + 273.6006585031609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4653, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 766.4401841244273, + "ymin": 0.0, + "xmax": 840.7466894649255, + "ymax": 109.58906457240187 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 766.4401841244273, + 103.25279886741026 + ], + [ + 816.4730773131682, + 109.58906457240187 + ], + [ + 832.0213787877402, + 40.124646668443575 + ], + [ + 786.6424645586295, + 34.9450421683365 + ], + [ + 772.7694427427377, + 42.94455668768916 + ], + [ + 825.3890461948984, + 49.03979069310742 + ], + [ + 840.7466894649255, + -17.488321340529296 + ], + [ + 793.2504909520939, + -22.423193540552745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6233, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 432.7843001274767, + "ymin": 251.03232809591884, + "xmax": 539.7969536755736, + "ymax": 382.37466743202 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 539.7969536755736, + 298.5111123164128 + ], + [ + 485.7924931519103, + 289.44122125048045 + ], + [ + 441.02860634655985, + 371.56940527343266 + ], + [ + 499.5026570450128, + 382.37466743202 + ], + [ + 535.9575368703319, + 260.04731945776945 + ], + [ + 479.95224869687667, + 251.03232809591884 + ], + [ + 432.7843001274767, + 332.9227115436988 + ], + [ + 493.6101244246051, + 343.7377134237137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432133227137, + "ymin": 14.487669468648164, + "xmax": 745.7492156627246, + "ymax": 38.39092033912448 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432133227137, + 38.173958693101724 + ], + [ + 741.5998948043863, + 38.39092033912448 + ], + [ + 744.4418568469594, + 30.686162644364686 + ], + [ + 742.606222480758, + 30.47430922372382 + ], + [ + 741.0064846207052, + 22.09085516431196 + ], + [ + 742.8871161721829, + 22.305131676139922 + ], + [ + 745.7492156627246, + 14.696838214985462 + ], + [ + 743.8901750035446, + 14.487669468648164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432125632121, + "ymin": 14.487671437852043, + "xmax": 745.7492149214518, + "ymax": 38.390922383057614 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432125632121, + 38.17396073567164 + ], + [ + 741.5998940504651, + 38.390922383057614 + ], + [ + 744.4418561107917, + 30.68616464016668 + ], + [ + 742.6062217391354, + 30.474311218210573 + ], + [ + 741.0064838556025, + 22.0908571815944 + ], + [ + 742.8871154128057, + 22.305133694785695 + ], + [ + 745.7492149214518, + 14.696840185504243 + ], + [ + 743.8901742566768, + 14.487671437852043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.4561430630243, + "ymin": 0.0, + "xmax": 754.1826625466292, + "ymax": 7.364025850609835 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.4561430630243, + 7.16726415726248 + ], + [ + 750.227035438676, + 7.364025850609835 + ], + [ + 752.8376120952041, + 0.37277158065091953 + ], + [ + 751.0858793792263, + 0.18042532466569128 + ], + [ + 749.7634798956758, + -8.513486856265615 + ], + [ + 751.5561459607327, + -8.319394871526697 + ], + [ + 754.1826625466292, + -15.214878230180943 + ], + [ + 752.4096279723351, + -15.40456307464359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.4461238045782, + "ymin": 0.0, + "xmax": 757.1707679552421, + "ymax": 6.897037867512267 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 751.4461238045782, + 6.700572659360375 + ], + [ + 753.2166305743438, + 6.897037867512267 + ], + [ + 755.7915469335261, + -0.08373919039894417 + ], + [ + 754.0401923906666, + -0.2757988813687575 + ], + [ + 752.7884774790658, + -8.973840229981477 + ], + [ + 754.5807479318537, + -8.780044229664895 + ], + [ + 757.1707679552421, + -15.665070145653488 + ], + [ + 755.3981212675917, + -15.854469025753247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7911362020676, + "ymin": 6.616481349980916, + "xmax": 745.0181985173912, + "ymax": 31.466163266376157 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7911362020676, + 31.437779674453907 + ], + [ + 741.03662166373, + 31.466163266376157 + ], + [ + 743.5600174833679, + 24.713737122815303 + ], + [ + 743.3169974121696, + 24.68594599254095 + ], + [ + 742.2255278959774, + 13.270090223485056 + ], + [ + 742.4745712615221, + 13.298065088364751 + ], + [ + 745.0181985173912, + 6.643864106828573 + ], + [ + 744.7716922128031, + 6.616481349980916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7911232534664, + "ymin": 6.616557550501113, + "xmax": 745.0181860442742, + "ymax": 31.466242258991656 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7911232534664, + 31.437858660101995 + ], + [ + 741.0366087446885, + 31.466242258991656 + ], + [ + 743.5600050063424, + 24.713814466551582 + ], + [ + 743.3169849061748, + 24.686023329526847 + ], + [ + 742.2255149416541, + 13.270168071681894 + ], + [ + 742.4745583376218, + 13.298142943526386 + ], + [ + 745.0181860442742, + 6.643940314093584 + ], + [ + 744.7716797098793, + 6.616557550501113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432133227137, + "ymin": 14.487669468648164, + "xmax": 745.7492156627246, + "ymax": 38.39092033912448 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432133227137, + 38.173958693101724 + ], + [ + 741.5998948043863, + 38.39092033912448 + ], + [ + 744.4418568469594, + 30.686162644364686 + ], + [ + 742.606222480758, + 30.47430922372382 + ], + [ + 741.0064846207052, + 22.09085516431196 + ], + [ + 742.8871161721829, + 22.305131676139922 + ], + [ + 745.7492156627246, + 14.696838214985462 + ], + [ + 743.8901750035446, + 14.487669468648164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432135958201, + "ymin": 14.487669499415631, + "xmax": 745.7492158451486, + "ymax": 38.3909203604145 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432135958201, + 38.17395872501538 + ], + [ + 741.5998949865786, + 38.3909203604145 + ], + [ + 744.4418570270858, + 30.686162665153233 + ], + [ + 742.6062227507695, + 30.474309254886293 + ], + [ + 741.0064848973333, + 22.090855195830613 + ], + [ + 742.8871163567263, + 22.30513169716653 + ], + [ + 745.7492158451486, + 14.696838235510768 + ], + [ + 743.890175276998, + 14.487669499415631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432127808311, + "ymin": 14.487671119907247, + "xmax": 745.7492150449973, + "ymax": 38.39092204240205 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432127808311, + 38.17396040588119 + ], + [ + 741.5998941761186, + 38.39092204240205 + ], + [ + 744.4418562334863, + 30.686164307533033 + ], + [ + 742.606221952743, + 30.474310896183624 + ], + [ + 741.006484075329, + 22.090856855886784 + ], + [ + 742.8871155393686, + 22.305133358344733 + ], + [ + 745.7492150449973, + 14.696839857084512 + ], + [ + 743.890174472306, + 14.487671119907247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.6129233023587, + "ymin": 0.0, + "xmax": 732.3906437003332, + "ymax": 14.854870523996283 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 726.6129233023587, + 14.6533222029243 + ], + [ + 728.3982062438755, + 14.854870523996283 + ], + [ + 731.2892890173509, + 7.6944910319553514 + ], + [ + 729.5234698555246, + 7.497519311024746 + ], + [ + 727.6697352691316, + -1.127953508764449 + ], + [ + 729.4771525054182, + -0.9290818716446552 + ], + [ + 732.3906437003332, + -7.9934101736062075 + ], + [ + 730.603173535479, + -8.187711835064988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7911902283302, + "ymin": 6.616383849885096, + "xmax": 745.018252065808, + "ymax": 31.466062193738253 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7911902283302, + 31.43767861073087 + ], + [ + 741.0366756538226, + 31.466062193738253 + ], + [ + 743.5600705148642, + 24.713638159951074 + ], + [ + 743.3170504791151, + 24.685847038313966 + ], + [ + 742.2255824626421, + 13.269990615154143 + ], + [ + 742.4746257909596, + 13.297965471122438 + ], + [ + 745.018252065808, + 6.643766598102616 + ], + [ + 744.7717457976948, + 6.616383849885096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432125632121, + "ymin": 14.487671437852043, + "xmax": 745.7492149214518, + "ymax": 38.390922383057614 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432125632121, + 38.17396073567164 + ], + [ + 741.5998940504651, + 38.390922383057614 + ], + [ + 744.4418561107917, + 30.68616464016668 + ], + [ + 742.6062217391354, + 30.474311218210573 + ], + [ + 741.0064838556025, + 22.0908571815944 + ], + [ + 742.8871154128057, + 22.305133694785695 + ], + [ + 745.7492149214518, + 14.696840185504243 + ], + [ + 743.8901742566768, + 14.487671437852043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.9415126809129, + "ymin": 5.588944393738927, + "xmax": 746.1409205357598, + "ymax": 33.63220953050086 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 740.9415126809129, + 33.59799509988977 + ], + [ + 741.2364461888765, + 33.63220953050086 + ], + [ + 744.5933176245788, + 24.611735356442125 + ], + [ + 744.3023284658843, + 24.578470111101524 + ], + [ + 742.4564775122244, + 14.470790701237206 + ], + [ + 742.7559191998447, + 14.504489955203724 + ], + [ + 746.1409205357598, + 5.621695020654101 + ], + [ + 745.8455439684639, + 5.588944393738927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7912156992221, + "ymin": 6.616445605775027, + "xmax": 745.0182780473928, + "ymax": 31.466126212451798 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7912156992221, + 31.437742623797703 + ], + [ + 741.036701150257, + 31.466126212451798 + ], + [ + 743.5600959921662, + 24.713700842348544 + ], + [ + 743.3170759313863, + 24.685909715240598 + ], + [ + 742.2256084407258, + 13.270053706385625 + ], + [ + 742.4746517953308, + 13.298028567998415 + ], + [ + 745.0182780473928, + 6.643828359458837 + ], + [ + 744.7717717535259, + 6.616445605775027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432135958201, + "ymin": 14.487669499415631, + "xmax": 745.7492158451486, + "ymax": 38.3909203604145 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432135958201, + 38.17395872501538 + ], + [ + 741.5998949865786, + 38.3909203604145 + ], + [ + 744.4418570270858, + 30.686162665153233 + ], + [ + 742.6062227507695, + 30.474309254886293 + ], + [ + 741.0064848973333, + 22.090855195830613 + ], + [ + 742.8871163567263, + 22.30513169716653 + ], + [ + 745.7492158451486, + 14.696838235510768 + ], + [ + 743.890175276998, + 14.487669499415631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.9414314720577, + "ymin": 5.588935375974756, + "xmax": 746.1408391045863, + "ymax": 33.632200098062924 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 740.9414314720577, + 33.59798567907245 + ], + [ + 741.236364879851, + 33.632200098062924 + ], + [ + 744.5932374030142, + 24.611726185687985 + ], + [ + 744.3022483430319, + 24.578460951632053 + ], + [ + 742.4563950621243, + 14.470781422279174 + ], + [ + 742.7558366479117, + 14.50448066478532 + ], + [ + 746.1408391045863, + 5.621685991765958 + ], + [ + 745.8454626376167, + 5.588935375974756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.9414981060893, + "ymin": 5.589012014720254, + "xmax": 746.1409064286333, + "ymax": 33.63228017069861 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 740.9414981060893, + 33.59806574322312 + ], + [ + 741.236431553985, + 33.63228017069861 + ], + [ + 744.5933035562114, + 24.611804036870865 + ], + [ + 744.3023144571962, + 24.578538794680412 + ], + [ + 742.4564628868872, + 14.470860280818044 + ], + [ + 742.7559045140104, + 14.504559531806876 + ], + [ + 746.1409064286333, + 5.621762638638529 + ], + [ + 745.845529921447, + 5.589012014720254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.7432143397127, + "ymin": 14.487668555836933, + "xmax": 745.7492165806328, + "ymax": 38.39091938102797 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 739.7432143397127, + 38.173957746282156 + ], + [ + 741.5998957279241, + 38.39091938102797 + ], + [ + 744.4418577554225, + 30.686161708829502 + ], + [ + 742.6062234815961, + 30.474308299192842 + ], + [ + 741.0064856487221, + 22.0908542292143 + ], + [ + 742.8871171055017, + 22.305130729896916 + ], + [ + 745.7492165806328, + 14.69683729130196 + ], + [ + 743.8901760150362, + 14.487668555836933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.9415937143071, + "ymin": 5.588955089063859, + "xmax": 746.1410017137739, + "ymax": 33.6322207050427 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 740.9415937143071, + 33.598006273247506 + ], + [ + 741.2365272316683, + 33.6322207050427 + ], + [ + 744.5933975925583, + 24.611746220968882 + ], + [ + 744.302408424721, + 24.57848097449306 + ], + [ + 742.4565597884041, + 14.47080170634564 + ], + [ + 742.7560014857088, + 14.504500961495921 + ], + [ + 746.1410017137739, + 5.621705717113173 + ], + [ + 745.8456251370598, + 5.588955089063859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.8800150939278, + "ymin": 0.0, + "xmax": 759.5460280571748, + "ymax": 0.34762054139184784 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 753.8800150939278, + 0.1552900795194887 + ], + [ + 755.6325535901022, + 0.34762054139184784 + ], + [ + 758.1535702078804, + -6.4870341203717885 + ], + [ + 756.4197999092808, + -6.675096644203336 + ], + [ + 755.2370034754464, + -15.42935042941457 + ], + [ + 757.0108631154318, + -15.23968134615194 + ], + [ + 759.5460280571748, + -21.978890073117782 + ], + [ + 757.7913939436866, + -22.164300963063795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.9415128426527, + "ymin": 5.588943732881376, + "xmax": 746.140920600344, + "ymax": 33.63220882941067 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 740.9415128426527, + 33.59799440949496 + ], + [ + 741.2364462587453, + 33.63220882941067 + ], + [ + 744.5933176898781, + 24.61173467480222 + ], + [ + 744.3023286218217, + 24.578469439859305 + ], + [ + 742.4564776747477, + 14.470790021238315 + ], + [ + 742.7559192690878, + 14.504489264669473 + ], + [ + 746.140920600344, + 5.621694349558766 + ], + [ + 745.8455441250575, + 5.588943732881376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.2308347486544, + "ymin": 18.1704018170185, + "xmax": 744.2164842564019, + "ymax": 41.997140237518465 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 738.2308347486544, + 41.77966749544106 + ], + [ + 740.0811247813948, + 41.997140237518465 + ], + [ + 742.9321124324719, + 34.27395014329295 + ], + [ + 741.102725169949, + 34.06158171102868 + ], + [ + 739.4709570601892, + 25.793720840562287 + ], + [ + 741.3450317302826, + 26.00855624666616 + ], + [ + 744.2164842564019, + 18.380132284517458 + ], + [ + 742.3638505219819, + 18.1704018170185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7911362020676, + "ymin": 6.616481349980916, + "xmax": 745.0181985173912, + "ymax": 31.466163266376157 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7911362020676, + 31.437779674453907 + ], + [ + 741.03662166373, + 31.466163266376157 + ], + [ + 743.5600174833679, + 24.713737122815303 + ], + [ + 743.3169974121696, + 24.68594599254095 + ], + [ + 742.2255278959774, + 13.270090223485056 + ], + [ + 742.4745712615221, + 13.298065088364751 + ], + [ + 745.0181985173912, + 6.643864106828573 + ], + [ + 744.7716922128031, + 6.616481349980916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.7911283802114, + "ymin": 6.616546543742402, + "xmax": 745.0181911136868, + "ymax": 31.46623084892974 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 740.7911283802114, + 31.437847251046435 + ], + [ + 741.0366138673073, + 31.46623084892974 + ], + [ + 743.560010030947, + 24.71380329466149 + ], + [ + 743.3169899348233, + 24.68601215861173 + ], + [ + 742.2255201155683, + 13.270156826925131 + ], + [ + 742.4745635072893, + 13.298131697763608 + ], + [ + 745.0181911136868, + 6.64392930636069 + ], + [ + 744.7716847834529, + 6.616546543742402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.5742969095706, + "ymin": 0.0, + "xmax": 754.5907169491222, + "ymax": 40.032280986781586 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 748.5742969095706, + 39.88839340710439 + ], + [ + 749.8043473237544, + 40.032280986781586 + ], + [ + 750.0957495646205, + 39.212235855824986 + ], + [ + 748.8671813284182, + 39.068709872885904 + ], + [ + 753.0119366563499, + -11.943236503413175 + ], + [ + 754.2932924966186, + -11.805372714145165 + ], + [ + 754.5907169491222, + -12.591053713463623 + ], + [ + 753.3109695386001, + -12.728556909819645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.9582122866004, + "ymin": 0.0, + "xmax": 757.0043991310042, + "ymax": 33.357902910409166 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 750.9582122866004, + 33.2169451662827 + ], + [ + 752.1761945018727, + 33.357902910409166 + ], + [ + 752.4616661051625, + 32.55454699468669 + ], + [ + 751.2451371974564, + 32.41393986624007 + ], + [ + 755.4450068632982, + -18.332657708035526 + ], + [ + 756.7132712442498, + -18.197714016796567 + ], + [ + 757.0043991310042, + -18.96676231499623 + ], + [ + 755.7377105594745, + -19.101356801742668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.043677738885, + "ymin": 305.97401123270123, + "xmax": 991.826696904506, + "ymax": 323.9223446217801 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 990.3269049491597, + 323.9223446217801 + ], + [ + 990.2308608722412, + 313.691736563995 + ], + [ + 968.1906493664895, + 310.1829726829137 + ], + [ + 968.043677738885, + 320.3357512454532 + ], + [ + 991.826696904506, + 319.7092342126386 + ], + [ + 991.7137844774675, + 309.48155142907194 + ], + [ + 969.5749630696866, + 305.97401123270123 + ], + [ + 969.4426683591081, + 316.1235574090732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5336820681828, + "ymin": 0.0, + "xmax": 729.6599271509759, + "ymax": 48.135670029578364 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 724.5336820681828, + 47.98818487883881 + ], + [ + 725.7736449694924, + 48.135670029578364 + ], + [ + 726.0992559821033, + 47.29513213778722 + ], + [ + 724.8607986329766, + 47.14802222079254 + ], + [ + 728.0334346698019, + -4.17866679632823 + ], + [ + 729.3255591543591, + -4.037212404009551 + ], + [ + 729.6599271509759, + -4.843345144653938 + ], + [ + 728.3694375673934, + -4.9844247749524015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.0531599241211, + "ymin": 296.1504359218979, + "xmax": 1185.2824047785973, + "ymax": 579.4816332333078 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1053.091355558567, + 579.4816332333078 + ], + [ + 1052.1622117795878, + 564.0077032607245 + ], + [ + 890.2211238470102, + 531.6018266462129 + ], + [ + 889.0531599241211, + 546.2294864623279 + ], + [ + 1185.2824047785973, + 346.340994276384 + ], + [ + 1181.8044414591582, + 329.9796902932798 + ], + [ + 966.0999352024614, + 296.1504359218979 + ], + [ + 965.8415345105884, + 311.34833304381203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 967.9164049861511, + "ymin": 305.8784289305894, + "xmax": 991.9568997711746, + "ymax": 324.0198462053401 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 990.4403356836042, + 324.0198462053401 + ], + [ + 990.3420113288872, + 313.67867957991086 + ], + [ + 968.0663442271405, + 310.1326149693497 + ], + [ + 967.9164049861511, + 320.394270600041 + ], + [ + 991.9568997711746, + 319.76142159800094 + ], + [ + 991.8413299574526, + 309.42324177328464 + ], + [ + 969.4649316140044, + 305.8784289305894 + ], + [ + 969.3299748943988, + 316.1367806323901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.8579636801259, + "ymin": 21.754994527893416, + "xmax": 742.6752978855851, + "ymax": 75.58587525704348 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 736.8579636801259, + 75.42714650984016 + ], + [ + 738.1420429948676, + 75.58587525704348 + ], + [ + 738.4622082519563, + 74.68129049512999 + ], + [ + 737.1797437940627, + 74.52297900107067 + ], + [ + 741.0071030968319, + 22.62543252945875 + ], + [ + 742.3472011525164, + 22.77825010139793 + ], + [ + 742.6752978855851, + 21.90739321044714 + ], + [ + 741.3369586817604, + 21.754994527893416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.7518218385335, + "ymin": 0.0, + "xmax": 1084.6048171988693, + "ymax": 72.6881336767442 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1022.6619702484098, + 72.6881336767442 + ], + [ + 1022.3533851054433, + 67.54914331721949 + ], + [ + 928.1489828687734, + 56.599805640575255 + ], + [ + 927.7518218385335, + 61.57394494585617 + ], + [ + 1084.6048171988693, + -127.28201611747699 + ], + [ + 1083.7072854886267, + -131.5041869789976 + ], + [ + 973.5243004488916, + -140.46603100829265 + ], + [ + 973.4551842237611, + -136.40051900921588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.6808134743136, + "ymin": 0.0, + "xmax": 751.5866964898448, + "ymax": 40.50790848531176 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 745.6808134743136, + 40.363810960711135 + ], + [ + 746.9111220643247, + 40.50790848531176 + ], + [ + 747.2063773129832, + 39.686667511759936 + ], + [ + 745.9775514554856, + 39.542932375078635 + ], + [ + 750.0034693653387, + -11.48771263013765 + ], + [ + 751.285106460625, + -11.349639453657232 + ], + [ + 751.5866964898448, + -12.136513045189133 + ], + [ + 750.3066684556661, + -12.274224807494875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.7370121496126, + "ymin": 0.0, + "xmax": 755.6992789012985, + "ymax": 29.63962219066167 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 749.7370121496126, + 29.500283573615434 + ], + [ + 750.9477129888744, + 29.63962219066167 + ], + [ + 751.2330623247713, + 28.845489473148575 + ], + [ + 750.0237974515887, + 28.706495451775936 + ], + [ + 754.1478416690376, + -21.889885679803854 + ], + [ + 755.4082134776132, + -21.75655415814458 + ], + [ + 755.6992789012985, + -22.516419461203498 + ], + [ + 754.4404633315839, + -22.64940801357244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.1348399693617, + "ymin": 17.925351001746208, + "xmax": 742.9810666635576, + "ymax": 72.06200129683782 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 737.1348399693617, + 71.90363448387274 + ], + [ + 738.4226548816284, + 72.06200129683782 + ], + [ + 738.7433641971983, + 71.15948197324707 + ], + [ + 737.4571735527281, + 71.0015326498185 + ], + [ + 741.3082456393947, + 18.793109533584698 + ], + [ + 742.6524127458426, + 18.945457419339448 + ], + [ + 742.9810666635576, + 18.07728004295592 + ], + [ + 741.6386691078914, + 17.925351001746208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.9030600984033, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.5666511465011 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1220.1572710852663, + 23.250675663095365 + ], + [ + 1384.021319359185, + 25.5666511465011 + ], + [ + 1307.7801529694457, + -43.69348981730684 + ], + [ + 1161.9030600984033, + -45.534417279600405 + ], + [ + 1360.6140096120262, + -287.7973501225623 + ], + [ + 1564.9659995639372, + -286.3276758660172 + ], + [ + 1448.818692226138, + -329.18560783163593 + ], + [ + 1271.6995240782464, + -330.29469283743583 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00126/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00126/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3768a58069bad3c1f15a46e449032270af9fe89c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00126/meta.json @@ -0,0 +1,6836 @@ +{ + "frame_id": 126, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.0, + "sim_timestamp": 13103.557967451634 + }, + "drone_pose": { + "x": -35.976364918864384, + "y": 4.4549457968867054, + "z": 20.0, + "pitch": -45.20735212424853, + "yaw": -12.421041773523386, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6880521178245544, + 0.1515430212020874, + 0.7096612453460693, + 11.235509872436523 + ], + [ + -0.21509402990341187, + 0.9765933752059937, + -7.450580596923828e-09, + 3.3876290321350098 + ], + [ + -0.6930505037307739, + -0.1526438593864441, + 0.7045431137084961, + -39.704315185546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -35.58016645020046, + "y": 4.218072550037004, + "z": 20.0 + }, + "t1_image_uv": [ + 185.33614396370803, + -606.9737044989724 + ], + "t1_depth": 0.3085016942831398 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -17.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.33685485138141, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -17.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.28644832968711853, + "y": 0.2629515826702118, + "z": 0.5630029439926147 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.5857841622739, + "ymin": 337.5556847002682, + "xmax": 651.281732816946, + "ymax": 382.17889538860686 + }, + "corners_3d": [ + [ + -17.453630447387695, + 0.04928520321846008, + 0.03709322214126587 + ], + [ + -17.453630447387695, + 0.575188398361206, + 0.03709322214126587 + ], + [ + -16.880735397338867, + 0.575188398361206, + 0.03709322214126587 + ], + [ + -16.880735397338867, + 0.04928520321846008, + 0.03709322214126587 + ], + [ + -17.453630447387695, + 0.04928520321846008, + 1.1630990505218506 + ], + [ + -17.453630447387695, + 0.575188398361206, + 1.1630990505218506 + ], + [ + -16.880735397338867, + 0.575188398361206, + 1.1630990505218506 + ], + [ + -16.880735397338867, + 0.04928520321846008, + 1.1630990505218506 + ] + ], + "corners_2d": [ + [ + 628.9165013846922, + 379.32048849006884 + ], + [ + 646.8138185051531, + 382.17889538860686 + ], + [ + 650.9585395462922, + 368.20058886609286 + ], + [ + 633.3016110931501, + 365.4222853929551 + ], + [ + 628.5857841622739, + 351.4584176118356 + ], + [ + 647.0177408800783, + 354.3192057940737 + ], + [ + 651.281732816946, + 340.3339590495142 + ], + [ + 633.1046391296102, + 337.5556847002682 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 126, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 338472, + "2": 289982, + "3": 27077, + "5": 3245, + "6": 3745, + "10": 35, + "12": 1961, + "14": 31807, + "15": 4725, + "20": 3533, + "24": 20424, + "25": 196594 + }, + "instance_pixel_counts": { + "2118": 33, + "3424": 183286, + "5506": 343, + "6215": 131042, + "6284": 1031, + "6290": 4983, + "6992": 122, + "7262": 3944, + "7774": 4108, + "8332": 17163, + "8338": 44720, + "9802": 186, + "9822": 7652, + "10846": 108, + "15184": 3123, + "17738": 609, + "18000": 3533, + "18784": 16, + "21140": 13418, + "23392": 432, + "23627": 212, + "23700": 169365, + "23904": 423, + "24416": 116, + "24928": 86, + "28000": 124, + "28256": 92, + "28768": 54, + "29024": 17, + "35476": 919, + "37524": 10013, + "38540": 1640, + "40588": 15181, + "41562": 22289, + "42330": 4788, + "42897": 2592, + "44945": 47620, + "45898": 955, + "48203": 61, + "48459": 412, + "52038": 24010, + "54859": 934, + "56576": 206, + "56647": 13308, + "56832": 180, + "57088": 613, + "57344": 624, + "57600": 338, + "57856": 9405, + "58368": 4725, + "60928": 6590, + "62081": 3402, + "62101": 278, + "62611": 10950, + "64149": 4485, + "64659": 144739 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -17.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.23168332874774933, + "y": 0.29070353507995605, + "z": 0.5582058429718018 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.0566902039452, + "ymin": 338.8428396140509, + "xmax": 651.8414666924147, + "ymax": 380.8610124880093 + }, + "corners_3d": [ + [ + -17.398866653442383, + 0.02153325080871582, + 0.04189032316207886 + ], + [ + -17.398866653442383, + 0.6029403209686279, + 0.04189032316207886 + ], + [ + -16.93549919128418, + 0.6029403209686279, + 0.04189032316207886 + ], + [ + -16.93549919128418, + 0.02153325080871582, + 0.04189032316207886 + ], + [ + -17.398866653442383, + 0.02153325080871582, + 1.1583020687103271 + ], + [ + -17.398866653442383, + 0.6029403209686279, + 1.1583020687103271 + ], + [ + -16.93549919128418, + 0.6029403209686279, + 1.1583020687103271 + ], + [ + -16.93549919128418, + 0.02153325080871582, + 1.1583020687103271 + ] + ], + "corners_2d": [ + [ + 628.3993109302661, + 377.709536640302 + ], + [ + 648.1622449866511, + 380.8610124880093 + ], + [ + 651.5045818408585, + 369.5518162620473 + ], + [ + 631.9566482401623, + 366.4719740245865 + ], + [ + 628.0566902039452, + 350.083924320889 + ], + [ + 648.4041073336675, + 353.2377485887883 + ], + [ + 651.8414666924147, + 341.92289350566546 + ], + [ + 631.7218819572256, + 338.8428396140509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 180, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -13.0411958694458, + "y": 3.309941291809082, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.28843504190444946, + "y": 0.18061430752277374, + "z": 0.5566356778144836 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 755.6020500198009, + "ymin": 262.29680867483785, + "xmax": 771.1640105355496, + "ymax": 302.28985575823316 + }, + "corners_3d": [ + [ + -13.354333877563477, + 3.1766719818115234, + 0.04347026348114014 + ], + [ + -13.297825813293457, + 3.5334532260894775, + 0.04347026348114014 + ], + [ + -12.728057861328125, + 3.4432106018066406, + 0.04347026348114014 + ], + [ + -12.784565925598145, + 3.0864293575286865, + 0.04347026348114014 + ], + [ + -13.354333877563477, + 3.1766719818115234, + 1.1567416191101074 + ], + [ + -13.297825813293457, + 3.5334532260894775, + 1.1567416191101074 + ], + [ + -12.728057861328125, + 3.4432106018066406, + 1.1567416191101074 + ], + [ + -12.784565925598145, + 3.0864293575286865, + 1.1567416191101074 + ] + ], + "corners_2d": [ + [ + 756.0650667217474, + 301.8283381559081 + ], + [ + 767.6989735021822, + 302.28985575823316 + ], + [ + 767.0800114855491, + 290.11987215676345 + ], + [ + 755.6020500198009, + 289.67062313402295 + ], + [ + 759.2127826107479, + 274.40301306008394 + ], + [ + 771.1640105355496, + 274.86274833761956 + ], + [ + 770.4808654412195, + 262.7439980400488 + ], + [ + 758.6941456042379, + 262.29680867483785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 613, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -19.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4797045886516571, + "y": 0.3473181128501892, + "z": 0.903542160987854 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 864.8317703752934, + "ymin": 423.191659860742, + "xmax": 905.4843703491581, + "ymax": 499.61756235027985 + }, + "corners_3d": [ + [ + -19.920230865478516, + 6.933212757110596, + -0.3034411072731018 + ], + [ + -19.88387680053711, + 7.626896858215332, + -0.3034411072731018 + ], + [ + -18.92578125, + 7.576685428619385, + -0.3034411072731018 + ], + [ + -18.962135314941406, + 6.883001327514648, + -0.3034411072731018 + ], + [ + -19.920230865478516, + 6.933212757110596, + 1.503643274307251 + ], + [ + -19.88387680053711, + 7.626896858215332, + 1.503643274307251 + ], + [ + -18.92578125, + 7.576685428619385, + 1.503643274307251 + ], + [ + -18.962135314941406, + 6.883001327514648, + 1.503643274307251 + ] + ], + "corners_2d": [ + [ + 864.8317703752934, + 496.0829996477197 + ], + [ + 891.8660867420977, + 499.61756235027985 + ], + [ + 891.1964020913827, + 470.86850841092263 + ], + [ + 864.8643310663603, + 467.514936445227 + ], + [ + 876.9473992710405, + 452.0572326350384 + ], + [ + 905.4843703491581, + 455.6342064653092 + ], + [ + 904.4070589290172, + 426.5759873127737 + ], + [ + 876.651436014832, + 423.191659860742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 624, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -26.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5043652057647705, + "y": 0.3045244514942169, + "z": 0.8945927023887634 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 520.6726744912115, + "ymin": 619.1351294734277, + "xmax": 568.5894775097355, + "ymax": 707.6054071034713 + }, + "corners_3d": [ + [ + -27.154918670654297, + -0.018266767263412476, + -0.29449164867401123 + ], + [ + -27.18679428100586, + 0.5899474620819092, + -0.29449164867401123 + ], + [ + -26.179447174072266, + 0.6427403688430786, + -0.29449164867401123 + ], + [ + -26.147571563720703, + 0.03452613949775696, + -0.29449164867401123 + ], + [ + -27.154918670654297, + -0.018266767263412476, + 1.4946937561035156 + ], + [ + -27.18679428100586, + 0.5899474620819092, + 1.4946937561035156 + ], + [ + -26.179447174072266, + 0.6427403688430786, + 1.4946937561035156 + ], + [ + -26.147571563720703, + 0.03452613949775696, + 1.4946937561035156 + ] + ], + "corners_2d": [ + [ + 527.8364478405347, + 700.513252882635 + ], + [ + 554.0224591295205, + 707.6054071034713 + ], + [ + 568.5894775097355, + 666.1414283854705 + ], + [ + 543.148976542024, + 659.4884825703192 + ], + [ + 520.6726744912115, + 661.3894482417024 + ], + [ + 548.4994603480876, + 668.7113358575039 + ], + [ + 564.1559027974861, + 625.9759840106944 + ], + [ + 537.1692723390937, + 619.1351294734277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 338, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -5.921846866607666, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.5861758589744568, + "y": 0.34518003463745117, + "z": 0.9049484133720398 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 474.06978504029854, + "ymin": 86.60672567008925, + "xmax": 510.12685392252456, + "ymax": 147.96521279084396 + }, + "corners_3d": [ + [ + -6.446807861328125, + -8.290606498718262, + -0.15254265069961548 + ], + [ + -6.554803848266602, + -7.608746528625488, + -0.15254265069961548 + ], + [ + -5.396885871887207, + -7.425349712371826, + -0.15254265069961548 + ], + [ + -5.2888898849487305, + -8.107210159301758, + -0.15254265069961548 + ], + [ + -6.446807861328125, + -8.290606498718262, + 1.6573541164398193 + ], + [ + -6.554803848266602, + -7.608746528625488, + 1.6573541164398193 + ], + [ + -5.396885871887207, + -7.425349712371826, + 1.6573541164398193 + ], + [ + -5.2888898849487305, + -8.107210159301758, + 1.6573541164398193 + ] + ], + "corners_2d": [ + [ + 479.9006477185775, + 144.29619229130716 + ], + [ + 496.0807984795722, + 147.96521279084396 + ], + [ + 510.12685392252456, + 132.33648541797214 + ], + [ + 494.21320050400266, + 128.81744894644368 + ], + [ + 474.06978504029854, + 101.72888706776172 + ], + [ + 490.81268574307376, + 105.31671268836783 + ], + [ + 505.4748338511116, + 90.0427023905387 + ], + [ + 489.0169000977827, + 86.60672567008925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 9405, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 661.574371459657, + "ymin": 294.29434901110045, + "xmax": 767.6237896637341, + "ymax": 478.09127503726853 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 661.574371459657, + 465.0913599500681 + ], + [ + 737.7336085456798, + 478.09127503726853 + ], + [ + 763.1901705383186, + 339.21668544839946 + ], + [ + 696.410003422385, + 329.31626894217004 + ], + [ + 662.4583616115692, + 430.3459402326526 + ], + [ + 741.7887279486808, + 443.4464358819159 + ], + [ + 767.6237896637341, + 304.16742887796954 + ], + [ + 698.4182025566237, + 294.29434901110045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4725, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 751.8366501931381, + "ymin": 0.0, + "xmax": 823.7635119676189, + "ymax": 121.5702276287468 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 751.8366501931381, + 115.81540160574471 + ], + [ + 802.5614861160361, + 121.5702276287468 + ], + [ + 815.7169466816267, + 50.08333695429957 + ], + [ + 769.8401043090051, + 45.39883311090938 + ], + [ + 757.4962234980954, + 55.227146826050955 + ], + [ + 810.8568677138319, + 60.768618462449865 + ], + [ + 823.7635119676189, + -7.752619399384173 + ], + [ + 775.7415250400778, + -12.218956316511651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6590, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 418.96425704627416, + "ymin": 275.1710238900432, + "xmax": 527.4575029284333, + "ymax": 410.7003769064681 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 527.4575029284333, + 322.0999821030601 + ], + [ + 471.78805588797115, + 313.6852935225095 + ], + [ + 427.9700723174789, + 400.61502219251736 + ], + [ + 488.4971772251391, + 410.7003769064681 + ], + [ + 523.0575362134111, + 283.547998971833 + ], + [ + 465.27962057762795, + 275.1710238900432 + ], + [ + 418.96425704627416, + 362.0057491279911 + ], + [ + 481.9910969464862, + 372.1202708515019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664199978855, + "ymin": 26.133147466572723, + "xmax": 728.9641791518848, + "ymax": 50.354714622221934 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664199978855, + 50.1571738864526 + ], + [ + 725.2512280247661, + 50.354714622221934 + ], + [ + 727.8530353500264, + 42.39481334475602 + ], + [ + 725.9902721493607, + 42.20202716889651 + ], + [ + 724.4335834891649, + 33.99069471724545 + ], + [ + 726.3428509709406, + 34.18584286851012 + ], + [ + 728.9641791518848, + 26.32353961356091 + ], + [ + 727.0775292085278, + 26.133147466572723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664193016406, + "ymin": 26.1331495010985, + "xmax": 728.9641784731565, + "ymax": 50.35471673440696 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664193016406, + 50.1571759973682 + ], + [ + 725.2512273343683, + 50.35471673440696 + ], + [ + 727.8530346762481, + 42.39481540609586 + ], + [ + 725.990271469871, + 42.20202922901262 + ], + [ + 724.4335827874794, + 33.990696802585944 + ], + [ + 726.342850275255, + 34.185844955120615 + ], + [ + 728.9641784731565, + 26.323541649310528 + ], + [ + 727.0775285239407, + 26.1331495010985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.0799921376758, + "ymin": 0.0, + "xmax": 736.4102473388575, + "ymax": 18.363255700146794 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 731.0799921376758, + 18.184472636164628 + ], + [ + 732.875274452208, + 18.363255700146794 + ], + [ + 735.2640325509594, + 11.155051376584879 + ], + [ + 733.4887633770769, + 10.980365615480082 + ], + [ + 732.1884786847154, + 2.4250236370921243 + ], + [ + 734.0059376228044, + 2.601421442854644 + ], + [ + 736.4102473388575, + -4.509640524672307 + ], + [ + 734.613296452126, + -4.6819473435684245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.0828515309755, + "ymin": 0.0, + "xmax": 739.4106440410762, + "ymax": 17.84485131260834 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 734.0828515309755, + 17.666364497051347 + ], + [ + 735.8775036917515, + 17.84485131260834 + ], + [ + 738.2297262427173, + 10.64852447239565 + ], + [ + 736.4550738882929, + 10.47412483827594 + ], + [ + 735.2269237952046, + 1.9138348424871197 + ], + [ + 737.0437365985264, + 2.0899367987388473 + ], + [ + 739.4106440410762, + -5.00926611087317 + ], + [ + 737.6143254457013, + -5.18128730819501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3286531093603, + "ymin": 18.228326913195872, + "xmax": 728.1263540568109, + "ymax": 43.395218917542024 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3286531093603, + 43.36937375818121 + ], + [ + 724.5778632256973, + 43.395218917542024 + ], + [ + 726.89004095811, + 36.41816337335558 + ], + [ + 726.6434133251322, + 36.3928697543912 + ], + [ + 725.5416714136547, + 25.10537882320648 + ], + [ + 725.7945153158988, + 25.130859498123925 + ], + [ + 728.1263540568109, + 18.253256131442015 + ], + [ + 727.8761681331131, + 18.228326913195872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3286428079668, + "ymin": 18.228405435346076, + "xmax": 728.1263441975084, + "ymax": 43.39530033120866 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3286428079668, + 43.36945516537736 + ], + [ + 724.5778529550909, + 43.39530033120866 + ], + [ + 726.89003108402, + 36.418243049605564 + ], + [ + 726.6434034208897, + 36.39294942437664 + ], + [ + 725.5416611181064, + 25.10545908230216 + ], + [ + 725.7945050520419, + 25.130939763690662 + ], + [ + 728.1263441975084, + 18.253334659854318 + ], + [ + 727.8761582427816, + 18.228405435346076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664199978855, + "ymin": 26.133147466572723, + "xmax": 728.9641791518848, + "ymax": 50.354714622221934 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664199978855, + 50.1571738864526 + ], + [ + 725.2512280247661, + 50.354714622221934 + ], + [ + 727.8530353500264, + 42.39481334475602 + ], + [ + 725.9902721493607, + 42.20202716889651 + ], + [ + 724.4335834891649, + 33.99069471724545 + ], + [ + 726.3428509709406, + 34.18584286851012 + ], + [ + 728.9641791518848, + 26.32353961356091 + ], + [ + 727.0775292085278, + 26.133147466572723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664202751382, + "ymin": 26.13314749457919, + "xmax": 728.9641793370118, + "ymax": 50.35471464160565 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664202751382, + 50.1571739155105 + ], + [ + 725.2512282097124, + 50.35471464160565 + ], + [ + 727.8530355328089, + 42.39481336367311 + ], + [ + 725.9902724233717, + 42.202027197255234 + ], + [ + 724.4335837700146, + 33.99069474595137 + ], + [ + 726.3428511582877, + 34.18584288765908 + ], + [ + 728.9641793370118, + 26.323539632243126 + ], + [ + 727.0775294860515, + 26.13314749457919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664195100989, + "ymin": 26.13314917134636, + "xmax": 728.9641785862779, + "ymax": 50.354716382376125 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664195100989, + 50.157175655234994 + ], + [ + 725.2512274494345, + 50.354716382376125 + ], + [ + 727.8530347885444, + 42.39481506253918 + ], + [ + 725.9902716744564, + 42.202028895112846 + ], + [ + 724.4335829980436, + 33.990696464597875 + ], + [ + 726.3428503912027, + 34.18584460735224 + ], + [ + 728.9641785862779, + 26.32354131001898 + ], + [ + 727.0775287305465, + 26.13314917134636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.2703982881122, + "ymin": 3.0041509195461344, + "xmax": 714.6542844823614, + "ymax": 26.34279620297235 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 709.2703982881122, + 26.159421943719792 + ], + [ + 711.0822731003457, + 26.34279620297235 + ], + [ + 713.7555314323805, + 18.950545291485412 + ], + [ + 711.9640342887697, + 18.771426236908724 + ], + [ + 710.1243389219636, + 10.294768519387333 + ], + [ + 711.958806802795, + 10.475752475592742 + ], + [ + 714.6542844823614, + 3.1808842733421443 + ], + [ + 712.8407029247036, + 3.0041509195461344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3287041639435, + "ymin": 18.228225950193462, + "xmax": 728.1264046710504, + "ymax": 43.395114236656696 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3287041639435, + 43.3692690856156 + ], + [ + 724.5779142421976, + 43.395114236656696 + ], + [ + 726.8900910591466, + 36.41806092642281 + ], + [ + 726.6434634634679, + 36.3927673155132 + ], + [ + 725.5417230045847, + 25.105275626857406 + ], + [ + 725.7945668676264, + 25.13075629345451 + ], + [ + 728.1264046710504, + 18.25315516038785 + ], + [ + 727.8762187857367, + 18.228225950193462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664193016406, + "ymin": 26.1331495010985, + "xmax": 728.9641784731565, + "ymax": 50.35471673440696 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664193016406, + 50.1571759973682 + ], + [ + 725.2512273343683, + 50.35471673440696 + ], + [ + 727.8530346762481, + 42.39481540609586 + ], + [ + 725.990271469871, + 42.20202922901262 + ], + [ + 724.4335827874794, + 33.990696802585944 + ], + [ + 726.342850275255, + 34.185844955120615 + ], + [ + 728.9641784731565, + 26.323541649310528 + ], + [ + 727.0775285239407, + 26.1331495010985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5360551842219, + "ymin": 17.157699593072778, + "xmax": 729.2244039045216, + "ymax": 45.59720245771058 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 724.5360551842219, + 45.56604665220658 + ], + [ + 724.8354714229378, + 45.59720245771058 + ], + [ + 727.9100557805591, + 36.27701392025347 + ], + [ + 727.6147709876906, + 36.24674168959427 + ], + [ + 725.8184870514259, + 26.337613197799612 + ], + [ + 726.1225078843746, + 26.36830966885225 + ], + [ + 729.2244039045216, + 17.18751259565613 + ], + [ + 728.9246417234807, + 17.157699593072778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3287321791493, + "ymin": 18.228289114915924, + "xmax": 728.1264331648684, + "ymax": 43.395179727370305 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3287321791493, + 43.369334571124284 + ], + [ + 724.5779422836116, + 43.395179727370305 + ], + [ + 726.8901190300701, + 36.418125019525405 + ], + [ + 726.6434914087243, + 36.39283140357662 + ], + [ + 725.5417515466733, + 25.10534018881185 + ], + [ + 725.7945954366926, + 25.13082086061422 + ], + [ + 728.1264331648684, + 18.253218330147604 + ], + [ + 727.8762472531421, + 18.228289114915924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.3664202751382, + "ymin": 26.13314749457919, + "xmax": 728.9641793370118, + "ymax": 50.35471464160565 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.3664202751382, + 50.1571739155105 + ], + [ + 725.2512282097124, + 50.35471464160565 + ], + [ + 727.8530355328089, + 42.39481336367311 + ], + [ + 725.9902724233717, + 42.202027197255234 + ], + [ + 724.4335837700146, + 33.99069474595137 + ], + [ + 726.3428511582877, + 34.18584288765908 + ], + [ + 728.9641793370118, + 26.323539632243126 + ], + [ + 727.0775294860515, + 26.13314749457919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5359727406312, + "ymin": 17.157691384129578, + "xmax": 729.22432126473, + "ymax": 45.597193868537715 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 724.5359727406312, + 45.56603807352525 + ], + [ + 724.8353888785188, + 45.597193868537715 + ], + [ + 727.9099743751713, + 36.27700557467409 + ], + [ + 727.6146896816288, + 36.24673335419777 + ], + [ + 725.8184033400311, + 26.337604745601197 + ], + [ + 726.1224240704796, + 26.368301206304636 + ], + [ + 729.22432126473, + 17.187504376672962 + ], + [ + 728.9245591846372, + 17.157691384129578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5360429417206, + "ymin": 17.157769306958528, + "xmax": 729.2243920865006, + "ymax": 45.59727530885499 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 724.5360429417206, + 45.5661195060664 + ], + [ + 724.8354591203267, + 45.59727530885499 + ], + [ + 727.9100439919929, + 36.277084705299785 + ], + [ + 727.6147592588509, + 36.24681247737567 + ], + [ + 725.8184747685541, + 26.337684977512822 + ], + [ + 726.1224955409818, + 26.368381445994032 + ], + [ + 729.2243920865006, + 17.187582306946354 + ], + [ + 728.9246299655999, + 17.157769306958528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.366420992931, + "ymin": 26.133146514658222, + "xmax": 728.9641800466302, + "ymax": 50.35471362428041 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.366420992931, + 50.157172898796716 + ], + [ + 725.2512289248039, + 50.35471362428041 + ], + [ + 727.8530362352631, + 42.394812370837315 + ], + [ + 725.9902731284644, + 42.202026205008906 + ], + [ + 724.4335844953235, + 33.990693741555674 + ], + [ + 726.3428518808247, + 34.185841882651744 + ], + [ + 728.9641800466302, + 26.32353865173269 + ], + [ + 727.0775301983766, + 26.133146514658222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5361375122801, + "ymin": 17.157709529063197, + "xmax": 729.2244863486336, + "ymax": 45.597212842218255 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 724.5361375122801, + 45.566057035722565 + ], + [ + 724.8355537596913, + 45.597212842218255 + ], + [ + 727.9101369895853, + 36.277024010250784 + ], + [ + 727.6148521882635, + 36.24675177864202 + ], + [ + 725.8185706491363, + 26.33762342822257 + ], + [ + 726.1225914910483, + 26.368319900267068 + ], + [ + 729.2244863486336, + 17.187522532595835 + ], + [ + 728.9247241588826, + 17.157709529063197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.3086396315097, + "ymin": 0.0, + "xmax": 741.5802747587582, + "ymax": 11.093100704369988 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 736.3086396315097, + 10.918449951599882 + ], + [ + 738.0845279368796, + 11.093100704369988 + ], + [ + 740.3864743617712, + 4.050583194593514 + ], + [ + 738.6301725696482, + 3.879889307538292 + ], + [ + 737.4669742265303, + -4.743019533323377 + ], + [ + 739.2645591633599, + -4.570747661364749 + ], + [ + 741.5802747587582, + -11.516412014773778 + ], + [ + 739.8027553907144, + -11.684734777944868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5360553233825, + "ymin": 17.157698911508817, + "xmax": 729.2244039455694, + "ymax": 45.59720173570787 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 724.5360553233825, + 45.56604593994433 + ], + [ + 724.8354714688227, + 45.59720173570787 + ], + [ + 727.9100558224357, + 36.27701321872706 + ], + [ + 727.6147711215513, + 36.246740997531276 + ], + [ + 725.8184871912765, + 26.337612496038844 + ], + [ + 726.12250792951, + 26.368308957493582 + ], + [ + 729.2244039455694, + 17.187511904771384 + ], + [ + 728.9246418579122, + 17.157698911508817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8812984135907, + "ymin": 29.84830529859653, + "xmax": 727.4602293815283, + "ymax": 53.99251157299375 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 721.8812984135907, + 53.79450925316439 + ], + [ + 723.7596659988902, + 53.99251157299375 + ], + [ + 726.3713024932674, + 46.013710675093705 + ], + [ + 724.514829848298, + 45.82045914208243 + ], + [ + 722.9260752927316, + 37.726508051484416 + ], + [ + 724.8287345367122, + 37.92216127171872 + ], + [ + 727.4602293815283, + 30.039205283048773 + ], + [ + 725.5800319274344, + 29.84830529859653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3286531093603, + "ymin": 18.228326913195872, + "xmax": 728.1263540568109, + "ymax": 43.395218917542024 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3286531093603, + 43.36937375818121 + ], + [ + 724.5778632256973, + 43.395218917542024 + ], + [ + 726.89004095811, + 36.41816337335558 + ], + [ + 726.6434133251322, + 36.3928697543912 + ], + [ + 725.5416714136547, + 25.10537882320648 + ], + [ + 725.7945153158988, + 25.130859498123925 + ], + [ + 728.1263540568109, + 18.253256131442015 + ], + [ + 727.8761681331131, + 18.228326913195872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.8881765885044, + "ymin": 0.0, + "xmax": 740.1271250960467, + "ymax": 7.368885898801295 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 734.8881765885044, + 7.196333257390904 + ], + [ + 736.6529650431062, + 7.368885898801295 + ], + [ + 738.9574126618775, + 0.4105055347641837 + ], + [ + 737.2119676868267, + 0.24183907116037062 + ], + [ + 736.0224698722152, + -8.4141596064091 + ], + [ + 737.8086830995273, + -8.24398193494818 + ], + [ + 740.1271250960467, + -15.105682677073617 + ], + [ + 738.360725467047, + -15.271982622667224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.3286475884556, + "ymin": 18.228394050439874, + "xmax": 728.1263489250341, + "ymax": 43.39528852706212 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 724.3286475884556, + 43.36944336216902 + ], + [ + 724.5778577312465, + 43.39528852706212 + ], + [ + 726.8900357674222, + 36.41823149736672 + ], + [ + 726.6434081085359, + 36.39293787304615 + ], + [ + 725.5416659450277, + 25.105447445556592 + ], + [ + 725.7945098745029, + 25.130928126006836 + ], + [ + 728.1263489250341, + 18.253323274040156 + ], + [ + 727.8761629746747, + 18.228394050439874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.5635486344969, + "ymin": 0.0, + "xmax": 736.912218090752, + "ymax": 51.06456234243251 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 731.5635486344969, + 50.933932955003115 + ], + [ + 732.8100871643231, + 51.06456234243251 + ], + [ + 733.0762728451714, + 50.21959472187882 + ], + [ + 731.8312818679606, + 50.089300560573236 + ], + [ + 735.3414210569497, + -1.1415272563006056 + ], + [ + 736.6401829233511, + -1.016273470559895 + ], + [ + 736.912218090752, + -1.8264330703941596 + ], + [ + 735.6151361431861, + -1.9513521881991096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.7423433488337, + "ymin": 0.0, + "xmax": 739.1193023344051, + "ymax": 44.18864582308453 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 733.7423433488337, + 44.06073183027331 + ], + [ + 734.9762847415054, + 44.18864582308453 + ], + [ + 735.2369400293089, + 43.36123316897823 + ], + [ + 734.0045151237554, + 43.233644010810394 + ], + [ + 737.5680560457832, + -7.728992047114787 + ], + [ + 738.8531483900542, + -7.60644760078884 + ], + [ + 739.1193023344051, + -8.399092545159363 + ], + [ + 737.8358547936945, + -8.521313116256692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.9686245356787, + "ymin": 333.8159269441582, + "xmax": 998.8398518793779, + "ymax": 352.1813267928554 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 997.2723019911714, + 352.1813267928554 + ], + [ + 996.6245806941118, + 341.31407423492516 + ], + [ + 973.9686245356787, + 338.03060095674084 + ], + [ + 974.3553257334156, + 348.8222953303285 + ], + [ + 998.8398518793779, + 347.96535132383906 + ], + [ + 998.1714835910269, + 337.09893503622163 + ], + [ + 975.4122168380054, + 333.8159269441582 + ], + [ + 975.8171662496345, + 344.606462992595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.5547441758446, + "ymin": 6.318789728012916, + "xmax": 712.001052708966, + "ymax": 59.71174070887287 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 707.5547441758446, + 59.57765599877354 + ], + [ + 708.8128331877662, + 59.71174070887287 + ], + [ + 709.1137307894553, + 58.844434636751714 + ], + [ + 707.8572176868139, + 58.71069853235923 + ], + [ + 710.3801751479116, + 7.150920435672447 + ], + [ + 711.6914860455493, + 7.279626880308172 + ], + [ + 712.001052708966, + 6.447147581457102 + ], + [ + 710.6914538435807, + 6.318789728012916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.4562285414748, + "ymin": 323.87993659403907, + "xmax": 1197.4278444325264, + "ymax": 604.533852562733 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1060.0271554568728, + 604.533852562733 + ], + [ + 1058.4253635469495, + 588.3517896811378 + ], + [ + 893.0767629112382, + 558.428378502871 + ], + [ + 892.4562285414748, + 573.8051739367817 + ], + [ + 1197.4278444325264, + 372.7529810181461 + ], + [ + 1192.88630152608, + 355.46156649791396 + ], + [ + 971.7342878259261, + 323.87993659403907 + ], + [ + 972.2835463272786, + 340.04562470168275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.8378423572192, + "ymin": 333.7181230855861, + "xmax": 998.9768736487691, + "ymax": 352.2810910000065 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 997.3917754842685, + 352.2810910000065 + ], + [ + 996.7357580665478, + 341.29645076103077 + ], + [ + 973.8378423572192, + 337.9780981094677 + ], + [ + 974.2272032791591, + 348.8855480503725 + ], + [ + 998.9768736487691, + 348.0197865019366 + ], + [ + 998.299749246892, + 337.0359987845329 + ], + [ + 975.2963010500164, + 333.7181230855861 + ], + [ + 975.7042919093018, + 344.62438794731696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.8617649010483, + "ymin": 33.54289178650839, + "xmax": 726.0233191548847, + "ymax": 87.64232190078303 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 720.8617649010483, + 87.49792660864767 + ], + [ + 722.1648936673747, + 87.64232190078303 + ], + [ + 722.4579351518402, + 86.70835826594714 + ], + [ + 721.1564973417304, + 86.56435097323168 + ], + [ + 724.3622843259418, + 34.44241984453731 + ], + [ + 725.72259733993, + 34.58155837790292 + ], + [ + 726.0233191548847, + 33.68164029291705 + ], + [ + 724.6648487286147, + 33.54289178650839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.756388373696, + "ymin": 0.0, + "xmax": 1068.0903392156422, + "ymax": 80.8000039762432 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1008.1864359406844, + 80.8000039762432 + ], + [ + 1007.6671960736318, + 75.55450498912751 + ], + [ + 912.9619702176185, + 65.69240768929842 + ], + [ + 912.756388373696, + 70.78684666343679 + ], + [ + 1068.0903392156422, + -119.69129650468983 + ], + [ + 1066.9568183646802, + -124.0069944464397 + ], + [ + 956.2426547030811, + -132.0920717503206 + ], + [ + 956.3844061661252, + -127.92028283051133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.6587170453055, + "ymin": 0.0, + "xmax": 733.8953167872157, + "ymax": 51.592200420668746 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 728.6587170453055, + 51.461361474737714 + ], + [ + 729.9056779535247, + 51.592200420668746 + ], + [ + 730.1758092502434, + 50.74587807910336 + ], + [ + 728.9303968934892, + 50.61537516575487 + ], + [ + 732.3197910148294, + -0.6357906521956807 + ], + [ + 733.6190121411487, + -0.5103276302368158 + ], + [ + 733.8953167872157, + -1.32183977897688 + ], + [ + 732.5977767125528, + -1.4469672946295304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.383298779982, + "ymin": 0.0, + "xmax": 737.6741386010857, + "ymax": 40.39390448613199 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 732.383298779982, + 40.26747686984618 + ], + [ + 733.6097838207808, + 40.39390448613199 + ], + [ + 733.8706482876446, + 39.57610140624706 + ], + [ + 732.6456614509186, + 39.449992982689366 + ], + [ + 736.130689152535, + -11.3621215113439 + ], + [ + 737.4076965246331, + -11.241058638995469 + ], + [ + 737.6741386010857, + -12.024125686383627 + ], + [ + 736.3987553897597, + -12.14487053542473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.0952634977403, + "ymin": 29.693067811306378, + "xmax": 726.2821998643599, + "ymax": 84.10298723679534 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 721.0952634977403, + 83.95891285882976 + ], + [ + 722.4022046877305, + 84.10298723679534 + ], + [ + 722.6957713988826, + 83.17110236730804 + ], + [ + 721.3905310718321, + 83.0274162422088 + ], + [ + 724.6164686697408, + 30.589883253580297 + ], + [ + 725.9809365160542, + 30.728602877767628 + ], + [ + 726.2821998643599, + 29.831397413532102 + ], + [ + 724.9195858763627, + 29.693067811306378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.3360999351005, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 27.72470233819172 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1202.0408450558352, + 27.52923021839024 + ], + [ + 1363.7142279268028, + 27.72470233819172 + ], + [ + 1285.4152758555301, + -41.28130210573664 + ], + [ + 1141.3360999351005, + -41.4365780043056 + ], + [ + 1337.891037428466, + -283.19882013561926 + ], + [ + 1538.7092132853168, + -283.0749557571711 + ], + [ + 1420.9469793359547, + -325.6849085578615 + ], + [ + 1246.5774420214311, + -325.77832717117406 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00127/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00127/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eafa4b44ee268ee794a9ee7e210cf58078e9587 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00127/meta.json @@ -0,0 +1,6837 @@ +{ + "frame_id": 127, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.5, + "sim_timestamp": 13112.952201728942 + }, + "drone_pose": { + "x": -35.58016645020046, + "y": 4.218072550037004, + "z": 20.0, + "pitch": -45.1299811548126, + "yaw": -11.668464602581833, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6909210681915283, + 0.14268633723258972, + 0.7087090611457825, + 11.010766983032227 + ], + [ + -0.20224830508232117, + 0.97933429479599, + -7.450580596923828e-09, + 3.0651254653930664 + ], + [ + -0.694063127040863, + -0.143335223197937, + 0.7055007815361023, + -39.40949630737305 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -35.17914114003137, + "y": 3.9920187095260418, + "z": 20.0 + }, + "t1_image_uv": [ + 204.65961986661193, + -604.3656216393704 + ], + "t1_depth": 0.3093316589016778 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -16.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.373577895096766, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -16.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.27624449133872986, + "y": 0.2535074055194855, + "z": 0.5585622191429138 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.1148362792225, + "ymin": 338.0461615574628, + "xmax": 650.7610422922141, + "ymax": 381.68470520461625 + }, + "corners_3d": [ + [ + -16.94342803955078, + 0.0587293803691864, + 0.0415339469909668 + ], + [ + -16.94342803955078, + 0.565744161605835, + 0.0415339469909668 + ], + [ + -16.39093780517578, + 0.565744161605835, + 0.0415339469909668 + ], + [ + -16.39093780517578, + 0.0587293803691864, + 0.0415339469909668 + ], + [ + -16.94342803955078, + 0.0587293803691864, + 1.1586583852767944 + ], + [ + -16.94342803955078, + 0.565744161605835, + 1.1586583852767944 + ], + [ + -16.39093780517578, + 0.565744161605835, + 1.1586583852767944 + ], + [ + -16.39093780517578, + 0.0587293803691864, + 1.1586583852767944 + ] + ], + "corners_2d": [ + [ + 629.4269145273148, + 379.10148704833443 + ], + [ + 646.7061119876776, + 381.68470520461625 + ], + [ + 650.4559408310023, + 368.205243416896 + ], + [ + 633.4026526015145, + 365.6920785139059 + ], + [ + 629.1148362792225, + 351.45792809622105 + ], + [ + 646.9045868324808, + 354.042840706843 + ], + [ + 650.7610422922141, + 340.5589466536527 + ], + [ + 633.2106557571503, + 338.0461615574628 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 127, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 336529, + "2": 289195, + "3": 28476, + "5": 3217, + "6": 3846, + "10": 107, + "12": 1938, + "14": 33267, + "15": 4752, + "20": 3366, + "24": 20245, + "25": 196662 + }, + "instance_pixel_counts": { + "2118": 106, + "3424": 179385, + "5506": 367, + "6215": 129586, + "6284": 1144, + "6290": 5216, + "6992": 241, + "7262": 4102, + "7774": 4239, + "8332": 16930, + "8338": 44344, + "9802": 116, + "9822": 7937, + "10846": 521, + "15184": 2976, + "17738": 630, + "18000": 3366, + "21140": 14424, + "23392": 447, + "23627": 80, + "23700": 167128, + "23904": 430, + "24416": 125, + "24928": 85, + "28000": 167, + "28256": 132, + "28768": 100, + "29024": 47, + "29280": 35, + "29792": 8, + "35476": 979, + "37524": 9962, + "38540": 1750, + "40588": 15052, + "41562": 23823, + "42330": 4653, + "42897": 2926, + "44945": 47082, + "45898": 939, + "48203": 62, + "48459": 327, + "52038": 25165, + "54859": 909, + "56576": 199, + "56647": 17277, + "56832": 185, + "57088": 589, + "57344": 629, + "57600": 336, + "57856": 9690, + "58368": 4752, + "60928": 6778, + "62081": 3479, + "62101": 302, + "62611": 11960, + "64149": 4363, + "64659": 143017 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 199, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -16.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2889111042022705, + "y": 0.271346777677536, + "z": 0.5578020215034485 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.3954173031547, + "ymin": 337.67433503019424, + "xmax": 651.4669853597093, + "ymax": 382.07105252566106 + }, + "corners_3d": [ + [ + -16.95609474182129, + 0.040890008211135864, + 0.04229414463043213 + ], + [ + -16.95609474182129, + 0.5835835933685303, + 0.04229414463043213 + ], + [ + -16.378271102905273, + 0.5835835933685303, + 0.04229414463043213 + ], + [ + -16.378271102905273, + 0.040890008211135864, + 0.04229414463043213 + ], + [ + -16.95609474182129, + 0.040890008211135864, + 1.157898187637329 + ], + [ + -16.95609474182129, + 0.5835835933685303, + 1.157898187637329 + ], + [ + -16.378271102905273, + 0.5835835933685303, + 1.157898187637329 + ], + [ + -16.378271102905273, + 0.040890008211135864, + 1.157898187637329 + ] + ], + "corners_2d": [ + [ + 628.7277496999138, + 379.3042932669673 + ], + [ + 647.2288750732041, + 382.07105252566106 + ], + [ + 651.1423770757814, + 367.97085345589596 + ], + [ + 632.8941568571922, + 365.2825176351137 + ], + [ + 628.3954173031547, + 351.6985019740433 + ], + [ + 647.4426164546984, + 354.4671256209727 + ], + [ + 651.4669853597093, + 340.36221629829737 + ], + [ + 632.6877329592417, + 337.67433503019424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 185, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -12.5411958694458, + "y": 3.309941291809082, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.2682012915611267, + "y": 0.18596526980400085, + "z": 0.5434789657592773 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 753.6744727173016, + "ymin": 262.28779432614357, + "xmax": 769.5772479483855, + "ymax": 300.6264926608576 + }, + "corners_3d": [ + [ + -12.835186958312988, + 3.1682214736938477, + 0.056626975536346436 + ], + [ + -12.777003288269043, + 3.5355730056762695, + 0.056626975536346436 + ], + [ + -12.247204780578613, + 3.4516611099243164, + 0.056626975536346436 + ], + [ + -12.305388450622559, + 3.0843095779418945, + 0.056626975536346436 + ], + [ + -12.835186958312988, + 3.1682214736938477, + 1.143584966659546 + ], + [ + -12.777003288269043, + 3.5355730056762695, + 1.143584966659546 + ], + [ + -12.247204780578613, + 3.4516611099243164, + 1.143584966659546 + ], + [ + -12.305388450622559, + 3.0843095779418945, + 1.143584966659546 + ] + ], + "corners_2d": [ + [ + 754.3077415295464, + 300.2579740305873 + ], + [ + 766.2484916960174, + 300.6264926608576 + ], + [ + 765.4663127537435, + 289.35986940550373 + ], + [ + 753.6744727173016, + 289.0004675207234 + ], + [ + 757.3203999577864, + 273.49651605541436 + ], + [ + 769.5772479483855, + 273.86356198199235 + ], + [ + 768.7321891827577, + 262.64552514775994 + ], + [ + 756.6321877851585, + 262.28779432614357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 589, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -18.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3457720875740051, + "y": 0.3097414970397949, + "z": 0.8668930530548096 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 867.3323265757784, + "ymin": 425.6316051290656, + "xmax": 904.5904373382808, + "ymax": 491.5273379670117 + }, + "corners_3d": [ + [ + -19.284515380859375, + 6.963728427886963, + -0.2667919993400574 + ], + [ + -19.252094268798828, + 7.582362174987793, + -0.2667919993400574 + ], + [ + -18.56149673461914, + 7.546169757843018, + -0.2667919993400574 + ], + [ + -18.593917846679688, + 6.9275360107421875, + -0.2667919993400574 + ], + [ + -19.284515380859375, + 6.963728427886963, + 1.466994047164917 + ], + [ + -19.252094268798828, + 7.582362174987793, + 1.466994047164917 + ], + [ + -18.56149673461914, + 7.546169757843018, + 1.466994047164917 + ], + [ + -18.593917846679688, + 6.9275360107421875, + 1.466994047164917 + ] + ], + "corners_2d": [ + [ + 867.7122891915917, + 488.6662517982119 + ], + [ + 891.670896614907, + 491.5273379670117 + ], + [ + 890.8393961432529, + 470.9181391688346 + ], + [ + 867.3323265757784, + 468.1635162199361 + ], + [ + 879.3698324698398, + 446.3292872623434 + ], + [ + 904.5904373382808, + 449.2207385966972 + ], + [ + 903.4619057586335, + 428.4101102360349 + ], + [ + 878.7411587403166, + 425.6316051290656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 629, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -26.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5146142244338989, + "y": 0.30628538131713867, + "z": 0.9031961560249329 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 526.578167538003, + "ymin": 618.8813202252015, + "xmax": 574.0143365933652, + "ymax": 708.4630068565424 + }, + "corners_3d": [ + [ + -26.665061950683594, + -0.020561665296554565, + -0.30309510231018066 + ], + [ + -26.697120666503906, + 0.5911695957183838, + -0.30309510231018066 + ], + [ + -25.66930389404297, + 0.6450352668762207, + -0.30309510231018066 + ], + [ + -25.637245178222656, + 0.03330400586128235, + -0.30309510231018066 + ], + [ + -26.665061950683594, + -0.020561665296554565, + 1.503297209739685 + ], + [ + -26.697120666503906, + 0.5911695957183838, + 1.503297209739685 + ], + [ + -25.66930389404297, + 0.6450352668762207, + 1.503297209739685 + ], + [ + -25.637245178222656, + 0.03330400586128235, + 1.503297209739685 + ] + ], + "corners_2d": [ + [ + 533.4424666909041, + 701.6711788330772 + ], + [ + 559.9222530521231, + 708.4630068565424 + ], + [ + 574.0143365933652, + 666.0559531495774 + ], + [ + 548.3150574438898, + 659.6947552591312 + ], + [ + 526.578167538003, + 662.1191866093322 + ], + [ + 554.735184041416, + 669.1319512657183 + ], + [ + 569.8867914608344, + 625.4221896777029 + ], + [ + 542.6104703512854, + 618.8813202252015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 336, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -5.421846866607666, + "y": -7.857978343963623, + "z": 0.7523959875106812 + }, + "extent": { + "x": 0.5122665166854858, + "y": 0.34288299083709717, + "z": 0.9159426093101501 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 470.6050444353007, + "ymin": 89.01117769598312, + "xmax": 504.798343210078, + "ymax": 148.85318506821693 + }, + "corners_3d": [ + [ + -5.874167442321777, + -8.276776313781738, + -0.163546621799469 + ], + [ + -5.9814453125, + -7.599452972412109, + -0.163546621799469 + ], + [ + -4.969526290893555, + -7.439180374145508, + -0.163546621799469 + ], + [ + -4.862248420715332, + -8.116503715515137, + -0.163546621799469 + ], + [ + -5.874167442321777, + -8.276776313781738, + 1.6683385372161865 + ], + [ + -5.9814453125, + -7.599452972412109, + 1.6683385372161865 + ], + [ + -4.969526290893555, + -7.439180374145508, + 1.6683385372161865 + ], + [ + -4.862248420715332, + -8.116503715515137, + 1.6683385372161865 + ] + ], + "corners_2d": [ + [ + 476.6142362803948, + 145.33863105461668 + ], + [ + 492.75799562805594, + 148.85318506821693 + ], + [ + 504.798343210078, + 135.1240240679997 + ], + [ + 488.89233175160234, + 131.73613606606241 + ], + [ + 470.6050444353007, + 102.29540464396206 + ], + [ + 487.3162323605036, + 105.73060866085845 + ], + [ + 499.89594688262287, + 92.31813952235461 + ], + [ + 483.4391932681626, + 89.01117769598312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 9690, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 659.6369865738642, + "ymin": 305.07074992068897, + "xmax": 764.6701296012341, + "ymax": 491.8325743667832 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 659.6369865738642, + 479.3250430734991 + ], + [ + 736.857140564902, + 491.8325743667832 + ], + [ + 760.3034526778174, + 349.601773741318 + ], + [ + 692.769765751407, + 340.115297978366 + ], + [ + 660.4506944324315, + 444.669646382362 + ], + [ + 740.9189244749726, + 457.28493889432974 + ], + [ + 764.6701296012341, + 314.536790267278 + ], + [ + 694.6654284455374, + 305.07074992068897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4752, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 745.2451670892813, + "ymin": 0.0, + "xmax": 816.0813560172348, + "ymax": 127.85125715863956 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 745.2451670892813, + 122.3723240282699 + ], + [ + 796.3314158413727, + 127.85125715863956 + ], + [ + 808.3402089883049, + 55.31974887547335 + ], + [ + 762.1992748067065, + 50.86921348764412 + ], + [ + 750.6018419400657, + 61.63772806535792 + ], + [ + 804.3512975391552, + 66.91636087155274 + ], + [ + 816.0813560172348, + -2.6368967508591368 + ], + [ + 767.7789831035678, + -6.881791715542988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6778, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 412.5444021498705, + "ymin": 287.64877708270336, + "xmax": 521.8339699956952, + "ymax": 425.37400616002327 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 521.8339699956952, + 334.30195258281344 + ], + [ + 465.3170206293213, + 326.2060684719987 + ], + [ + 421.92503900674313, + 415.6410859530209 + ], + [ + 483.4985318739701, + 425.37400616002327 + ], + [ + 517.1658350289292, + 295.7149887951647 + ], + [ + 458.4836653474051, + 287.64877708270336 + ], + [ + 412.5444021498705, + 377.0698718272792 + ], + [ + 476.69578370904776, + 386.8410271473914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132640586848, + "ymin": 32.19865060430118, + "xmax": 721.3214389568117, + "ymax": 56.58572073891048 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132640586848, + 56.39741044388836 + ], + [ + 717.8126931869757, + 56.58572073891048 + ], + [ + 720.3002740467753, + 48.49437734221442 + ], + [ + 718.4233910623957, + 48.31064876131438 + ], + [ + 716.8904766601474, + 40.18731118020247 + ], + [ + 718.8146458070235, + 40.373367058768 + ], + [ + 721.3214389568117, + 32.38012241999445 + ], + [ + 719.4204037426609, + 32.19865060430118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132633925276, + "ymin": 32.19865267249253, + "xmax": 721.3214383078281, + "ymax": 56.585722886261976 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132633925276, + 56.397412590016415 + ], + [ + 717.8126925267998, + 56.585722886261976 + ], + [ + 720.3002734026641, + 48.49437943731209 + ], + [ + 718.4233904124443, + 48.31065085523301 + ], + [ + 716.8904759886299, + 40.18731330062968 + ], + [ + 718.8146451416438, + 40.373369180419616 + ], + [ + 721.3214383078281, + 32.38012448936519 + ], + [ + 719.4204030876858, + 32.19865267249253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.1502204686029, + "ymin": 0.9071112131791779, + "xmax": 728.296632011764, + "ymax": 24.096441356767002 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 723.1502204686029, + 23.926186589956558 + ], + [ + 724.9582435217068, + 24.096441356767002 + ], + [ + 727.2417449571343, + 16.77660777700197 + ], + [ + 725.4541632878706, + 16.610295377250793 + ], + [ + 724.1673489458193, + 8.125226831846305 + ], + [ + 725.9977735583251, + 8.293230656877938 + ], + [ + 728.296632011764, + 1.0711780393853019 + ], + [ + 726.4871557214657, + 0.9071112131791779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.1609697170331, + "ymin": 0.38340166003138165, + "xmax": 731.3046555729296, + "ymax": 23.552684959778503 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 726.1609697170331, + 23.382724632163047 + ], + [ + 727.968243673681, + 23.552684959778503 + ], + [ + 730.2147642327473, + 16.245438759243257 + ], + [ + 728.4279153623245, + 16.07941063540551 + ], + [ + 727.2140041481961, + 7.588957447592804 + ], + [ + 729.0436607275761, + 7.756667176210442 + ], + [ + 731.3046555729296, + 0.5471846624981254 + ], + [ + 729.4959303987071, + 0.38340166003138165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.8363040228609, + "ymin": 24.276236323311934, + "xmax": 720.4337066683069, + "ymax": 49.607556354560415 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.8363040228609, + 49.58291770639039 + ], + [ + 717.0874511482464, + 49.607556354560415 + ], + [ + 719.2991764548227, + 42.51475516494986 + ], + [ + 719.0506706722089, + 42.490648055797465 + ], + [ + 717.9477832462452, + 31.26850399023664 + ], + [ + 718.2026059739273, + 31.2927990541869 + ], + [ + 720.4337066683069, + 24.299999803469063 + ], + [ + 720.1816027724838, + 24.276236323311934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.8362949913994, + "ymin": 24.276316048847946, + "xmax": 720.4336980628917, + "ymax": 49.607639022489764 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.8362949913994, + 49.58300036809072 + ], + [ + 717.0874421481918, + 49.607639022489764 + ], + [ + 719.2991678289293, + 42.51483604941893 + ], + [ + 719.0506620155655, + 42.49072893423812 + ], + [ + 717.9477742266664, + 31.268585499181086 + ], + [ + 718.2025969866817, + 31.292880569362353 + ], + [ + 720.4336980628917, + 24.300079535032523 + ], + [ + 720.1815941354216, + 24.276316048847946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132640586848, + "ymin": 32.19865060430118, + "xmax": 721.3214389568117, + "ymax": 56.58572073891048 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132640586848, + 56.39741044388836 + ], + [ + 717.8126931869757, + 56.58572073891048 + ], + [ + 720.3002740467753, + 48.49437734221442 + ], + [ + 718.4233910623957, + 48.31064876131438 + ], + [ + 716.8904766601474, + 40.18731118020247 + ], + [ + 718.8146458070235, + 40.373367058768 + ], + [ + 721.3214389568117, + 32.38012241999445 + ], + [ + 719.4204037426609, + 32.19865060430118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132643380926, + "ymin": 32.1986506309957, + "xmax": 721.3214391433473, + "ymax": 56.58572075738806 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132643380926, + 56.397410471588955 + ], + [ + 717.8126933733538, + 56.58572075738806 + ], + [ + 720.3002742309404, + 48.49437736024231 + ], + [ + 718.423391338488, + 48.3106487883411 + ], + [ + 716.8904769431937, + 40.18731120757121 + ], + [ + 718.8146459958298, + 40.373367077024454 + ], + [ + 721.3214391433473, + 32.38012243780099 + ], + [ + 719.420404022305, + 32.1986506309957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132635966898, + "ymin": 32.19865233669219, + "xmax": 721.321438415992, + "ymax": 56.58572252837013 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132635966898, + 56.397412241561995 + ], + [ + 717.8126926368291, + 56.58572252837013 + ], + [ + 720.3002735100159, + 48.494379088129165 + ], + [ + 718.4233906128003, + 48.310650515255475 + ], + [ + 716.8904761948982, + 40.18731295634814 + ], + [ + 718.8146452525405, + 40.37336882681103 + ], + [ + 721.321438415992, + 32.380124144470074 + ], + [ + 719.4204032900631, + 32.19865233669219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.3443819904297, + "ymin": 8.827568670172184, + "xmax": 706.545465325518, + "ymax": 32.320080267374124 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 701.3443819904297, + 32.14534121684039 + ], + [ + 703.1700780782493, + 32.320080267374124 + ], + [ + 705.7401608078061, + 24.80857185375038 + ], + [ + 703.9353010843142, + 24.63793101151788 + ], + [ + 702.1047103627965, + 16.23698701741472 + ], + [ + 703.9532525118907, + 16.409471052379217 + ], + [ + 706.545465325518, + 8.995958134364628 + ], + [ + 704.7182813974416, + 8.827568670172184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.836353674348, + "ymin": 24.276133581233466, + "xmax": 720.4337558978591, + "ymax": 49.60744982062761 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.836353674348, + 49.58281118048495 + ], + [ + 717.0875007606916, + 49.60744982062761 + ], + [ + 719.2992251727978, + 42.51465092935689 + ], + [ + 719.0507194284102, + 42.490543827973454 + ], + [ + 717.947833432293, + 31.268398949884897 + ], + [ + 718.2026561197815, + 31.2926940058054 + ], + [ + 720.4337558978591, + 24.299897053622715 + ], + [ + 720.1816520413777, + 24.276133581233466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132633925276, + "ymin": 32.19865267249253, + "xmax": 721.3214383078281, + "ymax": 56.585722886261976 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132633925276, + 56.397412590016415 + ], + [ + 717.8126925267998, + 56.585722886261976 + ], + [ + 720.3002734026641, + 48.49437943731209 + ], + [ + 718.4233904124443, + 48.31065085523301 + ], + [ + 716.8904759886299, + 40.18731330062968 + ], + [ + 718.8146451416438, + 40.373369180419616 + ], + [ + 721.3214383078281, + 32.38012448936519 + ], + [ + 719.4204030876858, + 32.19865267249253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0710761858633, + "ymin": 23.18365636722001, + "xmax": 721.5205028463888, + "ymax": 51.82838883756756 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.0710761858633, + 51.79868684240353 + ], + [ + 717.3728233691282, + 51.82838883756756 + ], + [ + 720.3131447152678, + 42.35376679584198 + ], + [ + 720.0156230208813, + 42.32491630905906 + ], + [ + 718.2468749116147, + 32.5172688790131 + ], + [ + 718.553279806652, + 32.54653791909351 + ], + [ + 721.5205028463888, + 23.212073790189038 + ], + [ + 721.2184540009999, + 23.18365636722001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.8363829317212, + "ymin": 24.27619749144708, + "xmax": 720.4337856188056, + "ymax": 49.60751608954587 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.8363829317212, + 49.5828774444098 + ], + [ + 717.0875300446165, + 49.60751608954587 + ], + [ + 719.2992543608075, + 42.514715768604106 + ], + [ + 719.0507485904243, + 42.4906086623879 + ], + [ + 717.9478632271444, + 31.268464289728286 + ], + [ + 718.2026859419672, + 31.29275935064362 + ], + [ + 720.4337856188056, + 24.2999609686683 + ], + [ + 720.1816817355709, + 24.27619749144708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132643380926, + "ymin": 32.1986506309957, + "xmax": 721.3214391433473, + "ymax": 56.58572075738806 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132643380926, + 56.397410471588955 + ], + [ + 717.8126933733538, + 56.58572075738806 + ], + [ + 720.3002742309404, + 48.49437736024231 + ], + [ + 718.423391338488, + 48.3106487883411 + ], + [ + 716.8904769431937, + 40.18731120757121 + ], + [ + 718.8146459958298, + 40.373367077024454 + ], + [ + 721.3214391433473, + 32.38012243780099 + ], + [ + 719.420404022305, + 32.1986506309957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0709931002461, + "ymin": 23.18364854252701, + "xmax": 721.5204195764059, + "ymax": 51.82838064920787 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.0709931002461, + 51.79867866400548 + ], + [ + 717.3727401823102, + 51.82838064920787 + ], + [ + 720.3130626934021, + 42.35375884223458 + ], + [ + 720.0155410986924, + 42.324908365117324 + ], + [ + 718.2467905435622, + 32.517260819834064 + ], + [ + 718.5531953357197, + 32.54652985008698 + ], + [ + 721.5204195764059, + 23.212065955965045 + ], + [ + 721.2183708323221, + 23.18364854252701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0710650605376, + "ymin": 23.183727164656716, + "xmax": 721.5204921245771, + "ymax": 51.8284628327886 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.0710650605376, + 51.79876084014637 + ], + [ + 717.3728121836507, + 51.8284628327886 + ], + [ + 720.3131340180703, + 42.35383866969204 + ], + [ + 720.0156123834558, + 42.32498818545264 + ], + [ + 718.2468637511822, + 32.51734179806772 + ], + [ + 718.5532685856647, + 32.546610835763886 + ], + [ + 721.5204921245771, + 23.212144585215356 + ], + [ + 721.2184433393662, + 23.183727164656716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.9132650437151, + "ymin": 32.19864963249307, + "xmax": 721.3214398409106, + "ymax": 56.5857197206675 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.9132650437151, + 56.397409435459 + ], + [ + 717.812694076198, + 56.5857197206675 + ], + [ + 720.3002749213264, + 48.49437634874948 + ], + [ + 718.4233920315867, + 48.31064777741739 + ], + [ + 716.8904776563472, + 40.18731018384949 + ], + [ + 718.8146467061323, + 40.37336605271156 + ], + [ + 721.3214398409106, + 32.38012143872891 + ], + [ + 719.4204047226513, + 32.19864963249307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0711591847664, + "ymin": 23.183665944657776, + "xmax": 721.5205859482764, + "ymax": 51.8283988488472 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.0711591847664, + 51.798696852776914 + ], + [ + 717.3729063763922, + 51.8283988488472 + ], + [ + 720.3132265682219, + 42.35377652010794 + ], + [ + 720.0157048657106, + 42.32492603245754 + ], + [ + 718.2469591949633, + 32.51727874346204 + ], + [ + 718.5533640986199, + 32.546547784449274 + ], + [ + 721.5205859482764, + 23.212083368494177 + ], + [ + 721.2185370945149, + 23.183665944657776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.2880014977244, + "ymin": 0.0, + "xmax": 733.3767172509031, + "ymax": 16.696815353521288 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.2880014977244, + 16.530545674552343 + ], + [ + 730.0761124058808, + 16.696815353521288 + ], + [ + 732.2741218299669, + 9.54735665329764 + ], + [ + 730.506007921895, + 9.384892519397738 + ], + [ + 729.3551113944679, + 0.8284386790875828 + ], + [ + 731.165129722303, + 0.9924628519167413 + ], + [ + 733.3767172509031, + -6.059482310773149 + ], + [ + 731.5871863055606, + -6.219707743104323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0710763142201, + "ymin": 23.183655674943907, + "xmax": 721.5205028761188, + "ymax": 51.82838810471128 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.0710763142201, + 51.798686118833984 + ], + [ + 717.3728234034793, + 51.82838810471128 + ], + [ + 720.3131447458865, + 42.35376608399588 + ], + [ + 720.0156231441849, + 42.324915606232594 + ], + [ + 718.2468750406135, + 32.5172681659912 + ], + [ + 718.5532798401887, + 32.54653719691936 + ], + [ + 721.5205028761188, + 23.21207308902774 + ], + [ + 721.2184541248301, + 23.183655674943907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.4395160909678, + "ymin": 35.93020330227796, + "xmax": 719.8295612041638, + "ymax": 60.23942000922784 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 714.4395160909678, + 60.05067206343017 + ], + [ + 716.3324728129766, + 60.23942000922784 + ], + [ + 718.8302860400643, + 52.12896209913356 + ], + [ + 716.9597226683322, + 51.94479214889782 + ], + [ + 715.3946650228777, + 43.93976248911781 + ], + [ + 717.3121924774824, + 44.12629745227139 + ], + [ + 719.8295612041638, + 36.11215695777713 + ], + [ + 717.9350088899296, + 35.93020330227796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.8363040228609, + "ymin": 24.276236323311934, + "xmax": 720.4337066683069, + "ymax": 49.607556354560415 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.8363040228609, + 49.58291770639039 + ], + [ + 717.0874511482464, + 49.607556354560415 + ], + [ + 719.2991764548227, + 42.51475516494986 + ], + [ + 719.0506706722089, + 42.490648055797465 + ], + [ + 717.9477832462452, + 31.26850399023664 + ], + [ + 718.2026059739273, + 31.2927990541869 + ], + [ + 720.4337066683069, + 24.299999803469063 + ], + [ + 720.1816027724838, + 24.276236323311934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.7989954168021, + "ymin": 0.0, + "xmax": 731.8560120841823, + "ymax": 12.93171716265772 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 726.7989954168021, + 12.767457076486608 + ], + [ + 728.5758698464767, + 12.93171716265772 + ], + [ + 730.7778734213261, + 5.868187806731839 + ], + [ + 729.0207465894642, + 5.707664872167527 + ], + [ + 727.8416733780211, + -2.883544701027347 + ], + [ + 729.6401792247885, + -2.721526725295462 + ], + [ + 731.8560120841823, + -9.6877050915337 + ], + [ + 730.077735021669, + -9.845993408474214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.836299607736, + "ymin": 24.276304469314027, + "xmax": 720.4337026283984, + "ymax": 49.607627015595256 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 716.836299607736, + 49.58298836210099 + ], + [ + 717.0874467600912, + 49.607627015595256 + ], + [ + 719.2991723506427, + 42.514824301558804 + ], + [ + 719.0506665416233, + 42.490717187253495 + ], + [ + 717.9477788890797, + 31.26857366062052 + ], + [ + 718.2026016445269, + 31.292868729896725 + ], + [ + 720.4337026283984, + 24.300067954623216 + ], + [ + 720.1815987053994, + 24.276304469314027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.8012233413513, + "ymin": 3.6665359557239867, + "xmax": 728.8439898699816, + "ymax": 56.81747990959582 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 723.8012233413513, + 56.693136413016305 + ], + [ + 725.0563613036462, + 56.81747990959582 + ], + [ + 725.3105829547945, + 55.959706591151814 + ], + [ + 724.0570252685774, + 55.83568548437489 + ], + [ + 727.2761303785927, + 4.488976606123742 + ], + [ + 728.5840048995558, + 4.60825042204533 + ], + [ + 728.8439898699816, + 3.785487727716884 + ], + [ + 727.5378311736637, + 3.6665359557239867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.8827301539217, + "ymin": 0.0, + "xmax": 730.953043119889, + "ymax": 49.83801783723277 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 725.8827301539217, + 49.71628538833488 + ], + [ + 727.1250062479884, + 49.83801783723277 + ], + [ + 727.3738923509077, + 48.99824678179857 + ], + [ + 726.1331643604332, + 48.87682662797812 + ], + [ + 729.4048223946844, + -2.2004374665572186 + ], + [ + 730.698737093094, + -2.08377039886534 + ], + [ + 730.953043119889, + -2.888561700048001 + ], + [ + 729.6608078683121, + -3.004917216462161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 977.7688747809415, + "ymin": 348.57729725763227, + "xmax": 1003.2870698268512, + "ymax": 367.17770470577545 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1001.6795700817511, + 367.17770470577545 + ], + [ + 1000.7488385973516, + 355.96856245450476 + ], + [ + 977.7688747809415, + 352.7931337618728 + ], + [ + 978.429137974608, + 363.92783702249073 + ], + [ + 1003.2870698268512, + 362.9621621202882 + ], + [ + 1002.3336216651267, + 351.7526280066532 + ], + [ + 979.2477781130129, + 348.57729725763227 + ], + [ + 979.9282464207738, + 359.71206248946385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.7944997708773, + "ymin": 12.199154098770578, + "xmax": 703.9279029672584, + "ymax": 65.73548119449907 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 699.7944997708773, + 65.6077611678291 + ], + [ + 701.0619900217243, + 65.73548119449907 + ], + [ + 701.3511840426117, + 64.85442804427231 + ], + [ + 700.0853049313282, + 64.72704361907915 + ], + [ + 702.3087845936329, + 13.044855662677037 + ], + [ + 703.6300812983787, + 13.16750549837161 + ], + [ + 703.9279029672584, + 12.321468130662026 + ], + [ + 702.6083570461965, + 12.199154098770578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 894.79403521597, + "ymin": 338.5806507959912, + "xmax": 1204.6011838602774, + "ymax": 617.8410818220467 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1064.2010648642322, + 617.8410818220467 + ], + [ + 1062.261280493471, + 601.2839780505284 + ], + [ + 895.1407447018925, + 572.5463830140885 + ], + [ + 894.79403521597, + 588.3184244140517 + ], + [ + 1204.6011838602774, + 386.8821222724963 + ], + [ + 1199.5107068620412, + 369.0891270342588 + ], + [ + 975.4712088790645, + 338.5806507959912 + ], + [ + 976.4348713472926, + 355.2662808643351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 977.6347031650935, + "ymin": 348.4782431452106, + "xmax": 1003.4276665003956, + "ymax": 367.27874562713464 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1001.8021628773286, + 367.27874562713464 + ], + [ + 1000.8600486676991, + 355.9485483115677 + ], + [ + 977.6347031650935, + 352.739401558419 + ], + [ + 978.3005088325765, + 363.99355211516627 + ], + [ + 1003.4276665003956, + 363.01788762298514 + ], + [ + 1002.4623302262121, + 351.68728808382485 + ], + [ + 979.1288281344985, + 348.4782431452106 + ], + [ + 979.8152623541022, + 359.7324552765433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.580512932399, + "ymin": 39.681586935241285, + "xmax": 718.442020193406, + "ymax": 93.92188105634972 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 713.580512932399, + 93.78429540646181 + ], + [ + 714.8935203650512, + 93.92188105634972 + ], + [ + 715.1736674191823, + 92.97280806787268 + ], + [ + 713.8623890778407, + 92.83559612439223 + ], + [ + 716.7834843561567, + 40.5961067975054 + ], + [ + 718.1543176630381, + 40.72874454081767 + ], + [ + 718.442020193406, + 39.81384876077544 + ], + [ + 717.0730715813261, + 39.681586935241285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.063687855539, + "ymin": 0.0, + "xmax": 1060.8404744584748, + "ymax": 85.18506011146872 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1001.7979764243508, + 85.18506011146872 + ], + [ + 1001.1768574001956, + 79.88356770345956 + ], + [ + 906.1770464223519, + 70.53087241709324 + ], + [ + 906.063687855539, + 75.68788054973209 + ], + [ + 1060.8404744584748, + -115.61752320379838 + ], + [ + 1059.5915436742498, + -119.98292119651012 + ], + [ + 948.5449126538049, + -127.65757698034167 + ], + [ + 948.7890785925076, + -123.43002019099174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.8893529352847, + "ymin": 4.195604843771093, + "xmax": 725.8191664197142, + "ymax": 57.37072368956217 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 720.8893529352847, + 57.246172028629246 + ], + [ + 722.1449930438723, + 57.37072368956217 + ], + [ + 722.4032073028625, + 56.511515222669004 + ], + [ + 721.1491486920384, + 56.3872867609129 + ], + [ + 724.2464386823252, + 5.019478352153442 + ], + [ + 725.5548590516919, + 5.1389601363639485 + ], + [ + 725.8191664197142, + 4.3147637419831995 + ], + [ + 724.5124632597801, + 4.195604843771093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.4567889239542, + "ymin": 0.0, + "xmax": 729.4397719622937, + "ymax": 46.00295627119925 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 724.4567889239542, + 45.88264673532598 + ], + [ + 725.6915188233074, + 46.00295627119925 + ], + [ + 725.9407771006895, + 45.17299589490631 + ], + [ + 724.7075765459444, + 45.05299319803578 + ], + [ + 727.8992745860494, + -5.873644495969415 + ], + [ + 729.1850050598138, + -5.758396553433727 + ], + [ + 729.4397719622937, + -6.553403950868926 + ], + [ + 728.1556997483849, + -6.6683460055887736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.7941180330499, + "ymin": 35.82119035265953, + "xmax": 718.679391820673, + "ymax": 90.3744768481946 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.7941180330499, + 90.23719277014408 + ], + [ + 715.1109801129539, + 90.3744768481946 + ], + [ + 715.391643073229, + 89.42748731339344 + ], + [ + 714.0765202487346, + 89.29057720301955 + ], + [ + 717.0161201375362, + 36.7329827854017 + ], + [ + 718.3911555885768, + 36.86522560542886 + ], + [ + 718.679391820673, + 35.953057240942485 + ], + [ + 717.306252633015, + 35.82119035265953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1132.1042773283793, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 30.043801625396497 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1194.0191229981385, + 30.043801625396497 + ], + [ + 1354.7622578995501, + 29.250795329455286 + ], + [ + 1275.4250497236778, + -39.69643883151531 + ], + [ + 1132.1042773283793, + -39.066703481236516 + ], + [ + 1327.908533516672, + -280.64874197767926 + ], + [ + 1527.2303298468842, + -281.1510234091488 + ], + [ + 1408.5695262617005, + -323.6912917084975 + ], + [ + 1235.357003905729, + -323.3125989430624 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00128/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00128/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..145beb264fe59006311cc4314083e75ad116a640 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00128/meta.json @@ -0,0 +1,6836 @@ +{ + "frame_id": 128, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.0, + "sim_timestamp": 13122.023906988325 + }, + "drone_pose": { + "x": -35.17914114003137, + "y": 3.9920187095260418, + "z": 20.0, + "pitch": -45.05188973667045, + "yaw": -10.95420229425642, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6935938596725464, + 0.13424575328826904, + 0.7077468633651733, + 10.781011581420898 + ], + [ + -0.19002431631088257, + 0.9817793965339661, + 0.0, + 2.7656099796295166 + ], + [ + -0.694851279258728, + -0.13448911905288696, + 0.7064660787582397, + -39.1104736328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -34.77344447350618, + "y": 3.7776640517891438, + "z": 20.0 + }, + "t1_image_uv": [ + 227.24380434082127, + -601.7404184456951 + ], + "t1_depth": 0.3101649124832093 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -16.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.410793824952883, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -16.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.24974240362644196, + "y": 0.2632468640804291, + "z": 0.5520760416984558 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.075619957416, + "ymin": 338.882432056896, + "xmax": 650.813455549399, + "ymax": 380.8387302731804 + }, + "corners_3d": [ + [ + -16.41692543029785, + 0.0489899218082428, + 0.048020124435424805 + ], + [ + -16.41692543029785, + 0.5754836797714233, + 0.048020124435424805 + ], + [ + -15.917440414428711, + 0.5754836797714233, + 0.048020124435424805 + ], + [ + -15.917440414428711, + 0.0489899218082428, + 0.048020124435424805 + ], + [ + -16.41692543029785, + 0.0489899218082428, + 1.1521722078323364 + ], + [ + -16.41692543029785, + 0.5754836797714233, + 1.1521722078323364 + ], + [ + -15.917440414428711, + 0.5754836797714233, + 1.1521722078323364 + ], + [ + -15.917440414428711, + 0.0489899218082428, + 1.1521722078323364 + ] + ], + "corners_2d": [ + [ + 629.3842187876413, + 378.3282786635502 + ], + [ + 647.3407662089888, + 380.8387302731804 + ], + [ + 650.5110051091414, + 368.6550608166243 + ], + [ + 632.7685516787909, + 366.20640325020474 + ], + [ + 629.075619957416, + 351.0045549816653 + ], + [ + 647.5547234920108, + 353.51614751427627 + ], + [ + 650.813455549399, + 341.33043724632444 + ], + [ + 632.5610094569367, + 338.882432056896 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 128, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 334536, + "2": 288284, + "3": 29651, + "5": 3523, + "6": 3941, + "10": 188, + "12": 1982, + "14": 34831, + "15": 4809, + "20": 3431, + "24": 20184, + "25": 196240 + }, + "instance_pixel_counts": { + "2118": 188, + "3424": 175229, + "5506": 377, + "6215": 127954, + "6284": 1260, + "6290": 5454, + "6992": 405, + "7262": 4246, + "7774": 4366, + "8332": 16703, + "8338": 43941, + "9802": 44, + "9822": 8242, + "10846": 1003, + "15184": 3118, + "17738": 658, + "18000": 3431, + "21140": 15475, + "23392": 469, + "23700": 164848, + "23904": 434, + "24416": 135, + "24928": 48, + "28000": 214, + "28256": 161, + "28768": 150, + "29024": 53, + "29280": 84, + "29792": 61, + "35476": 1061, + "37524": 9907, + "38540": 1813, + "40588": 14961, + "41562": 25245, + "42330": 4406, + "42897": 3269, + "44945": 46540, + "45898": 903, + "48203": 75, + "48459": 240, + "52038": 26389, + "54859": 881, + "56576": 205, + "56647": 21011, + "56832": 177, + "57088": 595, + "57344": 658, + "57600": 347, + "57856": 9989, + "58368": 4809, + "60928": 6985, + "62081": 3564, + "62101": 355, + "62611": 12965, + "64149": 4251, + "64659": 141248 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -16.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.27015501260757446, + "y": 0.25531241297721863, + "z": 0.5564283132553101 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2079398638025, + "ymin": 338.3195507606662, + "xmax": 650.6704348309585, + "ymax": 381.40981658878815 + }, + "corners_3d": [ + [ + -16.43733787536621, + 0.05692437291145325, + 0.04366785287857056 + ], + [ + -16.43733787536621, + 0.5675492286682129, + 0.04366785287857056 + ], + [ + -15.897027969360352, + 0.5675492286682129, + 0.04366785287857056 + ], + [ + -15.897027969360352, + 0.05692437291145325, + 0.04366785287857056 + ], + [ + -16.43733787536621, + 0.05692437291145325, + 1.156524419784546 + ], + [ + -16.43733787536621, + 0.5675492286682129, + 1.156524419784546 + ], + [ + -15.897027969360352, + 0.5675492286682129, + 1.156524419784546 + ], + [ + -15.897027969360352, + 0.05692437291145325, + 1.156524419784546 + ] + ], + "corners_2d": [ + [ + 629.5153391124755, + 378.9725468529819 + ], + [ + 646.9373107588041, + 381.40981658878815 + ], + [ + 650.3698287802504, + 368.2313008593622 + ], + [ + 633.1724210379534, + 365.85885452657544 + ], + [ + 629.2079398638025, + 351.4335448743322 + ], + [ + 647.1412257610834, + 353.8720039057077 + ], + [ + 650.6704348309585, + 340.69129008882885 + ], + [ + 632.9749976804428, + 338.3195507606662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 177, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -12.0411958694458, + "y": 3.309941291809082, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.18807494640350342, + "y": 0.21495574712753296, + "z": 0.5170403718948364 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 751.2120413481427, + "ymin": 263.9005149863813, + "xmax": 768.6552633330718, + "ymax": 297.4746804676859 + }, + "corners_3d": [ + [ + -12.260581970214844, + 3.1270534992218018, + 0.08306556940078735 + ], + [ + -12.193328857421875, + 3.5516719818115234, + 0.08306556940078735 + ], + [ + -11.821809768676758, + 3.4928290843963623, + 0.08306556940078735 + ], + [ + -11.889062881469727, + 3.0682106018066406, + 0.08306556940078735 + ], + [ + -12.260581970214844, + 3.1270534992218018, + 1.1171462535858154 + ], + [ + -12.193328857421875, + 3.5516719818115234, + 1.1171462535858154 + ], + [ + -11.821809768676758, + 3.4928290843963623, + 1.1171462535858154 + ], + [ + -11.889062881469727, + 3.0682106018066406, + 1.1171462535858154 + ] + ], + "corners_2d": [ + [ + 751.7840460173975, + 297.16536337558233 + ], + [ + 765.5268715258403, + 297.4746804676859 + ], + [ + 764.8344669667945, + 289.609488907446 + ], + [ + 751.2120413481427, + 289.3055582625938 + ], + [ + 754.5689557289905, + 271.7264561504219 + ], + [ + 768.6552633330718, + 272.0345102815251 + ], + [ + 767.9177182352803, + 264.2030727876004 + ], + [ + 753.957876449776, + 263.9005149863813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 595, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -18.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3368609547615051, + "y": 0.3163778483867645, + "z": 0.8720660209655762 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 867.769904635155, + "ymin": 423.234678483873, + "xmax": 905.8350141132262, + "ymax": 488.59800078734156 + }, + "corners_3d": [ + [ + -18.775962829589844, + 6.956634998321533, + -0.271964967250824 + ], + [ + -18.742847442626953, + 7.5885233879089355, + -0.271964967250824 + ], + [ + -18.070049285888672, + 7.553263187408447, + -0.271964967250824 + ], + [ + -18.103164672851562, + 6.921374797821045, + -0.271964967250824 + ], + [ + -18.775962829589844, + 6.956634998321533, + 1.4721670150756836 + ], + [ + -18.742847442626953, + 7.5885233879089355, + 1.4721670150756836 + ], + [ + -18.070049285888672, + 7.553263187408447, + 1.4721670150756836 + ], + [ + -18.103164672851562, + 6.921374797821045, + 1.4721670150756836 + ] + ], + "corners_2d": [ + [ + 868.4753149634944, + 485.93486971564437 + ], + [ + 892.8466320329236, + 488.59800078734156 + ], + [ + 891.6931413073869, + 468.62737041832264 + ], + [ + 867.769904635155, + 466.06078688906007 + ], + [ + 880.1816413226006, + 443.2891178766216 + ], + [ + 905.8350141132262, + 445.9792700992574 + ], + [ + 904.3735297733267, + 425.8224438636112 + ], + [ + 879.2161336580721, + 423.234678483873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 658, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -25.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.567547619342804, + "y": 0.30708107352256775, + "z": 0.8794964551925659 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 531.7296366321028, + "ymin": 617.5509750662263, + "xmax": 579.6014412962495, + "ymax": 710.3395981461493 + }, + "corners_3d": [ + [ + -26.21788215637207, + -0.02412661910057068, + -0.2793954014778137 + ], + [ + -26.250024795532227, + 0.5891938209533691, + -0.2793954014778137 + ], + [ + -25.116483688354492, + 0.6486002206802368, + -0.2793954014778137 + ], + [ + -25.084341049194336, + 0.03527972102165222, + -0.2793954014778137 + ], + [ + -26.21788215637207, + -0.02412661910057068, + 1.479597568511963 + ], + [ + -26.250024795532227, + 0.5891938209533691, + 1.479597568511963 + ], + [ + -25.116483688354492, + 0.6486002206802368, + 1.479597568511963 + ], + [ + -25.084341049194336, + 0.03527972102165222, + 1.479597568511963 + ] + ], + "corners_2d": [ + [ + 538.1154895252741, + 703.8355750947785 + ], + [ + 564.8518877669388, + 710.3395981461493 + ], + [ + 579.6014412962495, + 663.4583785784328 + ], + [ + 553.7452630808301, + 657.4097637328966 + ], + [ + 531.7296366321028, + 665.3248985099887 + ], + [ + 560.1168590948083, + 672.0347974065837 + ], + [ + 575.9399929472759, + 623.7631877173011 + ], + [ + 548.5428814618167, + 617.5509750662263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 347, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -4.921846866607666, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.4468519389629364, + "y": 0.3747228980064392, + "z": 0.931518018245697 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 466.40955718361806, + "ymin": 91.02745546529525, + "xmax": 500.66306645434975, + "ymax": 150.10037369532134 + }, + "corners_3d": [ + [ + -5.304577827453613, + -8.297990798950195, + -0.1791171431541443 + ], + [ + -5.421816825866699, + -7.557772159576416, + -0.1791171431541443 + ], + [ + -4.539115905761719, + -7.417965888977051, + -0.1791171431541443 + ], + [ + -4.421876907348633, + -8.158185005187988, + -0.1791171431541443 + ], + [ + -5.304577827453613, + -8.297990798950195, + 1.6839189529418945 + ], + [ + -5.421816825866699, + -7.557772159576416, + 1.6839189529418945 + ], + [ + -4.539115905761719, + -7.417965888977051, + 1.6839189529418945 + ], + [ + -4.421876907348633, + -8.158185005187988, + 1.6839189529418945 + ] + ], + "corners_2d": [ + [ + 472.65441568096026, + 146.39398123915376 + ], + [ + 490.3678075512935, + 150.10037369532134 + ], + [ + 500.66306645434975, + 138.06230776322622 + ], + [ + 483.18195966373855, + 134.47337004312146 + ], + [ + 466.40955718361806, + 102.66319174633003 + ], + [ + 484.7552611684695, + 106.28383056798361 + ], + [ + 495.52345311973886, + 94.52917064731236 + ], + [ + 477.42662564167665, + 91.02745546529525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 9989, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 658.036533124726, + "ymin": 316.1345261288471, + "xmax": 762.1204882783653, + "ymax": 505.9783536792711 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 658.036533124726, + 493.94854581335204 + ], + [ + 736.3357445268367, + 505.9783536792711 + ], + [ + 757.8069525528789, + 360.28376823698665 + ], + [ + 689.5061149616538, + 351.19733421178097 + ], + [ + 658.7925507046592, + 459.39667205999865 + ], + [ + 740.4199579371995, + 471.5410556272241 + ], + [ + 762.1204882783653, + 325.20709074829244 + ], + [ + 691.301053973428, + 316.1345261288471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4809, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 739.1201766375821, + "ymin": 0.0, + "xmax": 808.935910080513, + "ymax": 134.31963179465254 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 739.1201766375821, + 129.10549742601384 + ], + [ + 790.5780760686705, + 134.31963179465254 + ], + [ + 801.4776022423855, + 60.71930981292053 + ], + [ + 755.062728338417, + 56.49279474393995 + ], + [ + 744.1951304483963, + 68.22063785988502 + ], + [ + 798.3455152485063, + 73.24695603450158 + ], + [ + 808.935910080513, + 2.636047331863267 + ], + [ + 760.3417692937076, + -1.3968039682295625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6985, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 406.419493841693, + "ymin": 300.39196648294995, + "xmax": 516.5510200281556, + "ymax": 440.3868450345986 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 516.5510200281556, + 346.7703103608983 + ], + [ + 459.1772042815305, + 338.98506190052217 + ], + [ + 416.17202325020344, + 430.9985072908475 + ], + [ + 478.80454696250297, + 440.3868450345986 + ], + [ + 511.6221916101962, + 308.15520283866135 + ], + [ + 452.0244665895916, + 300.39196648294995 + ], + [ + 406.419493841693, + 392.47954742995927 + ], + [ + 471.7108572440444, + 401.91475917823425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451288496136, + "ymin": 38.41707331778639, + "xmax": 714.1739297741169, + "ymax": 62.97400332341448 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451288496136, + 62.794561511056145 + ], + [ + 710.8595369130663, + 62.97400332341448 + ], + [ + 713.2373318439572, + 54.74846880698897 + ], + [ + 711.3459734292076, + 54.573439951554576 + ], + [ + 709.8377821422146, + 46.539638008137274 + ], + [ + 711.7772275629507, + 46.7169576443049 + ], + [ + 714.1739297741169, + 38.58997677831849 + ], + [ + 712.2581372915026, + 38.41707331778639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451282123731, + "ymin": 38.41707542035624, + "xmax": 714.1739291537198, + "ymax": 62.97400550667186 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451282123731, + 62.794563693134876 + ], + [ + 710.8595362819416, + 62.97400550667186 + ], + [ + 713.2373312283555, + 54.74847093654711 + ], + [ + 711.3459728076364, + 54.573442079977326 + ], + [ + 709.8377814996925, + 46.5396401644021 + ], + [ + 711.7772269267056, + 46.71695980174951 + ], + [ + 714.1739291537198, + 38.5899788820243 + ], + [ + 712.2581366649806, + 38.41707542035624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.7229914962119, + "ymin": 6.638421592487703, + "xmax": 720.6955450188653, + "ymax": 29.975848208686386 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.7229914962119, + 29.8137779358878 + ], + [ + 717.544102612244, + 29.975848208686386 + ], + [ + 719.7265862580888, + 22.542150142082107 + ], + [ + 717.9263462263655, + 22.383871261066588 + ], + [ + 716.6541439434801, + 13.969945405981377 + ], + [ + 718.4978966560916, + 14.12989327096625 + ], + [ + 720.6955450188653, + 6.794582519099606 + ], + [ + 718.8731826941703, + 6.638421592487703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.7426243030811, + "ymin": 6.090613005162368, + "xmax": 723.7122069093056, + "ymax": 29.407017928004393 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.7426243030811, + 29.24523935154707 + ], + [ + 720.5628698893433, + 29.407017928004393 + ], + [ + 722.7079197955245, + 21.98662258631498 + ], + [ + 720.9085260347447, + 21.828625230420073 + ], + [ + 719.7100262701541, + 13.408860158490882 + ], + [ + 721.5528915866992, + 13.568516611390805 + ], + [ + 723.7122069093056, + 6.246492802946534 + ], + [ + 721.8907119908887, + 6.090613005162368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.8314357659108, + "ymin": 30.4766076264998, + "xmax": 713.2385963478338, + "ymax": 55.97629887475671 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.8314357659108, + 55.952819448280025 + ], + [ + 710.0845678011982, + 55.97629887475671 + ], + [ + 712.19975576866, + 48.76531626718304 + ], + [ + 711.9493242080347, + 48.74234885035486 + ], + [ + 710.8474632242257, + 37.58657053636904 + ], + [ + 711.1043151913708, + 37.609726385148235 + ], + [ + 713.2385963478338, + 30.49925129707259 + ], + [ + 712.9845243951121, + 30.4766076264998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.831427962998, + "ymin": 30.476688585794363, + "xmax": 713.2385889554728, + "ymax": 55.97638282818383 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.831427962998, + 55.952903395713406 + ], + [ + 710.0845600303176, + 55.97638282818383 + ], + [ + 712.199748350007, + 48.76539838982768 + ], + [ + 711.9493167580292, + 48.742430967200676 + ], + [ + 710.8474554393545, + 37.5866533268524 + ], + [ + 711.1043074394802, + 37.60980918162875 + ], + [ + 713.2385889554728, + 30.49933226216649 + ], + [ + 712.9845169704804, + 30.476688585794363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451288496136, + "ymin": 38.41707331778639, + "xmax": 714.1739297741169, + "ymax": 62.97400332341448 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451288496136, + 62.794561511056145 + ], + [ + 710.8595369130663, + 62.97400332341448 + ], + [ + 713.2373318439572, + 54.74846880698897 + ], + [ + 711.3459734292076, + 54.573439951554576 + ], + [ + 709.8377821422146, + 46.539638008137274 + ], + [ + 711.7772275629507, + 46.7169576443049 + ], + [ + 714.1739297741169, + 38.58997677831849 + ], + [ + 712.2581372915026, + 38.41707331778639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451291312291, + "ymin": 38.41707334322098, + "xmax": 714.1739299620979, + "ymax": 62.97400334102156 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451291312291, + 62.79456153745264 + ], + [ + 710.8595371009114, + 62.97400334102156 + ], + [ + 713.23733202954, + 54.74846882416307 + ], + [ + 711.3459737074334, + 54.57343997730197 + ], + [ + 709.8377824275121, + 46.539638034221525 + ], + [ + 711.7772277532531, + 46.71695766170393 + ], + [ + 714.1739299620979, + 38.58997679528409 + ], + [ + 712.2581375733218, + 38.41707334322098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451284124516, + "ymin": 38.41707507840613, + "xmax": 714.1739292571193, + "ymax": 62.974005142795534 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451284124516, + 62.794563338253795 + ], + [ + 710.859536387129, + 62.974005142795534 + ], + [ + 713.2373313309558, + 54.74847058162072 + ], + [ + 711.3459730039735, + 54.57344173382273 + ], + [ + 709.8377817018786, + 46.53963981371925 + ], + [ + 711.7772270327464, + 46.71695944217532 + ], + [ + 714.1739292571193, + 38.5899785314067 + ], + [ + 712.2581368633407, + 38.41707507840613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.9117273535597, + "ymin": 14.792866634282461, + "xmax": 698.9399035444768, + "ymax": 38.44321639941052 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.9117273535597, + 38.276772816553716 + ], + [ + 695.7515766539346, + 38.44321639941052 + ], + [ + 698.2228044612889, + 30.810106537427657 + ], + [ + 696.4042517801324, + 30.64760790618402 + ], + [ + 694.5836648191037, + 22.323462415126755 + ], + [ + 696.4466283377035, + 22.48778048156356 + ], + [ + 698.9399035444768, + 14.953242456898238 + ], + [ + 697.0987720622359, + 14.792866634282461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.8314840766507, + "ymin": 30.476503071724665, + "xmax": 713.2386442546461, + "ymax": 55.97619045321272 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.8314840766507, + 55.95271103447692 + ], + [ + 710.0846160719351, + 55.97619045321272 + ], + [ + 712.1998031653169, + 48.76521021000036 + ], + [ + 711.9493716438466, + 48.74224280066113 + ], + [ + 710.8475120679548, + 37.586463616708045 + ], + [ + 711.1043639939119, + 37.60961945774193 + ], + [ + 713.2386442546461, + 30.49914673480771 + ], + [ + 712.9845723422266, + 30.476503071724665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451282123731, + "ymin": 38.41707542035624, + "xmax": 714.1739291537198, + "ymax": 62.97400550667186 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451282123731, + 62.794563693134876 + ], + [ + 710.8595362819416, + 62.97400550667186 + ], + [ + 713.2373312283555, + 54.74847093654711 + ], + [ + 711.3459728076364, + 54.573442079977326 + ], + [ + 709.8377814996925, + 46.5396401644021 + ], + [ + 711.7772269267056, + 46.71695980174951 + ], + [ + 714.1739291537198, + 38.5899788820243 + ], + [ + 712.2581366649806, + 38.41707542035624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.0927306186538, + "ymin": 29.361792890467086, + "xmax": 714.314933725986, + "ymax": 58.216603570887344 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 710.0927306186538, + 58.18829843132795 + ], + [ + 710.3968662340367, + 58.216603570887344 + ], + [ + 713.208148142781, + 48.58429846398184 + ], + [ + 712.9083324918278, + 48.55681352449085 + ], + [ + 711.1683058506375, + 38.85241526221421 + ], + [ + 711.4771554808374, + 38.88031269780453 + ], + [ + 714.314933725986, + 29.388869810063284 + ], + [ + 714.0105380712367, + 29.361792890467086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.831514551676, + "ymin": 30.47656775707827, + "xmax": 713.2386751789419, + "ymax": 55.97625753083696 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.831514551676, + 55.952778107311985 + ], + [ + 710.0846465738642, + 55.97625753083696 + ], + [ + 712.1998335461868, + 48.76527582485505 + ], + [ + 711.9494019983844, + 48.742308410882515 + ], + [ + 710.8475430915072, + 37.586529765155774 + ], + [ + 711.1043950451643, + 37.6096856109815 + ], + [ + 713.2386751789419, + 30.49921142479502 + ], + [ + 712.9846032394194, + 30.47656775707827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451291312291, + "ymin": 38.41707334322098, + "xmax": 714.1739299620979, + "ymax": 62.97400334102156 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451291312291, + 62.79456153745264 + ], + [ + 710.8595371009114, + 62.97400334102156 + ], + [ + 713.23733202954, + 54.74846882416307 + ], + [ + 711.3459737074334, + 54.57343997730197 + ], + [ + 709.8377824275121, + 46.539638034221525 + ], + [ + 711.7772277532531, + 46.71695766170393 + ], + [ + 714.1739299620979, + 38.58997679528409 + ], + [ + 712.2581375733218, + 38.41707334322098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.0926468751867, + "ymin": 29.361785434861815, + "xmax": 714.3148498092252, + "ymax": 58.21659576763676 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 710.0926468751867, + 58.18829063753333 + ], + [ + 710.3967823889656, + 58.21659576763676 + ], + [ + 713.2080654887031, + 48.584290886851306 + ], + [ + 712.9082499378072, + 48.556805956532855 + ], + [ + 711.1682208092266, + 38.85240758068562 + ], + [ + 711.4770703361356, + 38.880305006946 + ], + [ + 714.3148498092252, + 29.388862345412065 + ], + [ + 714.010454256169, + 29.361785434861815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.0927205728376, + "ymin": 29.361864797896374, + "xmax": 714.3149240632968, + "ymax": 58.216678737728444 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 710.0927205728376, + 58.18837360050816 + ], + [ + 710.3968561280135, + 58.216678737728444 + ], + [ + 713.208138499781, + 48.5843714526622 + ], + [ + 712.9083229086581, + 48.55688651553396 + ], + [ + 711.1682957750611, + 38.85248934861767 + ], + [ + 711.4771453446596, + 38.880386782000016 + ], + [ + 714.3149240632968, + 29.38894171525692 + ], + [ + 714.0105284687763, + 29.361864797896374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9451298253367, + "ymin": 38.41707232584889, + "xmax": 714.1739306482583, + "ymax": 62.97400228460725 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 708.9451298253367, + 62.79456048160847 + ], + [ + 710.8595377921639, + 62.97400228460725 + ], + [ + 713.2373327085063, + 54.74846779373206 + ], + [ + 711.3459743891866, + 54.57343894742047 + ], + [ + 709.8377831291698, + 46.53963699086796 + ], + [ + 711.7772284519806, + 46.7169566177796 + ], + [ + 714.1739306482583, + 38.58997577736227 + ], + [ + 712.2581382623416, + 38.41707232584889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.092814303338, + "ymin": 29.36180212519662, + "xmax": 714.3150175013457, + "ymax": 58.21661322533612 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 710.092814303338, + 58.18830808494863 + ], + [ + 710.3969499267592, + 58.21661322533612 + ], + [ + 713.2082306545046, + 48.5843078386672 + ], + [ + 712.9084149957423, + 48.556822898383814 + ], + [ + 711.168390835441, + 38.85242477677912 + ], + [ + 711.4772404739294, + 38.880322213198156 + ], + [ + 714.3150175013457, + 29.388879045585213 + ], + [ + 714.0106218385481, + 29.36180212519662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7748696675262, + "ymin": 0.0, + "xmax": 725.6906238384222, + "ymax": 22.444935746358283 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.7748696675262, + 22.28670615019729 + ], + [ + 722.5755516400984, + 22.444935746358283 + ], + [ + 724.6738099205063, + 15.18640242992359 + ], + [ + 722.8935367712812, + 15.031831024874464 + ], + [ + 721.7561621913399, + 6.542557139859696 + ], + [ + 723.5789771833042, + 6.698668850351623 + ], + [ + 725.6906238384222, + -0.4617200338461771 + ], + [ + 723.8887196997508, + -0.6141794379042835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.09273073658, + "ymin": 29.36179218722293, + "xmax": 714.3149337447469, + "ymax": 58.21660282689322 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 710.09273073658, + 58.18829769618429 + ], + [ + 710.396866257209, + 58.21660282689322 + ], + [ + 713.2081481624922, + 48.58429774154695 + ], + [ + 712.9083326049421, + 48.55681281064909 + ], + [ + 711.1683059691566, + 38.852414537660025 + ], + [ + 711.4771555031286, + 38.88031196452641 + ], + [ + 714.3149337447469, + 29.388869098352586 + ], + [ + 714.010538184833, + 29.36179218722293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.4812631463692, + "ymin": 42.165096256710854, + "xmax": 712.6925896242414, + "ymax": 66.6436335060796 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 707.4812631463692, + 66.46377728393412 + ], + [ + 709.3891618002908, + 66.6436335060796 + ], + [ + 711.7775927166124, + 58.39878342289933 + ], + [ + 709.892587908046, + 58.22333648275497 + ], + [ + 708.3521370112435, + 50.30878933415738 + ], + [ + 710.2849020399976, + 50.48656284225683 + ], + [ + 712.6925896242414, + 42.338456341166705 + ], + [ + 710.7833155880152, + 42.165096256710854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.8314357659108, + "ymin": 30.4766076264998, + "xmax": 713.2385963478338, + "ymax": 55.97629887475671 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.8314357659108, + 55.952819448280025 + ], + [ + 710.0845678011982, + 55.97629887475671 + ], + [ + 712.19975576866, + 48.76531626718304 + ], + [ + 711.9493242080347, + 48.74234885035486 + ], + [ + 710.8474632242257, + 37.58657053636904 + ], + [ + 711.1043151913708, + 37.609726385148235 + ], + [ + 713.2385963478338, + 30.49925129707259 + ], + [ + 712.9845243951121, + 30.4766076264998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.2188772510943, + "ymin": 0.0, + "xmax": 724.1038745399694, + "ymax": 18.63740315066667 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 719.2188772510943, + 18.48109782712993 + ], + [ + 721.0081829241254, + 18.63740315066667 + ], + [ + 723.1119065033411, + 11.466645232084659 + ], + [ + 721.3427538058969, + 11.313931951954203 + ], + [ + 720.1753268590528, + 2.788176181118615 + ], + [ + 721.9864851862509, + 2.9423665214610537 + ], + [ + 724.1038745399694, + -4.1303973833577174 + ], + [ + 722.3133617546871, + -4.281002246523883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.8314324219767, + "ymin": 30.47667680770138, + "xmax": 713.2385933657017, + "ymax": 55.97637061449933 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 709.8314324219767, + 55.952891182900885 + ], + [ + 710.0845644847549, + 55.97637061449933 + ], + [ + 712.1997527167593, + 48.76538644248848 + ], + [ + 711.9493211292267, + 48.74241902070514 + ], + [ + 710.8474599440689, + 37.58664128235495 + ], + [ + 711.1043119395187, + 37.60979713625875 + ], + [ + 713.2385933657017, + 30.499320483229667 + ], + [ + 712.9845213852847, + 30.47667680770138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.5315067198185, + "ymin": 9.42777714374688, + "xmax": 721.2870736289664, + "ymax": 62.71852646410201 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 716.5315067198185, + 62.60021356501147 + ], + [ + 717.7954700234945, + 62.71852646410201 + ], + [ + 718.0382099044818, + 61.84770294066169 + ], + [ + 716.7758596600145, + 61.72969992676042 + ], + [ + 719.7214075062632, + 10.263090935317905 + ], + [ + 721.0386554648492, + 10.376626810310142 + ], + [ + 721.2870736289664, + 9.541003274980426 + ], + [ + 719.9715775471533, + 9.42777714374688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.5196684704713, + "ymin": 2.6527699291121394, + "xmax": 723.3020417270847, + "ymax": 55.63354837509786 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 718.5196684704713, + 55.5177448928859 + ], + [ + 719.770504712036, + 55.63354837509786 + ], + [ + 720.0080987999047, + 54.781184727749064 + ], + [ + 718.7588423306868, + 54.66568133047929 + ], + [ + 721.7561088012219, + 3.4696545168084754 + ], + [ + 723.0591054769661, + 3.580683583039445 + ], + [ + 723.3020417270847, + 2.7634994463958833 + ], + [ + 722.0007592763859, + 2.6527699291121394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.1482650837252, + "ymin": 363.93845754404526, + "xmax": 1008.3342144396447, + "ymax": 382.794211601665 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1006.6825735892631, + 382.794211601665 + ], + [ + 1005.4643365259453, + 371.225447463507 + ], + [ + 982.1482650837252, + 368.15409281069344 + ], + [ + 983.0862360664416, + 379.64949901733405 + ], + [ + 1008.3342144396447, + 378.58059979583373 + ], + [ + 1007.0910608867359, + 367.0100741263126 + ], + [ + 983.6663781021366, + 363.93845754404526 + ], + [ + 984.626634212959, + 375.43528716322055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.5171533196527, + "ymin": 18.222281791253522, + "xmax": 696.3557580056527, + "ymax": 71.90637604534004 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 692.5171533196527, + 71.78476890680577 + ], + [ + 693.794257852797, + 71.90637604534004 + ], + [ + 694.072239546724, + 71.01131950073687 + ], + [ + 692.7967814476647, + 70.89003527075909 + ], + [ + 694.7376567364894, + 19.081825218287065 + ], + [ + 696.0691871857987, + 19.19865695622218 + ], + [ + 696.3557580056527, + 18.338790210048273 + ], + [ + 695.0260172478943, + 18.222281791253522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.5244838798202, + "ymin": 353.87782223392844, + "xmax": 1212.4950967193336, + "ymax": 631.7038792808717 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1068.8217855508924, + 631.7038792808717 + ], + [ + 1066.5434442233263, + 614.7558395106571 + ], + [ + 897.5981501089857, + 587.1594069618452 + ], + [ + 897.5244838798202, + 603.34211199847 + ], + [ + 1212.4950967193336, + 401.67782445304476 + ], + [ + 1206.8438831598532, + 383.3554346440915 + ], + [ + 979.7929681264054, + 353.87782223392844 + ], + [ + 981.1775911128882, + 371.11047983375687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.0105975797601, + "ymin": 363.8380460991554, + "xmax": 1008.4785034433547, + "ymax": 382.8966410233735 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1006.8083563922619, + 382.8966410233735 + ], + [ + 1005.5756003792803, + 371.2029640863063 + ], + [ + 982.0105975797601, + 368.09901021073 + ], + [ + 982.9570358778125, + 379.717744975707 + ], + [ + 1008.4785034433547, + 378.63774427298927 + ], + [ + 1007.2202773052054, + 366.9422657664998 + ], + [ + 983.5443278727712, + 363.8380460991554 + ], + [ + 984.5135190767174, + 375.4582332890677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.7722948066245, + "ymin": 45.974555002953764, + "xmax": 711.3523358352962, + "ymax": 100.359878144621 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 706.7722948066245, + 100.22883349714124 + ], + [ + 708.095407360675, + 100.359878144621 + ], + [ + 708.3631655076895, + 99.3953972750246 + ], + [ + 707.0418202777905, + 99.26471238093586 + ], + [ + 709.695526984433, + 46.90438368634517 + ], + [ + 711.0771451349273, + 47.03077589215599 + ], + [ + 711.3523358352962, + 46.1005850682501 + ], + [ + 709.9726446914599, + 45.974555002953764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.9040069728051, + "ymin": 0.0, + "xmax": 1054.2585532049802, + "ymax": 89.78502698202254 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 995.9725283663762, + 89.78502698202254 + ], + [ + 995.2520325561086, + 84.42551152285012 + ], + [ + 899.9277697911778, + 75.55791226341626 + ], + [ + 899.9040069728051, + 80.77926831417682 + ], + [ + 1054.2585532049802, + -111.36274783407436 + ], + [ + 1052.8961156385117, + -115.780000840801 + ], + [ + 941.4721175046345, + -123.0640400615925 + ], + [ + 941.8164389241045, + -118.77879941032148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.6116609414894, + "ymin": 9.981262249143128, + "xmax": 718.2533153776476, + "ymax": 63.29706728323936 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.6116609414894, + 63.178548275938 + ], + [ + 714.876204407291, + 63.29706728323936 + ], + [ + 715.1229846077824, + 62.424727652367096 + ], + [ + 713.8600556453512, + 62.30651933982347 + ], + [ + 716.6826423956524, + 10.818090712499611 + ], + [ + 718.0005209737026, + 10.93183262940721 + ], + [ + 718.2533153776476, + 10.094693579324712 + ], + [ + 716.9371903130666, + 9.981262249143128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.0284230798808, + "ymin": 0.0, + "xmax": 721.722186962653, + "ymax": 51.75666188398975 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.0284230798808, + 51.64222015768297 + ], + [ + 718.2716213591552, + 51.75666188398975 + ], + [ + 718.5097480673609, + 50.91431583955995 + ], + [ + 717.2681103206745, + 50.80016892402011 + ], + [ + 720.1839087795667, + -0.24515789624115314 + ], + [ + 721.4786195629132, + -0.1354877678414823 + ], + [ + 721.722186962653, + -0.9426757229792315 + ], + [ + 720.4291686661965, + -1.0520517814093182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.9672007914, + "ymin": 42.10328406456608, + "xmax": 711.5694864302529, + "ymax": 96.80419687316868 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 706.9672007914, + 96.67343530404315 + ], + [ + 708.2942126792063, + 96.80419687316868 + ], + [ + 708.5624775754959, + 95.8418027788581 + ], + [ + 707.2372434399231, + 95.71140123176838 + ], + [ + 709.9078992914311, + 43.030371723937606 + ], + [ + 711.293769762325, + 43.1563919658924 + ], + [ + 711.5694864302529, + 42.22894213378032 + ], + [ + 710.1855548410336, + 42.10328406456608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.5747579148185, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 32.80278675299644 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1186.688513197219, + 32.80278675299644 + ], + [ + 1346.6113272824573, + 31.068696294996244 + ], + [ + 1266.2297865558273, + -37.867471885954615 + ], + [ + 1123.5747579148185, + -36.491018205983096 + ], + [ + 1318.8423556410162, + -277.9380955842731 + ], + [ + 1516.8448793910843, + -279.03617230731857 + ], + [ + 1397.22516076163, + -321.5441465303568 + ], + [ + 1225.028140639104, + -320.7166697253472 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00130/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00130/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..61a1cb9cc72d2025211cf2194439d890d7c2c3e5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00130/meta.json @@ -0,0 +1,6835 @@ +{ + "frame_id": 130, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.0, + "sim_timestamp": 13145.940187813016 + }, + "drone_pose": { + "x": -34.36319683537267, + "y": 3.575920389654389, + "z": 20.0, + "pitch": -44.89449620243406, + "yaw": -9.649093243397177, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6983856558799744, + 0.11873871088027954, + 0.7058035135269165, + 10.307294845581055 + ], + [ + -0.16761353611946106, + 0.9858527779579163, + 3.725290298461914e-09, + 2.234405994415283 + ], + [ + -0.695818305015564, + -0.11830222606658936, + 0.7084076404571533, + -38.50173568725586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -33.94852900384227, + "y": 3.3876933728840597, + "z": 20.0 + }, + "t1_image_uv": [ + 282.8320675762839, + -596.4710280298273 + ], + "t1_depth": 0.3119478914068934 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -15.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.486266546261405, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -15.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.23950742185115814, + "y": 0.28141316771507263, + "z": 0.5540469288825989 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.6922097369037, + "ymin": 339.1639102388378, + "xmax": 651.1966277298637, + "ymax": 380.54941617833316 + }, + "corners_3d": [ + [ + -15.406689643859863, + 0.030823618173599243, + 0.04604923725128174 + ], + [ + -15.406689643859863, + 0.5936499834060669, + 0.04604923725128174 + ], + [ + -14.927674293518066, + 0.5936499834060669, + 0.04604923725128174 + ], + [ + -14.927674293518066, + 0.030823618173599243, + 0.04604923725128174 + ], + [ + -15.406689643859863, + 0.030823618173599243, + 1.1541430950164795 + ], + [ + -15.406689643859863, + 0.5936499834060669, + 1.1541430950164795 + ], + [ + -14.927674293518066, + 0.5936499834060669, + 1.1541430950164795 + ], + [ + -14.927674293518066, + 0.030823618173599243, + 1.1541430950164795 + ] + ], + "corners_2d": [ + [ + 629.0109797572011, + 378.1959403839298 + ], + [ + 648.2306228480481, + 380.54941617833316 + ], + [ + 650.8840080123023, + 368.88085945508266 + ], + [ + 631.8870434139212, + 366.58319700165407 + ], + [ + 628.6922097369037, + 350.77329727980623 + ], + [ + 648.4699704179525, + 353.12707090530233 + ], + [ + 651.1966277298637, + 341.4602719836219 + ], + [ + 631.6545867144241, + 339.1639102388378 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 130, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 330888, + "2": 286833, + "3": 31360, + "5": 3907, + "6": 4160, + "10": 385, + "12": 1944, + "14": 37353, + "15": 4925, + "20": 3507, + "24": 20460, + "25": 195878 + }, + "instance_pixel_counts": { + "2118": 384, + "3424": 168102, + "5506": 414, + "6215": 124701, + "6284": 1505, + "6290": 5970, + "6730": 152, + "6992": 866, + "7262": 3691, + "7774": 4673, + "8332": 16257, + "8338": 43183, + "9822": 8799, + "10846": 2094, + "15184": 3041, + "17738": 718, + "18000": 3507, + "21140": 17719, + "23392": 501, + "23700": 160490, + "23904": 484, + "24416": 135, + "28000": 289, + "28256": 277, + "28768": 245, + "29024": 58, + "29280": 190, + "29792": 161, + "35476": 1155, + "37524": 9672, + "38540": 1999, + "40588": 14739, + "41562": 27737, + "42330": 3623, + "42897": 3966, + "44945": 45497, + "45898": 861, + "48203": 26, + "48459": 61, + "52038": 29016, + "54859": 821, + "56576": 200, + "56647": 27776, + "56832": 176, + "57088": 556, + "57344": 666, + "57600": 346, + "57856": 10657, + "58368": 4925, + "60928": 7439, + "62081": 3746, + "62101": 403, + "62611": 15119, + "64149": 4251, + "64659": 137560 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -15.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.19697202742099762, + "y": 0.2942694425582886, + "z": 0.5515905022621155 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.5088286858149, + "ymin": 340.1933665817557, + "xmax": 651.4044726031799, + "ymax": 379.4965655676178 + }, + "corners_3d": [ + [ + -15.364153861999512, + 0.0179673433303833, + 0.04850566387176514 + ], + [ + -15.364153861999512, + 0.6065062284469604, + 0.04850566387176514 + ], + [ + -14.970210075378418, + 0.6065062284469604, + 0.04850566387176514 + ], + [ + -14.970210075378418, + 0.0179673433303833, + 0.04850566387176514 + ], + [ + -15.364153861999512, + 0.0179673433303833, + 1.151686668395996 + ], + [ + -15.364153861999512, + 0.6065062284469604, + 1.151686668395996 + ], + [ + -14.970210075378418, + 0.6065062284469604, + 1.151686668395996 + ], + [ + -14.970210075378418, + 0.0179673433303833, + 1.151686668395996 + ] + ], + "corners_2d": [ + [ + 628.830989504051, + 377.04083521639143 + ], + [ + 648.9090352545926, + 379.4965655676178 + ], + [ + 651.0870879020958, + 369.8993524464586 + ], + [ + 631.2005617696536, + 367.4916220840163 + ], + [ + 628.5088286858149, + 349.7397965645572 + ], + [ + 649.1666759413159, + 352.1956844833178 + ], + [ + 651.4044726031799, + 342.59988599606635 + ], + [ + 630.9493100359041, + 340.1933665817557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 176, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -11.0411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2950976490974426, + "y": 0.1869247406721115, + "z": 0.5327790975570679 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 748.658050759504, + "ymin": 260.1769556632984, + "xmax": 764.9680293868316, + "ymax": 298.63099274242217 + }, + "corners_3d": [ + [ + -11.361902236938477, + 3.1714813709259033, + 0.06732195615768433 + ], + [ + -11.30341911315918, + 3.5407280921936035, + 0.06732195615768433 + ], + [ + -10.720489501953125, + 3.4484012126922607, + 0.06732195615768433 + ], + [ + -10.778972625732422, + 3.0791544914245605, + 0.06732195615768433 + ], + [ + -11.361902236938477, + 3.1714813709259033, + 1.1328802108764648 + ], + [ + -11.30341911315918, + 3.5407280921936035, + 1.1328802108764648 + ], + [ + -10.720489501953125, + 3.4484012126922607, + 1.1328802108764648 + ], + [ + -10.778972625732422, + 3.0791544914245605, + 1.1328802108764648 + ] + ], + "corners_2d": [ + [ + 749.9505542192958, + 298.5420143980355 + ], + [ + 761.8535975439753, + 298.63099274242217 + ], + [ + 760.3983177098352, + 286.3998336148687 + ], + [ + 748.658050759504, + 286.3132702355317 + ], + [ + 752.7604720575079, + 272.34691476671117 + ], + [ + 764.9680293868316, + 272.4354965264994 + ], + [ + 763.4324456488778, + 260.2630730643838 + ], + [ + 751.3960399173718, + 260.1769556632984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 556, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -17.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5822247266769409, + "y": 0.36352720856666565, + "z": 0.9068435430526733 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 866.469747918407, + "ymin": 410.5609532565042, + "xmax": 910.3242941064881, + "ymax": 491.78393934123386 + }, + "corners_3d": [ + [ + -18.02345848083496, + 6.922391414642334, + -0.30674248933792114 + ], + [ + -17.98540687561035, + 7.648449420928955, + -0.30674248933792114 + ], + [ + -16.822553634643555, + 7.5875067710876465, + -0.30674248933792114 + ], + [ + -16.860605239868164, + 6.861448764801025, + -0.30674248933792114 + ], + [ + -18.02345848083496, + 6.922391414642334, + 1.5069446563720703 + ], + [ + -17.98540687561035, + 7.648449420928955, + 1.5069446563720703 + ], + [ + -16.822553634643555, + 7.5875067710876465, + 1.5069446563720703 + ], + [ + -16.860605239868164, + 6.861448764801025, + 1.5069446563720703 + ] + ], + "corners_2d": [ + [ + 868.6839705369111, + 489.2234550999615 + ], + [ + 896.6396447031818, + 491.78393934123386 + ], + [ + 893.5429668753115, + 457.6287347668991 + ], + [ + 866.469747918407, + 455.22627405909213 + ], + [ + 880.8477389851157, + 444.84580381258957 + ], + [ + 910.3242941064881, + 447.4325790619075 + ], + [ + 906.6163007814648, + 412.9799981443359 + ], + [ + 878.1191327325353, + 410.5609532565042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 666, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5578905940055847, + "y": 0.3133128881454468, + "z": 0.9007676243782043 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 542.4391099940248, + "ymin": 617.5271932972435, + "xmax": 588.7786124245778, + "ymax": 710.2457752081584 + }, + "corners_3d": [ + [ + -25.207910537719727, + -0.029844462871551514, + -0.30067145824432373 + ], + [ + -25.240707397460938, + 0.5959225296974182, + -0.30067145824432373 + ], + [ + -24.126455307006836, + 0.6543180346488953, + -0.30067145824432373 + ], + [ + -24.093658447265625, + 0.028551042079925537, + -0.30067145824432373 + ], + [ + -25.207910537719727, + -0.029844462871551514, + 1.500863790512085 + ], + [ + -25.240707397460938, + 0.5959225296974182, + 1.500863790512085 + ], + [ + -24.126455307006836, + 0.6543180346488953, + 1.500863790512085 + ], + [ + -24.093658447265625, + 0.028551042079925537, + 1.500863790512085 + ] + ], + "corners_2d": [ + [ + 548.3043364619055, + 704.2400671865166 + ], + [ + 575.7608906109188, + 710.2457752081584 + ], + [ + 588.7786124245778, + 664.0681964675518 + ], + [ + 562.2303077977399, + 658.478547510791 + ], + [ + 542.4391099940248, + 664.627004767972 + ], + [ + 571.6317049265159, + 670.8240898155539 + ], + [ + 585.6097327852517, + 623.2689681871093 + ], + [ + 557.441630511338, + 617.5271932972435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 346, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -3.921846628189087, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.4482371509075165, + "y": 0.3367477357387543, + "z": 0.9148522019386292 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 459.79963370273964, + "ymin": 94.89980463161169, + "xmax": 492.2078035390924, + "ymax": 152.70397212891825 + }, + "corners_3d": [ + [ + -4.311886310577393, + -8.260700225830078, + -0.16245132684707642 + ], + [ + -4.4172444343566895, + -7.595496654510498, + -0.16245132684707642 + ], + [ + -3.5318071842193604, + -7.455256462097168, + -0.16245132684707642 + ], + [ + -3.4264490604400635, + -8.120460510253906, + -0.16245132684707642 + ], + [ + -4.311886310577393, + -8.260700225830078, + 1.667253017425537 + ], + [ + -4.4172444343566895, + -7.595496654510498, + 1.667253017425537 + ], + [ + -3.5318071842193604, + -7.455256462097168, + 1.667253017425537 + ], + [ + -3.4264490604400635, + -8.120460510253906, + 1.667253017425537 + ] + ], + "corners_2d": [ + [ + 466.1538120965141, + 149.583070677672 + ], + [ + 482.2236889227604, + 152.70397212891825 + ], + [ + 492.2078035390924, + 140.54417715935205 + ], + [ + 476.35675526995624, + 137.52355834177988 + ], + [ + 459.79963370273964, + 106.67419527805538 + ], + [ + 476.4318644263368, + 109.72357614472719 + ], + [ + 486.87372279764253, + 97.84770187551726 + ], + [ + 470.4756583497618, + 94.89980463161169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 10657, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 655.7169112218411, + "ymin": 339.1349294391401, + "xmax": 758.1535792185176, + "ymax": 535.537105227009 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 655.7169112218411, + 524.4027381155155 + ], + [ + 736.2335777208169, + 535.537105227009 + ], + [ + 753.9064119714673, + 382.55860575007864 + ], + [ + 684.0274730493787, + 374.21916401136986 + ], + [ + 656.3914885531958, + 490.10329989178797 + ], + [ + 740.4067779394178, + 501.3650184647498 + ], + [ + 758.1535792185176, + 347.47266325979 + ], + [ + 685.6546015097193, + 339.1349294391401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4925, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 728.2584118381843, + "ymin": 9.991532824150397, + "xmax": 796.2656613096601, + "ymax": 147.80470999186875 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 728.2584118381843, + 143.0812167420729 + ], + [ + 780.490891364976, + 147.80470999186875 + ], + [ + 789.304300153114, + 71.98677508933076 + ], + [ + 742.3120263881837, + 68.17414710597109 + ], + [ + 732.833840530368, + 81.88462380149309 + ], + [ + 787.8230638968674, + 86.44337529694417 + ], + [ + 796.2656613096601, + 13.632609362199787 + ], + [ + 747.0538884568617, + 9.991532824150397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 7439, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 394.93111921594766, + "ymin": 326.6490889241089, + "xmax": 506.9197263950554, + "ymax": 471.4247128951158 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 506.9197263950554, + 372.4884752386698 + ], + [ + 447.80683222644075, + 365.2897207280523 + ], + [ + 405.42312882436323, + 462.6892623161369 + ], + [ + 470.2087348988088, + 471.4247128951158 + ], + [ + 501.4893698490854, + 333.84001038717946 + ], + [ + 440.02947693103806, + 326.6490889241089 + ], + [ + 394.93111921594766, + 424.3215474589466 + ], + [ + 462.5458272778343, + 433.11995839294906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613005871248, + "ymin": 51.28672422030371, + "xmax": 701.3647013436266, + "ymax": 76.19710041794701 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613005871248, + 76.03411419524883 + ], + [ + 698.406713764509, + 76.19710041794701 + ], + [ + 700.580789664688, + 67.69432538854062 + ], + [ + 698.6594412320923, + 67.53543305022612 + ], + [ + 697.2012006209517, + 59.68608268218361 + ], + [ + 699.1722954958348, + 59.847191299664416 + ], + [ + 701.3647013436266, + 51.44373409433439 + ], + [ + 699.4183068396223, + 51.28672422030371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613000035293, + "ymin": 51.286726393925505, + "xmax": 701.3647007762683, + "ymax": 76.19710267539836 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613000035293, + 76.0341164516064 + ], + [ + 698.406713187301, + 76.19710267539836 + ], + [ + 700.5807891019799, + 67.69432758928264 + ], + [ + 698.6594406631539, + 67.53543524991528 + ], + [ + 697.2012000322235, + 59.68608491254082 + ], + [ + 699.1722949136637, + 59.847193531117 + ], + [ + 701.3647007762683, + 51.44373626901006 + ], + [ + 699.4183062658701, + 51.286726393925505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.3835721305525, + "ymin": 18.49937398975709, + "xmax": 707.040849269258, + "ymax": 42.145431002325495 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 702.3835721305525, + 41.998526632902895 + ], + [ + 704.2318675518371, + 42.145431002325495 + ], + [ + 706.2272599133296, + 34.476811566798915 + ], + [ + 704.400700606058, + 34.333413725521154 + ], + [ + 703.1591922266776, + 26.06499105385859 + ], + [ + 705.0306536909633, + 26.210010611116275 + ], + [ + 707.040849269258, + 18.64088974882162 + ], + [ + 705.191669010467, + 18.49937398975709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.4241471255327, + "ymin": 17.9043777609333, + "xmax": 710.0780085295372, + "ymax": 41.52749440677991 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 705.4241471255327, + 41.38087415452685 + ], + [ + 707.2713531177976, + 41.52749440677991 + ], + [ + 709.2283740778582, + 33.873619442340726 + ], + [ + 707.4028790702636, + 33.730495611283516 + ], + [ + 706.2367742648231, + 25.455272256923138 + ], + [ + 708.1071186832237, + 25.600007859789514 + ], + [ + 710.0780085295372, + 18.045619789268017 + ], + [ + 708.2299192310101, + 17.9043777609333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2817439446109, + "ymin": 43.30892864782925, + "xmax": 700.3410651813955, + "ymax": 69.15759530539054 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2817439446109, + 69.13626686867497 + ], + [ + 697.538985961701, + 69.15759530539054 + ], + [ + 699.4750832083093, + 61.7024047716136 + ], + [ + 699.2206609258001, + 61.68155141845949 + ], + [ + 698.1253490081311, + 50.66226540021489 + ], + [ + 698.3864070573732, + 50.68330726581411 + ], + [ + 700.3410651813955, + 43.329495027769326 + ], + [ + 700.0829106866289, + 43.30892864782925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2817384487441, + "ymin": 43.30901217336515, + "xmax": 700.3410600671992, + "ymax": 69.15768193140184 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2817384487441, + 69.13635348913482 + ], + [ + 697.538980499136, + 69.15768193140184 + ], + [ + 699.4750780560712, + 61.70248946802991 + ], + [ + 699.220655740986, + 61.681636109508815 + ], + [ + 698.1253435427266, + 50.66235085679307 + ], + [ + 698.3864016262658, + 50.68339272794981 + ], + [ + 700.3410600671992, + 43.32957855867551 + ], + [ + 700.0829055388941, + 43.30901217336515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613005871248, + "ymin": 51.28672422030371, + "xmax": 701.3647013436266, + "ymax": 76.19710041794701 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613005871248, + 76.03411419524883 + ], + [ + 698.406713764509, + 76.19710041794701 + ], + [ + 700.580789664688, + 67.69432538854062 + ], + [ + 698.6594412320923, + 67.53543305022612 + ], + [ + 697.2012006209517, + 59.68608268218361 + ], + [ + 699.1722954958348, + 59.847191299664416 + ], + [ + 701.3647013436266, + 51.44373409433439 + ], + [ + 699.4183068396223, + 51.28672422030371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613008733091, + "ymin": 51.286724243400954, + "xmax": 701.364701534605, + "ymax": 76.19710043393906 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613008733091, + 76.03411421922522 + ], + [ + 698.4067139553911, + 76.19710043393906 + ], + [ + 700.5807898532083, + 67.694325404131 + ], + [ + 698.6594415147374, + 67.5354330736003 + ], + [ + 697.2012009109131, + 59.686082705883734 + ], + [ + 699.1722956892373, + 59.84719131547229 + ], + [ + 701.364701534605, + 51.44373410974009 + ], + [ + 699.4183071259511, + 51.286724243400954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613001961901, + "ymin": 51.28672603935428, + "xmax": 701.3647008708281, + "ymax": 76.19710229915654 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613001961901, + 76.03411608353895 + ], + [ + 698.4067132835023, + 76.19710229915654 + ], + [ + 700.5807891957646, + 67.6943272224924 + ], + [ + 698.659440852192, + 67.53543489109182 + ], + [ + 697.2012002269987, + 59.68608454871463 + ], + [ + 699.1722950106921, + 59.8471931592083 + ], + [ + 701.3647008708281, + 51.443735906564086 + ], + [ + 699.4183064569384, + 51.28672603935428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.531228776269, + "ymin": 27.119580972793074, + "xmax": 685.2458444487396, + "ymax": 51.09800933154713 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 680.531228776269, + 50.946957700491225 + ], + [ + 682.4003371927053, + 51.09800933154713 + ], + [ + 684.6891494580377, + 43.214200329827804 + ], + [ + 682.8422638113664, + 43.06680383839051 + ], + [ + 681.0423087175842, + 34.90012627499425 + ], + [ + 682.9351120359585, + 35.049291877022654 + ], + [ + 685.2458444487396, + 27.26509239348337 + ], + [ + 683.3758275501888, + 27.119580972793074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2817897949061, + "ymin": 43.30882036033489, + "xmax": 700.3411106619237, + "ymax": 69.15748299825475 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2817897949061, + 69.13615456873623 + ], + [ + 697.5390317700626, + 69.15748299825475 + ], + [ + 699.4751281806009, + 61.702294966119666 + ], + [ + 699.2207059391116, + 61.681441619923476 + ], + [ + 698.1253953892494, + 50.662154609202446 + ], + [ + 698.3864533953042, + 50.68319646759676 + ], + [ + 700.3411106619237, + 43.3293867333129 + ], + [ + 700.0829562093897, + 43.30882036033489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613000035293, + "ymin": 51.286726393925505, + "xmax": 701.3647007762683, + "ymax": 76.19710267539836 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613000035293, + 76.0341164516064 + ], + [ + 698.406713187301, + 76.19710267539836 + ], + [ + 700.5807891019799, + 67.69432758928264 + ], + [ + 698.6594406631539, + 67.53543524991528 + ], + [ + 697.2012000322235, + 59.68608491254082 + ], + [ + 699.1722949136637, + 59.847193531117 + ], + [ + 701.3647007762683, + 51.44373626901006 + ], + [ + 699.4183062658701, + 51.286726393925505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.5931410516534, + "ymin": 42.14877411175422, + "xmax": 701.3992305908437, + "ymax": 71.43887107912497 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 697.5931410516534, + 71.4131579225068 + ], + [ + 697.9022218569543, + 71.43887107912497 + ], + [ + 700.4740811583218, + 61.480731239449824 + ], + [ + 700.1695108543173, + 61.455779088503846 + ], + [ + 698.487724358643, + 51.96407886463987 + ], + [ + 698.8016412209425, + 51.989431025013005 + ], + [ + 701.3992305908437, + 42.17336455960566 + ], + [ + 701.089965442348, + 42.14877411175422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2818226115264, + "ymin": 43.30888669421461, + "xmax": 700.3411439017251, + "ymax": 69.15755179445404 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2818226115264, + 69.13622336052669 + ], + [ + 697.5390646143218, + 69.15755179445404 + ], + [ + 699.4751608548615, + 61.70236222988342 + ], + [ + 699.2207385863364, + 61.68150887942488 + ], + [ + 698.125428777642, + 50.662222476666955 + ], + [ + 698.3864868121616, + 50.68326433947493 + ], + [ + 700.3411439017251, + 43.329453071457465 + ], + [ + 700.0829894213565, + 43.30888669421461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4613008733091, + "ymin": 51.286724243400954, + "xmax": 701.364701534605, + "ymax": 76.19710043393906 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4613008733091, + 76.03411421922522 + ], + [ + 698.4067139553911, + 76.19710043393906 + ], + [ + 700.5807898532083, + 67.694325404131 + ], + [ + 698.6594415147374, + 67.5354330736003 + ], + [ + 697.2012009109131, + 59.686082705883734 + ], + [ + 699.1722956892373, + 59.84719131547229 + ], + [ + 701.364701534605, + 51.44373410974009 + ], + [ + 699.4183071259511, + 51.286724243400954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.5930559461589, + "ymin": 42.14876734076694, + "xmax": 701.3991453320203, + "ymax": 71.43886399047136 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 697.5930559461589, + 71.41315084238124 + ], + [ + 697.9021366489516, + 71.43886399047136 + ], + [ + 700.4739971938311, + 61.48072436059584 + ], + [ + 700.1694269907425, + 61.45577221791751 + ], + [ + 698.4876379215904, + 51.964071883918905 + ], + [ + 698.8015546796745, + 51.989424035875516 + ], + [ + 701.3991453320203, + 42.17335778046265 + ], + [ + 701.089880286095, + 42.14876734076694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.5931330286384, + "ymin": 42.148848324971254, + "xmax": 701.3992229125354, + "ymax": 71.43894867863548 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 697.5931330286384, + 71.41323552402486 + ], + [ + 697.9022137735888, + 71.43894867863548 + ], + [ + 700.474073489825, + 61.48080654228477 + ], + [ + 700.1695032458018, + 61.45585439337327 + ], + [ + 698.4877163165642, + 51.96415537663677 + ], + [ + 698.8016331181349, + 51.98950753512213 + ], + [ + 701.3992229125354, + 42.173438770903715 + ], + [ + 701.0899578244047, + 42.148848324971254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.461301546686, + "ymin": 51.28672318738643, + "xmax": 701.3647022002409, + "ymax": 76.19709933719747 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.461301546686, + 76.03411312301512 + ], + [ + 698.4067146257593, + 76.19709933719747 + ], + [ + 700.5807905116029, + 67.69432433494057 + ], + [ + 698.6594421760668, + 67.53543200492146 + ], + [ + 697.2012015918924, + 59.68608162230538 + ], + [ + 699.1722963671278, + 59.847190231361765 + ], + [ + 701.3647022002409, + 51.44373305321358 + ], + [ + 699.4183077945987, + 51.28672318738643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.5932261509918, + "ymin": 42.148782716847904, + "xmax": 701.3993157584287, + "ymax": 71.4388800777881 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 697.5932261509918, + 71.41316692047718 + ], + [ + 697.9023069637329, + 71.4388800777881 + ], + [ + 700.4741650303428, + 61.48073997178392 + ], + [ + 700.1695947191154, + 61.45578782017566 + ], + [ + 698.4878107920525, + 51.96408773627928 + ], + [ + 698.8017276620265, + 51.989439897346074 + ], + [ + 701.3993157584287, + 42.17337316536191 + ], + [ + 701.0900506024866, + 42.148782716847904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.2808123571917, + "ymin": 10.9897170437427, + "xmax": 711.8829424041992, + "ymax": 34.346244374212006 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 707.2808123571917, + 34.20290586902638 + ], + [ + 709.1076482665474, + 34.346244374212006 + ], + [ + 711.0211180548255, + 26.862691729215385 + ], + [ + 709.2155198839084, + 26.7227335991347 + ], + [ + 708.1069811872394, + 18.370579722591458 + ], + [ + 709.9564448053286, + 18.512036205287302 + ], + [ + 711.8829424041992, + 11.127797302945567 + ], + [ + 710.0552428544393, + 10.9897170437427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.5931411500644, + "ymin": 42.14877338574536, + "xmax": 701.3992305889349, + "ymax": 71.43887031192804 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 697.5931411500644, + 71.41315716335106 + ], + [ + 697.9022218590627, + 71.43887031192804 + ], + [ + 700.4740811574887, + 61.48073049495929 + ], + [ + 700.1695109483762, + 61.45577835181564 + ], + [ + 698.4877244575499, + 51.96407811614267 + ], + [ + 698.8016412220346, + 51.9894302685866 + ], + [ + 701.3992305889349, + 42.17336382590668 + ], + [ + 701.0899655367995, + 42.14877338574536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.0126994269062, + "ymin": 55.06775629823619, + "xmax": 699.8998006103219, + "ymax": 79.89851278489516 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 695.0126994269062, + 79.73515602724893 + ], + [ + 696.9515134518678, + 79.89851278489516 + ], + [ + 699.1370296551337, + 71.37606761073772 + ], + [ + 697.2221182062212, + 71.2168011143076 + ], + [ + 695.7312706356657, + 63.4886567430666 + ], + [ + 697.695591341825, + 63.65017169494274 + ], + [ + 699.8998006103219, + 55.225175283898636 + ], + [ + 697.9600116526112, + 55.06775629823619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2817439446109, + "ymin": 43.30892864782925, + "xmax": 700.3410651813955, + "ymax": 69.15759530539054 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2817439446109, + 69.13626686867497 + ], + [ + 697.538985961701, + 69.15759530539054 + ], + [ + 699.4750832083093, + 61.7024047716136 + ], + [ + 699.2206609258001, + 61.68155141845949 + ], + [ + 698.1253490081311, + 50.66226540021489 + ], + [ + 698.3864070573732, + 50.68330726581411 + ], + [ + 700.3410651813955, + 43.329495027769326 + ], + [ + 700.0829106866289, + 43.30892864782925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.5966348276562, + "ymin": 7.236872629153311, + "xmax": 710.1697329260323, + "ymax": 30.44871882108879 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 705.5966348276562, + 30.30714588876981 + ], + [ + 707.411803158407, + 30.44871882108879 + ], + [ + 709.3335853308204, + 23.056813447259742 + ], + [ + 707.5393857017827, + 22.91855899012728 + ], + [ + 706.3970866206348, + 14.526273069076751 + ], + [ + 708.2345928602087, + 14.665965963226938 + ], + [ + 710.1697329260323, + 7.37325186907924 + ], + [ + 708.3537116906888, + 7.236872629153311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.2817426172076, + "ymin": 43.30899998554469, + "xmax": 700.3410641908417, + "ymax": 69.15766929116847 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 697.2817426172076, + 69.13634084971147 + ], + [ + 697.538984662848, + 69.15766929116847 + ], + [ + 699.4750821367941, + 61.70247710935786 + ], + [ + 699.2206598263568, + 61.68162375161984 + ], + [ + 698.1253477563248, + 50.66233838720012 + ], + [ + 698.3864058349704, + 50.68338025754599 + ], + [ + 700.3410641908417, + 43.32956637007146 + ], + [ + 700.0829096673218, + 43.30899998554469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.4778707473399, + "ymin": 21.352220738145206, + "xmax": 707.7162989550795, + "ymax": 74.93665405778444 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.4778707473399, + 74.82951195478421 + ], + [ + 704.7601399015032, + 74.93665405778444 + ], + [ + 704.9816119704947, + 74.03894229715081 + ], + [ + 703.7010217178729, + 73.93208649046107 + ], + [ + 706.1525567213938, + 22.21410885929174 + ], + [ + 707.4893090803541, + 22.317014707466456 + ], + [ + 707.7162989550795, + 21.4548400466914 + ], + [ + 706.3813711248595, + 21.352220738145206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.2931915888174, + "ymin": 14.363473859965438, + "xmax": 709.5569963513708, + "ymax": 67.6342951332656 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 705.2931915888174, + 67.52947077051317 + ], + [ + 706.5618011182271, + 67.6342951332656 + ], + [ + 706.7784848378998, + 66.75599177963636 + ], + [ + 705.5115186693071, + 66.65144447974694 + ], + [ + 708.0132035050747, + 15.205959810044362 + ], + [ + 709.335117301429, + 15.306547343042496 + ], + [ + 709.5569963513708, + 14.463784475004047 + ], + [ + 708.2368668463341, + 14.363473859965438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.5236106360562, + "ymin": 396.6217341083722, + "xmax": 1020.1112544755883, + "ymax": 416.0602675181206 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1018.3583449212115, + 416.0602675181206 + ], + [ + 1016.5537970742978, + 403.71137615818776 + ], + [ + 992.5236106360562, + 400.8320030387796 + ], + [ + 994.0270437162864, + 413.10945574604085 + ], + [ + 1020.1112544755883, + 411.8559638274987 + ], + [ + 1018.2769722857017, + 399.5020723910338 + ], + [ + 994.1321541895495, + 396.6217341083722 + ], + [ + 995.6624258817519, + 408.9038303292966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.4163335493324, + "ymin": 30.66741534138646, + "xmax": 682.7207749397828, + "ymax": 84.65986135999515 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.4163335493324, + 84.5495938532772 + ], + [ + 680.7132759291525, + 84.65986135999515 + ], + [ + 680.9705680348719, + 83.73597821169221 + ], + [ + 679.6753429417413, + 83.62600961074435 + ], + [ + 681.1022458747489, + 31.555508212198276 + ], + [ + 682.4549549906137, + 31.661545258685123 + ], + [ + 682.7207749397828, + 30.7731526805087 + ], + [ + 681.3699338806043, + 30.66741534138646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 903.569959463121, + "ymin": 386.4214944533347, + "xmax": 1230.3860506372416, + "ymax": 661.2465382783048 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1079.30786190115, + 661.2465382783048 + ], + [ + 1076.3537462187057, + 643.4616016895255 + ], + [ + 903.569959463121, + 617.9781958544136 + ], + [ + 904.0358186924072, + 635.0345725197678 + ], + [ + 1230.3860506372416, + 433.4828074391508 + ], + [ + 1223.5780877915172, + 414.00467917337346 + ], + [ + 990.0701323778583, + 386.4214944533347 + ], + [ + 992.3127714201696, + 404.8410432608725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.3786137988677, + "ymin": 396.5182287719509, + "xmax": 1020.2633035302797, + "ymax": 416.1658704498218 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1018.4907379620138, + 416.1658704498218 + ], + [ + 1016.6652723978323, + 403.6836967046309 + ], + [ + 992.3786137988677, + 400.7737895665925 + ], + [ + 993.8964632095226, + 413.18298224668155 + ], + [ + 1020.2633035302797, + 411.9164040563838 + ], + [ + 1018.4074443053174, + 399.4291200313206 + ], + [ + 994.0036899655402, + 396.5182287719509 + ], + [ + 995.548942822725, + 408.9321635431134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5729957284026, + "ymin": 58.99748904047567, + "xmax": 698.6467576875598, + "ymax": 113.68504483165631 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 694.5729957284026, + 113.56613420682828 + ], + [ + 695.9169793398847, + 113.68504483165631 + ], + [ + 696.1617587542181, + 112.6887859557082 + ], + [ + 694.8196193368804, + 112.57020870204582 + ], + [ + 696.9908161318758, + 59.958955811184296 + ], + [ + 698.3947773176504, + 60.07376014842555 + ], + [ + 698.6467576875598, + 59.11195728903874 + ], + [ + 697.2448088733145, + 58.99748904047567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.0453669227231, + "ymin": 0.0, + "xmax": 1043.11615584036, + "ymax": 99.62710864553583 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 986.0231076842997, + 99.62710864553583 + ], + [ + 985.1124449195561, + 94.14462867681686 + ], + [ + 889.0453669227231, + 86.16639898190073 + ], + [ + 889.1916619319929, + 91.52244744102791 + ], + [ + 1043.11615584036, + -102.31614266942626 + ], + [ + 1041.5334329113462, + -106.8443965399041 + ], + [ + 929.2145273634841, + -113.41305656382542 + ], + [ + 929.751104211385, + -109.00603426075713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.5390762690447, + "ymin": 21.95353346965379, + "xmax": 704.6614438469827, + "ymax": 75.56464946353492 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 700.5390762690447, + 75.45730684660845 + ], + [ + 701.8220753887626, + 75.56464946353492 + ], + [ + 702.047686367898, + 74.6652587083484 + ], + [ + 700.7663680342631, + 74.55820319125525 + ], + [ + 703.0924201694482, + 22.8171012903353 + ], + [ + 704.4299661943319, + 22.920207851376006 + ], + [ + 704.6614438469827, + 22.056352652930116 + ], + [ + 703.3257244873234, + 21.95353346965379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.6771995927922, + "ymin": 10.570845458878182, + "xmax": 707.8496545760098, + "ymax": 63.66878219088579 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.6771995927922, + 63.56520584264939 + ], + [ + 704.9379804832557, + 63.66878219088579 + ], + [ + 705.155506794662, + 62.800929736591854 + ], + [ + 703.8963490442623, + 62.697625521218924 + ], + [ + 706.3133988634689, + 11.40289489028487 + ], + [ + 707.6268146996682, + 11.502235422975843 + ], + [ + 707.8496545760098, + 10.669914203631663 + ], + [ + 706.5380001639156, + 10.570845458878182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.734127799113, + "ymin": 55.10359908711217, + "xmax": 698.8273792657686, + "ymax": 110.11222466744925 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.734127799113, + 109.99356295735663 + ], + [ + 696.0821073839169, + 110.11222466744925 + ], + [ + 696.3273763007463, + 109.11805487993848 + ], + [ + 694.981251886931, + 108.99972682342823 + ], + [ + 697.1665651740017, + 56.06230151851412 + ], + [ + 698.5748875055268, + 56.17677635747884 + ], + [ + 698.8273792657686, + 55.21773777072866 + ], + [ + 697.4210818202654, + 55.10359908711217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.6670381579343, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 39.051196067753324 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1174.1392566785742, + 39.051196067753324 + ], + [ + 1332.762318810585, + 35.580582775315406 + ], + [ + 1250.2746108419228, + -33.48855342166718 + ], + [ + 1108.6670381579343, + -30.736660099298092 + ], + [ + 1303.506142072829, + -272.0485247608168 + ], + [ + 1499.4105248960655, + -274.2463991341233 + ], + [ + 1377.6879854608933, + -316.809927487786 + ], + [ + 1207.0942653336567, + -315.15583562007873 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00131/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00131/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..259fd4841d64c3eaac3826753ec158fc08b1dacb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00131/meta.json @@ -0,0 +1,6939 @@ +{ + "frame_id": 131, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.5, + "sim_timestamp": 13156.397161157103 + }, + "drone_pose": { + "x": -33.94852900384227, + "y": 3.3876933728840597, + "z": 20.0, + "pitch": -44.81574740218606, + "yaw": -9.06257922974424, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7005218267440796, + 0.11173620820045471, + 0.7048291563987732, + 10.063629150390625 + ], + [ + -0.15751314163208008, + 0.9875168800354004, + 0.0, + 2.001934766769409 + ], + [ + -0.6960306763648987, + -0.11101985722780228, + 0.7093770503997803, + -38.1928596496582 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -33.529568133686965, + "y": 3.2138889830161728, + "z": 20.0 + }, + "t1_image_uv": [ + 315.8916775507093, + -593.8454069980565 + ], + "t1_depth": 0.3129114719172566 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -14.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.52426216577745, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -14.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2978057563304901, + "y": 0.2596043646335602, + "z": 0.5511022806167603 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.1994864494897, + "ymin": 338.0093022371, + "xmax": 650.6584858729819, + "ymax": 381.7509918976605 + }, + "corners_3d": [ + [ + -14.964987754821777, + 0.052632421255111694, + 0.04899388551712036 + ], + [ + -14.964987754821777, + 0.5718411207199097, + 0.04899388551712036 + ], + [ + -14.369376182556152, + 0.5718411207199097, + 0.04899388551712036 + ], + [ + -14.369376182556152, + 0.052632421255111694, + 0.04899388551712036 + ], + [ + -14.964987754821777, + 0.052632421255111694, + 1.151198387145996 + ], + [ + -14.964987754821777, + 0.5718411207199097, + 1.151198387145996 + ], + [ + -14.369376182556152, + 0.5718411207199097, + 1.151198387145996 + ], + [ + -14.369376182556152, + 0.052632421255111694, + 1.151198387145996 + ] + ], + "corners_2d": [ + [ + 629.5020330773363, + 379.71015685130254 + ], + [ + 647.2656466035659, + 381.7509918976605 + ], + [ + 650.3637356362387, + 367.2610195301865 + ], + [ + 632.8570263339543, + 365.28029544558086 + ], + [ + 629.1994864494897, + 352.4329145611541 + ], + [ + 647.4754908520848, + 354.4738604735707 + ], + [ + 650.6584858729819, + 339.9884391783262 + ], + [ + 632.654306856022, + 338.0093022371 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 131, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 329093, + "2": 286446, + "3": 31888, + "5": 4097, + "6": 4295, + "10": 495, + "12": 1940, + "14": 37696, + "15": 4982, + "20": 3361, + "24": 20764, + "25": 196543 + }, + "instance_pixel_counts": { + "2118": 493, + "3424": 165671, + "5506": 433, + "6215": 123198, + "6284": 1625, + "6290": 6246, + "6730": 331, + "6992": 1176, + "7262": 2999, + "7774": 4816, + "8332": 16049, + "8338": 42855, + "9822": 8492, + "10846": 2680, + "15184": 2921, + "16203": 92, + "17738": 747, + "18000": 3361, + "21140": 18879, + "23392": 522, + "23700": 158295, + "23904": 501, + "24416": 143, + "28000": 292, + "28256": 286, + "28768": 281, + "29024": 56, + "29280": 234, + "29792": 176, + "35476": 1225, + "37524": 9528, + "38540": 2101, + "40588": 14623, + "41562": 28763, + "42330": 3125, + "42897": 4330, + "44945": 44987, + "45898": 813, + "48203": 33, + "52038": 30432, + "54859": 783, + "56576": 203, + "56647": 30872, + "56832": 180, + "57088": 578, + "57344": 640, + "57600": 339, + "57856": 11036, + "58368": 4982, + "60928": 7673, + "62081": 3862, + "62101": 432, + "62611": 16232, + "64149": 4289, + "64659": 135687 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 203, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -14.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.287339448928833, + "y": 0.2701369524002075, + "z": 0.5573810935020447 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8894645814028, + "ymin": 338.0590960051978, + "xmax": 650.9712877588801, + "ymax": 381.68506041477656 + }, + "corners_3d": [ + [ + -14.954521179199219, + 0.042099833488464355, + 0.04271507263183594 + ], + [ + -14.954521179199219, + 0.5823737382888794, + 0.04271507263183594 + ], + [ + -14.379842758178711, + 0.5823737382888794, + 0.04271507263183594 + ], + [ + -14.379842758178711, + 0.042099833488464355, + 0.04271507263183594 + ], + [ + -14.954521179199219, + 0.042099833488464355, + 1.1574772596359253 + ], + [ + -14.954521179199219, + 0.5823737382888794, + 1.1574772596359253 + ], + [ + -14.379842758178711, + 0.5823737382888794, + 1.1574772596359253 + ], + [ + -14.379842758178711, + 0.042099833488464355, + 1.1574772596359253 + ] + ], + "corners_2d": [ + [ + 629.2040948086337, + 379.5625585498964 + ], + [ + 647.6806953768383, + 381.68506041477656 + ], + [ + 650.6643859585511, + 367.7032598888282 + ], + [ + 632.445634633082, + 365.64109927164463 + ], + [ + 628.8894645814028, + 351.9744169184257 + ], + [ + 647.905039895864, + 354.09700207189627 + ], + [ + 650.9712877588801, + 340.11961574301296 + ], + [ + 632.2287132496494, + 338.0590960051978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 180, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -10.5411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3092626929283142, + "y": 0.22543609142303467, + "z": 0.5282138586044312 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 745.9510783019017, + "ymin": 259.5355095217959, + "xmax": 764.860758650918, + "ymax": 298.2016312445022 + }, + "corners_3d": [ + [ + -10.881916999816895, + 3.135660171508789, + 0.07188719511032104 + ], + [ + -10.811385154724121, + 3.5809812545776367, + 0.07188719511032104 + ], + [ + -10.200474739074707, + 3.484222412109375, + 0.07188719511032104 + ], + [ + -10.27100658416748, + 3.0389013290405273, + 0.07188719511032104 + ], + [ + -10.881916999816895, + 3.135660171508789, + 1.1283149719238281 + ], + [ + -10.811385154724121, + 3.5809812545776367, + 1.1283149719238281 + ], + [ + -10.200474739074707, + 3.484222412109375, + 1.1283149719238281 + ], + [ + -10.27100658416748, + 3.0389013290405273, + 1.1283149719238281 + ] + ], + "corners_2d": [ + [ + 747.4672982160388, + 298.1913221017619 + ], + [ + 761.7855318388746, + 298.2016312445022 + ], + [ + 760.06446457483, + 285.4404157836266 + ], + [ + 745.9510783019017, + 285.43039948520766 + ], + [ + 750.1809407655312, + 272.2333545949543 + ], + [ + 764.860758650918, + 272.2436164878463 + ], + [ + 763.0517822369941, + 259.54547271330284 + ], + [ + 748.5872107617698, + 259.5355095217959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 578, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -16.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4931665062904358, + "y": 0.35648101568222046, + "z": 0.904518187046051 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 867.2843257792898, + "ymin": 411.15296596866744, + "xmax": 910.3661844914867, + "ymax": 486.63751578639403 + }, + "corners_3d": [ + [ + -17.434152603149414, + 6.924767017364502, + -0.30441713333129883 + ], + [ + -17.396839141845703, + 7.636752128601074, + -0.30441713333129883 + ], + [ + -16.4118595123291, + 7.5851311683654785, + -0.30441713333129883 + ], + [ + -16.449172973632812, + 6.873146057128906, + -0.30441713333129883 + ], + [ + -17.434152603149414, + 6.924767017364502, + 1.5046192407608032 + ], + [ + -17.396839141845703, + 7.636752128601074, + 1.5046192407608032 + ], + [ + -16.4118595123291, + 7.5851311683654785, + 1.5046192407608032 + ], + [ + -16.449172973632812, + 6.873146057128906, + 1.5046192407608032 + ] + ], + "corners_2d": [ + [ + 869.5654377788389, + 484.37282857514725 + ], + [ + 896.8106439451678, + 486.63751578639403 + ], + [ + 893.7993214635247, + 457.8639782944971 + ], + [ + 867.2843257792898, + 455.71818366527856 + ], + [ + 881.6561265977248, + 440.03600849534 + ], + [ + 910.3661844914867, + 442.3221948908712 + ], + [ + 906.8208533687643, + 413.3130670192954 + ], + [ + 878.9204582477738, + 411.15296596866744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 640, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -24.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5131994485855103, + "y": 0.3047853410243988, + "z": 0.9055015444755554 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 548.353968639791, + "ymin": 619.2283756970468, + "xmax": 591.9932860026706, + "ymax": 708.1007015981518 + }, + "corners_3d": [ + [ + -24.663728713989258, + -0.018989652395248413, + -0.3054053783416748 + ], + [ + -24.69563102722168, + 0.5897456407546997, + -0.3054053783416748 + ], + [ + -23.670637130737305, + 0.6434632539749146, + -0.3054053783416748 + ], + [ + -23.638734817504883, + 0.03472796082496643, + -0.3054053783416748 + ], + [ + -24.663728713989258, + -0.018989652395248413, + 1.505597710609436 + ], + [ + -24.69563102722168, + 0.5897456407546997, + 1.505597710609436 + ], + [ + -23.670637130737305, + 0.6434632539749146, + 1.505597710609436 + ], + [ + -23.638734817504883, + 0.03472796082496643, + 1.505597710609436 + ] + ], + "corners_2d": [ + [ + 553.8728179846316, + 702.5502279992454 + ], + [ + 580.6175850917954, + 708.1007015981518 + ], + [ + 591.9932860026706, + 665.6125136923154 + ], + [ + 566.070796565657, + 660.4176784765989 + ], + [ + 548.353968639791, + 662.5884223915417 + ], + [ + 576.7951442946035, + 668.3140710037164 + ], + [ + 589.0102108568566, + 624.5648151714504 + ], + [ + 561.4970518235951, + 619.2283756970468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 339, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -3.421846628189087, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.5301656723022461, + "y": 0.349953293800354, + "z": 0.930618405342102 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 455.08096353073887, + "ymin": 94.98790517147404, + "xmax": 490.10055578588253, + "ymax": 155.7582486474044 + }, + "corners_3d": [ + [ + -3.890740156173706, + -8.286559104919434, + -0.17821753025054932 + ], + [ + -4.000229835510254, + -7.595270156860352, + -0.17821753025054932 + ], + [ + -2.9529531002044678, + -7.429397106170654, + -0.17821753025054932 + ], + [ + -2.84346342086792, + -8.120686531066895, + -0.17821753025054932 + ], + [ + -3.890740156173706, + -8.286559104919434, + 1.6830192804336548 + ], + [ + -4.000229835510254, + -7.595270156860352, + 1.6830192804336548 + ], + [ + -2.9529531002044678, + -7.429397106170654, + 1.6830192804336548 + ], + [ + -2.84346342086792, + -8.120686531066895, + 1.6830192804336548 + ] + ], + "corners_2d": [ + [ + 461.71213951440643, + 152.603883391836 + ], + [ + 478.49420367478916, + 155.7582486474044 + ], + [ + 490.10055578588253, + 141.32665419848158 + ], + [ + 473.59233591353717, + 138.29233047635742 + ], + [ + 455.08096353073887, + 108.95377397555242 + ], + [ + 472.4608811056447, + 112.03462736181481 + ], + [ + 484.6125631558484, + 97.94727431667644 + ], + [ + 467.5260203296551, + 94.98790517147404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 11036, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 654.9205500577126, + "ymin": 351.0799716662613, + "xmax": 756.687888503314, + "ymax": 550.983343733812 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 654.9205500577126, + 540.257493771192 + ], + [ + 736.5788290527535, + 550.983343733812 + ], + [ + 752.4549886196619, + 394.16520511897636 + ], + [ + 681.763137907069, + 386.1662570060601 + ], + [ + 655.5688244847878, + 506.10977575922357 + ], + [ + 740.8164543567805, + 516.9691232547259 + ], + [ + 756.687888503314, + 359.082849800957 + ], + [ + 683.321935409516, + 351.0799716662613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4982, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 723.5118523293845, + "ymin": 15.882409459388214, + "xmax": 790.7434093653221, + "ymax": 154.81556422465235 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 723.5118523293845, + 150.31474423550995 + ], + [ + 776.1477917855188, + 154.81556422465235 + ], + [ + 783.9956784247022, + 77.84453785839514 + ], + [ + 736.699761315115, + 74.2193754733434 + ], + [ + 727.8695319787378, + 88.95690952477258 + ], + [ + 783.2972585553063, + 93.30348774152515 + ], + [ + 790.7434093653221, + 19.346057626493234 + ], + [ + 741.2055789291821, + 15.882409459388214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 7673, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 389.492377697504, + "ymin": 340.1506218039202, + "xmax": 502.5177854022197, + "ymax": 487.44891021655565 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 502.5177854022197, + 385.7305148763853 + ], + [ + 442.5239776632312, + 378.80172282524796 + ], + [ + 400.3549618104969, + 479.01437645644546 + ], + [ + 466.2332477437262, + 487.44891021655565 + ], + [ + 496.84482285091667, + 347.078126871966 + ], + [ + 434.43966474050524, + 340.1506218039202 + ], + [ + 389.492377697504, + 440.7478705968638 + ], + [ + 458.28906256246523, + 449.25291004278006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404220237927, + "ymin": 57.925100582692835, + "xmax": 695.6992950213308, + "ymax": 83.01947649841662 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404220237927, + 82.86396800122236 + ], + [ + 692.9018550781527, + 83.01947649841662 + ], + [ + 694.983424335466, + 74.37329227086428 + ], + [ + 693.0465685604155, + 74.22173084502111 + ], + [ + 691.6121922561014, + 66.46770986132873 + ], + [ + 693.5996538875885, + 66.62145200759272 + ], + [ + 695.6992950213308, + 58.07489002101863 + ], + [ + 693.7370631706224, + 57.925100582692835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404214645457, + "ymin": 57.92510279308027, + "xmax": 695.6992944780535, + "ymax": 83.01947879425296 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404214645457, + 82.86397029600386 + ], + [ + 692.90185452543, + 83.01947879425296 + ], + [ + 694.983423796774, + 74.3732945084218 + ], + [ + 693.0465680153615, + 74.22173308156374 + ], + [ + 691.6121916917873, + 66.46771213003797 + ], + [ + 693.5996533299731, + 66.62145427735857 + ], + [ + 695.6992944780535, + 58.07489223242209 + ], + [ + 693.7370626208152, + 57.92510279308027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.4718332606731, + "ymin": 24.61471296742559, + "xmax": 700.9890627193662, + "ymax": 48.421645599342526 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.4718332606731, + 48.28162674330923 + ], + [ + 698.3342140645653, + 48.421645599342526 + ], + [ + 700.2447864726792, + 40.63168134098942 + ], + [ + 698.4045778838707, + 40.49503806253176 + ], + [ + 697.178014672478, + 32.30130297622077 + ], + [ + 699.0638456398794, + 32.439544987350416 + ], + [ + 700.9890627193662, + 24.749581322587574 + ], + [ + 699.1259625091549, + 24.61471296742559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.5245885011875, + "ymin": 23.99673750060589, + "xmax": 704.0381986957879, + "ymax": 47.77979046675779 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 699.5245885011875, + 47.64005129169709 + ], + [ + 701.3857732125759, + 47.77979046675779 + ], + [ + 703.2574840290811, + 40.00529412944388 + ], + [ + 701.4184435192761, + 39.86892048414916 + ], + [ + 700.268191671166, + 31.667878784255947 + ], + [ + 702.1527961264937, + 31.805841215315922 + ], + [ + 704.0381986957879, + 24.131336442366546 + ], + [ + 702.1762959148754, + 23.99673750060589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7318448982201, + "ymin": 49.92809377742617, + "xmax": 694.6349193317061, + "ymax": 75.95763919544055 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.7318448982201, + 75.93728820654468 + ], + [ + 691.9912111227746, + 75.95763919544055 + ], + [ + 693.8460172813642, + 68.37610549637049 + ], + [ + 693.5895310299934, + 68.35621260093978 + ], + [ + 692.4985542492404, + 57.40743009368549 + ], + [ + 692.7617882587452, + 57.427511346104325 + ], + [ + 694.6349193317061, + 49.94771642379209 + ], + [ + 694.3746513499777, + 49.92809377742617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.731840466317, + "ymin": 49.92817863988057, + "xmax": 694.6349152683316, + "ymax": 75.95772721312943 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.731840466317, + 75.9373762188851 + ], + [ + 691.9912067248198, + 75.95772721312943 + ], + [ + 693.846013174168, + 68.37619153278308 + ], + [ + 693.5895268895987, + 68.35629863218344 + ], + [ + 692.4985498538949, + 57.40751693945208 + ], + [ + 692.761783898368, + 57.42759819722676 + ], + [ + 694.6349152683316, + 49.94780129141992 + ], + [ + 694.3746472524184, + 49.92817863988057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404220237927, + "ymin": 57.925100582692835, + "xmax": 695.6992950213308, + "ymax": 83.01947649841662 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404220237927, + 82.86396800122236 + ], + [ + 692.9018550781527, + 83.01947649841662 + ], + [ + 694.983424335466, + 74.37329227086428 + ], + [ + 693.0465685604155, + 74.22173084502111 + ], + [ + 691.6121922561014, + 66.46770986132873 + ], + [ + 693.5996538875885, + 66.62145200759272 + ], + [ + 695.6992950213308, + 58.07489002101863 + ], + [ + 693.7370631706224, + 57.925100582692835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404223123374, + "ymin": 57.9251006047283, + "xmax": 695.6992952138608, + "ymax": 83.01947651367482 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404223123374, + 82.86396802409917 + ], + [ + 692.9018552706043, + 83.01947651367482 + ], + [ + 694.9834245255056, + 74.37329228573509 + ], + [ + 693.0465688453454, + 74.22173086731738 + ], + [ + 691.6121925484741, + 66.46770988394559 + ], + [ + 693.5996540825944, + 66.62145202267766 + ], + [ + 695.6992952138608, + 58.07489003571567 + ], + [ + 693.7370634592845, + 57.9251006047283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.940421653935, + "ymin": 57.925102432027586, + "xmax": 695.6992945685997, + "ymax": 83.01947841161353 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.940421653935, + 82.8639699211659 + ], + [ + 692.9018546175505, + 83.01947841161353 + ], + [ + 694.983423886556, + 74.37329413549548 + ], + [ + 693.0465682011804, + 74.2217327162387 + ], + [ + 691.6121918832972, + 66.46771175945872 + ], + [ + 693.599653422909, + 66.6214538990643 + ], + [ + 695.6992945685997, + 58.07489186385476 + ], + [ + 693.7370628086704, + 57.925102432027586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.5822407494074, + "ymin": 33.466101408169834, + "xmax": 679.1576179037322, + "ymax": 57.61508899428685 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 674.5822407494074, + 57.4710333684111 + ], + [ + 676.4664390539131, + 57.61508899428685 + ], + [ + 678.6730043994114, + 49.60190655128463 + ], + [ + 676.8114953725034, + 49.461372612761124 + ], + [ + 675.020959644086, + 41.375694857116514 + ], + [ + 676.9291649755787, + 41.51797334173477 + ], + [ + 679.1576179037322, + 33.604858342527564 + ], + [ + 677.2726801959209, + 33.466101408169834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7318896480659, + "ymin": 49.927983566054024, + "xmax": 694.6349637275929, + "ymax": 75.9575248863465 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.7318896480659, + 75.93717390439679 + ], + [ + 691.9912558297166, + 75.9575248863465 + ], + [ + 693.8460611693065, + 68.37599376037133 + ], + [ + 693.5895749598927, + 68.35610087165361 + ], + [ + 692.4985995295341, + 57.407317306574384 + ], + [ + 692.7618334948455, + 57.42739855203763 + ], + [ + 694.6349637275929, + 49.94760620570122 + ], + [ + 694.3746957890681, + 49.927983566054024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404214645457, + "ymin": 57.92510279308027, + "xmax": 695.6992944780535, + "ymax": 83.01947879425296 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404214645457, + 82.86397029600386 + ], + [ + 692.90185452543, + 83.01947879425296 + ], + [ + 694.983423796774, + 74.3732945084218 + ], + [ + 693.0465680153615, + 74.22173308156374 + ], + [ + 691.6121916917873, + 66.46771213003797 + ], + [ + 693.5996533299731, + 66.62145427735857 + ], + [ + 695.6992944780535, + 58.07489223242209 + ], + [ + 693.7370626208152, + 57.92510279308027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.0666009991177, + "ymin": 48.744818290768706, + "xmax": 695.6855786905521, + "ymax": 78.26050593094033 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.0666009991177, + 78.23597062676913 + ], + [ + 692.378237587508, + 78.26050593094033 + ], + [ + 694.8413969634232, + 68.13379057961117 + ], + [ + 694.5343671158321, + 68.10998904620664 + ], + [ + 692.8804919438036, + 58.728225390421926 + ], + [ + 693.1970303079358, + 58.752420946837844 + ], + [ + 695.6855786905521, + 48.76827918457934 + ], + [ + 695.373792039843, + 48.744818290768706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.731923577476, + "ymin": 49.92805077866211, + "xmax": 694.6349980685663, + "ymax": 75.95759459795784 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.731923577476, + 75.93724361177203 + ], + [ + 691.9912897871518, + 75.95759459795784 + ], + [ + 693.8460949332348, + 68.37606190277609 + ], + [ + 693.5896086964152, + 68.35616900996445 + ], + [ + 692.498634042784, + 57.40738609000158 + ], + [ + 692.7618680369626, + 57.427467339706595 + ], + [ + 694.6349980685663, + 49.94767342240675 + ], + [ + 694.3747301018218, + 49.92805077866211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404223123374, + "ymin": 57.9251006047283, + "xmax": 695.6992952138608, + "ymax": 83.01947651367482 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404223123374, + 82.86396802409917 + ], + [ + 692.9018552706043, + 83.01947651367482 + ], + [ + 694.9834245255056, + 74.37329228573509 + ], + [ + 693.0465688453454, + 74.22173086731738 + ], + [ + 691.6121925484741, + 66.46770988394559 + ], + [ + 693.5996540825944, + 66.62145202267766 + ], + [ + 695.6992952138608, + 58.07489003571567 + ], + [ + 693.7370634592845, + 57.9251006047283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.0665151897164, + "ymin": 48.74481183079155, + "xmax": 695.6854927367676, + "ymax": 78.26049916701294 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.0665151897164, + 78.23596387095216 + ], + [ + 692.3781516750932, + 78.26049916701294 + ], + [ + 694.8413123210478, + 68.13378401797439 + ], + [ + 694.5342825748544, + 68.10998249243045 + ], + [ + 692.880404784744, + 58.72821872815854 + ], + [ + 693.1969430441427, + 58.7524142765688 + ], + [ + 695.6854927367676, + 48.76827271684698 + ], + [ + 695.3737061891222, + 48.74481183079155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.0665939063517, + "ymin": 48.744893703564856, + "xmax": 695.6855719247949, + "ymax": 78.26058479546714 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.0665939063517, + 78.23604949315472 + ], + [ + 692.3782304343057, + 78.26058479546714 + ], + [ + 694.8413902026703, + 68.13386708551559 + ], + [ + 694.5343604151507, + 68.11006555399831 + ], + [ + 692.8804848371657, + 58.728303164676674 + ], + [ + 693.197023140491, + 58.752498719348296 + ], + [ + 695.6855719247949, + 48.76835459559868 + ], + [ + 695.3737853345335, + 48.744893703564856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9404229766872, + "ymin": 57.92509952891504, + "xmax": 695.6992958705592, + "ymax": 83.01947539627298 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.9404229766872, + 82.86396690721068 + ], + [ + 692.9018559318686, + 83.01947539627298 + ], + [ + 694.9834251749305, + 74.373291196698 + ], + [ + 693.046569497779, + 74.22172977877409 + ], + [ + 691.6121932204614, + 66.46770877974666 + ], + [ + 693.5996547514139, + 66.62145091796452 + ], + [ + 695.6992958705592, + 58.074888959407815 + ], + [ + 693.737064119071, + 57.92509952891504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.0666868267383, + "ymin": 48.744826613557564, + "xmax": 695.685664576255, + "ymax": 78.26051463551329 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.0666868267383, + 78.23597933070675 + ], + [ + 692.378323422298, + 78.26051463551329 + ], + [ + 694.8414815363484, + 68.1337990238543 + ], + [ + 694.5344516818001, + 68.10999748984261 + ], + [ + 692.8805791237635, + 58.72823397382848 + ], + [ + 693.1971174952918, + 58.752429530880875 + ], + [ + 695.685664576255, + 48.76828750797597 + ], + [ + 695.373877918372, + 48.744826613557564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.3016320812917, + "ymin": 16.97363154607774, + "xmax": 705.7644394882552, + "ymax": 40.485312031170906 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 701.3016320812917, + 40.34873178390251 + ], + [ + 703.1420400576826, + 40.485312031170906 + ], + [ + 704.9716853523856, + 32.885536611582495 + ], + [ + 703.1529329750484, + 32.7522090909801 + ], + [ + 702.0586229033495, + 24.47030792490102 + ], + [ + 703.9219273805568, + 24.605113299383106 + ], + [ + 705.7644394882552, + 17.105187533994467 + ], + [ + 703.92332961929, + 16.97363154607774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.0666010885718, + "ymin": 48.74481755292703, + "xmax": 695.6855786790676, + "ymax": 78.2605051516353 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.0666010885718, + 78.23596985513745 + ], + [ + 692.3782375798595, + 78.2605051516353 + ], + [ + 694.8413969530769, + 68.13378982361297 + ], + [ + 694.5343672011479, + 68.10998829765157 + ], + [ + 692.8804920337071, + 58.728224629475676 + ], + [ + 693.1970302992034, + 58.752420178323575 + ], + [ + 695.6855786790676, + 48.768278439400376 + ], + [ + 695.3737921255082, + 48.74481755292703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.4971930903123, + "ymin": 61.72259041750772, + "xmax": 694.2402819208058, + "ymax": 86.73665401214669 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 689.4971930903123, + 86.58079534214761 + ], + [ + 691.4519738453657, + 86.73665401214669 + ], + [ + 693.5453813803957, + 78.07064959062797 + ], + [ + 691.615012356811, + 77.91873437447913 + ], + [ + 690.1477999013634, + 70.28692205280197 + ], + [ + 692.1284318653718, + 70.4410485039233 + ], + [ + 694.2402819208058, + 61.87276696814706 + ], + [ + 692.2847075669138, + 61.72259041750772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7318448982201, + "ymin": 49.92809377742617, + "xmax": 694.6349193317061, + "ymax": 75.95763919544055 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.7318448982201, + 75.93728820654468 + ], + [ + 691.9912111227746, + 75.95763919544055 + ], + [ + 693.8460172813642, + 68.37610549637049 + ], + [ + 693.5895310299934, + 68.35621260093978 + ], + [ + 692.4985542492404, + 57.40743009368549 + ], + [ + 692.7617882587452, + 57.427511346104325 + ], + [ + 694.6349193317061, + 49.94771642379209 + ], + [ + 694.3746513499777, + 49.92809377742617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.5568727013512, + "ymin": 13.175044037496093, + "xmax": 703.9914179293568, + "ymax": 36.53995712648219 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 699.5568727013512, + 36.405070394820825 + ], + [ + 701.3854604538045, + 36.53995712648219 + ], + [ + 703.2247772355261, + 29.03386522065921 + ], + [ + 701.4175692622302, + 28.90217126178686 + ], + [ + 700.2876887464557, + 20.57820399589582 + ], + [ + 702.1388780953566, + 20.711317413809525 + ], + [ + 703.9914179293568, + 13.304968687203939 + ], + [ + 702.1621370434918, + 13.175044037496093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.7318445037787, + "ymin": 49.92816624040955, + "xmax": 694.6349192627831, + "ymax": 75.95771435263907 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.7318445037787, + 75.93736335917623 + ], + [ + 691.9912107574243, + 75.95771435263907 + ], + [ + 693.8460171259173, + 68.37617896178199 + ], + [ + 693.589530846098, + 68.35628606193768 + ], + [ + 692.4985539362564, + 57.40750425019422 + ], + [ + 692.7617879757262, + 57.42758550718639 + ], + [ + 694.6349192627831, + 49.947788891193 + ], + [ + 694.3746512517611, + 49.92816624040955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.6948099076278, + "ymin": 27.501308008215688, + "xmax": 701.70383472715, + "ymax": 81.2395733351139 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 697.6948099076278, + 81.13750204596988 + ], + [ + 698.9865523275768, + 81.2395733351139 + ], + [ + 699.1983780375018, + 80.32799145724925 + ], + [ + 697.9083476376442, + 80.22619561935562 + ], + [ + 700.139687240555, + 28.376930334458564 + ], + [ + 701.4865625973376, + 28.47501104938874 + ], + [ + 701.70383472715, + 27.599112847530762 + ], + [ + 700.3588205656354, + 27.501308008215688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.4317686016443, + "ymin": 20.40211124457204, + "xmax": 703.465508038809, + "ymax": 73.82509105083699 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 699.4317686016443, + 73.7252493885128 + ], + [ + 700.7095835477855, + 73.82509105083699 + ], + [ + 700.9167847485951, + 72.93340985952534 + ], + [ + 699.6406451403825, + 72.83383467848432 + ], + [ + 701.921436347622, + 21.257825252914813 + ], + [ + 703.2531767834795, + 21.35367426966411 + ], + [ + 703.465508038809, + 20.497693741286696 + ], + [ + 702.13558724659, + 20.40211124457204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.4466409705287, + "ymin": 414.0406565411484, + "xmax": 1026.770538501873, + "ymax": 433.8131821385715 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1024.9602969539692, + 433.8131821385715 + ], + [ + 1022.8582586278258, + 421.03920686855867 + ], + [ + 998.4466409705287, + 418.2452275602715 + ], + [ + 1000.2363874384548, + 430.9485225613728 + ], + [ + 1026.770538501873, + 429.61683930068256 + ], + [ + 1024.6361328577177, + 416.83594917047606 + ], + [ + 1000.1065516374756, + 414.0406565411484 + ], + [ + 1001.9256227895254, + 426.7504990519133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5920623577754, + "ymin": 37.07459453347684, + "xmax": 676.6576375139917, + "ymax": 91.22752450375538 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 673.5920623577754, + 91.12241083242793 + ], + [ + 674.8992170362249, + 91.22752450375538 + ], + [ + 675.1471786464621, + 90.28878794555328 + ], + [ + 673.8417768579105, + 90.18396212355424 + ], + [ + 675.0375244744221, + 37.977426305994186 + ], + [ + 676.4011662170702, + 38.07855722843004 + ], + [ + 676.6576375139917, + 37.17543662094914 + ], + [ + 675.2959033363392, + 37.07459453347684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.0118801846502, + "ymin": 403.7638565184306, + "xmax": 1240.3479390301065, + "ymax": 677.0152394750398 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1085.1172899848445, + 677.0152394750398 + ], + [ + 1081.8276609657792, + 658.7800401982211 + ], + [ + 907.0118801846502, + 634.248323357242 + ], + [ + 907.7417991403153, + 651.7712727271943 + ], + [ + 1240.3479390301065, + 450.61988269951087 + ], + [ + 1232.944001393265, + 430.50732180182047 + ], + [ + 995.9524802968898, + 403.7638565184306 + ], + [ + 998.6300119091738, + 422.83016513216404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 998.2977996636929, + "ymin": 413.9353802931244, + "xmax": 1026.9266692377137, + "ymax": 433.92060633028666 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1025.0961216495843, + 433.92060633028666 + ], + [ + 1022.9699165884022, + 421.00878733738864 + ], + [ + 998.2977996636929, + 418.18519379361265 + ], + [ + 1000.104970390857, + 431.0248066822104 + ], + [ + 1026.9266692377137, + 429.6791991203721 + ], + [ + 1024.7673797705866, + 416.7603135790163 + ], + [ + 999.9747639227239, + 413.9353802931244 + ], + [ + 1001.8118771457332, + 426.7816804026292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.1772037389537, + "ymin": 65.71469248401235, + "xmax": 693.0265315802391, + "ymax": 120.5593626923827 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 689.1772037389537, + 120.44596582939775 + ], + [ + 690.5319484652915, + 120.5593626923827 + ], + [ + 690.7662967521414, + 119.54669447585655 + ], + [ + 689.4134349258521, + 119.43361883951465 + ], + [ + 691.3695714240862, + 66.69252939936587 + ], + [ + 692.78508557347, + 66.80206835257081 + ], + [ + 693.0265315802391, + 65.8239073353015 + ], + [ + 691.6130729339578, + 65.71469248401235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.4145495064628, + "ymin": 0.0, + "xmax": 1038.563287268473, + "ymax": 104.86945988279805 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 981.9036494631041, + 104.86945988279805 + ], + [ + 980.9027980936887, + 99.32156461336695 + ], + [ + 884.4145495064628, + 91.74318005969963 + ], + [ + 884.6406076988683, + 97.16995253833119 + ], + [ + 1038.563287268473, + -97.52622518884033 + ], + [ + 1036.874359231837, + -102.11410260873384 + ], + [ + 924.0342098319888, + -108.36165966256311 + ], + [ + 924.6621631642042, + -103.89015252395609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 100.55967085355269, + "ymin": 0.0, + "xmax": 286.5153296389101, + "ymax": 3.2605647180132564 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 282.2208769074066, + 3.2605647180132564 + ], + [ + 286.5153296389101, + -1.2095911659943113 + ], + [ + 174.18974787222862, + -9.396514969623638 + ], + [ + 169.11959952034402, + -5.04946424898958 + ], + [ + 229.2844397645287, + -192.478633746632 + ], + [ + 234.66327290218993, + -195.9241796691838 + ], + [ + 106.94104357424965, + -202.21483895128324 + ], + [ + 100.55967085355269, + -198.87782864521978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.7449249335659, + "ymin": 28.12592126344731, + "xmax": 698.6366981400704, + "ymax": 81.8916090549493 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.7449249335659, + 81.78934050595444 + ], + [ + 696.0374685663904, + 81.8916090549493 + ], + [ + 696.2534846459369, + 80.97826660196165 + ], + [ + 694.9626551337298, + 80.87627430254616 + ], + [ + 697.0671331937432, + 29.003306168768745 + ], + [ + 698.4148799091586, + 29.101584476253663 + ], + [ + 698.6366981400704, + 28.223922861829976 + ], + [ + 697.290815002154, + 28.12592126344731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.7569315148367, + "ymin": 16.562806515521856, + "xmax": 701.6978752079194, + "ymax": 69.81251132756881 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 697.7569315148367, + 69.71386602468914 + ], + [ + 699.0268181266684, + 69.81251132756881 + ], + [ + 699.2350096017659, + 68.93150854695921 + ], + [ + 697.9667776039771, + 68.83312495318546 + ], + [ + 700.1612944666604, + 17.407849453229915 + ], + [ + 701.4844256832396, + 17.50250228718852 + ], + [ + 701.6978752079194, + 16.657197799640983 + ], + [ + 700.376540186503, + 16.562806515521856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.323274730464, + "ymin": 61.80907046233938, + "xmax": 693.1908626706628, + "ymax": 116.97769641144845 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.323274730464, + 116.86453292940126 + ], + [ + 690.6820673525195, + 116.97769641144845 + ], + [ + 690.9168974201963, + 115.96711613622745 + ], + [ + 689.5599989604202, + 115.85427416993122 + ], + [ + 691.5289778091496, + 62.78413344728369 + ], + [ + 692.948911728502, + 62.893362218067125 + ], + [ + 693.1908626706628, + 61.91797504823768 + ], + [ + 691.7729971027193, + 61.80907046233938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.3120015715863, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 42.540765275912065 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1168.9407357288278, + 42.540765275912065 + ], + [ + 1327.091657410946, + 38.27695952089687 + ], + [ + 1243.5422537030963, + -30.943119288153866 + ], + [ + 1102.3120015715863, + -27.564482859166333 + ], + [ + 1297.262743037642, + -268.8759734389139 + ], + [ + 1492.3958548939004, + -271.57710566321214 + ], + [ + 1369.5262331077433, + -314.2332655034388 + ], + [ + 1199.51646257154, + -312.20211467728916 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00132/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00132/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..838828226b89a7cbefdf60206d40ce0cc5f07782 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00132/meta.json @@ -0,0 +1,6943 @@ +{ + "frame_id": 132, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.0, + "sim_timestamp": 13165.262426664354 + }, + "drone_pose": { + "x": -33.529568133686965, + "y": 3.2138889830161728, + "z": 20.0, + "pitch": -44.73733163113934, + "yaw": -8.522935452890888, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7024964094161987, + 0.10527630150318146, + 0.7038576602935791, + 9.815595626831055 + ], + [ + -0.14820529520511627, + 0.98895663022995, + 3.725290298461914e-09, + 1.7908625602722168 + ], + [ + -0.69608473777771, + -0.10431544482707977, + 0.7103409767150879, + -37.881500244140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -33.10636821836443, + "y": 3.055420790744891, + "z": 20.0 + }, + "t1_image_uv": [ + 352.5996391926281, + -591.2380058220106 + ], + "t1_depth": 0.31397938418733884 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -14.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.56225343441589, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -14.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.20777525007724762, + "y": 0.28469333052635193, + "z": 0.5626168251037598 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9151210139595, + "ymin": 339.8473166143077, + "xmax": 650.9906357580181, + "ymax": 379.83337029408585 + }, + "corners_3d": [ + [ + -14.374957084655762, + 0.027543455362319946, + 0.03747934103012085 + ], + [ + -14.374957084655762, + 0.5969301462173462, + 0.03747934103012085 + ], + [ + -13.959406852722168, + 0.5969301462173462, + 0.03747934103012085 + ], + [ + -13.959406852722168, + 0.027543455362319946, + 0.03747934103012085 + ], + [ + -14.374957084655762, + 0.027543455362319946, + 1.1627130508422852 + ], + [ + -14.374957084655762, + 0.5969301462173462, + 1.1627130508422852 + ], + [ + -13.959406852722168, + 0.5969301462173462, + 1.1627130508422852 + ], + [ + -13.959406852722168, + 0.027543455362319946, + 1.1627130508422852 + ] + ], + "corners_2d": [ + [ + 629.2304427868311, + 377.7427049901762 + ], + [ + 648.6647145794217, + 379.83337029408585 + ], + [ + 650.6805782148581, + 369.7359434970594 + ], + [ + 631.4436629431203, + 367.6884847589597 + ], + [ + 628.9151210139595, + 349.89545636486207 + ], + [ + 648.9189721133805, + 351.9856241019059 + ], + [ + 650.9906357580181, + 341.89304218117434 + ], + [ + 631.195816744894, + 339.8473166143077 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 132, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 327476, + "2": 286087, + "3": 32206, + "5": 4273, + "6": 4503, + "10": 733, + "12": 1937, + "14": 37738, + "15": 5071, + "20": 3290, + "24": 21161, + "25": 197125 + }, + "instance_pixel_counts": { + "2118": 730, + "3424": 163452, + "5506": 451, + "6215": 121658, + "6284": 1754, + "6290": 6533, + "6730": 511, + "6992": 1424, + "7262": 2229, + "7774": 4970, + "8332": 15836, + "8338": 42496, + "9822": 7925, + "10846": 3249, + "15184": 2849, + "16203": 321, + "17738": 777, + "18000": 3290, + "21140": 20057, + "23392": 544, + "23700": 156114, + "23904": 529, + "24416": 154, + "24928": 4, + "28000": 301, + "28256": 299, + "28768": 288, + "29024": 60, + "29280": 270, + "29792": 171, + "29826": 75, + "31584": 36, + "31840": 15, + "35476": 1299, + "37524": 9370, + "38540": 2205, + "40588": 14502, + "41562": 29604, + "42330": 2602, + "42897": 4691, + "44945": 44493, + "45898": 776, + "48203": 37, + "52038": 31919, + "54859": 763, + "56576": 205, + "56647": 33673, + "56832": 180, + "57088": 559, + "57344": 660, + "57600": 333, + "57856": 11425, + "58368": 5071, + "60928": 7940, + "62081": 3977, + "62101": 465, + "62611": 17363, + "64149": 4171, + "64659": 133942 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -14.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.22309933602809906, + "y": 0.2724393308162689, + "z": 0.5585387349128723 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2609568353954, + "ymin": 339.62857508483273, + "xmax": 650.6383048991523, + "ymax": 380.0666176399087 + }, + "corners_3d": [ + [ + -14.390281677246094, + 0.039797455072402954, + 0.0415574312210083 + ], + [ + -14.390281677246094, + 0.5846761465072632, + 0.0415574312210083 + ], + [ + -13.944082260131836, + 0.5846761465072632, + 0.0415574312210083 + ], + [ + -13.944082260131836, + 0.039797455072402954, + 0.0415574312210083 + ], + [ + -14.390281677246094, + 0.039797455072402954, + 1.158634901046753 + ], + [ + -14.390281677246094, + 0.5846761465072632, + 1.158634901046753 + ], + [ + -13.944082260131836, + 0.5846761465072632, + 1.158634901046753 + ], + [ + -13.944082260131836, + 0.039797455072402954, + 1.158634901046753 + ] + ], + "corners_2d": [ + [ + 629.5643892915573, + 378.0643865039527 + ], + [ + 648.1711134410351, + 380.0666176399087 + ], + [ + 650.3404598319827, + 369.22539108978555 + ], + [ + 631.9365694442997, + 367.26756131806565 + ], + [ + 629.2609568353954, + 350.4189513053168 + ], + [ + 648.4092070069382, + 352.4207548272474 + ], + [ + 650.6383048991523, + 341.58471677451416 + ], + [ + 631.7047986375833, + 339.62857508483273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 180, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -10.0411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2172054946422577, + "y": 0.2098953127861023, + "z": 0.5179423093795776 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 745.3336683731593, + "ymin": 261.1862337030079, + "xmax": 762.7329785848838, + "ymax": 295.56675780111823 + }, + "corners_3d": [ + [ + -10.288561820983887, + 3.136608600616455, + 0.08215874433517456 + ], + [ + -10.222892761230469, + 3.5512309074401855, + 0.08215874433517456 + ], + [ + -9.793829917907715, + 3.483273983001709, + 0.08215874433517456 + ], + [ + -9.859498977661133, + 3.0686516761779785, + 0.08215874433517456 + ], + [ + -10.288561820983887, + 3.136608600616455, + 1.1180434226989746 + ], + [ + -10.222892761230469, + 3.5512309074401855, + 1.1180434226989746 + ], + [ + -9.793829917907715, + 3.483273983001709, + 1.1180434226989746 + ], + [ + -9.859498977661133, + 3.0686516761779785, + 1.1180434226989746 + ] + ], + "corners_2d": [ + [ + 746.5188467304625, + 295.56675780111823 + ], + [ + 759.7851417935752, + 295.4942404968507 + ], + [ + 758.466567099344, + 286.5714849662736 + ], + [ + 745.3336683731593, + 286.64255014198034 + ], + [ + 749.1404280193543, + 270.1363577803253 + ], + [ + 762.7329785848838, + 270.06418658488326 + ], + [ + 761.3519039698016, + 261.1862337030079 + ], + [ + 747.8993569774915, + 261.256924682639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -16.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5352672934532166, + "y": 0.3289620876312256, + "z": 0.904343843460083 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.4865104950377, + "ymin": 408.1627411425765, + "xmax": 909.9527255410947, + "ymax": 485.608609860923 + }, + "corners_3d": [ + [ + -16.974756240844727, + 6.954451560974121, + -0.3042427897453308 + ], + [ + -16.940322875976562, + 7.61147403717041, + -0.3042427897453308 + ], + [ + -15.871255874633789, + 7.555446624755859, + -0.3042427897453308 + ], + [ + -15.905689239501953, + 6.89842414855957, + -0.3042427897453308 + ], + [ + -16.974756240844727, + 6.954451560974121, + 1.5044448375701904 + ], + [ + -16.940322875976562, + 7.61147403717041, + 1.5044448375701904 + ], + [ + -15.871255874633789, + 7.555446624755859, + 1.5044448375701904 + ], + [ + -15.905689239501953, + 6.89842414855957, + 1.5044448375701904 + ] + ], + "corners_2d": [ + [ + 871.3866819578882, + 483.71117856355977 + ], + [ + 896.4662381756518, + 485.608609860923 + ], + [ + 892.8376311731301, + 454.54507070539006 + ], + [ + 868.4865104950377, + 452.755439024968 + ], + [ + 883.5317752412307, + 439.3516626897037 + ], + [ + 909.9527255410947, + 441.26645389764786 + ], + [ + 905.7302109550567, + 409.96328944542313 + ], + [ + 880.1164363722065, + 408.1627411425765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 660, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.43534544110298157, + "y": 0.30101051926612854, + "z": 0.8945872187614441 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 554.0806734360444, + "ymin": 622.5328352347888, + "xmax": 594.7718842897142, + "ymax": 704.182776433714 + }, + "corners_3d": [ + [ + -24.086177825927734, + -0.011145442724227905, + -0.2944910526275635 + ], + [ + -24.117685317993164, + 0.5900505781173706, + -0.2944910526275635 + ], + [ + -23.248188018798828, + 0.635619044303894, + -0.2944910526275635 + ], + [ + -23.2166805267334, + 0.03442302346229553, + -0.2944910526275635 + ], + [ + -24.086177825927734, + -0.011145442724227905, + 1.4946833848953247 + ], + [ + -24.117685317993164, + 0.5900505781173706, + 1.4946833848953247 + ], + [ + -23.248188018798828, + 0.635619044303894, + 1.4946833848953247 + ], + [ + -23.2166805267334, + 0.03442302346229553, + 1.4946833848953247 + ] + ], + "corners_2d": [ + [ + 559.1705589905648, + 698.9770841111274 + ], + [ + 585.5910315514451, + 704.182776433714 + ], + [ + 594.7718842897142, + 668.135623070139 + ], + [ + 569.04786013752, + 663.2150630659569 + ], + [ + 554.0806734360444, + 659.3140124532752 + ], + [ + 582.150163389087, + 664.6787661175248 + ], + [ + 591.9960970151542, + 627.5860164002534 + ], + [ + 564.7113648520613, + 622.5328352347888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 333, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -2.921846628189087, + "y": -7.857978343963623, + "z": 0.7524106502532959 + }, + "extent": { + "x": 0.32340559363365173, + "y": 0.36232268810272217, + "z": 0.9026733040809631 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 454.267386695486, + "ymin": 99.8187893969274, + "xmax": 485.05621787986604, + "ymax": 153.75599791639453 + }, + "corners_3d": [ + [ + -3.1845905780792236, + -8.26643180847168, + -0.15026265382766724 + ], + [ + -3.297950506210327, + -7.550708293914795, + -0.15026265382766724 + ], + [ + -2.65910267829895, + -7.449524402618408, + -0.15026265382766724 + ], + [ + -2.5457427501678467, + -8.165247917175293, + -0.15026265382766724 + ], + [ + -3.1845905780792236, + -8.26643180847168, + 1.6550838947296143 + ], + [ + -3.297950506210327, + -7.550708293914795, + 1.6550838947296143 + ], + [ + -2.65910267829895, + -7.449524402618408, + 1.6550838947296143 + ], + [ + -2.5457427501678467, + -8.165247917175293, + 1.6550838947296143 + ] + ], + "corners_2d": [ + [ + 460.6966892971925, + 150.61064782034194 + ], + [ + 478.08447103778764, + 153.75599791639453 + ], + [ + 485.05621787986604, + 144.93221176038526 + ], + [ + 467.8444321897808, + 141.86077454161077 + ], + [ + 454.267386695486, + 108.3626247193049 + ], + [ + 472.25314188152595, + 111.43567568560653 + ], + [ + 479.54441777221484, + 102.81707890775823 + ], + [ + 461.74681464752894, + 99.8187893969274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 11425, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 654.3064055642566, + "ymin": 363.32947985852695, + "xmax": 755.5287600771435, + "ymax": 566.9006638936779 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 654.3064055642566, + 556.5503337153407 + ], + [ + 737.130822833335, + 566.9006638936779 + ], + [ + 751.2984495651377, + 406.09639875924864 + ], + [ + 679.7761844013037, + 398.4111966251517 + ], + [ + 654.9358132116455, + 522.5734748486061 + ], + [ + 741.4443211852592, + 533.0634572208374 + ], + [ + 755.5287600771435, + 371.02400195022153 + ], + [ + 681.2759367493876, + 363.32947985852695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5071, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 719.2112780425047, + "ymin": 21.896866684919132, + "xmax": 785.7617574574538, + "ymax": 162.00254753071357 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 719.2112780425047, + 157.70701714119264 + ], + [ + 772.26193117389, + 162.00254753071357 + ], + [ + 779.2041929620215, + 83.84577009583734 + ], + [ + 731.5944598475323, + 80.39336454057656 + ], + [ + 723.3724312806924, + 96.18452730530925 + ], + [ + 779.2519150524063, + 100.33556748903936 + ], + [ + 785.7617574574538, + 25.197050504870504 + ], + [ + 735.8861479140165, + 21.896866684919132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 7940, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 384.1977287896082, + "ymin": 353.89323827514033, + "xmax": 498.3488310737619, + "ymax": 503.810954405109 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 498.3488310737619, + 399.22378895846856 + ], + [ + 437.46736077568715, + 392.5450530490222 + ], + [ + 395.43397159051574, + 495.6547609686778 + ], + [ + 462.4148212586563, + 503.810954405109 + ], + [ + 492.43716084871215, + 360.5769099650773 + ], + [ + 429.07815242522014, + 353.89323827514033 + ], + [ + 384.1977287896082, + 457.50810231766957 + ], + [ + 454.18903928040686, + 465.7421182916413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.893190355132, + "ymin": 64.69136041820553, + "xmax": 690.5207053794267, + "ymax": 89.97488990536061 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.893190355132, + 89.82628012322886 + ], + [ + 687.8709870189613, + 89.97488990536061 + ], + [ + 689.8673237615808, + 81.1818408750326 + ], + [ + 687.9146209732147, + 81.0370424142045 + ], + [ + 686.5023341756455, + 73.38072052745588 + ], + [ + 688.5065227709874, + 73.52766715562808 + ], + [ + 690.5207053794267, + 64.83448933084804 + ], + [ + 688.5422805380213, + 64.69136041820553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931898183066, + "ymin": 64.69136266625253, + "xmax": 690.5207048583337, + "ymax": 89.97489224051134 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931898183066, + 89.82628245736089 + ], + [ + 687.8709864887985, + 89.97489224051134 + ], + [ + 689.8673232450163, + 81.1818431502885 + ], + [ + 687.9146204501554, + 81.03704468848065 + ], + [ + 686.5023336338102, + 73.38072283545898 + ], + [ + 688.5065222359937, + 73.52766946465192 + ], + [ + 690.5207048583337, + 64.83449157987627 + ], + [ + 688.5422800102614, + 64.69136266625253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.0624615143568, + "ymin": 30.844419145992504, + "xmax": 695.4523343061638, + "ymax": 54.816851086148915 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 691.0624615143568, + 54.683183736810804 + ], + [ + 692.9392518708573, + 54.816851086148915 + ], + [ + 694.7717321927455, + 46.90274287789396 + ], + [ + 692.9175531416042, + 46.77232996355718 + ], + [ + 691.7048051428512, + 38.654809387033936 + ], + [ + 693.6053442550816, + 38.78679990966549 + ], + [ + 695.4523343061638, + 30.973156380199157 + ], + [ + 693.5749788846624, + 30.844419145992504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.1286297625795, + "ymin": 30.203952683912405, + "xmax": 698.5146896071471, + "ymax": 54.1515822218019 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 694.1286297625795, + 54.01818998113856 + ], + [ + 696.0041214654484, + 54.1515822218019 + ], + [ + 697.7972317378013, + 46.253664951440385 + ], + [ + 695.944320494806, + 46.12351716490315 + ], + [ + 694.8088346284649, + 37.99816804140801 + ], + [ + 696.7080419270899, + 38.12988349411182 + ], + [ + 698.5146896071471, + 30.332424950047482 + ], + [ + 696.6386339718707, + 30.203952683912405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.6582649666277, + "ymin": 56.67482626238467, + "xmax": 689.4178138659495, + "ymax": 82.88971358739497 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.6582649666277, + 82.87026434011494 + ], + [ + 686.9198013709183, + 82.88971358739497 + ], + [ + 688.6997390803186, + 75.17877912052643 + ], + [ + 688.44114338002, + 75.15977225837463 + ], + [ + 687.3542970687652, + 64.28327196583479 + ], + [ + 687.6197554796564, + 64.30246709028097 + ], + [ + 689.4178138659495, + 56.69357838183754 + ], + [ + 689.1553845154579, + 56.67482626238467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.658261528418, + "ymin": 56.674912500857715, + "xmax": 689.4178107841635, + "ymax": 82.88980303703443 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.658261528418, + 82.87035378459314 + ], + [ + 686.9197979673125, + 82.88980303703443 + ], + [ + 688.6997359491221, + 75.17886653554973 + ], + [ + 688.4411402149933, + 75.15985966841174 + ], + [ + 687.3542936729966, + 64.2833602415983 + ], + [ + 687.6197521195373, + 64.3025553712144 + ], + [ + 689.4178107841635, + 56.69366462530252 + ], + [ + 689.1553813988313, + 56.674912500857715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.893190355132, + "ymin": 64.69136041820553, + "xmax": 690.5207053794267, + "ymax": 89.97488990536061 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.893190355132, + 89.82628012322886 + ], + [ + 687.8709870189613, + 89.97488990536061 + ], + [ + 689.8673237615808, + 81.1818408750326 + ], + [ + 687.9146209732147, + 81.0370424142045 + ], + [ + 686.5023341756455, + 73.38072052745588 + ], + [ + 688.5065227709874, + 73.52766715562808 + ], + [ + 690.5207053794267, + 64.83448933084804 + ], + [ + 688.5422805380213, + 64.69136041820553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931906460872, + "ymin": 64.6913604392613, + "xmax": 690.5207055735431, + "ymax": 89.97488991994169 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931906460872, + 89.826280145091 + ], + [ + 687.8709872130161, + 89.97488991994169 + ], + [ + 689.8673239531729, + 81.18184088923971 + ], + [ + 687.9146212604792, + 81.03704243550595 + ], + [ + 686.5023344704824, + 73.38072054907326 + ], + [ + 688.5065229676322, + 73.52766717004607 + ], + [ + 690.5207055735431, + 64.83448934489138 + ], + [ + 688.5422808290689, + 64.6913604392613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931900047626, + "ymin": 64.69136229859663, + "xmax": 690.5207049451825, + "ymax": 89.97489185131957 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931900047626, + 89.8262820756263 + ], + [ + 687.870986577159, + 89.97489185131957 + ], + [ + 689.8673233311104, + 81.18184277107912 + ], + [ + 687.9146206330869, + 81.03704431653506 + ], + [ + 686.502333822395, + 73.38072245799765 + ], + [ + 688.5065223251594, + 73.52766907981459 + ], + [ + 690.5207049451825, + 64.83449120503826 + ], + [ + 688.5422801952373, + 64.69136229859663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.1232864149329, + "ymin": 39.925431601362675, + "xmax": 673.5721145795968, + "ymax": 64.249559098546 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.1232864149329, + 64.11196040282152 + ], + [ + 671.0228731533031, + 64.249559098546 + ], + [ + 673.15412105954, + 56.104119766981114 + ], + [ + 671.2776928799625, + 55.969919223450404 + ], + [ + 669.4950608833773, + 47.966989929384624 + ], + [ + 671.4189810833149, + 48.10291240507888 + ], + [ + 673.5721145795968, + 40.05795527268782 + ], + [ + 671.6719463850809, + 39.925431601362675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.6583087165984, + "ymin": 56.67471408596299, + "xmax": 689.4178572766806, + "ymax": 82.88959723398415 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.6583087165984, + 82.87014799341785 + ], + [ + 686.9198450770105, + 82.88959723398415 + ], + [ + 688.6997819827831, + 75.17866541368306 + ], + [ + 688.4411863253822, + 75.15965855801716 + ], + [ + 687.3543413494601, + 64.28315713936712 + ], + [ + 687.6197997151468, + 64.30235225708856 + ], + [ + 689.4178572766806, + 56.69346619892258 + ], + [ + 689.1554279703684, + 56.67471408596299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931898183066, + "ymin": 64.69136266625253, + "xmax": 690.5207048583337, + "ymax": 89.97489224051134 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931898183066, + 89.82628245736089 + ], + [ + 687.8709864887985, + 89.97489224051134 + ], + [ + 689.8673232450163, + 81.1818431502885 + ], + [ + 687.9146204501554, + 81.03704468848065 + ], + [ + 686.5023336338102, + 73.38072283545898 + ], + [ + 688.5065222359937, + 73.52766946465192 + ], + [ + 690.5207048583337, + 64.83449157987627 + ], + [ + 688.5422800102614, + 64.69136266625253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.0150948292243, + "ymin": 55.46811716687256, + "xmax": 690.462172863984, + "ymax": 85.2149752959765 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 687.0150948292243, + 85.19152660922276 + ], + [ + 687.329342498897, + 85.2149752959765 + ], + [ + 689.6923692834508, + 74.9156025151193 + ], + [ + 689.3828253806953, + 74.8928624191355 + ], + [ + 687.7548355208818, + 65.62378173585626 + ], + [ + 688.0740538190553, + 65.64691038332603 + ], + [ + 690.462172863984, + 55.49053615206742 + ], + [ + 690.1478071785489, + 55.46811716687256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.6583437120854, + "ymin": 56.67478221749269, + "xmax": 689.4178926731826, + "ymax": 82.88966790245217 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.6583437120854, + 82.87021865780827 + ], + [ + 686.9198801009238, + 82.88966790245217 + ], + [ + 688.6998167905351, + 75.17873447473056 + ], + [ + 688.4412211053439, + 75.1597276151254 + ], + [ + 687.354376941049, + 64.2832268804301 + ], + [ + 687.6198353360209, + 64.30242200223586 + ], + [ + 689.4178926731826, + 56.69353433439602 + ], + [ + 689.15546333825, + 56.67478221749269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931906460872, + "ymin": 64.6913604392613, + "xmax": 690.5207055735431, + "ymax": 89.97488991994169 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931906460872, + 89.826280145091 + ], + [ + 687.8709872130161, + 89.97488991994169 + ], + [ + 689.8673239531729, + 81.18184088923971 + ], + [ + 687.9146212604792, + 81.03704243550595 + ], + [ + 686.5023344704824, + 73.38072054907326 + ], + [ + 688.5065229676322, + 73.52766717004607 + ], + [ + 690.5207055735431, + 64.83448934489138 + ], + [ + 688.5422808290689, + 64.6913604392613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.0150083007002, + "ymin": 55.468110993774474, + "xmax": 690.4620861993673, + "ymax": 85.21496883162138 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 687.0150083007002, + 85.19152015259499 + ], + [ + 687.329255866815, + 85.21496883162138 + ], + [ + 689.6922839481526, + 74.91559624611233 + ], + [ + 689.3827401473148, + 74.89285615761577 + ], + [ + 687.7547476237363, + 65.62377536735517 + ], + [ + 688.073965816618, + 65.64690400719604 + ], + [ + 690.4620861993673, + 55.490529971581225 + ], + [ + 690.1477206175291, + 55.468110993774474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.015088603121, + "ymin": 55.4681938131323, + "xmax": 690.4621669484377, + "ymax": 85.21505546086917 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 687.015088603121, + 85.19160677583693 + ], + [ + 687.3293362122632, + 85.21505546086917 + ], + [ + 689.6923633683078, + 74.91568025748535 + ], + [ + 689.3828195257224, + 74.89294016325312 + ], + [ + 687.7548292858655, + 65.62386080827383 + ], + [ + 688.0740475231463, + 65.64698945413181 + ], + [ + 690.4621669484377, + 55.490612796681376 + ], + [ + 690.1478013235416, + 55.4681938131323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.8931913024402, + "ymin": 64.69135934331234, + "xmax": 690.5207062223225, + "ymax": 89.97488878152859 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.8931913024402, + 89.82627900717455 + ], + [ + 687.8709878662071, + 89.97488878152859 + ], + [ + 689.8673245946395, + 81.18183978002594 + ], + [ + 687.914621905028, + 81.03704132677001 + ], + [ + 686.502335134516, + 73.38071942389502 + ], + [ + 688.5065236284189, + 73.52766604437011 + ], + [ + 690.5207062223225, + 64.83448824846403 + ], + [ + 688.5422814810123, + 64.69135934331234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.0151813988189, + "ymin": 55.46812523237219, + "xmax": 690.4622594821659, + "ymax": 85.21498373250847 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 687.0151813988189, + 85.19153504516987 + ], + [ + 687.3294290754118, + 85.21498373250847 + ], + [ + 689.6924545708124, + 74.91561069670519 + ], + [ + 689.3829106613439, + 74.8928706001629 + ], + [ + 687.7549234619427, + 65.62379005666088 + ], + [ + 688.0741417672565, + 65.6469187047166 + ], + [ + 690.4622594821659, + 55.49054421812616 + ], + [ + 690.1478937898075, + 55.46812523237219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.8323487923182, + "ymin": 23.069871478864627, + "xmax": 700.168435409294, + "ymax": 46.74124681101955 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 695.8323487923182, + 46.61089988951204 + ], + [ + 697.6866542510775, + 46.74124681101955 + ], + [ + 699.4390688559281, + 39.022570857521316 + ], + [ + 697.6068397188968, + 38.89535858055149 + ], + [ + 696.5258090633224, + 30.685064198252462 + ], + [ + 698.403293979904, + 30.813735478468345 + ], + [ + 700.168435409294, + 23.19541067870739 + ], + [ + 698.3135788764653, + 23.069871478864627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.0150949103487, + "ymin": 55.46811641687157, + "xmax": 690.4621728435206, + "ymax": 85.21497450419406 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 687.0150949103487, + 85.19152582477437 + ], + [ + 687.3293424821011, + 85.21497450419406 + ], + [ + 689.6923692641869, + 74.91560174726379 + ], + [ + 689.3828254578807, + 74.89286165839161 + ], + [ + 687.7548356024113, + 65.62378096211478 + ], + [ + 688.0740538011098, + 65.64690960234975 + ], + [ + 690.4621728435206, + 55.49053539505434 + ], + [ + 690.1478072560427, + 55.46811641687157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.4538269962802, + "ymin": 68.50521851306587, + "xmax": 689.0660221027254, + "ymax": 93.70768663297713 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 684.4538269962802, + 93.55874580953912 + ], + [ + 686.4249123800274, + 93.70768663297713 + ], + [ + 688.4334803384296, + 84.8946880997504 + ], + [ + 686.4873197547277, + 84.74955496993533 + ], + [ + 685.0419323384697, + 77.21646117479867 + ], + [ + 687.0392296987302, + 77.3637714352351 + ], + [ + 689.0660221027254, + 68.64871390925617 + ], + [ + 687.0943126191709, + 68.50521851306587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.6582649666277, + "ymin": 56.67482626238467, + "xmax": 689.4178138659495, + "ymax": 82.88971358739497 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.6582649666277, + 82.87026434011494 + ], + [ + 686.9198013709183, + 82.88971358739497 + ], + [ + 688.6997390803186, + 75.17877912052643 + ], + [ + 688.44114338002, + 75.15977225837463 + ], + [ + 687.3542970687652, + 64.28327196583479 + ], + [ + 687.6197554796564, + 64.30246709028097 + ], + [ + 689.4178138659495, + 56.69357838183754 + ], + [ + 689.1553845154579, + 56.67482626238467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0297914298792, + "ymin": 19.22353219100887, + "xmax": 698.3383146039632, + "ymax": 42.7459779932808 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 694.0297914298792, + 42.617258359243976 + ], + [ + 695.8721184694845, + 42.7459779932808 + ], + [ + 697.6355083121549, + 35.1230963475017 + ], + [ + 695.814974835151, + 34.99745318977932 + ], + [ + 694.6966097030219, + 26.74307845518166 + ], + [ + 696.561815908728, + 26.870123602824492 + ], + [ + 698.3383146039632, + 19.347504087477546 + ], + [ + 696.495443387529, + 19.22353219100887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.6582654459552, + "ymin": 56.674899884858235, + "xmax": 689.4178146603721, + "ymax": 82.88978995126695 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 686.6582654459552, + 82.87034069958071 + ], + [ + 686.9198018798859, + 82.88978995126695 + ], + [ + 688.699739782786, + 75.17885374743037 + ], + [ + 688.44114405351, + 75.15984688102174 + ], + [ + 687.354297635262, + 64.2833473275594 + ], + [ + 687.6197560766891, + 64.30254245641919 + ], + [ + 689.4178146603721, + 56.69365200857271 + ], + [ + 689.1553852800375, + 56.674899884858235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.4050227559151, + "ymin": 33.766233745465684, + "xmax": 696.2043614193308, + "ymax": 87.66296235254782 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 692.4050227559151, + 87.56556897931597 + ], + [ + 693.706448916104, + 87.66296235254782 + ], + [ + 693.9093878350717, + 86.73720301748585 + ], + [ + 692.6097069910795, + 86.64007505822565 + ], + [ + 694.6387960890895, + 34.65591235743824 + ], + [ + 695.9960382279298, + 34.74954275821875 + ], + [ + 696.2043614193308, + 33.85959813320039 + ], + [ + 694.849017420931, + 33.766233745465684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0698127547571, + "ymin": 26.554007950652704, + "xmax": 697.8932626418206, + "ymax": 80.13388006419336 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.0698127547571, + 80.03863476624036 + ], + [ + 695.35704217532, + 80.13388006419336 + ], + [ + 695.5555076699959, + 79.22852671275473 + ], + [ + 694.2699857307381, + 79.13353810236896 + ], + [ + 696.3479151807837, + 27.423257891049616 + ], + [ + 697.6897238114316, + 27.51473670332632 + ], + [ + 697.8932626418206, + 26.64522985998127 + ], + [ + 696.5533092695498, + 26.554007950652704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.8021366152063, + "ymin": 432.2535212486529, + "xmax": 1033.8877036446197, + "ymax": 452.39352216688894 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1032.0155364631835, + 452.39352216688894 + ], + [ + 1029.6141295174891, + 439.16753364903104 + ], + [ + 1004.8021366152063, + 436.4499492326077 + ], + [ + 1006.8794708062662, + 449.60581687026126 + ], + [ + 1033.8877036446197, + 448.2078222686994 + ], + [ + 1031.4511362877677, + 434.972769691141 + ], + [ + 1006.5175986576767, + 432.2535212486529 + ], + [ + 1008.6268919956945, + 445.41807324813107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.2480826512685, + "ymin": 43.595600446519825, + "xmax": 671.0938400613472, + "ymax": 97.91315401939022 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 668.2480826512685, + 97.81279776449117 + ], + [ + 669.5656392523254, + 97.91315401939022 + ], + [ + 669.8050530345582, + 96.95924866711346 + ], + [ + 668.4892850804312, + 96.85917002087132 + ], + [ + 669.4711259479556, + 44.51350339349119 + ], + [ + 670.8459226579203, + 44.610106500347 + ], + [ + 671.0938400613472, + 43.69192478099427 + ], + [ + 669.7209906823037, + 43.595600446519825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.7018329632161, + "ymin": 421.8949527345237, + "xmax": 1250.959272928937, + "ymax": 693.5170259838505 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1091.2611421060558, + 693.5170259838505 + ], + [ + 1087.6388210372643, + 674.8070570000132 + ], + [ + 910.7018329632161, + 651.1421393514865 + ], + [ + 911.6902025307579, + 669.154213299418 + ], + [ + 1250.959272928937, + 468.67975663097775 + ], + [ + 1242.947587679002, + 447.88869196404005 + ], + [ + 1002.2727080966825, + 421.8949527345237 + ], + [ + 1005.3873780513723, + 441.64896077987146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.6493223403579, + "ymin": 432.1462981825997, + "xmax": 1034.0480614341884, + "ymax": 452.5029520547507 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1032.1548864588221, + 452.5029520547507 + ], + [ + 1029.7260410504775, + 439.13426872154577 + ], + [ + 1004.6493223403579, + 436.3878942084561 + ], + [ + 1006.7470984236, + 449.68494311255995 + ], + [ + 1034.0480614341884, + 448.27231629783563 + ], + [ + 1031.5832772271835, + 434.89437065127424 + ], + [ + 1006.3824018224926, + 432.1462981825997 + ], + [ + 1008.5128109883656, + 445.45221732328486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.2440543676269, + "ymin": 72.56130257963383, + "xmax": 687.8882291738872, + "ymax": 127.56702471337553 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 684.2440543676269, + 127.45871571412357 + ], + [ + 685.6097760522969, + 127.56702471337553 + ], + [ + 685.8345139279194, + 126.5375716366785 + ], + [ + 684.4707140836776, + 126.42957262639041 + ], + [ + 686.2291638992283, + 73.5559069236188 + ], + [ + 687.656484008384, + 73.66058843191854 + ], + [ + 687.8882291738872, + 72.66567106770651 + ], + [ + 686.4630080602684, + 72.56130257963383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.3227657967939, + "ymin": 0.0, + "xmax": 1034.6918930107838, + "ymax": 110.3276051682663 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 978.354889486134, + 110.3276051682663 + ], + [ + 977.2675453646916, + 104.71132778039396 + ], + [ + 880.3227657967939, + 97.49970803138075 + ], + [ + 880.6245724370862, + 102.99973280239107 + ], + [ + 1034.6918930107838, + -92.55845160133742 + ], + [ + 1032.8998022139558, + -97.2090525679535 + ], + [ + 919.4862745507778, + -103.1625636912355 + ], + [ + 920.2019078041401, + -98.62389115250778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.1037056357253, + "ymin": 0.0, + "xmax": 276.8201254430132, + "ymax": 10.462716167015628 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 272.5022469916805, + 10.462716167015628 + ], + [ + 276.8201254430132, + 5.90492502019481 + ], + [ + 163.07898529004183, + -1.9424412640450441 + ], + [ + 157.96162454080445, + 2.495899209561287 + ], + [ + 217.64833475957204, + -186.32297694447107 + ], + [ + 223.08210054508731, + -189.84398120827916 + ], + [ + 93.5737366642262, + -195.887663662264 + ], + [ + 87.1037056357253, + -192.4723418917447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.4428803566251, + "ymin": 34.41365903710681, + "xmax": 693.1236960775954, + "ymax": 88.33849646192022 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.4428803566251, + 88.24090917878647 + ], + [ + 690.745176152561, + 88.33849646192022 + ], + [ + 690.9523587759595, + 87.41089513240246 + ], + [ + 689.6518106085513, + 87.31357405574164 + ], + [ + 691.5525780738637, + 35.30518310721186 + ], + [ + 692.9107662898991, + 35.399007884611024 + ], + [ + 693.1236960775954, + 34.507216973265315 + ], + [ + 691.7674086256761, + 34.41365903710681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.3389109921237, + "ymin": 22.665988184130413, + "xmax": 696.0680807269337, + "ymax": 76.07220627947174 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 692.3389109921237, + 75.9781098406595 + ], + [ + 693.6181088974582, + 76.07220627947174 + ], + [ + 693.8177061280788, + 75.17776693022819 + ], + [ + 692.5401944663872, + 75.08392255180115 + ], + [ + 694.5301885272852, + 23.52432385610433 + ], + [ + 695.8632725594413, + 23.614653186095097 + ], + [ + 696.0680807269337, + 22.756065434783807 + ], + [ + 694.7368279096778, + 22.665988184130413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.3762825348107, + "ymin": 68.64367558910538, + "xmax": 688.0375888704054, + "ymax": 123.97633907636583 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.3762825348107, + 123.86824904265586 + ], + [ + 685.7461064307827, + 123.97633907636583 + ], + [ + 685.97131926512, + 122.9489711539957 + ], + [ + 684.6034287650011, + 122.84119140519374 + ], + [ + 686.3735430423698, + 69.63549788713777 + ], + [ + 687.8053443506747, + 69.73988712587175 + ], + [ + 688.0375888704054, + 68.74775170880878 + ], + [ + 686.6078997497358, + 68.64367558910538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.7037678886693, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.2754427502249 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1164.4717821318184, + 46.2754427502249 + ], + [ + 1322.2747395974225, + 41.27023942746359 + ], + [ + 1237.6578624691274, + -28.162111073479025 + ], + [ + 1096.7037678886693, + -24.19890202881203 + ], + [ + 1291.986413146522, + -265.5546621527641 + ], + [ + 1486.5400332559718, + -268.72726807148354 + ], + [ + 1362.4568184043198, + -311.5228673370042 + ], + [ + 1192.8822125503175, + -309.1394832270871 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00133/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d09e52859457dd6bd2a97616db0c5b58d3f0e2d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00133/meta.json @@ -0,0 +1,6943 @@ +{ + "frame_id": 133, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.5, + "sim_timestamp": 13174.964821747737 + }, + "drone_pose": { + "x": -33.10636821836443, + "y": 3.055420790744891, + "z": 20.0, + "pitch": -44.65961864990163, + "yaw": -8.032325042468141, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7043167352676392, + 0.09939052164554596, + 0.7028936743736267, + 9.563180923461914 + ], + [ + -0.1397317796945572, + 0.9901893734931946, + 0.0, + 1.6005661487579346 + ], + [ + -0.6959978938102722, + -0.09821657091379166, + 0.7112950086593628, + -37.56795120239258 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -32.67889601889364, + "y": 2.9131988434418234, + "z": 20.0 + }, + "t1_image_uv": [ + 393.01839433794487, + -588.6609408844546 + ], + "t1_depth": 0.3152113659191348 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -13.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.60005890020809, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -13.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.22861264646053314, + "y": 0.2911316156387329, + "z": 0.5577707290649414 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.6463348167218, + "ymin": 339.5214545289683, + "xmax": 651.243975237746, + "ymax": 380.1807705510102 + }, + "corners_3d": [ + [ + -13.895794868469238, + 0.021105170249938965, + 0.04232543706893921 + ], + [ + -13.895794868469238, + 0.6033684015274048, + 0.04232543706893921 + ], + [ + -13.438569068908691, + 0.6033684015274048, + 0.04232543706893921 + ], + [ + -13.438569068908691, + 0.021105170249938965, + 0.04232543706893921 + ], + [ + -13.895794868469238, + 0.021105170249938965, + 1.1578669548034668 + ], + [ + -13.895794868469238, + 0.6033684015274048, + 1.1578669548034668 + ], + [ + -13.438569068908691, + 0.6033684015274048, + 1.1578669548034668 + ], + [ + -13.438569068908691, + 0.021105170249938965, + 1.1578669548034668 + ] + ], + "corners_2d": [ + [ + 628.9658781524867, + 378.1682723493377 + ], + [ + 648.8510328177011, + 380.1807705510102 + ], + [ + 650.9304914299676, + 369.0871952992938 + ], + [ + 631.2682910173579, + 367.1204740713304 + ], + [ + 628.6463348167218, + 350.5609388949112 + ], + [ + 649.1079038814664, + 352.57270934859196 + ], + [ + 651.243975237746, + 341.48616130680495 + ], + [ + 631.0183967072705, + 339.5214545289683 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 133, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 325815, + "2": 285635, + "3": 32298, + "5": 4530, + "6": 4738, + "10": 1131, + "12": 1935, + "14": 37558, + "15": 5142, + "20": 3401, + "24": 21483, + "25": 197934 + }, + "instance_pixel_counts": { + "2118": 1131, + "3424": 161400, + "5506": 476, + "6215": 119960, + "6284": 1880, + "6290": 6838, + "6730": 653, + "6992": 1576, + "7262": 1431, + "7774": 5134, + "8332": 15635, + "8338": 42114, + "9822": 7179, + "10846": 3764, + "15184": 2954, + "16203": 454, + "17738": 810, + "18000": 3401, + "21140": 21304, + "23392": 551, + "23700": 153785, + "23904": 547, + "24416": 94, + "28000": 310, + "28256": 306, + "28768": 298, + "29024": 63, + "29280": 287, + "29792": 130, + "29826": 163, + "31584": 73, + "31840": 56, + "32096": 26, + "35476": 1371, + "37524": 9326, + "38540": 2312, + "40588": 14381, + "41562": 30282, + "42330": 2016, + "42897": 5062, + "44945": 43982, + "45898": 777, + "48203": 42, + "52038": 33471, + "54859": 738, + "56576": 206, + "56647": 36534, + "56832": 176, + "57088": 565, + "57344": 644, + "57600": 344, + "57856": 11834, + "58368": 5142, + "60928": 8216, + "62081": 4099, + "62101": 499, + "62611": 18519, + "64149": 4072, + "64659": 132207 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 206, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -13.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2484954595565796, + "y": 0.26449650526046753, + "z": 0.5482575297355652 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.4790662475438, + "ymin": 339.37892740054656, + "xmax": 650.406572382532, + "ymax": 380.3478147446786 + }, + "corners_3d": [ + [ + -13.915677070617676, + 0.047740280628204346, + 0.05183863639831543 + ], + [ + -13.915677070617676, + 0.5767332911491394, + 0.05183863639831543 + ], + [ + -13.418686866760254, + 0.5767332911491394, + 0.05183863639831543 + ], + [ + -13.418686866760254, + 0.047740280628204346, + 0.05183863639831543 + ], + [ + -13.915677070617676, + 0.047740280628204346, + 1.1483536958694458 + ], + [ + -13.915677070617676, + 0.5767332911491394, + 1.1483536958694458 + ], + [ + -13.418686866760254, + 0.5767332911491394, + 1.1483536958694458 + ], + [ + -13.418686866760254, + 0.047740280628204346, + 1.1483536958694458 + ] + ], + "corners_2d": [ + [ + 629.7703664432136, + 378.51758803924514 + ], + [ + 647.8495181628574, + 380.3478147446786 + ], + [ + 650.1214850179748, + 368.2916361742146 + ], + [ + 632.2626123541847, + 366.50662670605766 + ], + [ + 629.4790662475438, + 351.38107723202955 + ], + [ + 648.0734769752622, + 353.21070658785317 + ], + [ + 650.406572382532, + 341.16209047739 + ], + [ + 632.0450947441418, + 339.37892740054656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 176, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -9.5411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24181273579597473, + "y": 0.2319277971982956, + "z": 0.5276538133621216 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 743.3067085261265, + "ymin": 260.0312570274175, + "xmax": 762.3394965388655, + "ymax": 295.92760251522174 + }, + "corners_3d": [ + [ + -9.816312789916992, + 3.118696689605713, + 0.07244724035263062 + ], + [ + -9.743749618530273, + 3.5768415927886963, + 0.07244724035263062 + ], + [ + -9.26607894897461, + 3.501185894012451, + 0.07244724035263062 + ], + [ + -9.338642120361328, + 3.0430409908294678, + 0.07244724035263062 + ], + [ + -9.816312789916992, + 3.118696689605713, + 1.1277549266815186 + ], + [ + -9.743749618530273, + 3.5768415927886963, + 1.1277549266815186 + ], + [ + -9.26607894897461, + 3.501185894012451, + 1.1277549266815186 + ], + [ + -9.338642120361328, + 3.0430409908294678, + 1.1277549266815186 + ] + ], + "corners_2d": [ + [ + 744.7332674316402, + 295.92760251522174 + ], + [ + 759.3553395776819, + 295.7655131066383 + ], + [ + 757.7655054715568, + 285.874062198307 + ], + [ + 743.3067085261265, + 286.0325459313756 + ], + [ + 747.3523309948531, + 270.0316913753717 + ], + [ + 762.3394965388655, + 269.8704130890864 + ], + [ + 760.6761687014614, + 260.0312570274175 + ], + [ + 745.8604858410806, + 260.1888595133783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 565, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -15.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3583911061286926, + "y": 0.30969053506851196, + "z": 0.8697741627693176 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 870.1411145076839, + "ymin": 412.38356829184704, + "xmax": 908.5724132827238, + "ymax": 477.5015955905743 + }, + "corners_3d": [ + [ + -16.2971134185791, + 6.964439868927002, + -0.26967310905456543 + ], + [ + -16.264698028564453, + 7.582972049713135, + -0.26967310905456543 + ], + [ + -15.548897743225098, + 7.5454583168029785, + -0.26967310905456543 + ], + [ + -15.581314086914062, + 6.926926136016846, + -0.26967310905456543 + ], + [ + -16.2971134185791, + 6.964439868927002, + 1.4698752164840698 + ], + [ + -16.264698028564453, + 7.582972049713135, + 1.4698752164840698 + ], + [ + -15.548897743225098, + 7.5454583168029785, + 1.4698752164840698 + ], + [ + -15.581314086914062, + 6.926926136016846, + 1.4698752164840698 + ] + ], + "corners_2d": [ + [ + 872.3406824570623, + 475.89826060467936 + ], + [ + 895.7743961133133, + 477.5015955905743 + ], + [ + 893.1167537766747, + 456.808449481592 + ], + [ + 870.1411145076839, + 455.26673051122543 + ], + [ + 883.9478059057568, + 433.1559393407253 + ], + [ + 908.5724132827238, + 434.77190399634276 + ], + [ + 905.5239272300948, + 413.93442247349 + ], + [ + 881.404627637839, + 412.38356829184704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 644, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -23.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5677294731140137, + "y": 0.30653491616249084, + "z": 0.8802235126495361 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 556.3568493694045, + "ymin": 617.1758219049105, + "xmax": 599.7291728278435, + "ymax": 709.1827293201992 + }, + "corners_3d": [ + [ + -23.71809196472168, + -0.02359071373939514, + -0.2801273465156555 + ], + [ + -23.75017738342285, + 0.5886389017105103, + -0.2801273465156555 + ], + [ + -22.616273880004883, + 0.6480642557144165, + -0.2801273465156555 + ], + [ + -22.58418846130371, + 0.03583464026451111, + -0.2801273465156555 + ], + [ + -23.71809196472168, + -0.02359071373939514, + 1.4803197383880615 + ], + [ + -23.75017738342285, + 0.5886389017105103, + 1.4803197383880615 + ], + [ + -22.616273880004883, + 0.6480642557144165, + 1.4803197383880615 + ], + [ + -22.58418846130371, + 0.03583464026451111, + 1.4803197383880615 + ] + ], + "corners_2d": [ + [ + 561.2451526646398, + 704.0676292885962 + ], + [ + 588.3246862983489, + 709.1827293201992 + ], + [ + 599.7291728278435, + 662.1664783029416 + ], + [ + 573.5835818062592, + 657.4145906776785 + ], + [ + 556.3568493694045, + 665.124559439444 + ], + [ + 585.1037236873294, + 670.394792148981 + ], + [ + 597.315443427095, + 622.049878163794 + ], + [ + 569.6187791310861, + 617.1758219049105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 344, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -2.421846628189087, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.45948880910873413, + "y": 0.36268341541290283, + "z": 0.9321549534797668 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 449.8079516780806, + "ymin": 98.78917563912262, + "xmax": 483.85060581504706, + "ymax": 157.67447430149895 + }, + "corners_3d": [ + [ + -2.818942070007324, + -8.288076400756836, + -0.1797540783882141 + ], + [ + -2.9324145317077637, + -7.5716400146484375, + -0.1797540783882141 + ], + [ + -2.0247511863708496, + -7.42788028717041, + -0.1797540783882141 + ], + [ + -1.9112786054611206, + -8.144316673278809, + -0.1797540783882141 + ], + [ + -2.818942070007324, + -8.288076400756836, + 1.6845557689666748 + ], + [ + -2.9324145317077637, + -7.5716400146484375, + 1.6845557689666748 + ], + [ + -2.0247511863708496, + -7.42788028717041, + 1.6845557689666748 + ], + [ + -1.9112786054611206, + -8.144316673278809, + 1.6845557689666748 + ] + ], + "corners_2d": [ + [ + 456.6094078036996, + 154.5963967942467 + ], + [ + 474.09505720510754, + 157.67447430149895 + ], + [ + 483.85060581504706, + 145.1074711567009 + ], + [ + 466.6186318852315, + 142.13197169771584 + ], + [ + 449.8079516780806, + 110.94919924447419 + ], + [ + 467.9156654829319, + 113.95443434731254 + ], + [ + 478.1360908216659, + 101.6906347857618 + ], + [ + 460.3001554819175, + 98.78917563912262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 11834, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 653.8221998329723, + "ymin": 375.89142696997993, + "xmax": 754.6423154905476, + "ymax": 583.3132451526737 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 653.8221998329723, + 573.2995620874408 + ], + [ + 737.839693481253, + 583.3132451526737 + ], + [ + 750.4037990774473, + 418.3634441754559 + ], + [ + 678.0320984458459, + 410.9612279871755 + ], + [ + 654.4381296611218, + 539.5145914456567 + ], + [ + 742.2387814177083, + 549.674264529874 + ], + [ + 754.6423154905476, + 383.30815969085427 + ], + [ + 679.4810487573322, + 375.89142696997993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5142, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 715.3465932223301, + "ymin": 28.028939635698464, + "xmax": 781.3181335871337, + "ymax": 169.3640167295735 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 715.3465932223301, + 165.25448899189388 + ], + [ + 768.8237494286592, + 169.3640167295735 + ], + [ + 774.9271059966085, + 89.98600013196204 + ], + [ + 726.9930751876097, + 86.69021173264196 + ], + [ + 719.3322636265863, + 103.56398981265255 + ], + [ + 775.6773661352503, + 107.53799097462979 + ], + [ + 781.3181335871337, + 31.181004782581226 + ], + [ + 731.0926803378292, + 28.028939635698464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 8216, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 378.9944815160248, + "ymin": 367.8717822531835, + "xmax": 494.37489807964585, + "ymax": 520.5131396378295 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 494.37489807964585, + 412.96615312621486 + ], + [ + 432.59956457252827, + 406.513843352744 + ], + [ + 390.6098793304668, + 512.6079382232964 + ], + [ + 458.7025955539792, + 520.5131396378295 + ], + [ + 488.2269298354492, + 374.33497697412264 + ], + [ + 423.90605228772756, + 367.8717822531835 + ], + [ + 378.9944815160248, + 474.6010711246377 + ], + [ + 450.19248550716134, + 482.59129857413234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.312007300123, + "ymin": 71.57945299714999, + "xmax": 685.8221995094934, + "ymax": 97.05759603708071 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.312007300123, + 96.91524021802996 + ], + [ + 683.3065161296427, + 97.05759603708071 + ], + [ + 685.2257622411558, + 88.11398173950795 + ], + [ + 683.2568686002387, + 87.9753147342251 + ], + [ + 681.8640099057313, + 80.41931026418877 + ], + [ + 683.8852907145795, + 80.56009755351675 + ], + [ + 685.8221995094934, + 71.71654433030153 + ], + [ + 683.827221675637, + 71.57945299714999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120067835613, + "ymin": 71.57945528381333, + "xmax": 685.822199008462, + "ymax": 97.05759841254104 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120067835613, + 96.91524259250411 + ], + [ + 683.306515619883, + 97.05759841254104 + ], + [ + 685.2257617446068, + 88.11398405340765 + ], + [ + 683.2568680970611, + 87.9753170471767 + ], + [ + 681.8640093842048, + 80.41931261249351 + ], + [ + 683.8852902000389, + 80.56009990280984 + ], + [ + 685.822199008462, + 71.71654661791456 + ], + [ + 683.8272211678003, + 71.57945528381333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.1512696217769, + "ymin": 37.181459347994405, + "xmax": 690.427268089602, + "ymax": 61.32427587248492 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 686.1512696217769, + 61.19636864651824 + ], + [ + 688.0427954508247, + 61.32427587248492 + ], + [ + 689.8046709147798, + 53.283026784127344 + ], + [ + 687.9361990024694, + 53.15826446948137 + ], + [ + 686.7353983142069, + 45.11867536943981 + ], + [ + 688.6509860582592, + 45.24499728899798 + ], + [ + 690.427268089602, + 37.30463675673906 + ], + [ + 688.5353209048842, + 37.181459347994405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.2321700603796, + "ymin": 36.51905286382964, + "xmax": 693.5041697615983, + "ymax": 60.63616340731437 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 689.2321700603796, + 60.508526825324964 + ], + [ + 691.1222992537864, + 60.63616340731437 + ], + [ + 692.8442745011585, + 52.611826086547524 + ], + [ + 690.977165614112, + 52.48732450086908 + ], + [ + 689.8546252966657, + 44.43936958287969 + ], + [ + 691.7687805789261, + 44.565420834858855 + ], + [ + 693.5041697615983, + 36.64196964319012 + ], + [ + 691.6136201346751, + 36.51905286382964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0534521741432, + "ymin": 63.54310162223402, + "xmax": 684.6829580392598, + "ymax": 89.94801816685117 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0534521741432, + 89.92938634187863 + ], + [ + 682.3172053588803, + 89.94801816685117 + ], + [ + 684.02946591657, + 82.10440959830129 + ], + [ + 683.7687147358015, + 82.08620598520571 + ], + [ + 682.6850066817672, + 71.28398554392226 + ], + [ + 682.9527385964493, + 71.3023775586185 + ], + [ + 684.6829580392598, + 63.5610646998806 + ], + [ + 684.418318857787, + 63.54310162223402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0534496505768, + "ymin": 63.543189278783245, + "xmax": 684.6829558611865, + "ymax": 89.94810909176596 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0534496505768, + 89.92947726180063 + ], + [ + 682.3172028705841, + 89.94810909176596 + ], + [ + 684.0294636838036, + 82.10449843347692 + ], + [ + 683.7687124685632, + 82.08629481555971 + ], + [ + 682.6850042061907, + 71.28407529357685 + ], + [ + 682.9527361572152, + 71.30246731327571 + ], + [ + 684.6829558611865, + 63.56115236125834 + ], + [ + 684.418316644206, + 63.543189278783245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.312007300123, + "ymin": 71.57945299714999, + "xmax": 685.8221995094934, + "ymax": 97.05759603708071 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.312007300123, + 96.91524021802996 + ], + [ + 683.3065161296427, + 97.05759603708071 + ], + [ + 685.2257622411558, + 88.11398173950795 + ], + [ + 683.2568686002387, + 87.9753147342251 + ], + [ + 681.8640099057313, + 80.41931026418877 + ], + [ + 683.8852907145795, + 80.56009755351675 + ], + [ + 685.8221995094934, + 71.71654433030153 + ], + [ + 683.827221675637, + 71.57945299714999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120075935399, + "ymin": 71.57945301731792, + "xmax": 685.8221997052319, + "ymax": 97.05759605104811 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120075935399, + 96.91524023897227 + ], + [ + 683.3065163253351, + 97.05759605104811 + ], + [ + 685.2257624343346, + 88.11398175311336 + ], + [ + 683.256868889888, + 87.97531475462489 + ], + [ + 681.8640102030859, + 80.41931028490023 + ], + [ + 683.8852909128992, + 80.56009756733022 + ], + [ + 685.8221997052319, + 71.71654434375239 + ], + [ + 683.8272219691229, + 71.57945301731792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120069674605, + "ymin": 71.57945490942541, + "xmax": 685.8221990919673, + "ymax": 97.05759801663106 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120069674605, + 96.91524220373924 + ], + [ + 683.3065157048429, + 97.05759801663106 + ], + [ + 685.225761827365, + 88.11398366775757 + ], + [ + 683.2568682774738, + 87.97531666848471 + ], + [ + 681.8640095702441, + 80.41931222801327 + ], + [ + 683.8852902857957, + 80.560099511261 + ], + [ + 685.8221990919673, + 71.71654623664563 + ], + [ + 683.8272213502684, + 71.57945490942541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.1491247468647, + "ymin": 46.49021718426309, + "xmax": 668.4849083408955, + "ymax": 70.99431411705586 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.1491247468647, + 70.86257308126096 + ], + [ + 666.0643971957883, + 70.99431411705586 + ], + [ + 668.1280546841901, + 62.71354342328817 + ], + [ + 666.236413287922, + 62.58508884308594 + ], + [ + 664.4593808447404, + 54.66684881117828 + ], + [ + 666.3993275226691, + 54.79700603610348 + ], + [ + 668.4849083408955, + 46.617086538223646 + ], + [ + 666.569201685792, + 46.49021718426309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0534950366131, + "ymin": 63.542987436888154, + "xmax": 684.6830005759322, + "ymax": 89.94789972398547 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0534950366131, + 89.92926790551684 + ], + [ + 682.3172481764922, + 89.94789972398547 + ], + [ + 684.0295079438805, + 82.1042938776232 + ], + [ + 683.7687568069551, + 82.08609027080854 + ], + [ + 682.6850500760587, + 71.28386863200376 + ], + [ + 682.9527819445191, + 71.30226064018348 + ], + [ + 684.6830005759322, + 63.56095050824479 + ], + [ + 684.4183614396197, + 63.542987436888154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120067835613, + "ymin": 71.57945528381333, + "xmax": 685.822199008462, + "ymax": 97.05759841254104 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120067835613, + 96.91524259250411 + ], + [ + 683.306515619883, + 97.05759841254104 + ], + [ + 685.2257617446068, + 88.11398405340765 + ], + [ + 683.2568680970611, + 87.9753170471767 + ], + [ + 681.8640093842048, + 80.41931261249351 + ], + [ + 683.8852902000389, + 80.56009990280984 + ], + [ + 685.822199008462, + 71.71654661791456 + ], + [ + 683.8272211678003, + 71.57945528381333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4309425913448, + "ymin": 62.31263243827681, + "xmax": 685.7223521379689, + "ymax": 92.29654020511214 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 682.4309425913448, + 92.27407650989375 + ], + [ + 682.7478574319013, + 92.29654020511214 + ], + [ + 685.0203437742394, + 81.82013943546241 + ], + [ + 684.7082306372167, + 81.79836161152639 + ], + [ + 683.1030534317553, + 72.6450028035664 + ], + [ + 683.4250109306107, + 72.66716452745624 + ], + [ + 685.7223521379689, + 62.33410704292612 + ], + [ + 685.4053491813557, + 62.31263243827681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0535310448921, + "ymin": 63.54305653096702, + "xmax": 684.6830369758452, + "ymax": 89.94797139430915 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0535310448921, + 89.92933957190496 + ], + [ + 682.3172842136157, + 89.94797139430915 + ], + [ + 684.0295437432218, + 82.10436390073869 + ], + [ + 683.768792578105, + 82.08616029012342 + ], + [ + 682.685086692807, + 71.2839393759441 + ], + [ + 682.9528185909887, + 71.30233138806716 + ], + [ + 684.6830369758452, + 63.56101960612966 + ], + [ + 684.4183978104946, + 63.54305653096702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120075935399, + "ymin": 71.57945301731792, + "xmax": 685.8221997052319, + "ymax": 97.05759605104811 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120075935399, + 96.91524023897227 + ], + [ + 683.3065163253351, + 97.05759605104811 + ], + [ + 685.2257624343346, + 88.11398175311336 + ], + [ + 683.256868889888, + 87.97531475462489 + ], + [ + 681.8640102030859, + 80.41931028490023 + ], + [ + 683.8852909128992, + 80.56009756733022 + ], + [ + 685.8221997052319, + 71.71654434375239 + ], + [ + 683.8272219691229, + 71.57945301731792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4308553282654, + "ymin": 62.312626525205246, + "xmax": 685.7222647464534, + "ymax": 92.2965340123107 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 682.4308553282654, + 92.27407032447428 + ], + [ + 682.7477700646776, + 92.2965340123107 + ], + [ + 685.0202577307952, + 81.82013343174532 + ], + [ + 684.7081446962513, + 81.7983556149598 + ], + [ + 683.1029647802169, + 72.64499670129851 + ], + [ + 683.4249221731784, + 72.6671584178992 + ], + [ + 685.7222647464534, + 62.33410112279762 + ], + [ + 685.4052618940132, + 62.312626525205246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4309371604242, + "ymin": 62.31271035441824, + "xmax": 685.722347002594, + "ymax": 92.29662170836684 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 682.4309371604242, + 92.27415801474473 + ], + [ + 682.7478519403494, + 92.29662170836684 + ], + [ + 685.0203386349816, + 81.82021845018414 + ], + [ + 684.7082255582346, + 81.79844062787583 + ], + [ + 683.1030479965311, + 72.64508321273524 + ], + [ + 683.425005434401, + 72.66724493513436 + ], + [ + 685.722347002594, + 62.33418495754137 + ], + [ + 685.4053441066183, + 62.31271035441824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.3120082430432, + "ymin": 71.57945190087668, + "xmax": 685.8222003472246, + "ymax": 97.05759489125256 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.3120082430432, + 96.9152390796583 + ], + [ + 683.3065169715999, + 97.05759489125256 + ], + [ + 685.2257630689664, + 88.11398062337435 + ], + [ + 683.2568695276759, + 87.97531362534869 + ], + [ + 681.8640108603217, + 80.41930913836325 + ], + [ + 683.8852915668091, + 80.56009642031063 + ], + [ + 685.8222003472246, + 71.71654322684759 + ], + [ + 683.8272226143557, + 71.57945190087668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4310299166287, + "ymin": 62.31264027429245, + "xmax": 685.7224395029979, + "ymax": 92.29654840258456 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 682.4310299166287, + 92.27408470682536 + ], + [ + 682.747944763881, + 92.29654840258456 + ], + [ + 685.020429789569, + 81.82014738264195 + ], + [ + 684.708316646053, + 81.79836955818968 + ], + [ + 683.1031421485002, + 72.64501089030534 + ], + [ + 683.425099654266, + 72.66717261473718 + ], + [ + 685.7224395029979, + 62.334114879458696 + ], + [ + 685.4054365396869, + 62.31264027429245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8695715625314, + "ymin": 29.27128722325159, + "xmax": 695.0923131685834, + "ymax": 53.107155089092714 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8695715625314, + 52.98246112004716 + ], + [ + 692.738101632386, + 53.107155089092714 + ], + [ + 694.4206132657802, + 45.26670973221047 + ], + [ + 692.5745836284767, + 45.14504362197795 + ], + [ + 691.5051793644423, + 37.00789031517269 + ], + [ + 693.3971861007935, + 37.13099940345256 + ], + [ + 695.0923131685834, + 29.391370273316113 + ], + [ + 693.2233723736872, + 29.27128722325159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4309426648439, + "ymin": 62.3126316757656, + "xmax": 685.7223521091987, + "ymax": 92.29653940045421 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 682.4309426648439, + 92.27407571226229 + ], + [ + 682.7478574066449, + 92.29653940045421 + ], + [ + 685.0203437467277, + 81.820138655373 + ], + [ + 684.7082307069585, + 81.79836083824819 + ], + [ + 683.1030535056187, + 72.64500201665766 + ], + [ + 683.4250109041416, + 72.66716373361464 + ], + [ + 685.7223521091987, + 62.334106273697785 + ], + [ + 685.4053492513684, + 62.3126316757656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8750044448143, + "ymin": 75.40954819276561, + "xmax": 684.3702869224295, + "ymax": 100.80582064419679 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 679.8750044448143, + 100.6631515524449 + ], + [ + 681.8627368659227, + 100.80582064419679 + ], + [ + 683.7946000074377, + 91.84215058446892 + ], + [ + 681.8323100078823, + 91.70316665009364 + ], + [ + 680.4060525960246, + 84.27142573916387 + ], + [ + 682.4203742075055, + 84.4125574914192 + ], + [ + 684.3702869224295, + 75.5469868998494 + ], + [ + 682.3820885273783, + 75.40954819276561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0534521741432, + "ymin": 63.54310162223402, + "xmax": 684.6829580392598, + "ymax": 89.94801816685117 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0534521741432, + 89.92938634187863 + ], + [ + 682.3172053588803, + 89.94801816685117 + ], + [ + 684.02946591657, + 82.10440959830129 + ], + [ + 683.7687147358015, + 82.08620598520571 + ], + [ + 682.6850066817672, + 71.28398554392226 + ], + [ + 682.9527385964493, + 71.3023775586185 + ], + [ + 684.6829580392598, + 63.5610646998806 + ], + [ + 684.418318857787, + 63.54310162223402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.0123615567098, + "ymin": 25.375020705640054, + "xmax": 693.2081597207892, + "ymax": 49.059713653922074 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 689.0123615567098, + 48.9365873902716 + ], + [ + 690.8687487151926, + 49.059713653922074 + ], + [ + 692.5634735721031, + 41.317254637682026 + ], + [ + 690.7292969658306, + 41.197099654038254 + ], + [ + 689.6208543584781, + 33.01376468399002 + ], + [ + 691.5004121985467, + 33.135306836508676 + ], + [ + 693.2081597207892, + 25.49359405810071 + ], + [ + 691.3513669830743, + 25.375020705640054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.0534534605838, + "ymin": 63.54317644104452, + "xmax": 684.6829596313964, + "ymax": 89.9480957753587 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 682.0534534605838, + 89.92946394612471 + ], + [ + 682.3172066755201, + 89.9480957753587 + ], + [ + 684.0294674115491, + 82.1044854231223 + ], + [ + 683.7687162012651, + 82.08628180591137 + ], + [ + 682.685008060837, + 71.28406214929237 + ], + [ + 682.9527400066365, + 71.30245416825846 + ], + [ + 684.6829596313964, + 63.56113952281231 + ], + [ + 684.4183204195211, + 63.54317644104452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.6046898741489, + "ymin": 40.14008627216572, + "xmax": 691.2142301592891, + "ymax": 94.1999818088695 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 687.6046898741489, + 94.1068321394115 + ], + [ + 688.9160113817827, + 94.1999818088695 + ], + [ + 689.1109072387436, + 93.25971573080358 + ], + [ + 687.8013645613792, + 93.16682239236002 + ], + [ + 689.6461458179125, + 41.04416596916934 + ], + [ + 691.013999848881, + 41.1337609866838 + ], + [ + 691.2142301592891, + 40.22942418954261 + ], + [ + 689.8483115385803, + 40.14008627216572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.2041874996436, + "ymin": 32.81207026306612, + "xmax": 692.8373159611725, + "ymax": 86.5536458937292 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 689.2041874996436, + 86.4625704927235 + ], + [ + 690.5010412584533, + 86.5536458937292 + ], + [ + 690.6915996370118, + 85.63430500737479 + ], + [ + 689.3964857081124, + 85.54347742893998 + ], + [ + 691.2896101694492, + 33.69518574992901 + ], + [ + 692.641729504713, + 33.78270158580915 + ], + [ + 692.8373159611725, + 32.89933789001583 + ], + [ + 691.48708780566, + 32.81207026306612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.5395907549246, + "ymin": 451.3284989737699, + "xmax": 1041.4138894183839, + "ymax": 471.8740109561054 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1039.4751028812288, + 471.8740109561054 + ], + [ + 1036.7733455553619, + 458.16584450409385 + ], + [ + 1011.5395907549246, + 455.5139341304774 + ], + [ + 1013.9047972429829, + 469.1522795694974 + ], + [ + 1041.4138894183839, + 467.7020812893189 + ], + [ + 1038.674009622581, + 453.98243205070804 + ], + [ + 1013.3148472715327, + 451.3284989737699 + ], + [ + 1015.7148028092186, + 464.9779330621557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3794854757425, + "ymin": 50.22313213265187, + "xmax": 666.024603369442, + "ymax": 104.70949060888833 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.3794854757425, + 104.61345188695043 + ], + [ + 664.7076324059809, + 104.70949060888833 + ], + [ + 664.9393696523515, + 103.74008019981244 + ], + [ + 663.6130473120859, + 103.64430981762473 + ], + [ + 664.3981801905023, + 51.15646028866752 + ], + [ + 665.7843529879008, + 51.24895616405064 + ], + [ + 666.024603369442, + 50.315358330277775 + ], + [ + 664.6404179633728, + 50.22313213265187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 914.5915757134253, + "ymin": 440.88234308723463, + "xmax": 1262.1963113696843, + "ymax": 710.8121348864086 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1097.702500404796, + 710.8121348864086 + ], + [ + 1093.751353970653, + 691.5999770912122 + ], + [ + 914.5915757134253, + 668.7040615408807 + ], + [ + 915.8312368943077, + 687.2302168410815 + ], + [ + 1262.1963113696843, + 487.75210633548085 + ], + [ + 1253.5650253612393, + 466.2326906677963 + ], + [ + 1008.9800885182265, + 440.88234308723463 + ], + [ + 1012.53264806294, + 461.3698651759988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.38266715906, + "ymin": 451.21912936552417, + "xmax": 1041.5786295614007, + "ymax": 471.98565616210294 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1039.6180804322914, + 471.98565616210294 + ], + [ + 1036.8855993801665, + 458.1296190704595 + ], + [ + 1011.38266715906, + 455.44962892676295 + ], + [ + 1013.7713316906049, + 469.2343381462674 + ], + [ + 1041.5786295614007, + 467.7689543507224 + ], + [ + 1038.807182621255, + 453.90118381028776 + ], + [ + 1013.1761482556336, + 451.21912936552417 + ], + [ + 1015.6002951861012, + 465.0151650476665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.7663776873976, + "ymin": 79.53134247655942, + "xmax": 683.2247312064836, + "ymax": 134.70209034150614 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 679.7663776873976, + 134.59839593880162 + ], + [ + 681.1432949220626, + 134.70209034150614 + ], + [ + 681.3593390632656, + 133.65545028038045 + ], + [ + 679.9843828913455, + 133.5520557117505 + ], + [ + 681.5623710866234, + 80.54313941574986 + ], + [ + 683.0017533250004, + 80.64341771061083 + ], + [ + 683.2247312064836, + 79.63131774831595 + ], + [ + 681.787491871737, + 79.53134247655942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.7678311041725, + "ymin": 0.0, + "xmax": 1031.5034889847564, + "ymax": 116.00335283983298 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 975.3763704163634, + 116.00335283983298 + ], + [ + 974.2065869370117, + 110.3154236057483 + ], + [ + 876.7678311041725, + 103.43481530253678 + ], + [ + 877.1409535670123, + 109.01086609743632 + ], + [ + 1031.5034889847564, + -87.41258324119349 + ], + [ + 1029.6116226574215, + -92.12932153388925 + ], + [ + 915.5696844400126, + -97.81811278169153 + ], + [ + 916.3688594144742, + -93.20933754083956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.26586400927329, + "ymin": 0.0, + "xmax": 267.6660706386734, + "ymax": 17.64133067691631 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 263.3205766682831, + 17.64133067691631 + ], + [ + 267.6660706386734, + 12.9957464423764 + ], + [ + 152.53571784248317, + 5.4598864889676975 + ], + [ + 147.36732780786718, + 9.989387888396834 + ], + [ + 206.60331661331645, + -180.18477318298403 + ], + [ + 212.09679273109248, + -183.78169331690458 + ], + [ + 80.8289931794086, + -189.59885900358665 + ], + [ + 74.26586400927329, + -186.1050009408291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.6290408231696, + "ymin": 40.80977147803094, + "xmax": 688.1187032086286, + "ymax": 94.89840528275568 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.6290408231696, + 94.80506497736678 + ], + [ + 685.9412972456075, + 94.89840528275568 + ], + [ + 686.1404923848098, + 93.95621615809358 + ], + [ + 684.8300173114654, + 93.86313297046331 + ], + [ + 686.5449317272753, + 41.715779312424615 + ], + [ + 687.913803232875, + 41.80556556712787 + ], + [ + 688.1187032086286, + 40.89929980960284 + ], + [ + 686.751769972837, + 40.80977147803094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.4203500744621, + "ymin": 28.87312744829171, + "xmax": 690.9576859049192, + "ymax": 82.44068114271244 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 687.4203500744621, + 82.35071182565343 + ], + [ + 688.7090651609107, + 82.44068114271244 + ], + [ + 688.900889383144, + 81.53249865685933 + ], + [ + 687.6138923626308, + 81.44277266452565 + ], + [ + 689.4174119390792, + 29.745076052703496 + ], + [ + 690.7606866344197, + 29.831484412569125 + ], + [ + 690.9576859049192, + 28.959292292477812 + ], + [ + 689.6162777348983, + 28.87312744829171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.8859771646212, + "ymin": 75.60143812906034, + "xmax": 683.3604358839218, + "ymax": 131.10221635962182 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.8859771646212, + 130.99872768605172 + ], + [ + 681.2670533446349, + 131.10221635962182 + ], + [ + 681.4835667953571, + 130.05765692252183 + ], + [ + 680.1044635349706, + 129.95446838624076 + ], + [ + 681.6930353551766, + 76.61044647930464 + ], + [ + 683.136963061716, + 76.71044892204009 + ], + [ + 683.3604358839218, + 75.70113743433001 + ], + [ + 681.9186646274576, + 75.60143812906034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.8537354305183, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.25687812146725 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1160.7422226452727, + 50.25687812146725 + ], + [ + 1318.3267790627658, + 44.563679189182096 + ], + [ + 1232.6363972522986, + -25.14671065172621 + ], + [ + 1091.8537354305183, + -20.642469139853006 + ], + [ + 1287.6924769284406, + -262.08751691701127 + ], + [ + 1481.8653268998573, + -265.6990854369616 + ], + [ + 1356.4989987848473, + -308.6842128297021 + ], + [ + 1187.2065370642904, + -305.97407040283304 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00134/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00134/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..591eaa8bfa3a0431a195e75654464afa3b11b7eb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00134/meta.json @@ -0,0 +1,6949 @@ +{ + "frame_id": 134, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.0, + "sim_timestamp": 13183.984895711066 + }, + "drone_pose": { + "x": -32.67889601889364, + "y": 2.9131988434418234, + "z": 20.0, + "pitch": -44.58308410798172, + "yaw": -7.592913146530309, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7059884071350098, + 0.09411008656024933, + 0.7019427418708801, + 9.306228637695312 + ], + [ + -0.13213378190994263, + 0.9912319183349609, + 0.0, + 1.430330753326416 + ], + [ + -0.6957880854606628, + -0.09275035560131073, + 0.712233304977417, + -37.2524528503418 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -32.2470792943112, + "y": 2.7880924968042606, + "z": 20.0 + }, + "t1_image_uv": [ + 437.00763344007186, + -586.1296975774441 + ], + "t1_depth": 0.3166313579805499 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -13.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.637442345925123, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -13.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.22817564010620117, + "y": 0.2826976776123047, + "z": 0.5635754466056824 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.0083827399706, + "ymin": 339.477433417027, + "xmax": 650.8836349905869, + "ymax": 380.2160633332325 + }, + "corners_3d": [ + [ + -13.395357131958008, + 0.029539108276367188, + 0.03652071952819824 + ], + [ + -13.395357131958008, + 0.5949344635009766, + 0.03652071952819824 + ], + [ + -12.939006805419922, + 0.5949344635009766, + 0.03652071952819824 + ], + [ + -12.939006805419922, + 0.029539108276367188, + 0.03652071952819824 + ], + [ + -13.395357131958008, + 0.029539108276367188, + 1.163671612739563 + ], + [ + -13.395357131958008, + 0.5949344635009766, + 1.163671612739563 + ], + [ + -12.939006805419922, + 0.5949344635009766, + 1.163671612739563 + ], + [ + -12.939006805419922, + 0.029539108276367188, + 1.163671612739563 + ] + ], + "corners_2d": [ + [ + 629.3201020107238, + 378.37300442199955 + ], + [ + 648.6214279747668, + 380.2160633332325 + ], + [ + 650.5779253988345, + 369.1630734208444 + ], + [ + 631.4932613737303, + 367.3618956343677 + ], + [ + 629.0083827399706, + 350.47851460601635 + ], + [ + 648.8735606150718, + 352.32061139628155 + ], + [ + 650.8836349905869, + 341.2764695007797 + ], + [ + 631.247887473193, + 339.477433417027 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 134, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 324184, + "2": 285442, + "3": 32159, + "5": 4777, + "6": 4821, + "9": 11, + "10": 1591, + "12": 1932, + "14": 37423, + "15": 5236, + "20": 3509, + "24": 21697, + "25": 198818 + }, + "instance_pixel_counts": { + "2118": 1590, + "3424": 159434, + "5506": 493, + "6215": 118385, + "6284": 2013, + "6290": 7152, + "6730": 640, + "6992": 1729, + "7262": 782, + "7774": 5300, + "8332": 15432, + "8338": 41736, + "8798": 200, + "9822": 6305, + "10846": 4070, + "15184": 3048, + "16203": 661, + "17738": 841, + "18000": 3509, + "21140": 22575, + "23392": 574, + "23700": 151464, + "23904": 556, + "24416": 14, + "28000": 315, + "28256": 311, + "28768": 314, + "29024": 62, + "29280": 295, + "29792": 85, + "29826": 220, + "31584": 107, + "31840": 90, + "32096": 67, + "35402": 5, + "35476": 1441, + "36170": 16, + "37524": 9275, + "38540": 2427, + "40588": 14253, + "41562": 30695, + "42330": 1464, + "42897": 5392, + "44945": 43533, + "45898": 752, + "48203": 42, + "52038": 35119, + "54859": 702, + "56576": 200, + "56647": 39384, + "56832": 184, + "57088": 563, + "57173": 11, + "57344": 640, + "57600": 345, + "57856": 12275, + "58368": 5236, + "60928": 8491, + "62081": 4108, + "62101": 546, + "62611": 19687, + "64149": 3955, + "64585": 31, + "64659": 130458 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -13.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.21888791024684906, + "y": 0.27402037382125854, + "z": 0.55898517370224 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.3599681555294, + "ymin": 339.8431254701821, + "xmax": 650.5399562946352, + "ymax": 379.8498682159346 + }, + "corners_3d": [ + [ + -13.386070251464844, + 0.03821641206741333, + 0.041110992431640625 + ], + [ + -13.386070251464844, + 0.5862571597099304, + 0.041110992431640625 + ], + [ + -12.948293685913086, + 0.5862571597099304, + 0.041110992431640625 + ], + [ + -12.948293685913086, + 0.03821641206741333, + 0.041110992431640625 + ], + [ + -13.386070251464844, + 0.03821641206741333, + 1.1590813398361206 + ], + [ + -13.386070251464844, + 0.5862571597099304, + 1.1590813398361206 + ], + [ + -12.948293685913086, + 0.5862571597099304, + 1.1590813398361206 + ], + [ + -12.948293685913086, + 0.03821641206741333, + 1.1590813398361206 + ] + ], + "corners_2d": [ + [ + 629.6592318382486, + 378.06421946844114 + ], + [ + 648.3659500400605, + 379.8498682159346 + ], + [ + 650.2462181609048, + 369.2473870242674 + ], + [ + 631.7410097041181, + 367.5006858728569 + ], + [ + 629.3599681555294, + 350.39713556099224 + ], + [ + 648.6085235155704, + 352.1818357713818 + ], + [ + 650.5399562946352, + 341.58779018964674 + ], + [ + 631.5046865982354, + 339.8431254701821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 184, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -9.0411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2281411737203598, + "y": 0.20808394253253937, + "z": 0.5173008441925049 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 742.9829678225756, + "ymin": 260.24000825670055, + "xmax": 760.3852623386244, + "ymax": 295.06596649044224 + }, + "corners_3d": [ + [ + -9.299079895019531, + 3.140108346939087, + 0.08280020952224731 + ], + [ + -9.233976364135742, + 3.551152467727661, + 0.08280020952224731 + ], + [ + -8.78331184387207, + 3.479774236679077, + 0.08280020952224731 + ], + [ + -8.84841537475586, + 3.068730115890503, + 0.08280020952224731 + ], + [ + -9.299079895019531, + 3.140108346939087, + 1.1174018383026123 + ], + [ + -9.233976364135742, + 3.551152467727661, + 1.1174018383026123 + ], + [ + -8.78331184387207, + 3.479774236679077, + 1.1174018383026123 + ], + [ + -8.84841537475586, + 3.068730115890503, + 1.1174018383026123 + ] + ], + "corners_2d": [ + [ + 744.434241795067, + 295.06596649044224 + ], + [ + 757.5162026692137, + 294.85547633083775 + ], + [ + 755.927270375372, + 285.56198237039 + ], + [ + 742.9829678225756, + 285.7680545216706 + ], + [ + 746.984540405339, + 269.69325554338246 + ], + [ + 760.3852623386244, + 269.48383516020147 + ], + [ + 758.7269601198909, + 260.24000825670055 + ], + [ + 745.4706496663003, + 260.444927494615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 563, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -15.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.44302672147750854, + "y": 0.3317611515522003, + "z": 0.874313473701477 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 869.2071877574978, + "ymin": 408.25256882641713, + "xmax": 910.1580817186875, + "ymax": 478.3503445616736 + }, + "corners_3d": [ + [ + -15.88278865814209, + 6.946828842163086, + -0.27421241998672485 + ], + [ + -15.848062515258789, + 7.609441757202148, + -0.27421241998672485 + ], + [ + -14.963223457336426, + 7.5630693435668945, + -0.27421241998672485 + ], + [ + -14.997949600219727, + 6.900456428527832, + -0.27421241998672485 + ], + [ + -15.88278865814209, + 6.946828842163086, + 1.474414587020874 + ], + [ + -15.848062515258789, + 7.609441757202148, + 1.474414587020874 + ], + [ + -14.963223457336426, + 7.5630693435668945, + 1.474414587020874 + ], + [ + -14.997949600219727, + 6.900456428527832, + 1.474414587020874 + ] + ], + "corners_2d": [ + [ + 872.165988888435, + 476.7835214479925 + ], + [ + 897.2410877794439, + 478.3503445616736 + ], + [ + 893.6782949122294, + 452.89060687131627 + ], + [ + 869.2071877574978, + 451.397783995211 + ], + [ + 883.8058528329619, + 433.802461181554 + ], + [ + 910.1580817186875, + 435.3814209823296 + ], + [ + 906.0968100636367, + 409.7533535542867 + ], + [ + 880.4108400928151, + 408.25256882641713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 640, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.48643919825553894, + "y": 0.3044656217098236, + "z": 0.895213782787323 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 561.0952643322031, + "ymin": 619.8111908230031, + "xmax": 601.943125909907, + "ymax": 705.5202413235668 + }, + "corners_3d": [ + [ + -23.137020111083984, + -0.01726984977722168, + -0.2951176166534424 + ], + [ + -23.16888999938965, + 0.5908268690109253, + -0.2951176166534424 + ], + [ + -22.197345733642578, + 0.6417434215545654, + -0.2951176166534424 + ], + [ + -22.165475845336914, + 0.03364670276641846, + -0.2951176166534424 + ], + [ + -23.137020111083984, + -0.01726984977722168, + 1.4953099489212036 + ], + [ + -23.16888999938965, + 0.5908268690109253, + 1.4953099489212036 + ], + [ + -22.197345733642578, + 0.6417434215545654, + 1.4953099489212036 + ], + [ + -22.165475845336914, + 0.03364670276641846, + 1.4953099489212036 + ] + ], + "corners_2d": [ + [ + 565.7600747898601, + 700.6759853368324 + ], + [ + 592.612400791244, + 705.5202413235668 + ], + [ + 601.943125909907, + 665.2747285506018 + ], + [ + 575.8905221888876, + 660.7271149576966 + ], + [ + 561.0952643322031, + 660.8769149215688 + ], + [ + 589.6229198975985, + 665.8674964639299 + ], + [ + 599.6216497951914, + 624.4778754341053 + ], + [ + 571.9949076332014, + 619.8111908230031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 345, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -1.9218467473983765, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.4794566333293915, + "y": 0.39595457911491394, + "z": 0.9288545250892639 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 446.3397372740087, + "ymin": 99.84935646701547, + "xmax": 482.4101643848802, + "ymax": 159.29993634673062 + }, + "corners_3d": [ + [ + -2.3334593772888184, + -8.324061393737793, + -0.17645364999771118 + ], + [ + -2.4573416709899902, + -7.541902542114258, + -0.17645364999771118 + ], + [ + -1.5102341175079346, + -7.391894817352295, + -0.17645364999771118 + ], + [ + -1.3863519430160522, + -8.174054145812988, + -0.17645364999771118 + ], + [ + -2.3334593772888184, + -8.324061393737793, + 1.6812553405761719 + ], + [ + -2.4573416709899902, + -7.541902542114258, + 1.6812553405761719 + ], + [ + -1.5102341175079346, + -7.391894817352295, + 1.6812553405761719 + ], + [ + -1.3863519430160522, + -8.174054145812988, + 1.6812553405761719 + ] + ], + "corners_2d": [ + [ + 453.2313305823648, + 156.02338505478994 + ], + [ + 472.3771638505127, + 159.29993634673062 + ], + [ + 482.4101643848802, + 146.16202444156698 + ], + [ + 463.55697278738637, + 142.99970707323027 + ], + [ + 446.3397372740087, + 112.55440660873467 + ], + [ + 466.1637151971464, + 115.75338705217908 + ], + [ + 476.67532094151613, + 102.93279507726015 + ], + [ + 457.16477641302714, + 99.84935646701547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 12275, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 653.4094611378341, + "ymin": 388.7757912937415, + "xmax": 753.9904502517654, + "ymax": 600.2493971529552 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 653.4094611378341, + 590.5269781170718 + ], + [ + 738.6497893985337, + 600.2493971529552 + ], + [ + 749.733977948133, + 430.97988499805024 + ], + [ + 676.4920105895835, + 423.8254968788438 + ], + [ + 654.0148753317233, + 556.9571202906096 + ], + [ + 743.1421354254337, + 566.8322712843228 + ], + [ + 753.9904502517654, + 395.94977276951875 + ], + [ + 677.8971595423272, + 388.7757912937415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5236, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 711.9055168773525, + "ymin": 34.272265180948295, + "xmax": 777.4084701682017, + "ymax": 176.89863770377715 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 711.9055168773525, + 172.95376808839708 + ], + [ + 765.8216747161821, + 176.89863770377715 + ], + [ + 771.1601985667529, + 96.2605752286039 + ], + [ + 722.8909304827492, + 93.10372244406057 + ], + [ + 715.7364822691927, + 111.0918937205359 + ], + [ + 772.561876141478, + 114.90937688236167 + ], + [ + 777.4084701682017, + 37.29305066408085 + ], + [ + 726.820594013421, + 34.272265180948295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 8491, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 373.8229430515862, + "ymin": 382.0818466935305, + "xmax": 490.552940351365, + "ymax": 537.55947823076 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 490.552940351365, + 426.95651567233176 + ], + [ + 427.87800409934243, + 420.7029156339848 + ], + [ + 385.82589297526954, + 529.8726389430799 + ], + [ + 455.0392803024935, + 537.55947823076 + ], + [ + 484.1692810281287, + 388.3520768045625 + ], + [ + 418.8789825791853, + 382.0818466935305 + ], + [ + 373.8229430515862, + 492.0269570587699 + ], + [ + 446.23922377742724, + 499.80606403314727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871423332599, + "ymin": 78.58307655525846, + "xmax": 681.5949683055, + "ymax": 104.26168233494096 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871423332599, + 104.12486472455635 + ], + [ + 679.1987224991053, + 104.26168233494096 + ], + [ + 681.0499587698292, + 95.16350627929035 + ], + [ + 679.0645205682844, + 95.03027060380379 + ], + [ + 677.6874478138947, + 87.57747561664422 + ], + [ + 679.7261971584769, + 87.71281025499735 + ], + [ + 681.5949683055, + 78.71482136327307 + ], + [ + 679.5830671867561, + 78.58307655525846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871418345534, + "ymin": 78.58307888157128, + "xmax": 681.594967822162, + "ymax": 104.26168475178548 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871418345534, + 104.12486714044303 + ], + [ + 679.1987220073419, + 104.26168475178548 + ], + [ + 681.0499582909416, + 95.16350863285504 + ], + [ + 679.0645200826328, + 95.0302729564479 + ], + [ + 677.6874473102532, + 87.57747800633877 + ], + [ + 679.7261966619674, + 87.71281264565192 + ], + [ + 681.594967822162, + 78.71482369050801 + ], + [ + 679.5830666964728, + 78.58307888157128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.7322072878253, + "ymin": 43.618346773708765, + "xmax": 685.908656391564, + "ymax": 67.93677338569887 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 681.7322072878253, + 67.8139730480467 + ], + [ + 683.6388016591196, + 67.93677338569887 + ], + [ + 685.338379668351, + 59.765144728573375 + ], + [ + 683.4552859526909, + 59.64539337270418 + ], + [ + 682.2637493156172, + 51.68565691749063 + ], + [ + 684.1947336344393, + 51.806954430035034 + ], + [ + 685.908656391564, + 43.736594980935706 + ], + [ + 684.0017740691255, + 43.618346773708765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.8292604866042, + "ymin": 42.934615790302985, + "xmax": 689.001531018832, + "ymax": 67.22645473815862 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 684.8292604866042, + 67.10392094793923 + ], + [ + 686.7343653289727, + 67.22645473815862 + ], + [ + 688.3934874444286, + 59.07245464825229 + ], + [ + 686.5118469655556, + 58.95295997977263 + ], + [ + 685.3996217316002, + 50.98430578069156 + ], + [ + 687.3290781164184, + 51.105336659475824 + ], + [ + 689.001531018832, + 43.052607349414814 + ], + [ + 687.0961389343767, + 42.934615790302985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077188305708, + "ymin": 70.5266335149629, + "xmax": 680.4214657075721, + "ymax": 97.12656817896953 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077188305708, + 97.10866015174349 + ], + [ + 678.1737367979046, + 97.12656817896953 + ], + [ + 679.8263435160832, + 89.14675111986537 + ], + [ + 679.5633895095764, + 89.129258943825 + ], + [ + 678.4809509547524, + 78.40354980057089 + ], + [ + 678.7510069457855, + 78.42123095174134 + ], + [ + 680.4214657075721, + 70.54389798469623 + ], + [ + 680.154566855297, + 70.5266335149629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077171331381, + "ymin": 70.5267226351611, + "xmax": 680.421464346021, + "ymax": 97.12666062610242 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077171331381, + 97.10875259403042 + ], + [ + 678.1737351364206, + 97.12666062610242 + ], + [ + 679.8263420949963, + 89.1468414202098 + ], + [ + 679.5633880533641, + 89.12934923949115 + ], + [ + 678.4809493103828, + 78.40364107167431 + ], + [ + 678.7510053384643, + 78.42132222770175 + ], + [ + 680.421464346021, + 70.54398710958071 + ], + [ + 680.1545654575588, + 70.5267226351611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871423332599, + "ymin": 78.58307655525846, + "xmax": 681.5949683055, + "ymax": 104.26168233494096 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871423332599, + 104.12486472455635 + ], + [ + 679.1987224991053, + 104.26168233494096 + ], + [ + 681.0499587698292, + 95.16350627929035 + ], + [ + 679.0645205682844, + 95.03027060380379 + ], + [ + 677.6874478138947, + 87.57747561664422 + ], + [ + 679.7261971584769, + 87.71281025499735 + ], + [ + 681.5949683055, + 78.71482136327307 + ], + [ + 679.5830671867561, + 78.58307655525846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871426291909, + "ymin": 78.5830765746399, + "xmax": 681.594968502897, + "ymax": 104.26168234836473 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871426291909, + 104.12486474468403 + ], + [ + 679.1987226964709, + 104.26168234836473 + ], + [ + 681.0499589646294, + 95.16350629236268 + ], + [ + 679.0645208603703, + 95.03027062340453 + ], + [ + 677.6874481138218, + 87.57747563655374 + ], + [ + 679.7261973585087, + 87.71281026827563 + ], + [ + 681.594968502897, + 78.7148213761991 + ], + [ + 679.5830674827344, + 78.5830765746399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871420163149, + "ymin": 78.58307850031298, + "xmax": 681.5949679027183, + "ymax": 104.26168434897806 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871420163149, + 104.12486674450452 + ], + [ + 679.1987220893025, + 104.26168434897806 + ], + [ + 681.0499583707561, + 95.16350824059418 + ], + [ + 679.0645202609368, + 95.03027257087422 + ], + [ + 677.6874474941693, + 87.57747761469278 + ], + [ + 679.726196744719, + 87.71281224720946 + ], + [ + 681.5949679027183, + 78.71482330263547 + ], + [ + 679.5830668768461, + 78.58307850031298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.6525125846438, + "ymin": 53.15266353349074, + "xmax": 663.889621912045, + "ymax": 77.84188645177267 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.6525125846438, + 77.71533891105389 + ], + [ + 661.5837719667361, + 77.84188645177267 + ], + [ + 663.5884282812693, + 69.42247469451888 + ], + [ + 661.6812761659162, + 69.29911584955192 + ], + [ + 659.9066651336493, + 61.4677133857125 + ], + [ + 661.8629540748233, + 61.59276047856639 + ], + [ + 663.889621912045, + 53.27451976931428 + ], + [ + 661.9580651782031, + 53.15266353349074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077609307358, + "ymin": 70.52651727347069, + "xmax": 680.4215074939085, + "ymax": 97.12644759808097 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077609307358, + 97.10853957717563 + ], + [ + 678.1737788522262, + 97.12644759808097 + ], + [ + 679.826384791003, + 89.14663333908118 + ], + [ + 679.5634308292899, + 89.12914116914266 + ], + [ + 678.4809935888557, + 78.40343075360465 + ], + [ + 678.751049532643, + 78.42111189844019 + ], + [ + 680.4215074939085, + 70.54378173709159 + ], + [ + 680.1546086877813, + 70.52651727347069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871418345534, + "ymin": 78.58307888157128, + "xmax": 681.594967822162, + "ymax": 104.26168475178548 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871418345534, + 104.12486714044303 + ], + [ + 679.1987220073419, + 104.26168475178548 + ], + [ + 681.0499582909416, + 95.16350863285504 + ], + [ + 679.0645200826328, + 95.0302729564479 + ], + [ + 677.6874473102532, + 87.57747800633877 + ], + [ + 679.7261966619674, + 87.71281264565192 + ], + [ + 681.594967822162, + 78.71482369050801 + ], + [ + 679.5830666964728, + 78.58307888157128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.304321201443, + "ymin": 69.27205811283704, + "xmax": 681.4573730833326, + "ymax": 99.49928844955798 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.304321201443, + 99.47769689372689 + ], + [ + 678.62396102333, + 99.49928844955798 + ], + [ + 680.8166082807442, + 88.8411399805895 + ], + [ + 680.5018691506107, + 88.82021448129495 + ], + [ + 678.9152736936722, + 79.78593769551617 + ], + [ + 679.2400314692694, + 79.80724361068286 + ], + [ + 681.4573730833326, + 69.292696547319 + ], + [ + 681.1376729589696, + 69.27205811283704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077978915454, + "ymin": 70.52658737768024, + "xmax": 680.4215448382464, + "ymax": 97.12652031934175 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077978915454, + 97.10861229462449 + ], + [ + 678.1738158423178, + 97.12652031934175 + ], + [ + 679.8264215229219, + 89.14670437162414 + ], + [ + 679.5634675325978, + 89.12921219800552 + ], + [ + 678.4810311705106, + 78.40350254977051 + ], + [ + 678.7510871444755, + 78.4211836984266 + ], + [ + 680.4215448382464, + 70.5438518449875 + ], + [ + 680.1546460026435, + 70.52658737768024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.1871426291909, + "ymin": 78.5830765746399, + "xmax": 681.594968502897, + "ymax": 104.26168234836473 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.1871426291909, + 104.12486474468403 + ], + [ + 679.1987226964709, + 104.26168234836473 + ], + [ + 681.0499589646294, + 95.16350629236268 + ], + [ + 679.0645208603703, + 95.03027062340453 + ], + [ + 677.6874481138218, + 87.57747563655374 + ], + [ + 679.7261973585087, + 87.71281026827563 + ], + [ + 681.594968502897, + 78.7148213761991 + ], + [ + 679.5830674827344, + 78.5830765746399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.3042331879032, + "ymin": 69.27205242999787, + "xmax": 681.4572849483928, + "ymax": 99.49928249719727 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.3042331879032, + 99.47769094844364 + ], + [ + 678.6238729050142, + 99.49928249719727 + ], + [ + 680.8165215134936, + 88.84113421185009 + ], + [ + 680.5017824864448, + 88.8202087194091 + ], + [ + 678.9151842709373, + 79.78593182888773 + ], + [ + 679.239941939991, + 79.80723773706461 + ], + [ + 681.4572849483928, + 69.29269085771477 + ], + [ + 681.137584928825, + 69.27205242999787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.304316485712, + "ymin": 69.27213733830104, + "xmax": 681.457368649784, + "ymax": 99.49937133231873 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.304316485712, + 99.47777977797023 + ], + [ + 678.6239562468611, + 99.49937133231873 + ], + [ + 680.8166038394652, + 88.84122030654248 + ], + [ + 680.5018647697193, + 88.82029480876349 + ], + [ + 678.9152689777625, + 79.78601948321995 + ], + [ + 679.2400266922756, + 79.80732539700591 + ], + [ + 681.457368649784, + 69.29277577136543 + ], + [ + 681.1376685861628, + 69.27213733830104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.187143273119, + "ymin": 78.58307543732559, + "xmax": 681.5949691393602, + "ymax": 104.26168116679005 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.187143273119, + 104.12486356357763 + ], + [ + 679.1987233370838, + 104.26168116679005 + ], + [ + 681.0499595936735, + 95.16350514172518 + ], + [ + 679.064521492644, + 95.03026947321706 + ], + [ + 677.6874487655455, + 87.57747446825249 + ], + [ + 679.7261980068271, + 87.71280909950491 + ], + [ + 681.5949691393602, + 78.7148202384339 + ], + [ + 679.5830681225137, + 78.58307543732559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.3044092963961, + "ymin": 69.27206575019608, + "xmax": 681.457461209833, + "ymax": 99.4992964401277 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.3044092963961, + 99.47770488379331 + ], + [ + 678.6240491247826, + 99.4992964401277 + ], + [ + 680.8166950378104, + 88.84114772466233 + ], + [ + 680.5019559013763, + 88.82022222488763 + ], + [ + 678.9153632009701, + 79.78594557987594 + ], + [ + 679.2401209832763, + 79.80725149554712 + ], + [ + 681.457461209833, + 69.29270418515904 + ], + [ + 681.1377610789694, + 69.27206575019608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.4081182206379, + "ymin": 35.570236884933536, + "xmax": 690.5317150328289, + "ymax": 59.57572888366781 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 686.4081182206379, + 59.456047747825835 + ], + [ + 688.2912071053793, + 59.57572888366781 + ], + [ + 689.9119358051203, + 51.61041146054879 + ], + [ + 688.0517754508752, + 51.49366457971195 + ], + [ + 686.9915675044342, + 43.431378987385415 + ], + [ + 688.898444809373, + 43.54955698431729 + ], + [ + 690.5317150328289, + 35.68548173071832 + ], + [ + 688.6483456341559, + 35.570236884933536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.3043212681046, + "ymin": 69.27205733743591, + "xmax": 681.4573730470088, + "ymax": 99.49928763159323 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.3043212681046, + 99.47769608251627 + ], + [ + 678.6239609903832, + 99.49928763159323 + ], + [ + 680.8166082457342, + 88.84113918785778 + ], + [ + 680.5018692136763, + 88.82021369510824 + ], + [ + 678.9152737606627, + 79.78593689503771 + ], + [ + 679.2400314350502, + 79.80724280353883 + ], + [ + 681.4573730470088, + 69.29269576546193 + ], + [ + 681.137673022273, + 69.27205733743591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.7509980955825, + "ymin": 82.42923931534511, + "xmax": 680.1442670548428, + "ymax": 108.02510031344366 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 675.7509980955825, + 107.88798571015528 + ], + [ + 677.7557301878642, + 108.02510031344366 + ], + [ + 679.6199597379234, + 98.90678798089249 + ], + [ + 677.641192969263, + 98.77325160526294 + ], + [ + 676.2303917137343, + 91.44577124220928 + ], + [ + 678.2621070989782, + 91.5814328183996 + ], + [ + 680.1442670548428, + 82.56131405101172 + ], + [ + 678.1392160618248, + 82.42923931534511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077188305708, + "ymin": 70.5266335149629, + "xmax": 680.4214657075721, + "ymax": 97.12656817896953 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077188305708, + 97.10866015174349 + ], + [ + 678.1737367979046, + 97.12656817896953 + ], + [ + 679.8263435160832, + 89.14675111986537 + ], + [ + 679.5633895095764, + 89.129258943825 + ], + [ + 678.4809509547524, + 78.40354980057089 + ], + [ + 678.7510069457855, + 78.42123095174134 + ], + [ + 680.4214657075721, + 70.54389798469623 + ], + [ + 680.154566855297, + 70.5266335149629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.4997836262025, + "ymin": 31.62167433251102, + "xmax": 688.5969698763691, + "ymax": 55.47365473416892 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 684.4997836262025, + 55.35548926325174 + ], + [ + 686.3705579899674, + 55.47365473416892 + ], + [ + 688.0046607922641, + 47.60860451660079 + ], + [ + 686.1565177468909, + 47.49331807525198 + ], + [ + 685.0556431772093, + 39.38265433836983 + ], + [ + 686.9498939500606, + 39.499317070169695 + ], + [ + 688.5969698763691, + 31.7354597988421 + ], + [ + 686.7259185007001, + 31.62167433251102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.9077208494383, + "ymin": 70.52670957006433, + "xmax": 680.4214680238838, + "ymax": 97.12664707327406 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.9077208494383, + 97.10873904191249 + ], + [ + 678.1737388475415, + 97.12664707327406 + ], + [ + 679.8263457303769, + 89.14682818210247 + ], + [ + 679.5633916938053, + 89.12933600206969 + ], + [ + 678.4809530713379, + 78.40362769125278 + ], + [ + 678.7510090940817, + 78.4213088465682 + ], + [ + 680.4214680238838, + 70.54397404379688 + ], + [ + 680.1545691406352, + 70.52670957006433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.2882050053058, + "ymin": 46.61551981060933, + "xmax": 686.7279640563469, + "ymax": 100.84345819705965 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 683.2882050053058, + 100.75407357529434 + ], + [ + 684.6096381309774, + 100.84345819705965 + ], + [ + 684.7974253633836, + 99.88832934937966 + ], + [ + 683.4778048455823, + 99.79919308940794 + ], + [ + 685.1561598809812, + 47.534373193088754 + ], + [ + 686.5348762564793, + 47.62039102607031 + ], + [ + 686.7279640563469, + 46.701288344870875 + ], + [ + 685.3512207381892, + 46.61551981060933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.8300224839638, + "ymin": 39.168729367323635, + "xmax": 688.2929526539397, + "ymax": 93.07699918439909 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.8300224839638, + 92.98962405530887 + ], + [ + 686.1367147399789, + 93.07699918439909 + ], + [ + 686.3202827025066, + 92.1433296813326 + ], + [ + 685.0153628741709, + 92.05619459165706 + ], + [ + 686.7417095522799, + 40.066066678253435 + ], + [ + 688.1043870195947, + 40.15006872882179 + ], + [ + 688.2929526539397, + 39.252490824737265 + ], + [ + 686.9322026449744, + 39.168729367323635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.6024417564433, + "ymin": 471.34490279642415, + "xmax": 1049.2944658005995, + "ymax": 492.33923626411934 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1047.2842587615532, + 492.33923626411934 + ], + [ + 1044.2821836700498, + 478.1149441349026 + ], + [ + 1018.6024417564433, + 475.51600806205613 + ], + [ + 1021.254681114815, + 489.670447112582 + ], + [ + 1049.2944658005995, + 488.1847412392559 + ], + [ + 1046.2511275107063, + 473.94623556099236 + ], + [ + 1020.441794848882, + 471.34490279642415 + ], + [ + 1023.1317361378137, + 485.51314403862864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.9794332642576, + "ymin": 56.94946604288265, + "xmax": 661.4431640075755, + "ymax": 111.60894902613168 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.9794332642576, + 111.51674119722918 + ], + [ + 660.3183610977381, + 111.60894902613168 + ], + [ + 660.5433887057734, + 110.62367162147996 + ], + [ + 659.2063216281001, + 110.53172400507913 + ], + [ + 659.8118214552412, + 57.8986003086178 + ], + [ + 661.2095940977114, + 57.98745514014831 + ], + [ + 661.4431640075755, + 57.03805915044296 + ], + [ + 660.0474191541708, + 56.94946604288265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.627527296225, + "ymin": 460.80465659357463, + "xmax": 1274.0335872006356, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1104.400628203791, + 728.96935417648 + ], + [ + 1100.1256688977526, + 709.2242563761451 + ], + [ + 918.627527296225, + 686.9851376119748 + ], + [ + 920.1096011540814, + 706.0530801254397 + ], + [ + 1274.0335872006356, + 507.9411630989348 + ], + [ + 1264.7706944321537, + 485.6367672423024 + ], + [ + 1016.0177726101019, + 460.80465659357463 + ], + [ + 1020.0072725679483, + 482.07720982809553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.4412632578501, + "ymin": 471.2331593374573, + "xmax": 1049.4637552314966, + "ymax": 492.4533356023717 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1047.430976320067, + 492.4533356023717 + ], + [ + 1044.3948890605034, + 478.075631377629 + ], + [ + 1018.4412632578501, + 475.4491911909284 + ], + [ + 1021.1199626099387, + 489.75553500840635 + ], + [ + 1049.4637552314966, + 488.25427340775633 + ], + [ + 1046.3854923716833, + 473.8620457965004 + ], + [ + 1020.2994917530847, + 471.2331593374573 + ], + [ + 1023.016689239828, + 485.5536017745419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.734957701994, + "ymin": 86.61861126173079, + "xmax": 679.0268109850042, + "ymax": 141.9584808693712 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 675.734957701994, + 141.8588767638697 + ], + [ + 677.1232955312663, + 141.9584808693712 + ], + [ + 677.3316661964852, + 140.89421959997296 + ], + [ + 675.9453289876677, + 140.79490644848102 + ], + [ + 677.3598505572269, + 87.6480597388504 + ], + [ + 678.8115585127938, + 87.74443906960744 + ], + [ + 679.0268109850042, + 86.7146962852546 + ], + [ + 677.5772903193836, + 86.61861126173079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.7463846786255, + "ymin": 0.0, + "xmax": 1028.9992234394024, + "ymax": 121.89890436015833 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 972.9668466509938, + 121.89890436015833 + ], + [ + 971.7190600953021, + 116.13570685787397 + ], + [ + 873.7463846786255, + 109.54744956186548 + ], + [ + 874.1859414223154, + 115.20258395330507 + ], + [ + 1028.9992234394024, + -82.08846644511897 + ], + [ + 1027.0113363746057, + -86.87512032420904 + ], + [ + 912.2824009846533, + -92.33101529932003 + ], + [ + 913.1605033224084, + -87.64889892488515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 62.067319332302304, + "ymin": 0.0, + "xmax": 259.0615511125112, + "ymax": 24.77362687549129 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 254.68390779742356, + 24.77362687549129 + ], + [ + 259.0615511125112, + 20.040247767931874 + ], + [ + 142.57499317946298, + 12.783682585907115 + ], + [ + 137.35152799434792, + 17.403979930119363 + ], + [ + 196.16143769309747, + -174.08510890867728 + ], + [ + 201.71973516268588, + -177.75827124326042 + ], + [ + 68.72814364788587, + -183.37272181130913 + ], + [ + 62.067319332302304, + -179.80030710765925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.2977040518991, + "ymin": 47.306847306217094, + "xmax": 683.6161418325158, + "ymax": 101.56409281305457 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 680.2977040518991, + 101.47452057016716 + ], + [ + 681.6201338867036, + 101.56409281305457 + ], + [ + 681.8122786263237, + 100.60696045060104 + ], + [ + 680.4916641181828, + 100.51763735134284 + ], + [ + 682.0385167242268, + 48.22771109620231 + ], + [ + 683.4183182796262, + 48.31391728757518 + ], + [ + 683.6161418325158, + 47.392803380169084 + ], + [ + 682.238316422941, + 47.306847306217094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.9967470736385, + "ymin": 35.17645924128874, + "xmax": 686.3623554038404, + "ymax": 88.91035105018841 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 682.9967470736385, + 88.82404457842495 + ], + [ + 684.2951889881762, + 88.91035105018841 + ], + [ + 684.480148316635, + 87.98809397436924 + ], + [ + 683.1834565248784, + 87.90202315471674 + ], + [ + 684.8185348674475, + 36.0623667631279 + ], + [ + 686.1722423945279, + 36.14529801647535 + ], + [ + 686.3623554038404, + 35.25915448391521 + ], + [ + 685.0105500513222, + 35.17645924128874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.8431335213232, + "ymin": 82.67615117195027, + "xmax": 679.150169090653, + "ymax": 138.3492494576032 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.8431335213232, + 138.24983907913398 + ], + [ + 677.2356895085824, + 138.3492494576032 + ], + [ + 677.4445253237967, + 137.28706240557514 + ], + [ + 676.0539821241614, + 137.18794329240052 + ], + [ + 677.4781039726129, + 83.70280621433164 + ], + [ + 678.9344245808174, + 83.79892452566872 + ], + [ + 679.150169090653, + 82.77197504614674 + ], + [ + 677.696049684456, + 82.67615117195027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.773805776706, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 54.4869144689178 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1157.7624405602523, + 54.4869144689178 + ], + [ + 1315.2645400603105, + 48.160960216594276 + ], + [ + 1228.4941166002425, + -21.898313702003634 + ], + [ + 1087.773805776706, + -16.89812446652519 + ], + [ + 1284.3983965042808, + -258.47840652952027 + ], + [ + 1478.3979472542337, + -262.49553754451586 + ], + [ + 1351.6750069908983, + -305.7241466108137 + ], + [ + 1182.506083379005, + -302.713486442374 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00135/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00135/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2dba84aaad8536b079141747bd3ba5b5a032a3c5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00135/meta.json @@ -0,0 +1,6949 @@ +{ + "frame_id": 135, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.5, + "sim_timestamp": 13191.37363018957 + }, + "drone_pose": { + "x": -32.2470792943112, + "y": 2.7880924968042606, + "z": 20.0, + "pitch": -44.50822854973482, + "yaw": -7.206738543136761, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7075158357620239, + 0.08946457505226135, + 0.7010116577148438, + 9.04452133178711 + ], + [ + -0.12544991075992584, + 0.992099940776825, + -3.725290298461914e-09, + 1.2793264389038086 + ], + [ + -0.6954736709594727, + -0.08794185519218445, + 0.7131497859954834, + -36.935176849365234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.810951772374967, + "y": 2.6808719729401855, + "z": 20.0 + }, + "t1_image_uv": [ + 484.11953398827876, + -583.6604223908832 + ], + "t1_depth": 0.31815957977381637 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -12.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.674144644839963, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -12.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.28238582611083984, + "y": 0.27262353897094727, + "z": 0.5568307638168335 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.1672256265307, + "ymin": 338.45089185138676, + "xmax": 650.6943888038061, + "ymax": 381.2918341727692 + }, + "corners_3d": [ + [ + -12.949567794799805, + 0.03961324691772461, + 0.0432702898979187 + ], + [ + -12.949567794799805, + 0.5848603248596191, + 0.0432702898979187 + ], + [ + -12.384796142578125, + 0.5848603248596191, + 0.0432702898979187 + ], + [ + -12.384796142578125, + 0.03961324691772461, + 0.0432702898979187 + ], + [ + -12.949567794799805, + 0.03961324691772461, + 1.1569318771362305 + ], + [ + -12.949567794799805, + 0.5848603248596191, + 1.1569318771362305 + ], + [ + -12.384796142578125, + 0.5848603248596191, + 1.1569318771362305 + ], + [ + -12.384796142578125, + 0.03961324691772461, + 1.1569318771362305 + ] + ], + "corners_2d": [ + [ + 629.4704638106801, + 379.60405358996405 + ], + [ + 648.1048981111385, + 381.2918341727692 + ], + [ + 650.3987431964495, + 367.63808692743766 + ], + [ + 632.0235697044797, + 365.99769087710126 + ], + [ + 629.1672256265307, + 352.0430546636469 + ], + [ + 648.3387303576083, + 353.72984481349835 + ], + [ + 650.6943888038061, + 340.08898992230866 + ], + [ + 631.7971947752217, + 338.45089185138676 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 135, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 322410, + "2": 285760, + "3": 31767, + "5": 4800, + "6": 4567, + "9": 51, + "10": 2136, + "12": 1931, + "14": 37288, + "15": 5329, + "20": 3549, + "24": 21976, + "25": 200036 + }, + "instance_pixel_counts": { + "2118": 2133, + "3424": 157802, + "5506": 518, + "6215": 117212, + "6284": 2142, + "6290": 7484, + "6730": 626, + "6992": 1859, + "7262": 306, + "7774": 5189, + "8286": 173, + "8332": 15242, + "8338": 41365, + "8798": 536, + "9822": 5354, + "10846": 4179, + "15184": 2941, + "16203": 652, + "17738": 876, + "18000": 3549, + "21140": 23897, + "23392": 600, + "23700": 149020, + "23904": 577, + "28000": 330, + "28256": 323, + "28768": 314, + "29024": 65, + "29280": 303, + "29792": 45, + "29826": 251, + "31584": 147, + "31840": 98, + "32096": 96, + "35402": 42, + "35476": 1507, + "36170": 54, + "37524": 9251, + "38540": 2547, + "40588": 14123, + "41562": 30858, + "42330": 909, + "42897": 5715, + "44945": 43106, + "45898": 721, + "48203": 49, + "52038": 36824, + "54859": 675, + "56576": 209, + "56647": 42234, + "56832": 178, + "57088": 550, + "57173": 51, + "57344": 648, + "57600": 346, + "57856": 12761, + "58368": 5329, + "60928": 8790, + "62081": 3798, + "62101": 574, + "62611": 20900, + "64149": 3976, + "64585": 75, + "64659": 128593 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -12.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.19846922159194946, + "y": 0.2825259566307068, + "z": 0.5608066320419312 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2149913111673, + "ymin": 340.31446636701315, + "xmax": 650.6943598920685, + "ymax": 379.3645596568617 + }, + "corners_3d": [ + [ + -12.86565113067627, + 0.029710829257965088, + 0.039294421672821045 + ], + [ + -12.86565113067627, + 0.5947627425193787, + 0.039294421672821045 + ], + [ + -12.46871280670166, + 0.5947627425193787, + 0.039294421672821045 + ], + [ + -12.46871280670166, + 0.029710829257965088, + 0.039294421672821045 + ], + [ + -12.86565113067627, + 0.029710829257965088, + 1.1609077453613281 + ], + [ + -12.86565113067627, + 0.5947627425193787, + 1.1609077453613281 + ], + [ + -12.46871280670166, + 0.5947627425193787, + 1.1609077453613281 + ], + [ + -12.46871280670166, + 0.029710829257965088, + 1.1609077453613281 + ] + ], + "corners_2d": [ + [ + 629.5183622395563, + 377.6229049066966 + ], + [ + 648.7873271510452, + 379.3645596568617 + ], + [ + 650.3959969288178, + 369.76793600162773 + ], + [ + 631.3158246548672, + 368.060789001246 + ], + [ + 629.2149913111673, + 349.8664985264344 + ], + [ + 649.0421336657542, + 351.6069087773892 + ], + [ + 650.6943598920685, + 342.0194098671584 + ], + [ + 631.0670496636297, + 340.31446636701315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 178, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -8.5411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2768966555595398, + "y": 0.19663864374160767, + "z": 0.5180493593215942 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 742.1641953203518, + "ymin": 258.99407790776667, + "xmax": 759.216611473022, + "ymax": 295.8210992603921 + }, + "corners_3d": [ + [ + -8.845444679260254, + 3.1590397357940674, + 0.08205169439315796 + ], + [ + -8.78392219543457, + 3.5474750995635986, + 0.08205169439315796 + ], + [ + -8.236947059631348, + 3.4608428478240967, + 0.08205169439315796 + ], + [ + -8.298469543457031, + 3.0724074840545654, + 0.08205169439315796 + ], + [ + -8.845444679260254, + 3.1590397357940674, + 1.1181504726409912 + ], + [ + -8.78392219543457, + 3.5474750995635986, + 1.1181504726409912 + ], + [ + -8.236947059631348, + 3.4608428478240967, + 1.1181504726409912 + ], + [ + -8.298469543457031, + 3.0724074840545654, + 1.1181504726409912 + ] + ], + "corners_2d": [ + [ + 744.0327365931158, + 295.8210992603921 + ], + [ + 756.3771902715755, + 295.5679738034473 + ], + [ + 754.3514302163746, + 284.3323194462656 + ], + [ + 742.1641953203518, + 284.5790159543123 + ], + [ + 746.571721035348, + 270.41968574249535 + ], + [ + 759.216611473022, + 270.16787362884133 + ], + [ + 757.1049142031763, + 258.99407790776667 + ], + [ + 744.6249372002352, + 259.2393414208556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 550, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -14.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.53369140625, + "y": 0.3343368470668793, + "z": 0.8899422883987427 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.8005631314375, + "ymin": 403.92641683524386, + "xmax": 911.0417316840435, + "ymax": 479.7726919255173 + }, + "corners_3d": [ + [ + -15.473464012145996, + 6.949001789093018, + -0.2898412346839905 + ], + [ + -15.438467979431152, + 7.616758823394775, + -0.2898412346839905 + ], + [ + -14.37254810333252, + 7.560896396636963, + -0.2898412346839905 + ], + [ + -14.407544136047363, + 6.893139362335205, + -0.2898412346839905 + ], + [ + -15.473464012145996, + 6.949001789093018, + 1.4900434017181396 + ], + [ + -15.438467979431152, + 7.616758823394775, + 1.4900434017181396 + ], + [ + -14.37254810333252, + 7.560896396636963, + 1.4900434017181396 + ], + [ + -14.407544136047363, + 6.893139362335205, + 1.4900434017181396 + ] + ], + "corners_2d": [ + [ + 872.6315451049713, + 478.3263054952199 + ], + [ + 897.8745044878655, + 479.7726919255173 + ], + [ + 893.3137519016489, + 449.24247980899577 + ], + [ + 868.8005631314375, + 447.8778968826196 + ], + [ + 884.4928720684111, + 434.56383218570943 + ], + [ + 911.0417316840435, + 436.02142575736696 + ], + [ + 905.8583814334726, + 405.2975557290651 + ], + [ + 880.1155386153005, + 403.92641683524386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 648, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.44105833768844604, + "y": 0.30872243642807007, + "z": 0.8802769184112549 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 564.7043262726908, + "ymin": 621.6062606092764, + "xmax": 604.4058288433233, + "ymax": 702.7846155879995 + }, + "corners_3d": [ + [ + -22.591480255126953, + -0.01914575695991516, + -0.28018075227737427 + ], + [ + -22.623794555664062, + 0.5974528789520264, + -0.28018075227737427 + ], + [ + -21.74288558959961, + 0.6436192989349365, + -0.28018075227737427 + ], + [ + -21.7105712890625, + 0.027020663022994995, + -0.28018075227737427 + ], + [ + -22.591480255126953, + -0.01914575695991516, + 1.4803731441497803 + ], + [ + -22.623794555664062, + 0.5974528789520264, + 1.4803731441497803 + ], + [ + -21.74288558959961, + 0.6436192989349365, + 1.4803731441497803 + ], + [ + -21.7105712890625, + 0.027020663022994995, + 1.4803731441497803 + ] + ], + "corners_2d": [ + [ + 569.0672704054958, + 698.0719235406413 + ], + [ + 596.2962002259687, + 702.7846155879995 + ], + [ + 604.4058288433233, + 666.3167270645758 + ], + [ + 577.9171623293139, + 661.8669747281239 + ], + [ + 564.7043262726908, + 658.7958305017428 + ], + [ + 593.5975642996447, + 663.646195297184 + ], + [ + 602.2739855137726, + 626.170072643425 + ], + [ + 574.2128586386692, + 621.6062606092764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 346, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -1.4218467473983765, + "y": -7.857978343963623, + "z": 0.7523910999298096 + }, + "extent": { + "x": 0.5360404849052429, + "y": 0.3803045451641083, + "z": 0.9374039769172668 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 443.9612624910724, + "ymin": 100.24498541118379, + "xmax": 480.5258149492416, + "ymax": 161.4084788490329 + }, + "corners_3d": [ + [ + -1.8917948007583618, + -8.317456245422363, + -0.18501287698745728 + ], + [ + -2.0107805728912354, + -7.566211223602295, + -0.18501287698745728 + ], + [ + -0.9518986940383911, + -7.398500442504883, + -0.18501287698745728 + ], + [ + -0.8329129219055176, + -8.149744987487793, + -0.18501287698745728 + ], + [ + -1.8917948007583618, + -8.317456245422363, + 1.6897950172424316 + ], + [ + -2.0107805728912354, + -7.566211223602295, + 1.6897950172424316 + ], + [ + -0.9518986940383911, + -7.398500442504883, + 1.6897950172424316 + ], + [ + -0.8329129219055176, + -8.149744987487793, + 1.6897950172424316 + ] + ], + "corners_2d": [ + [ + 450.99687146638223, + 158.32824798148238 + ], + [ + 469.4387070820808, + 161.4084788490329 + ], + [ + 480.5258149492416, + 146.70517981765988 + ], + [ + 462.401515224744, + 143.74508018530267 + ], + [ + 443.9612624910724, + 114.4664470001137 + ], + [ + 463.06224970646775, + 117.4729411954601 + ], + [ + 474.6858134454096, + 103.12998342003215 + ], + [ + 455.9251155569474, + 100.24498541118379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 12761, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 653.0037775200506, + "ymin": 401.99479880343597, + "xmax": 753.5305617457088, + "ymax": 617.7413767795281 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 653.0037775200506, + 608.2578219176662 + ], + [ + 739.4998162346025, + 617.7413767795281 + ], + [ + 749.2476234783811, + 443.96166435210023 + ], + [ + 675.1125554051699, + 437.01527277576633 + ], + [ + 653.5988132938817, + 574.928811279076 + ], + [ + 744.0906945577577, + 584.5725138992021 + ], + [ + 753.5305617457088, + 408.96583444679095 + ], + [ + 676.4794389702541, + 401.99479880343597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5329, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 708.8727464650638, + "ymin": 40.62109644555096, + "xmax": 774.0259831055076, + "ymax": 184.60605983571566 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 708.8727464650638, + 180.80236174994508 + ], + [ + 763.2412116925758, + 184.60605983571566 + ], + [ + 767.8966250367858, + 102.66553241135028 + ], + [ + 719.2806411746393, + 99.62833861457216 + ], + [ + 712.5693704032983, + 118.76574193659229 + ], + [ + 769.8906561944607, + 122.44934072511023 + ], + [ + 774.0259831055076, + 43.52899078687972 + ], + [ + 723.0624957238476, + 40.62109644555096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 8790, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 368.61685779988403, + "ymin": 396.52035836927547, + "xmax": 486.8349314611836, + "ymax": 554.9560117920872 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 486.8349314611836, + 441.19530593888624 + ], + [ + 423.25506920367275, + 435.108350945158 + ], + [ + 381.01913450252727, + 547.4492269846778 + ], + [ + 451.3615387084686, + 554.9560117920872 + ], + [ + 480.2140697393479, + 402.62957501836684 + ], + [ + 413.94721498372587, + 396.52035836927547 + ], + [ + 368.61685779988403, + 509.78772101668756 + ], + [ + 442.26255964851873, + 517.3942430001991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058236144051, + "ymin": 85.69663131580472, + "xmax": 677.8271699061984, + "ymax": 111.58197498351859 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058236144051, + 111.44990601996281 + ], + [ + 675.5348481346027, + 111.58197498351859 + ], + [ + 677.3281361421481, + 102.32491455666559 + ], + [ + 675.3257866310437, + 102.19633881547497 + ], + [ + 673.959796662955, + 94.84994586160815 + ], + [ + 676.0164053130436, + 94.98060789659473 + ], + [ + 677.8271699061984, + 85.82379145696723 + ], + [ + 675.7979616102925, + 85.69663131580472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058231308835, + "ymin": 85.69663368288406, + "xmax": 677.8271694379296, + "ymax": 111.58197744290973 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058231308835, + 111.44990847841964 + ], + [ + 675.5348476581667, + 111.58197744290973 + ], + [ + 677.328135678315, + 102.3249169509997 + ], + [ + 675.3257861603099, + 102.19634120891158 + ], + [ + 673.9597961745094, + 94.8499482938688 + ], + [ + 676.0164048318777, + 94.98061032979228 + ], + [ + 677.8271694379296, + 85.823793824946 + ], + [ + 675.7979611349366, + 85.69663368288406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7963387067842, + "ymin": 50.148180370014074, + "xmax": 681.8884119184466, + "ymax": 74.64781643132875 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.7963387067842, + 74.52940565870108 + ], + [ + 679.7183448175663, + 74.64781643132875 + ], + [ + 681.364786981763, + 66.34230298859728 + ], + [ + 679.4667330476099, + 66.22686095332944 + ], + [ + 678.2808952920584, + 58.3491209916707 + ], + [ + 680.227634684797, + 58.466101872786965 + ], + [ + 681.8884119184466, + 50.26219147870114 + ], + [ + 679.966241212857, + 50.148180370014074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.9110749508111, + "ymin": 49.44380555262859, + "xmax": 684.9987940238807, + "ymax": 73.91599696262347 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 680.9110749508111, + 73.79784928091442 + ], + [ + 682.8315042548302, + 73.91599696262347 + ], + [ + 684.4369052804052, + 65.62882295439044 + ], + [ + 682.5403892790529, + 65.51363418344141 + ], + [ + 681.4349726582329, + 57.62641062519674 + ], + [ + 683.3800943612811, + 57.743128265499365 + ], + [ + 684.9987940238807, + 49.557563375487575 + ], + [ + 683.0782006219523, + 49.44380555262859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2083241401144, + "ymin": 77.61983741240624, + "xmax": 676.6213940658814, + "ymax": 104.42011278405255 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2083241401144, + 104.4028252542843 + ], + [ + 674.4766567255135, + 104.42011278405255 + ], + [ + 676.0785024153125, + 96.300265083836 + ], + [ + 675.8132964994574, + 96.28338315234737 + ], + [ + 674.729301554241, + 85.6366729962217 + ], + [ + 675.0017341175148, + 85.6537451351777 + ], + [ + 676.6213940658814, + 77.636503015745 + ], + [ + 676.3521838801192, + 77.61983741240624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2083231704413, + "ymin": 77.61992804566938, + "xmax": 676.6213934239448, + "ymax": 104.4202068042963 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2083231704413, + 104.40291926980376 + ], + [ + 674.4766557924813, + 104.4202068042963 + ], + [ + 676.0785017095862, + 96.3003568981589 + ], + [ + 675.813295757939, + 96.28347496211131 + ], + [ + 674.7293006420696, + 85.6367658403367 + ], + [ + 675.0017332431125, + 85.65383798402917 + ], + [ + 676.6213934239448, + 77.63659365357643 + ], + [ + 676.3521832013016, + 77.61992804566938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058236144051, + "ymin": 85.69663131580472, + "xmax": 677.8271699061984, + "ymax": 111.58197498351859 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058236144051, + 111.44990601996281 + ], + [ + 675.5348481346027, + 111.58197498351859 + ], + [ + 677.3281361421481, + 102.32491455666559 + ], + [ + 675.3257866310437, + 102.19633881547497 + ], + [ + 673.959796662955, + 94.84994586160815 + ], + [ + 676.0164053130436, + 94.98060789659473 + ], + [ + 677.8271699061984, + 85.82379145696723 + ], + [ + 675.7979616102925, + 85.69663131580472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.505823912905, + "ymin": 85.69663133451184, + "xmax": 677.827170105292, + "ymax": 111.58197499647639 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.505823912905, + 111.44990603939212 + ], + [ + 675.5348483336782, + 111.58197499647639 + ], + [ + 677.3281363386059, + 102.32491456928057 + ], + [ + 675.3257869256199, + 102.19633883439036 + ], + [ + 673.959796965512, + 94.84994588083038 + ], + [ + 676.016405514826, + 94.98060790941452 + ], + [ + 677.827170105292, + 85.82379146944334 + ], + [ + 675.7979619088194, + 85.69663133451184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058233109703, + "ymin": 85.69663329460656, + "xmax": 677.8271695159743, + "ymax": 111.58197703301116 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058233109703, + 111.44990807515316 + ], + [ + 675.5348477375727, + 111.58197703301116 + ], + [ + 677.3281357556205, + 102.32491655194406 + ], + [ + 675.3257863369577, + 102.19634081631062 + ], + [ + 673.9597963567693, + 94.84994789489934 + ], + [ + 676.0164049120721, + 94.98060992425934 + ], + [ + 677.8271695159743, + 85.82379343028299 + ], + [ + 675.7979613136715, + 85.69663329460656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.6232430593822, + "ymin": 59.90557208967027, + "xmax": 659.7769200491285, + "ymax": 84.78543812761575 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 655.6232430593822, + 84.66335262994829 + ], + [ + 657.5707974285694, + 84.78543812761575 + ], + [ + 659.5259408897908, + 76.22381540248819 + ], + [ + 657.6029742731336, + 76.10483700173603 + ], + [ + 655.8266601485396, + 68.36264704997416 + ], + [ + 657.7996143182681, + 68.4833059186746 + ], + [ + 659.7769200491285, + 60.02312095986417 + ], + [ + 657.8291950172525, + 59.90557208967027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2083656165976, + "ymin": 77.61971906381586, + "xmax": 676.6214352388349, + "ymax": 104.41999001275502 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2083656165976, + 104.40270248915579 + ], + [ + 674.4766981551613, + 104.41999001275502 + ], + [ + 676.0785430736229, + 96.30014519302154 + ], + [ + 675.8133372035182, + 96.283263267486 + ], + [ + 674.7293435680232, + 85.63655176070955 + ], + [ + 675.0017760830193, + 85.6536238934807 + ], + [ + 676.6214352388349, + 77.63638466118937 + ], + [ + 676.3522251002153, + 77.61971906381586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058231308835, + "ymin": 85.69663368288406, + "xmax": 677.8271694379296, + "ymax": 111.58197744290973 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058231308835, + 111.44990847841964 + ], + [ + 675.5348476581667, + 111.58197744290973 + ], + [ + 677.328135678315, + 102.3249169509997 + ], + [ + 675.3257861603099, + 102.19634120891158 + ], + [ + 673.9597961745094, + 94.8499482938688 + ], + [ + 676.0164048318777, + 94.98061032979228 + ], + [ + 677.8271694379296, + 85.823793824946 + ], + [ + 675.7979611349366, + 85.69663368288406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6223514222042, + "ymin": 76.34078647434205, + "xmax": 677.6554432402847, + "ymax": 106.81804755227154 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 674.6223514222042, + 106.79720360952746 + ], + [ + 674.9447762762214, + 106.81804755227154 + ], + [ + 677.0694449056332, + 95.97304686569981 + ], + [ + 676.7520209359415, + 95.95285254211115 + ], + [ + 675.1785226103285, + 87.04137052276928 + ], + [ + 675.5061440947239, + 87.06194332991862 + ], + [ + 677.6554432402847, + 76.36070805847561 + ], + [ + 677.3329838576426, + 76.34078647434205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2084034624544, + "ymin": 77.6197902299919, + "xmax": 676.6214734615008, + "ymax": 104.42006383842337 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2084034624544, + 104.40277631111445 + ], + [ + 674.476736030759, + 104.42006383842337 + ], + [ + 676.0785806720985, + 96.30021728657829 + ], + [ + 675.8133747729423, + 96.28333535746299 + ], + [ + 674.729382047002, + 85.636624662869 + ], + [ + 675.0018145926548, + 85.6536967993593 + ], + [ + 676.6214734615008, + 77.63645583095251 + ], + [ + 676.352263292946, + 77.6197902299919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.505823912905, + "ymin": 85.69663133451184, + "xmax": 677.827170105292, + "ymax": 111.58197499647639 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.505823912905, + 111.44990603939212 + ], + [ + 675.5348483336782, + 111.58197499647639 + ], + [ + 677.3281363386059, + 102.32491456928057 + ], + [ + 675.3257869256199, + 102.19633883439036 + ], + [ + 673.959796965512, + 94.84994588083038 + ], + [ + 676.016405514826, + 94.98060790941452 + ], + [ + 677.827170105292, + 85.82379146944334 + ], + [ + 675.7979619088194, + 85.69663133451184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6222626416837, + "ymin": 76.34078098888216, + "xmax": 677.6553543447885, + "ymax": 106.81804180602023 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 674.6222626416837, + 106.79719787009373 + ], + [ + 674.9446873902438, + 106.81804180602023 + ], + [ + 677.0693573983391, + 95.97304129853796 + ], + [ + 676.7519335323859, + 95.9528469815491 + ], + [ + 675.1784323989461, + 87.0413648579962 + ], + [ + 675.5060537760971, + 87.06193765841118 + ], + [ + 677.6553543447885, + 76.36070256649981 + ], + [ + 677.3328950676141, + 76.34078098888216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6223473327865, + "ymin": 76.34086705187968, + "xmax": 677.655439421548, + "ymax": 106.81813185912455 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 674.6223473327865, + 106.79728791776111 + ], + [ + 674.9447721259543, + 106.81813185912455 + ], + [ + 677.0694410758979, + 95.9731285450195 + ], + [ + 676.752017166711, + 95.9529342228459 + ], + [ + 675.1785185242207, + 87.04145373429111 + ], + [ + 675.5061399474288, + 87.06202654015846 + ], + [ + 677.655439421548, + 76.36078863469288 + ], + [ + 677.3329800997576, + 76.34086705187968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5058245526656, + "ymin": 85.69663017591506, + "xmax": 677.8271707376134, + "ymax": 111.58197379269637 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5058245526656, + 111.44990483606944 + ], + [ + 675.5348489700472, + 111.58197379269637 + ], + [ + 677.328136963438, + 102.3249133973435 + ], + [ + 675.3257875537552, + 102.19633766289263 + ], + [ + 673.9597976131444, + 94.84994469032978 + ], + [ + 676.0164061589738, + 94.98060671845525 + ], + [ + 677.8271707376134, + 85.82379031040625 + ], + [ + 675.7979625445331, + 85.69663017591506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6224403012053, + "ymin": 76.34079394701916, + "xmax": 677.6555321432752, + "ymax": 106.81805537140147 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 674.6224403012053, + 106.79721142818534 + ], + [ + 674.9448651615569, + 106.81805537140147 + ], + [ + 677.0695324185733, + 95.97305444113647 + ], + [ + 676.7521084427432, + 95.9528601170976 + ], + [ + 675.1786129234753, + 87.04137823971928 + ], + [ + 675.5062344144106, + 87.061951047342 + ], + [ + 677.6555321432752, + 76.36071553160377 + ], + [ + 677.3330727542988, + 76.34079394701916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4399611731577, + "ymin": 41.95964219105963, + "xmax": 686.4794433316148, + "ymax": 66.14025693688774 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 682.4399611731577, + 66.02488665181863 + ], + [ + 684.3379531005912, + 66.14025693688774 + ], + [ + 685.9058434802679, + 58.04670714248198 + ], + [ + 684.0312128140876, + 57.934192684353604 + ], + [ + 682.9769307627115, + 49.948710812478566 + ], + [ + 684.8990378221458, + 50.06265016382167 + ], + [ + 686.4794433316148, + 42.07072612151774 + ], + [ + 684.5812912255819, + 41.95964219105963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6223514829035, + "ymin": 76.34078568563945, + "xmax": 677.6554431972447, + "ymax": 106.8180467205317 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 674.6223514829035, + 106.79720278430841 + ], + [ + 674.9447762364404, + 106.8180467205317 + ], + [ + 677.0694448639578, + 95.97304605988217 + ], + [ + 676.752020993182, + 95.95285174261033 + ], + [ + 675.1785226713274, + 87.04136970828495 + ], + [ + 675.5061440536167, + 87.06194250899756 + ], + [ + 677.6554431972447, + 76.36070726354075 + ], + [ + 677.3329839150938, + 76.34078568563945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.069046129454, + "ymin": 89.55865301781392, + "xmax": 676.3761269907591, + "ymax": 115.36030738701788 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 672.069046129454, + 115.2279561075272 + ], + [ + 674.0911439404944, + 115.36030738701788 + ], + [ + 675.8977891423884, + 106.08305889787547 + ], + [ + 673.9021856245173, + 105.95419705601023 + ], + [ + 672.5021080850324, + 98.7341849121488 + ], + [ + 674.5516007624118, + 98.86515813367436 + ], + [ + 676.3761269907591, + 89.68612743733007 + ], + [ + 674.3538465444279, + 89.55865301781392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2083241401144, + "ymin": 77.61983741240624, + "xmax": 676.6213940658814, + "ymax": 104.42011278405255 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2083241401144, + 104.4028252542843 + ], + [ + 674.4766567255135, + 104.42011278405255 + ], + [ + 676.0785024153125, + 96.300265083836 + ], + [ + 675.8132964994574, + 96.28338315234737 + ], + [ + 674.729301554241, + 85.6366729962217 + ], + [ + 675.0017341175148, + 85.6537451351777 + ], + [ + 676.6213940658814, + 77.636503015745 + ], + [ + 676.3521838801192, + 77.61983741240624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.4844245683008, + "ymin": 37.956207040158915, + "xmax": 684.4979331767024, + "ymax": 61.98087376477241 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 680.4844245683008, + 61.86697559678964 + ], + [ + 682.3699223841907, + 61.98087376477241 + ], + [ + 683.9522586030179, + 53.989969108654805 + ], + [ + 682.0898172633927, + 53.878872616403044 + ], + [ + 680.993332420211, + 45.842711893278135 + ], + [ + 682.9026269677537, + 45.95517916826725 + ], + [ + 684.4979331767024, + 38.06587370985767 + ], + [ + 682.6122771459624, + 37.956207040158915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2083268083526, + "ymin": 77.6199147471437, + "xmax": 676.6213970245847, + "ymax": 104.42019300880264 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 674.2083268083526, + 104.40290547500322 + ], + [ + 674.4766594251042, + 104.42019300880264 + ], + [ + 676.0785052676048, + 96.30034342633763 + ], + [ + 675.8132993211235, + 96.28346149095887 + ], + [ + 674.7293043247806, + 85.63675221741511 + ], + [ + 675.0017369203724, + 85.65382436041267 + ], + [ + 676.6213970245847, + 77.63658035438056 + ], + [ + 676.3521868072646, + 77.6199147471437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.4471724949539, + "ymin": 53.18578493636363, + "xmax": 682.7371976450543, + "ymax": 107.58683629276607 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.4471724949539, + 107.50069211553577 + ], + [ + 680.7789401080292, + 107.58683629276607 + ], + [ + 680.9606474030913, + 106.6164592447233 + ], + [ + 679.6307264878949, + 106.53055674212845 + ], + [ + 681.1603669435327, + 54.11981528358126 + ], + [ + 682.5502036744754, + 54.20275898241607 + ], + [ + 682.7371976450543, + 53.26848585493889 + ], + [ + 681.3493720526909, + 53.18578493636363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.9396864983422, + "ymin": 45.61698970430416, + "xmax": 684.2526007945294, + "ymax": 99.69714735610142 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 680.9396864983422, + 99.61295828451597 + ], + [ + 682.2564376143316, + 99.69714735610142 + ], + [ + 682.4340233557231, + 98.74877988454062 + ], + [ + 681.1190775614502, + 98.66482431258453 + ], + [ + 682.6965389868611, + 46.528934542433376 + ], + [ + 684.0700291129995, + 46.609915468488396 + ], + [ + 684.2526007945294, + 45.69773641048931 + ], + [ + 682.8810748172381, + 45.61698970430416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1025.9276641758784, + "ymin": 492.393133630149, + "xmax": 1057.4685963934508, + "ymax": 513.8855784461985 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1055.3820606823247, + 513.8855784461985 + ], + [ + 1052.0808099320554, + 499.1068693908976 + ], + [ + 1025.9276641758784, + 496.54598590393164 + ], + [ + 1028.8648608022086, + 511.25439266045476 + ], + [ + 1057.4685963934508, + 509.75282903726065 + ], + [ + 1054.1227523860516, + 494.95681270557634 + ], + [ + 1027.8354672777953, + 492.393133630149 + ], + [ + 1030.8134897808372, + 507.1184154294683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.0382213638571, + "ymin": 63.76748468931498, + "xmax": 657.3397819372096, + "ymax": 118.60457062725689 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.0382213638571, + 118.51565868191526 + ], + [ + 656.3881247068188, + 118.60457062725689 + ], + [ + 656.6075090321845, + 117.60303594214542 + ], + [ + 655.2595028733833, + 117.51437740336362 + ], + [ + 655.702200885464, + 64.73283572796186 + ], + [ + 657.1118019037796, + 64.81856301009304 + ], + [ + 657.3397819372096, + 63.852956876968676 + ], + [ + 655.9322494897181, + 63.76748468931498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.7507666433052, + "ymin": 481.7515624366903, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1111.3106777598205, + 748.065230246316 + ], + [ + 1106.7181318942546, + 727.7527125938957 + ], + [ + 922.7507666433052, + 706.0425122740842 + ], + [ + 924.4645179432785, + 725.6830179986232 + ], + [ + 1286.4431137958254, + 529.3656057697649 + ], + [ + 1276.5363333291298, + 506.21177603382995 + ], + [ + 1023.3223663522149, + 481.7515624366903 + ], + [ + 1027.7459842501098, + 503.86721514482053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1025.7620747434962, + "ymin": 492.2787577645331, + "xmax": 1057.642615243441, + "ymax": 514.0024038471427 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1055.5326424202615, + 514.0024038471427 + ], + [ + 1052.1940991733454, + 499.06432864900864 + ], + [ + 1025.7620747434962, + 496.47635864179585 + ], + [ + 1028.728705092528, + 511.3426147454518 + ], + [ + 1057.642615243441, + 509.82534080189794 + ], + [ + 1054.2584931553808, + 494.86958144104597 + ], + [ + 1027.6894480246613, + 492.2787577645331 + ], + [ + 1030.6977669116732, + 507.1622517080255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.137650298059, + "ymin": 93.81762304571589, + "xmax": 675.2821968098553, + "ymax": 149.33084476801164 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 672.137650298059, + 149.23475375205064 + ], + [ + 673.5376422723193, + 149.33084476801164 + ], + [ + 673.7394676368301, + 148.24849278953982 + ], + [ + 672.3415162336207, + 148.1526853259791 + ], + [ + 673.609207582816, + 94.86521925697247 + ], + [ + 675.0735146326324, + 94.95825588164251 + ], + [ + 675.2821968098553, + 93.9103725884205 + ], + [ + 673.8201219823343, + 93.81762304571589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.2526016568229, + "ymin": 0.0, + "xmax": 1027.1779876913192, + "ymax": 128.01745278330506 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 971.122823052086, + 128.01745278330506 + ], + [ + 969.8018647523959, + 122.17499705126474 + ], + [ + 871.2526016568229, + 115.83740281821753 + ], + [ + 871.7532461198409, + 121.57498521820935 + ], + [ + 1027.1779876913192, + -76.58503951730836 + ], + [ + 1025.0982143657216, + -81.44578511056301 + ], + [ + 909.619756033838, + -86.70323851481504 + ], + [ + 910.5716744286342, + -81.9442128874457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 50.52598239307906, + "ymin": 0.0, + "xmax": 251.01199580431353, + "ymax": 31.836910724492782 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 246.59731323262622, + 31.836910724492782 + ], + [ + 251.01199580431353, + 27.015892744308076 + ], + [ + 133.2089451608341, + 20.002129847867366 + ], + [ + 127.9261238646252, + 24.712615589133975 + ], + [ + 186.33135466586833, + -168.04518680918272 + ], + [ + 191.95993528767514, + -171.79478454210073 + ], + [ + 57.28926234497146, + -177.23379187310434 + ], + [ + 50.52598239307906, + -173.5830118828095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.4403708780125, + "ymin": 53.89807097015779, + "xmax": 679.6075371736245, + "ymax": 108.32893396553399 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 676.4403708780125, + 108.24260473222907 + ], + [ + 677.7731931580781, + 108.32893396553399 + ], + [ + 677.959319262396, + 107.356473742336 + ], + [ + 676.628346591178, + 107.27038696228152 + ], + [ + 678.0247523279272, + 54.834193369706554 + ], + [ + 679.4157378681917, + 54.91732300097584 + ], + [ + 679.6075371736245, + 53.98095700496788 + ], + [ + 678.2185660809894, + 53.89807097015779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.0608500523089, + "ymin": 41.568777091423954, + "xmax": 682.2749090943973, + "ymax": 95.4742141627193 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 679.0608500523089, + 95.3910623306599 + ], + [ + 680.3692340840335, + 95.4742141627193 + ], + [ + 680.5483268243843, + 94.53752366198518 + ], + [ + 679.2417252517323, + 94.45460103061487 + ], + [ + 680.7262768029283, + 42.46901798941343 + ], + [ + 682.0906658007659, + 42.5489587967042 + ], + [ + 682.2749090943973, + 41.648488173598594 + ], + [ + 680.9124583112399, + 41.568777091423954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2355900836473, + "ymin": 89.86232185290123, + "xmax": 675.3944999427415, + "ymax": 145.71208666033144 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.2355900836473, + 145.6161786506009 + ], + [ + 673.6398619876222, + 145.71208666033144 + ], + [ + 673.8421501871946, + 144.63180046154093 + ], + [ + 672.4399313411957, + 144.53617632480635 + ], + [ + 673.7163368318575, + 90.90712162697872 + ], + [ + 675.1853267340045, + 90.99991039830729 + ], + [ + 675.3944999427415, + 89.95482339648447 + ], + [ + 673.9277565526495, + 89.86232185290123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.4742463719983, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 58.96822014232367 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1155.5412622056283, + 58.96822014232367 + ], + [ + 1313.1037570142848, + 52.066708787395896 + ], + [ + 1225.2460493968292, + -18.417722701654043 + ], + [ + 1084.4742463719983, + -12.968295453311782 + ], + [ + 1282.1206903732736, + -254.73072091276242 + ], + [ + 1476.1642396108114, + -259.11902581121103 + ], + [ + 1348.006540979093, + -302.6492931861029 + ], + [ + 1178.7962012547855, + -299.3651858725366 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00136/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00136/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6102ae8b95274ef47e39c5cbd6594fea67fada0a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00136/meta.json @@ -0,0 +1,6949 @@ +{ + "frame_id": 136, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 68.0, + "sim_timestamp": 13202.24050033209 + }, + "drone_pose": { + "x": -31.810951772374967, + "y": 2.6808719729401855, + "z": 20.0, + "pitch": -44.435402818272934, + "yaw": -6.8755008979252725, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7089053392410278, + 0.08547942340373993, + 0.7001046538352966, + 8.778019905090332 + ], + [ + -0.11971233785152435, + 0.9928086400032043, + -3.725290298461914e-09, + 1.1465702056884766 + ], + [ + -0.6950699687004089, + -0.08381116390228271, + 0.7140402793884277, + -36.616329193115234 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.370522191524476, + "y": 2.59217377885507, + "z": 20.0 + }, + "t1_image_uv": [ + 533.9288385696053, + -581.2641846256287 + ], + "t1_depth": 0.319804730143802 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -12.16718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.710004603395824, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -12.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.19742918014526367, + "y": 0.2834671437740326, + "z": 0.5603769421577454 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2338387831405, + "ymin": 340.39900153874555, + "xmax": 650.6753362962487, + "ymax": 379.2808435450898 + }, + "corners_3d": [ + [ + -12.36461067199707, + 0.028769642114639282, + 0.039719223976135254 + ], + [ + -12.36461067199707, + 0.5957039594650269, + 0.039719223976135254 + ], + [ + -11.96975326538086, + 0.5957039594650269, + 0.039719223976135254 + ], + [ + -11.96975326538086, + 0.028769642114639282, + 0.039719223976135254 + ], + [ + -12.36461067199707, + 0.028769642114639282, + 1.160473108291626 + ], + [ + -12.36461067199707, + 0.5957039594650269, + 1.160473108291626 + ], + [ + -11.96975326538086, + 0.5957039594650269, + 1.160473108291626 + ], + [ + -11.96975326538086, + 0.028769642114639282, + 1.160473108291626 + ] + ], + "corners_2d": [ + [ + 629.5356837697004, + 377.61757677846254 + ], + [ + 648.8582261136769, + 379.2808435450898 + ], + [ + 650.3784926798613, + 369.75246172648343 + ], + [ + 631.24469041307, + 368.122001719103 + ], + [ + 629.2338387831405, + 349.8831998618343 + ], + [ + 649.1141991816903, + 351.54503153972126 + ], + [ + 650.6753362962487, + 342.02712286483626 + ], + [ + 630.9947143454435, + 340.39900153874555 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 136, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 320819, + "2": 286191, + "3": 31112, + "5": 4870, + "6": 4551, + "9": 94, + "10": 2734, + "12": 1931, + "14": 37255, + "15": 5417, + "20": 3368, + "24": 22095, + "25": 201163 + }, + "instance_pixel_counts": { + "2118": 2733, + "3424": 156285, + "5506": 539, + "6215": 116024, + "6284": 2274, + "6290": 7832, + "6730": 627, + "6992": 2019, + "7262": 62, + "7774": 4789, + "8286": 477, + "8332": 15056, + "8338": 40966, + "8798": 912, + "9822": 4367, + "10846": 4292, + "15184": 2851, + "16203": 652, + "17738": 916, + "18000": 3368, + "21140": 25258, + "23392": 626, + "23700": 146750, + "23904": 614, + "28000": 339, + "28256": 335, + "28768": 314, + "29024": 66, + "29280": 258, + "29792": 2, + "29826": 288, + "31584": 184, + "31840": 101, + "32096": 120, + "35402": 81, + "35476": 1588, + "36170": 95, + "37524": 9096, + "38540": 2668, + "40588": 13986, + "41562": 30653, + "42330": 459, + "42897": 6007, + "44945": 42710, + "45898": 678, + "48203": 54, + "52038": 38668, + "54859": 640, + "56576": 203, + "56647": 44878, + "56832": 175, + "57088": 560, + "57173": 94, + "57344": 646, + "57600": 347, + "57856": 13239, + "58368": 5417, + "60928": 9117, + "62081": 3724, + "62101": 601, + "62611": 22138, + "64149": 3997, + "64585": 111, + "64659": 126673 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 203, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -12.167181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2879473567008972, + "y": 0.25400087237358093, + "z": 0.5466012954711914 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.8625851901129, + "ymin": 338.68634240317937, + "xmax": 650.0029824018274, + "ymax": 381.07369894525243 + }, + "corners_3d": [ + [ + -12.455129623413086, + 0.05823591351509094, + 0.05349487066268921 + ], + [ + -12.455129623413086, + 0.5662376880645752, + 0.05349487066268921 + ], + [ + -11.879234313964844, + 0.5662376880645752, + 0.05349487066268921 + ], + [ + -11.879234313964844, + 0.05823591351509094, + 0.05349487066268921 + ], + [ + -12.455129623413086, + 0.05823591351509094, + 1.1466975212097168 + ], + [ + -12.455129623413086, + 0.5662376880645752, + 1.1466975212097168 + ], + [ + -11.879234313964844, + 0.5662376880645752, + 1.1466975212097168 + ], + [ + -11.879234313964844, + 0.05823591351509094, + 1.1466975212097168 + ] + ], + "corners_2d": [ + [ + 630.1405737162831, + 379.57646250207966 + ], + [ + 647.4997862418896, + 381.07369894525243 + ], + [ + 649.7322195857311, + 367.17880603090083 + ], + [ + 632.6198436922142, + 365.72446102852155 + ], + [ + 629.8625851901129, + 352.5222547858841 + ], + [ + 647.7115830491452, + 354.0184258105825 + ], + [ + 650.0029824018274, + 340.1384698998567 + ], + [ + 632.41484188171, + 338.68634240317937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 175, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -8.0411958694458, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.18867553770542145, + "y": 0.20772826671600342, + "z": 0.5318753719329834 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 741.2065784640671, + "ymin": 260.206029401906, + "xmax": 758.3937138698124, + "ymax": 294.158784040863 + }, + "corners_3d": [ + [ + -8.26004409790039, + 3.1342859268188477, + 0.0682256817817688 + ], + [ + -8.195052146911621, + 3.5446274280548096, + 0.0682256817817688 + ], + [ + -7.822347164154053, + 3.4855966567993164, + 0.0682256817817688 + ], + [ + -7.887339115142822, + 3.0752551555633545, + 0.0682256817817688 + ], + [ + -8.26004409790039, + 3.1342859268188477, + 1.1319763660430908 + ], + [ + -8.195052146911621, + 3.5446274280548096, + 1.1319763660430908 + ], + [ + -7.822347164154053, + 3.4855966567993164, + 1.1319763660430908 + ], + [ + -7.887339115142822, + 3.0752551555633545, + 1.1319763660430908 + ] + ], + "corners_2d": [ + [ + 742.5355168927588, + 294.158784040863 + ], + [ + 755.5143344395021, + 293.8443896967305 + ], + [ + 754.0727411896958, + 286.2166362640208 + ], + [ + 741.2065784640671, + 286.52557278390316 + ], + [ + 745.0923196735215, + 268.1021447242445 + ], + [ + 758.3937138698124, + 267.78950468824075 + ], + [ + 756.890789861303, + 260.206029401906 + ], + [ + 743.7076943432445, + 260.5131085677081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 560, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -14.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3361157178878784, + "y": 0.32191741466522217, + "z": 0.8717741966247559 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 870.1243219626652, + "ymin": 408.73381640602196, + "xmax": 909.5251931744672, + "ymax": 472.14236841424986 + }, + "corners_3d": [ + [ + -14.775508880615234, + 6.951063632965088, + -0.27167314291000366 + ], + [ + -14.741813659667969, + 7.594016075134277, + -0.27167314291000366 + ], + [ + -14.070503234863281, + 7.558834552764893, + -0.27167314291000366 + ], + [ + -14.104198455810547, + 6.915882110595703, + -0.27167314291000366 + ], + [ + -14.775508880615234, + 6.951063632965088, + 1.4718751907348633 + ], + [ + -14.741813659667969, + 7.594016075134277, + 1.4718751907348633 + ], + [ + -14.070503234863281, + 7.558834552764893, + 1.4718751907348633 + ], + [ + -14.104198455810547, + 6.915882110595703, + 1.4718751907348633 + ] + ], + "corners_2d": [ + [ + 872.6949487164708, + 470.8787714434412 + ], + [ + 896.8090853719356, + 472.14236841424986 + ], + [ + 893.7971877949531, + 452.99822284215315 + ], + [ + 870.1243219626652, + 451.78011008499504 + ], + [ + 884.2025210793838, + 427.9417873342798 + ], + [ + 909.5251931744672, + 429.2138327517743 + ], + [ + 906.1246792441761, + 409.9578721920368 + ], + [ + 881.2881666658845, + 408.73381640602196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 646, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.49843382835388184, + "y": 0.3037440776824951, + "z": 0.8946415781974792 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 567.0741198368603, + "ymin": 618.5119919258061, + "xmax": 607.0348577432687, + "ymax": 704.9311360460043 + }, + "corners_3d": [ + [ + -22.149036407470703, + -0.017177045345306396, + -0.29454541206359863 + ], + [ + -22.180830001831055, + 0.5894785523414612, + -0.29454541206359863 + ], + [ + -21.18532943725586, + 0.6416506171226501, + -0.29454541206359863 + ], + [ + -21.153535842895508, + 0.03499501943588257, + -0.29454541206359863 + ], + [ + -22.149036407470703, + -0.017177045345306396, + 1.4947377443313599 + ], + [ + -22.180830001831055, + 0.5894785523414612, + 1.4947377443313599 + ], + [ + -21.18532943725586, + 0.6416506171226501, + 1.4947377443313599 + ], + [ + -21.153535842895508, + 0.03499501943588257, + 1.4947377443313599 + ] + ], + "corners_2d": [ + [ + 571.3653559257519, + 700.4363334956926 + ], + [ + 598.2081656808299, + 704.9311360460043 + ], + [ + 607.0348577432687, + 663.7746289538807 + ], + [ + 581.018213070222, + 659.5624082676661 + ], + [ + 567.0741198368603, + 660.504690181056 + ], + [ + 595.585481140603, + 665.1327435341527 + ], + [ + 605.0363110091631, + 622.8317811064953 + ], + [ + 577.4552082264879, + 618.5119919258061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 347, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -0.9218466877937317, + "y": -7.857978343963623, + "z": 0.7524008750915527 + }, + "extent": { + "x": 0.560153603553772, + "y": 0.35508331656455994, + "z": 0.9216004014015198 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 442.6333113913098, + "ymin": 101.57690158182186, + "xmax": 478.32971839197194, + "ymax": 162.37726420114123 + }, + "corners_3d": [ + [ + -1.4195564985275269, + -8.296317100524902, + -0.16919952630996704 + ], + [ + -1.530651330947876, + -7.5948944091796875, + -0.16919952630996704 + ], + [ + -0.4241369068622589, + -7.4196391105651855, + -0.16919952630996704 + ], + [ + -0.3130421042442322, + -8.121062278747559, + -0.16919952630996704 + ], + [ + -1.4195564985275269, + -8.296317100524902, + 1.6740012168884277 + ], + [ + -1.530651330947876, + -7.5948944091796875, + 1.6740012168884277 + ], + [ + -0.4241369068622589, + -7.4196391105651855, + 1.6740012168884277 + ], + [ + -0.3130421042442322, + -8.121062278747559, + 1.6740012168884277 + ] + ], + "corners_2d": [ + [ + 449.591351188094, + 159.55915418616962 + ], + [ + 466.8502987063521, + 162.37726420114123 + ], + [ + 478.32971839197194, + 147.01015060261372 + ], + [ + 461.38347874799587, + 144.30709580367235 + ], + [ + 442.6333113913098, + 116.45526638029833 + ], + [ + 460.4979944478232, + 119.20678006086317 + ], + [ + 472.52552286847794, + 104.21209711917692 + ], + [ + 454.995540957411, + 101.57690158182186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 13239, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 652.5358360676237, + "ymin": 415.56180461611996, + "xmax": 753.215373255403, + "ymax": 635.822752310412 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 652.5358360676237, + 626.5184459142554 + ], + [ + 740.3235171299146, + 635.822752310412 + ], + [ + 748.8989426176009, + 457.32578277996225 + ], + [ + 673.8460445772819, + 450.54284315165347 + ], + [ + 653.117420062939, + 593.4587349931643 + ], + [ + 745.0154302065071, + 602.9315931147435 + ], + [ + 753.215373255403, + 422.3745249656091 + ], + [ + 675.1784947415479, + 415.56180461611996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5417, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 706.228756856483, + "ymin": 47.07178236540557, + "xmax": 771.159208579127, + "ymax": 192.4875008658223 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 706.228756856483, + 188.79939633115507 + ], + [ + 761.0635319477072, + 192.4875008658223 + ], + [ + 765.1250824111119, + 109.19877880447154 + ], + [ + 716.1504671464796, + 106.26042784358359 + ], + [ + 709.8107443439287, + 126.5848250475936 + ], + [ + 767.6443265458496, + 130.1592439050872 + ], + [ + 771.159208579127, + 49.88667444113304 + ], + [ + 719.8064262121095, + 47.07178236540557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 9117, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 363.3053122424255, + "ymin": 411.18512118522483, + "xmax": 483.16877854494936, + "ymax": 572.7094385862102 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 483.16877854494936, + 455.6838220427762 + ], + [ + 418.6792087161067, + 449.72705140178675 + ], + [ + 376.12241020723417, + 565.338583549688 + ], + [ + 447.6015717489611, + 572.7094385862102 + ], + [ + 476.30683416663936, + 417.16978132548365 + ], + [ + 409.0568469809913, + 411.18512118522483 + ], + [ + 363.3053122424255, + 527.8859068119485 + ], + [ + 438.1909719113283, + 535.3644208137337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509651494851, + "ymin": 92.91646553304435, + "xmax": 674.5025713744143, + "ymax": 119.01516368599641 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509651494851, + 118.8869819071524 + ], + [ + 672.2978167429328, + 119.01516368599641 + ], + [ + 674.0441850611357, + 109.5946066252003 + ], + [ + 672.0245485475884, + 109.46985009063224 + ], + [ + 670.6638311516693, + 102.23336173273469 + ], + [ + 672.738700034165, + 102.36020274581023 + ], + [ + 674.5025713744143, + 93.03987181016493 + ], + [ + 672.455662647083, + 92.91646553304435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509646782196, + "ymin": 92.91646794208236, + "xmax": 674.5025709183373, + "ymax": 119.01516618917424 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509646782196, + 118.88698440941394 + ], + [ + 672.2978162788976, + 119.01516618917424 + ], + [ + 674.0441846095015, + 109.59460906148269 + ], + [ + 672.0245480889148, + 109.46985252603483 + ], + [ + 670.6638306754677, + 102.23336420881668 + ], + [ + 672.738699565393, + 102.36020522281137 + ], + [ + 674.5025709183373, + 93.03987422008498 + ], + [ + 672.4556621837753, + 92.91646794208236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.3303584951093, + "ymin": 56.766156027132126, + "xmax": 678.354002586759, + "ymax": 81.45289205908995 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 674.3303584951093, + 81.33809144210664 + ], + [ + 676.2681257412688, + 81.45289205908995 + ], + [ + 677.8714316008073, + 73.00975650502147 + ], + [ + 675.9580734397948, + 72.8978621688455 + ], + [ + 674.7734481097363, + 65.10449700317935 + ], + [ + 676.7363075707785, + 65.21793067595814 + ], + [ + 678.354002586759, + 56.876681673340386 + ], + [ + 676.4161843906263, + 56.766156027132126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.4644100387118, + "ymin": 56.041883923742944, + "xmax": 681.4835267955248, + "ymax": 80.7003457780923 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.4644100387118, + 80.58580570788484 + ], + [ + 679.4005193347691, + 80.7003457780923 + ], + [ + 680.9621652128583, + 72.27625261668175 + ], + [ + 679.050423663112, + 72.16460900157227 + ], + [ + 677.9473936672869, + 64.3611813765018 + ], + [ + 679.908551932843, + 64.47435428749083 + ], + [ + 681.4835267955248, + 56.152158765581135 + ], + [ + 679.5473668385149, + 56.041883923742944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9381879956978, + "ymin": 84.81909915761923, + "xmax": 673.2663819829496, + "ymax": 111.82528597489974 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9381879956978, + 111.80850621376126 + ], + [ + 671.2088863152284, + 111.82528597489974 + ], + [ + 672.7697214721765, + 103.56132990391649 + ], + [ + 672.5022133718473, + 103.54494789483283 + ], + [ + 671.4128231309153, + 92.98000153107279 + ], + [ + 671.6876861114239, + 92.9965758791115 + ], + [ + 673.2663819829496, + 84.83527470453197 + ], + [ + 672.99480754609, + 84.81909915761923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9381876456395, + "ymin": 84.81919135682824, + "xmax": 673.2663819540905, + "ymax": 111.82538162271553 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9381876456395, + 111.80860185694576 + ], + [ + 671.2088860025184, + 111.82538162271553 + ], + [ + 672.7697213760252, + 103.5614232844431 + ], + [ + 672.5022132392229, + 103.54504127089183 + ], + [ + 671.4128228419904, + 92.98009600338565 + ], + [ + 671.6876858610055, + 92.99667035606905 + ], + [ + 673.2663819540905, + 84.8353669082191 + ], + [ + 672.9948074796404, + 84.81919135682824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509651494851, + "ymin": 92.91646553304435, + "xmax": 674.5025713744143, + "ymax": 119.01516368599641 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509651494851, + 118.8869819071524 + ], + [ + 672.2978167429328, + 119.01516368599641 + ], + [ + 674.0441850611357, + 109.5946066252003 + ], + [ + 672.0245485475884, + 109.46985009063224 + ], + [ + 670.6638311516693, + 102.23336173273469 + ], + [ + 672.738700034165, + 102.36020274581023 + ], + [ + 674.5025713744143, + 93.03987181016493 + ], + [ + 672.455662647083, + 92.91646553304435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509654506097, + "ymin": 92.91646555119945, + "xmax": 674.5025715752431, + "ymax": 119.01516369857279 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509654506097, + 118.88698192601001 + ], + [ + 672.297816943756, + 119.01516369857279 + ], + [ + 674.0441852592883, + 109.59460663744053 + ], + [ + 672.0245488447099, + 109.46985010898592 + ], + [ + 670.663831456915, + 102.23336175139491 + ], + [ + 672.7387002377376, + 102.36020275825513 + ], + [ + 674.5025715752431, + 93.03987182227274 + ], + [ + 672.4556629482161, + 92.91646555119945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509648571387, + "ymin": 92.91646754662776, + "xmax": 674.5025709943501, + "ymax": 119.01516577197793 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509648571387, + 118.88698399865615 + ], + [ + 672.2978163562368, + 119.01516577197793 + ], + [ + 674.0441846847739, + 109.59460865543565 + ], + [ + 672.0245482644009, + 109.46985212625228 + ], + [ + 670.6638308565831, + 102.23336380235634 + ], + [ + 672.7386996435216, + 102.3602048099778 + ], + [ + 674.5025709943501, + 93.03987381843166 + ], + [ + 672.455662361371, + 92.91646754662776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.0468009404884, + "ymin": 66.74381489954209, + "xmax": 656.133084336711, + "ymax": 91.82011902541166 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.0468009404884, + 91.70169881771392 + ], + [ + 654.0109612723091, + 91.82011902541166 + ], + [ + 655.9269631323307, + 83.11249051146717 + ], + [ + 653.9878758110003, + 82.99711420418163 + ], + [ + 652.2047484457768, + 75.34674841086905 + ], + [ + 654.194693942327, + 75.46380583972115 + ], + [ + 656.133084336711, + 66.85782477758238 + ], + [ + 654.1688701793073, + 66.74381489954209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9382290003408, + "ymin": 84.81897864771713, + "xmax": 673.2664226925003, + "ymax": 111.8251609574614 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9382290003408, + 111.80838120237621 + ], + [ + 671.2089272720364, + 111.8251609574614 + ], + [ + 672.7697616624597, + 103.56120784996074 + ], + [ + 672.5022536088451, + 103.54482584671632 + ], + [ + 671.4128646777021, + 92.97987805008808 + ], + [ + 671.6877276088926, + 92.99645239205586 + ], + [ + 673.2664226925003, + 84.8351541887767 + ], + [ + 672.9948483037863, + 84.81897864771713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509646782196, + "ymin": 92.91646794208236, + "xmax": 674.5025709183373, + "ymax": 119.01516618917424 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509646782196, + 118.88698440941394 + ], + [ + 672.2978162788976, + 119.01516618917424 + ], + [ + 674.0441846095015, + 109.59460906148269 + ], + [ + 672.0245480889148, + 109.46985252603483 + ], + [ + 670.6638306754677, + 102.23336420881668 + ], + [ + 672.738699565393, + 102.36020522281137 + ], + [ + 674.5025709183373, + 93.03987422008498 + ], + [ + 672.4556621837753, + 92.91646794208236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.367818666273, + "ymin": 83.51518489889355, + "xmax": 674.3003483425422, + "ymax": 114.24952106682173 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 671.367818666273, + 114.22928883325059 + ], + [ + 671.6930901800143, + 114.24952106682173 + ], + [ + 673.762783922845, + 103.21222176599332 + ], + [ + 673.4426148337092, + 103.19262657003065 + ], + [ + 671.8754196707359, + 94.4080174893569 + ], + [ + 672.2059699612255, + 94.42799119384841 + ], + [ + 674.3003483425422, + 83.53451977421582 + ], + [ + 673.9750660978434, + 83.51518489889355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9382676565313, + "ymin": 84.81905093162862, + "xmax": 673.2664617202721, + "ymax": 111.8252359450706 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9382676565313, + 111.8084561863545 + ], + [ + 671.2089659584503, + 111.8252359450706 + ], + [ + 672.76980005446, + 103.56128106002228 + ], + [ + 672.5022919713301, + 103.54489905327534 + ], + [ + 671.4129039790716, + 92.97995211610589 + ], + [ + 671.6877669414226, + 92.99652646171512 + ], + [ + 673.2664617202721, + 84.83522647619907 + ], + [ + 672.9948873011389, + 84.81905093162862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509654506097, + "ymin": 92.91646555119945, + "xmax": 674.5025715752431, + "ymax": 119.01516369857279 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509654506097, + 118.88698192601001 + ], + [ + 672.297816943756, + 119.01516369857279 + ], + [ + 674.0441852592883, + 109.59460663744053 + ], + [ + 672.0245488447099, + 109.46985010898592 + ], + [ + 670.663831456915, + 102.23336175139491 + ], + [ + 672.7387002377376, + 102.36020275825513 + ], + [ + 674.5025715752431, + 93.03987182227274 + ], + [ + 672.4556629482161, + 92.91646555119945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.367729101819, + "ymin": 83.51517957497953, + "xmax": 674.3002586689389, + "ymax": 114.24951548921234 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 671.367729101819, + 114.22928326224647 + ], + [ + 671.6930005093689, + 114.24951548921234 + ], + [ + 673.7626956588733, + 103.21221636400458 + ], + [ + 673.4425266741819, + 103.19262117443418 + ], + [ + 671.8753286527983, + 94.40801198954205 + ], + [ + 672.2058788352872, + 94.42798568750766 + ], + [ + 674.3002586689389, + 83.53451444398968 + ], + [ + 673.9749765304341, + 83.51517957497953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.3678151054999, + "ymin": 83.5152668742308, + "xmax": 674.3003450430211, + "ymax": 114.24960684545675 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 671.3678151054999, + 114.2293746131759 + ], + [ + 671.6930865582761, + 114.24960684545675 + ], + [ + 673.7627806097885, + 103.21230484374041 + ], + [ + 673.4426115812792, + 103.19270964910413 + ], + [ + 671.8754161159605, + 94.40810217313981 + ], + [ + 672.2059663451555, + 94.42807587643739 + ], + [ + 674.3003450430211, + 83.53460174831912 + ], + [ + 673.9750628592881, + 83.5152668742308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.2509660877417, + "ymin": 92.91646437088707, + "xmax": 674.5025722049393, + "ymax": 119.01516247213647 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.2509660877417, + 118.88698070002263 + ], + [ + 672.29781757742, + 119.01516247213647 + ], + [ + 674.0441858814106, + 109.59460544377973 + ], + [ + 672.0245494702086, + 109.46984891575619 + ], + [ + 670.6638321020098, + 102.23336053823431 + ], + [ + 672.7387008792688, + 102.36020154464416 + ], + [ + 674.5025722049393, + 93.03987064152818 + ], + [ + 672.4556635813805, + 92.91646437088707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.3679083439192, + "ymin": 83.51519224392285, + "xmax": 674.3004380372504, + "ymax": 114.24952875319113 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 671.3679083439192, + 114.22929651917289 + ], + [ + 671.693179863864, + 114.24952875319113 + ], + [ + 673.7628722059866, + 103.21222921034416 + ], + [ + 673.4427031108414, + 103.19263401395534 + ], + [ + 671.875510805266, + 94.40802507706434 + ], + [ + 672.2060611021617, + 94.42799878200441 + ], + [ + 674.3004380372504, + 83.53452711967248 + ], + [ + 673.975155786349, + 83.51519224392285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.9526802352551, + "ymin": 48.43455433392154, + "xmax": 682.9238328950546, + "ymax": 72.79607515503267 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 678.9526802352551, + 72.68425388851063 + ], + [ + 680.8659255665356, + 72.79607515503267 + ], + [ + 682.3907301835205, + 64.57070889671746 + ], + [ + 680.5012840740994, + 64.46168220683455 + ], + [ + 679.4487787889077, + 56.55516193788321 + ], + [ + 681.3864812062264, + 56.66561448907015 + ], + [ + 682.9238328950546, + 48.54221202579964 + ], + [ + 681.0105381843994, + 48.43455433392154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.3678187219715, + "ymin": 83.51518409644967, + "xmax": 674.3003482937073, + "ymax": 114.24952022080524 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 671.3678187219715, + 114.22928799356418 + ], + [ + 671.6930901343412, + 114.24952022080524 + ], + [ + 673.762783875419, + 103.2122209466151 + ], + [ + 673.4426148860585, + 103.19262575678249 + ], + [ + 671.875419726713, + 94.40801666040039 + ], + [ + 672.2059699141793, + 94.42799035864203 + ], + [ + 674.3003482937073, + 83.53451896572267 + ], + [ + 673.9750661503836, + 83.51518409644967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.8120892278363, + "ymin": 96.79408851006212, + "xmax": 673.0496570178947, + "ymax": 122.80807793466383 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 668.8120892278363, + 122.67962681927361 + ], + [ + 670.8519281109217, + 122.80807793466383 + ], + [ + 672.6120021581, + 113.36731273633237 + ], + [ + 670.59919334305, + 113.24228297110292 + ], + [ + 669.2040031654508, + 106.1332554663986 + ], + [ + 671.2716663983056, + 106.26039379819241 + ], + [ + 673.0496570178947, + 96.91779532773626 + ], + [ + 671.0097612928699, + 96.79408851006212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9381879956978, + "ymin": 84.81909915761923, + "xmax": 673.2663819829496, + "ymax": 111.82528597489974 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9381879956978, + 111.80850621376126 + ], + [ + 671.2088863152284, + 111.82528597489974 + ], + [ + 672.7697214721765, + 103.56132990391649 + ], + [ + 672.5022133718473, + 103.54494789483283 + ], + [ + 671.4128231309153, + 92.98000153107279 + ], + [ + 671.6876861114239, + 92.9965758791115 + ], + [ + 673.2663819829496, + 84.83527470453197 + ], + [ + 672.99480754609, + 84.81909915761923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9542561953576, + "ymin": 44.37348154536795, + "xmax": 680.8997680359856, + "ymax": 68.57651003873184 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9542561953576, + 68.46612679050418 + ], + [ + 678.8548190165028, + 68.57651003873184 + ], + [ + 680.3950397791021, + 60.45627190720495 + ], + [ + 678.517963550309, + 60.34862983486494 + ], + [ + 677.4218287655739, + 52.38901690624829 + ], + [ + 679.3465234913393, + 52.49803112596902 + ], + [ + 680.8997680359856, + 44.479754979127335 + ], + [ + 678.9991563631188, + 44.37348154536795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.9381912219537, + "ymin": 84.81917781840474, + "xmax": 673.266385494084, + "ymax": 111.8253675779026 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 670.9381912219537, + 111.80858781281293 + ], + [ + 671.2088895734339, + 111.8253675779026 + ], + [ + 672.7697248731117, + 103.56140957255633 + ], + [ + 672.5022167415817, + 103.54502755966104 + ], + [ + 671.412826463405, + 92.98008213118214 + ], + [ + 671.687689476854, + 92.99665648318359 + ], + [ + 673.266385494084, + 84.83535336913803 + ], + [ + 672.9948110250677, + 84.81917781840474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.068943039675, + "ymin": 59.8462151415917, + "xmax": 679.2291236501904, + "ymax": 114.42549178193471 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 676.068943039675, + 114.34201905655871 + ], + [ + 677.4112720119083, + 114.42549178193471 + ], + [ + 677.5880202394474, + 113.43945558447058 + ], + [ + 676.2475724128832, + 113.35621929749144 + ], + [ + 677.6458585306597, + 60.795852482303474 + ], + [ + 679.04707828379, + 60.876268554114745 + ], + [ + 679.2291236501904, + 59.92639349607492 + ], + [ + 677.8299536036822, + 59.8462151415917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5212775556356, + "ymin": 52.15197063957169, + "xmax": 680.7042319080098, + "ymax": 106.40926045696597 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5212775556356, + 106.32770020015309 + ], + [ + 678.8483115305183, + 106.40926045696597 + ], + [ + 679.0210126402284, + 105.44580122664348 + ], + [ + 677.695817220985, + 105.36446933487528 + ], + [ + 679.14197226479, + 53.07893426135769 + ], + [ + 680.5265338079885, + 53.15742879042443 + ], + [ + 680.7042319080098, + 52.23023591448151 + ], + [ + 679.3216716665077, + 52.15197063957169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1033.4447054047698, + "ymin": 514.5703597613821, + "xmax": 1065.8679862854945, + "ymax": 536.6166788572293 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1063.7001352444913, + 536.6166788572293 + ], + [ + 1060.1020266164778, + 521.2404953204416 + ], + [ + 1033.4447054047698, + 518.7003448502717 + ], + [ + 1036.6634668312176, + 534.0052622840341 + ], + [ + 1065.8679862854945, + 532.5107484387827 + ], + [ + 1062.2217537961087, + 517.1137416732342 + ], + [ + 1035.4253296338748, + 514.5703597613821 + ], + [ + 1038.6882202000872, + 529.895642576115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.5419595949611, + "ymin": 70.67212599574032, + "xmax": 653.7003446912239, + "ymax": 125.6913034099656 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.5419595949611, + 125.60510552208831 + ], + [ + 652.9030345181013, + 125.6913034099656 + ], + [ + 653.1179393099629, + 124.67309679717462 + ], + [ + 651.7587982979618, + 124.58714701181978 + ], + [ + 652.0551018337919, + 71.65413019125134 + ], + [ + 653.4767616450564, + 71.73728934275385 + ], + [ + 653.7003446912239, + 70.7550351729123 + ], + [ + 652.2807946588094, + 70.67212599574032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.8971188315143, + "ymin": 503.819511409624, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1118.3828006080003, + 768.1794310400028 + ], + [ + 1113.4801276000862, + 747.2610549099741 + ], + [ + 926.8971188315143, + 725.9355935860294 + ], + [ + 928.8298866285406, + 746.1826768469443 + ], + [ + 1299.391380495662, + 552.1534676103306 + ], + [ + 1288.8280247563757, + 528.0770958269075 + ], + [ + 1030.8228423743726, + 503.819511409624 + ], + [ + 1035.675756356524, + 526.8435260495776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1033.2745383155423, + "ymin": 514.4530591519137, + "xmax": 1066.0469283898399, + "ymax": 536.7365381495076 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1063.8547178367176, + 536.7365381495076 + ], + [ + 1060.216056422068, + 521.1945702952811 + ], + [ + 1033.2745383155423, + 518.6275676295994 + ], + [ + 1036.5256640062325, + 534.0967320187721 + ], + [ + 1066.0469283898399, + 532.5866047923304 + ], + [ + 1062.3590798898665, + 517.0233606122599 + ], + [ + 1035.2754713386169, + 514.4530591519137 + ], + [ + 1038.5716590525801, + 529.9430270956758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.9581438834817, + "ymin": 101.12481302247704, + "xmax": 671.9742499784325, + "ymax": 156.81560348354319 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 668.9581438834817, + 156.72239696673492 + ], + [ + 670.3700293530162, + 156.81560348354319 + ], + [ + 670.5665436373171, + 155.71466013668186 + ], + [ + 669.1567391363221, + 155.62173145461256 + ], + [ + 670.2936849585126, + 102.19108624183548 + ], + [ + 671.7708712308443, + 102.28138708862485 + ], + [ + 671.9742499784325, + 101.21483230992743 + ], + [ + 670.4993414703231, + 101.12481302247704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 869.2759729801837, + "ymin": 0.0, + "xmax": 1026.0328374772143, + "ymax": 134.36380172982427 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 969.8358910760858, + 134.36380172982427 + ], + [ + 968.4469797181874, + 128.4377454076648 + ], + [ + 869.2759729801837, + 122.30619653432254 + ], + [ + 869.8319023489709, + 128.1298766504757 + ], + [ + 1026.0328374772143, + -70.89884300585527 + ], + [ + 1023.8656930730423, + -75.83823689402618 + ], + [ + 907.5715517934241, + -80.9342804859644 + ], + [ + 908.5916778551627, + -76.0944665578345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 39.65598776421177, + "ymin": 0.0, + "xmax": 243.51903663172044, + "ymax": 38.811171237508006 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 239.0620908544081, + 38.811171237508006 + ], + [ + 243.51903663172044, + 33.90284993017082 + ], + [ + 124.44597970153893, + 27.091263368122213 + ], + [ + 119.09931148425551, + 31.891065249798203 + ], + [ + 177.11772796963123, + -162.08304028635087 + ], + [ + 182.8223769647213, + -165.90910998997333 + ], + [ + 46.52661144298577, + -171.20332796724892 + ], + [ + 39.65598776421177, + -167.47461050539277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.0442959608614, + "ymin": 60.578709061982295, + "xmax": 676.0799804879459, + "ymax": 115.18823416888361 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 673.0442959608614, + 115.10457831229982 + ], + [ + 674.3877333760178, + 115.18823416888361 + ], + [ + 674.5689652185254, + 114.20003617497107 + ], + [ + 673.2274120431084, + 114.11661753473476 + ], + [ + 674.4906285006211, + 61.53051924940604 + ], + [ + 675.8930562382048, + 61.61111947312236 + ], + [ + 676.0799804879459, + 60.65907075196185 + ], + [ + 674.6796059767789, + 60.578709061982295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.6011323813086, + "ymin": 48.045008849563715, + "xmax": 678.6837081878064, + "ymax": 102.12725083785693 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.6011323813086, + 102.04670307362528 + ], + [ + 676.9196769179996, + 102.12725083785693 + ], + [ + 677.0939894442253, + 101.17574449904765 + ], + [ + 675.7772600237548, + 101.09542086360915 + ], + [ + 677.1289032643524, + 48.95998221255212 + ], + [ + 678.5042260016893, + 49.03746062407788 + ], + [ + 678.6837081878064, + 48.122262440871225 + ], + [ + 677.3103601439783, + 48.045008849563715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0470048692691, + "ymin": 97.15638956067437, + "xmax": 672.0767587043417, + "ymax": 153.18715807688537 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.0470048692691, + 153.09412516147856 + ], + [ + 670.4632346581086, + 153.18715807688537 + ], + [ + 670.6602116863072, + 152.0882698919798 + ], + [ + 669.2460756827489, + 151.99551514295268 + ], + [ + 670.3909452036324, + 98.21986532847728 + ], + [ + 671.8728876183384, + 98.30992975322647 + ], + [ + 672.0767587043417, + 97.24617226370697 + ], + [ + 670.5971087341502, + 97.15638956067437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.9597608907188, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 63.70520249724876 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1154.0819400823025, + 63.70520249724876 + ], + [ + 1311.8541024610247, + 56.28723850145275 + ], + [ + 1222.9012213954318, + -14.703708752145417 + ], + [ + 1081.9597608907188, + -8.853314388143133 + ], + [ + 1280.8688052294408, + -250.84468747444623 + ], + [ + 1475.1829365643625, + -255.5687748831698 + ], + [ + 1345.5079196137644, + -299.4628919248379 + ], + [ + 1176.0853852090797, + -295.9332301918706 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00138/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00138/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..175866b05b476795c1cc7fbb562b83799c5a2bb1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00138/meta.json @@ -0,0 +1,6946 @@ +{ + "frame_id": 138, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.0, + "sim_timestamp": 13221.602387349354 + }, + "drone_pose": { + "x": -30.92557425296173, + "y": 2.522283517046529, + "z": 20.0, + "pitch": -44.297417218358724, + "yaw": -6.382209650956851, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7112885117530823, + 0.07956017553806305, + 0.6983830332756042, + 8.230018615722656 + ], + [ + -0.11116036772727966, + 0.9938024878501892, + 0.0, + 0.9310464859008789 + ], + [ + -0.6940547823905945, + -0.07763250917196274, + 0.7157242298126221, + -35.97433853149414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.47587638794625, + "y": 2.4709607522828154, + "z": 20.0 + }, + "t1_image_uv": [ + 636.9888110943688, + -576.7402787795921 + ], + "t1_depth": 0.32394816860551157 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -11.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.77830831625644, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -11.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21645444631576538, + "y": 0.2709563970565796, + "z": 0.5538570284843445 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.66933379016, + "ymin": 340.23113340700814, + "xmax": 650.2312818880973, + "ymax": 379.4703631330012 + }, + "corners_3d": [ + [ + -11.383636474609375, + 0.041280388832092285, + 0.046244025230407715 + ], + [ + -11.383636474609375, + 0.5831931829452515, + 0.046244025230407715 + ], + [ + -10.950727462768555, + 0.5831931829452515, + 0.046244025230407715 + ], + [ + -10.950727462768555, + 0.041280388832092285, + 0.046244025230407715 + ], + [ + -11.383636474609375, + 0.041280388832092285, + 1.1539580821990967 + ], + [ + -11.383636474609375, + 0.5831931829452515, + 1.1539580821990967 + ], + [ + -10.950727462768555, + 0.5831931829452515, + 1.1539580821990967 + ], + [ + -10.950727462768555, + 0.041280388832092285, + 1.1539580821990967 + ] + ], + "corners_2d": [ + [ + 629.9544255072276, + 377.99969876548903 + ], + [ + 648.4105342129094, + 379.4703631330012 + ], + [ + 649.9515750707382, + 369.0652298131441 + ], + [ + 631.6936490512823, + 367.62637368348794 + ], + [ + 629.66933379016, + 350.5893906518169 + ], + [ + 648.6496018855585, + 352.058435836563 + ], + [ + 650.2312818880973, + 341.66751804398274 + ], + [ + 631.4605493383365, + 340.23113340700814 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 138, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 317729, + "2": 287378, + "3": 28958, + "5": 5310, + "6": 4316, + "9": 186, + "10": 4058, + "12": 1891, + "14": 37708, + "15": 5632, + "20": 3367, + "24": 21984, + "25": 203083 + }, + "instance_pixel_counts": { + "2118": 4057, + "3424": 153319, + "5506": 593, + "6215": 113608, + "6284": 2550, + "6290": 8579, + "6730": 612, + "6992": 2483, + "7774": 3591, + "8286": 1155, + "8332": 14691, + "8338": 40119, + "8798": 1757, + "9822": 2528, + "10846": 4507, + "15184": 2827, + "16203": 639, + "17738": 795, + "18000": 3367, + "21140": 28100, + "23392": 669, + "23700": 142354, + "23904": 648, + "28000": 357, + "28256": 353, + "28768": 355, + "29024": 70, + "29280": 181, + "29826": 352, + "31584": 255, + "31840": 105, + "32096": 142, + "35402": 141, + "35476": 1752, + "36170": 157, + "37524": 8782, + "38540": 2924, + "40588": 13704, + "41562": 28842, + "42330": 116, + "42897": 6676, + "44945": 41887, + "45898": 626, + "52038": 42640, + "54859": 577, + "56576": 198, + "56647": 49764, + "56832": 178, + "57088": 536, + "57173": 186, + "57344": 643, + "57600": 336, + "57856": 14349, + "58368": 5632, + "60928": 9821, + "62081": 3371, + "62101": 678, + "62611": 24660, + "64149": 3904, + "64585": 186, + "64659": 122615 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 198, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -11.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24303708970546722, + "y": 0.2654017508029938, + "z": 0.5532088875770569 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.7525726829934, + "ymin": 339.6337798841216, + "xmax": 650.1345157108212, + "ymax": 380.08604053325575 + }, + "corners_3d": [ + [ + -11.410219192504883, + 0.0468350350856781, + 0.04689216613769531 + ], + [ + -11.410219192504883, + 0.5776385068893433, + 0.04689216613769531 + ], + [ + -10.924144744873047, + 0.5776385068893433, + 0.04689216613769531 + ], + [ + -10.924144744873047, + 0.0468350350856781, + 0.04689216613769531 + ], + [ + -11.410219192504883, + 0.0468350350856781, + 1.153309941291809 + ], + [ + -11.410219192504883, + 0.5776385068893433, + 1.153309941291809 + ], + [ + -10.924144744873047, + 0.5776385068893433, + 1.153309941291809 + ], + [ + -10.924144744873047, + 0.0468350350856781, + 1.153309941291809 + ] + ], + "corners_2d": [ + [ + 630.0352360267964, + 378.6435786078754 + ], + [ + 648.1253401306745, + 380.08604053325575 + ], + [ + 649.8579632348042, + 368.403335109805 + ], + [ + 631.9858274886483, + 366.9958567204563 + ], + [ + 629.7525726829934, + 351.2646183645101 + ], + [ + 648.3561837314439, + 352.7055492763107 + ], + [ + 650.1345157108212, + 341.03879094578576 + ], + [ + 631.7613443732598, + 339.6337798841216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 178, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -7.041196346282959, + "y": 3.309941291809082, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20984679460525513, + "y": 0.21092070639133453, + "z": 0.5183321833610535 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 739.7035636766271, + "ymin": 259.9372551142753, + "xmax": 757.1771948255368, + "ymax": 294.0749513724113 + }, + "corners_3d": [ + [ + -7.281455039978027, + 3.1344447135925293, + 0.08176887035369873 + ], + [ + -7.215464115142822, + 3.5510926246643066, + 0.08176887035369873 + ], + [ + -6.800937652587891, + 3.4854378700256348, + 0.08176887035369873 + ], + [ + -6.866928577423096, + 3.0687899589538574, + 0.08176887035369873 + ], + [ + -7.281455039978027, + 3.1344447135925293, + 1.1184332370758057 + ], + [ + -7.215464115142822, + 3.5510926246643066, + 1.1184332370758057 + ], + [ + -6.800937652587891, + 3.4854378700256348, + 1.1184332370758057 + ], + [ + -6.866928577423096, + 3.0687899589538574, + 1.1184332370758057 + ] + ], + "corners_2d": [ + [ + 741.2785618232404, + 294.0749513724113 + ], + [ + 754.4132491457999, + 293.68370963827203 + ], + [ + 752.7117849789114, + 285.25648027668547 + ], + [ + 739.7035636766271, + 285.6401812035625 + ], + [ + 743.7263317262871, + 268.70357399146866 + ], + [ + 757.1771948255368, + 268.31455508579353 + ], + [ + 755.4076350131623, + 259.9372551142753 + ], + [ + 742.0893688816883, + 260.31859757138193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 536, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -13.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5303155183792114, + "y": 0.3272646963596344, + "z": 0.9056031703948975 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.8990939703217, + "ymin": 400.59425387763565, + "xmax": 911.03997586098, + "ymax": 476.41282101431193 + }, + "corners_3d": [ + [ + -13.969722747802734, + 6.955887317657471, + -0.30550211668014526 + ], + [ + -13.935466766357422, + 7.609519958496094, + -0.30550211668014526 + ], + [ + -12.876289367675781, + 7.55401086807251, + -0.30550211668014526 + ], + [ + -12.910545349121094, + 6.900378227233887, + -0.30550211668014526 + ], + [ + -13.969722747802734, + 6.955887317657471, + 1.5057041645050049 + ], + [ + -13.935466766357422, + 7.609519958496094, + 1.5057041645050049 + ], + [ + -12.876289367675781, + 7.55401086807251, + 1.5057041645050049 + ], + [ + -12.910545349121094, + 6.900378227233887, + 1.5057041645050049 + ] + ], + "corners_2d": [ + [ + 873.2789260961843, + 475.28854107515457 + ], + [ + 897.782916691325, + 476.41282101431193 + ], + [ + 892.7009493096909, + 446.431303069763 + ], + [ + 868.8990939703217, + 445.37009247253013 + ], + [ + 885.2623480958957, + 430.671626300881 + ], + [ + 911.03997586098, + 431.80359161620584 + ], + [ + 905.3082331606325, + 401.65960037247316 + ], + [ + 880.3064654638101, + 400.59425387763565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 643, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -20.944259643554688, + "y": 0.10611674934625626, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5159441828727722, + "y": 0.31274762749671936, + "z": 0.9030918478965759 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 558.6712301995303, + "ymin": 627.0023808410949, + "xmax": 600.4093770396304, + "ymax": 715.7150598219831 + }, + "corners_3d": [ + [ + -21.44312858581543, + -0.23320472240447998, + -0.30299079418182373 + ], + [ + -21.47586441040039, + 0.3914332985877991, + -0.30299079418182373 + ], + [ + -20.445390701293945, + 0.4454382061958313, + -0.30299079418182373 + ], + [ + -20.412654876708984, + -0.17919981479644775, + -0.30299079418182373 + ], + [ + -21.44312858581543, + -0.23320472240447998, + 1.5031929016113281 + ], + [ + -21.47586441040039, + 0.3914332985877991, + 1.5031929016113281 + ], + [ + -20.445390701293945, + 0.4454382061958313, + 1.5031929016113281 + ], + [ + -20.412654876708984, + -0.17919981479644775, + 1.5031929016113281 + ] + ], + "corners_2d": [ + [ + 563.5233122501436, + 711.2538442384773 + ], + [ + 591.3759016612604, + 715.7150598219831 + ], + [ + 600.4093770396304, + 672.5124782014311 + ], + [ + 573.4545602250384, + 668.3440448109477 + ], + [ + 558.6712301995303, + 671.1194348733532 + ], + [ + 588.2795681047296, + 675.7168706906896 + ], + [ + 597.9777339155257, + 631.2799287829764 + ], + [ + 569.3818336585645, + 627.0023808410949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 336, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 0.07815330475568771, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.5353022217750549, + "y": 0.3801501393318176, + "z": 0.9362760186195374 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 439.74439868282604, + "ymin": 103.46125369972486, + "xmax": 476.1606933341665, + "ymax": 164.3058900227004 + }, + "corners_3d": [ + [ + -0.39108970761299133, + -8.317188262939453, + -0.18387025594711304 + ], + [ + -0.5100271701812744, + -7.566248416900635, + -0.18387025594711304 + ], + [ + 0.5473963022232056, + -7.398768424987793, + -0.18387025594711304 + ], + [ + 0.666333794593811, + -8.149707794189453, + -0.18387025594711304 + ], + [ + -0.39108970761299133, + -8.317188262939453, + 1.6886818408966064 + ], + [ + -0.5100271701812744, + -7.566248416900635, + 1.6886818408966064 + ], + [ + 0.5473963022232056, + -7.398768424987793, + 1.6886818408966064 + ], + [ + 0.666333794593811, + -8.149707794189453, + 1.6886818408966064 + ] + ], + "corners_2d": [ + [ + 446.8846749063, + 161.38949736482792 + ], + [ + 465.384884631307, + 164.3058900227004 + ], + [ + 476.1606933341665, + 149.61671983470612 + ], + [ + 457.984225144667, + 146.81458167088545 + ], + [ + 439.74439868282604, + 117.66948848814701 + ], + [ + 458.90218201936085, + 120.51500083434115 + ], + [ + 470.2030055607015, + 106.19128472758626 + ], + [ + 451.3920446871649, + 103.46125369972486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 14349, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 651.118369485939, + "ymin": 443.80577860560084, + "xmax": 752.812404838724, + "ymax": 673.9080131131108 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 651.118369485939, + 664.753990216119 + ], + [ + 741.610565783991, + 673.9080131131108 + ], + [ + 748.4147727863558, + 485.28061952559807 + ], + [ + 671.4436837973219, + 478.67232664959295 + ], + [ + 651.6492178142444, + 632.3310504030716 + ], + [ + 746.4994709612703, + 641.6749417333829 + ], + [ + 752.812404838724, + 450.4549573528146 + ], + [ + 672.7108788198389, + 443.80577860560084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5632, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 702.0076431259596, + "ymin": 60.26713345338527, + "xmax": 766.9028508310237, + "ymax": 208.78151323467955 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 702.0076431259596, + 205.24001065388975 + ], + [ + 757.820245436245, + 208.78151323467955 + ], + [ + 760.9897338133417, + 122.64446617107774 + ], + [ + 711.2600009346385, + 119.8356833701202 + ], + [ + 705.4156992184553, + 142.66057469757286 + ], + [ + 764.3268135514584, + 146.09858825415935 + ], + [ + 766.9028508310237, + 62.961253954606946 + ], + [ + 714.7280151625843, + 60.26713345338527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 9821, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 352.05885639960985, + "ymin": 441.1984979879533, + "xmax": 475.7641575668573, + "ymax": 609.3310762914967 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 475.7641575668573, + 485.42843085607126 + ], + [ + 409.4421533011599, + 479.60529564086966 + ], + [ + 365.76932533458785, + 602.0762923679586 + ], + [ + 439.54372510045727, + 609.3310762914967 + ], + [ + 468.3973424248438, + 447.0613313978065 + ], + [ + 399.1626698420555, + 441.1984979879533 + ], + [ + 352.05885639960985, + 565.1228524026869 + ], + [ + 429.45464160521544, + 572.5036097283365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291101186849, + "ymin": 107.66457745173312, + "xmax": 669.0943468291396, + "ymax": 134.21142089659847 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291101186849, + 134.08816004375558 + ], + [ + 667.0128232727048, + 134.21142089659847 + ], + [ + 668.7020739348702, + 124.4486803305509 + ], + [ + 666.6466804441013, + 124.32878116881295 + ], + [ + 665.2745664272271, + 117.32400519329934 + ], + [ + 667.3872205440855, + 117.44602716881823 + ], + [ + 669.0943468291396, + 107.78322636400694 + ], + [ + 667.0107990335304, + 107.66457745173312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291096621736, + "ymin": 107.66457994861423, + "xmax": 669.0943463878627, + "ymax": 134.21142349143418 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291096621736, + 134.0881626376916 + ], + [ + 667.0128228237195, + 134.21142349143418 + ], + [ + 668.7020734981311, + 124.44868285461166 + ], + [ + 666.6466800000393, + 124.32878369201055 + ], + [ + 665.2745659656676, + 117.3240077611579 + ], + [ + 667.3872200902625, + 117.44602973757975 + ], + [ + 669.0943463878627, + 107.78322886175391 + ], + [ + 667.0107985847288, + 107.66457994861423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.7306838433938, + "ymin": 70.25081813859839, + "xmax": 672.6679012199749, + "ymax": 95.3307968949606 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 668.7306838433938, + 95.22064816835842 + ], + [ + 670.7010656692296, + 95.3307968949606 + ], + [ + 672.2512215647955, + 86.60011367345646 + ], + [ + 670.306181503278, + 86.49280795107722 + ], + [ + 669.1067658818775, + 78.87637012904656 + ], + [ + 671.1030065648051, + 78.98524668017404 + ], + [ + 672.6679012199749, + 70.35684845763404 + ], + [ + 670.6976674528269, + 70.25081813859839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.9086752877447, + "ymin": 69.48921035393323, + "xmax": 675.8410196705947, + "ymax": 94.53934790383147 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 671.9086752877447, + 94.42945842608754 + ], + [ + 673.8772571625533, + 94.53934790383147 + ], + [ + 675.3843982037093, + 85.82908229824761 + ], + [ + 673.4411122406001, + 85.72202585837238 + ], + [ + 672.325858722711, + 78.09433205556223 + ], + [ + 674.3202518847876, + 78.20294900335949 + ], + [ + 675.8410196705947, + 69.59499117677052 + ], + [ + 673.8725857539652, + 69.48921035393323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5940630461596, + "ymin": 99.52553384592301, + "xmax": 667.8022341645172, + "ymax": 126.96147273012153 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5940630461596, + 126.94533501260554 + ], + [ + 665.8696540446125, + 126.96147273012153 + ], + [ + 667.3809477757145, + 118.39587098918062 + ], + [ + 667.1086770152502, + 118.3801237394641 + ], + [ + 665.9927749256284, + 107.9882327251944 + ], + [ + 666.2726685482687, + 108.0041803281479 + ], + [ + 667.8022341645172, + 99.54108968105953 + ], + [ + 667.5257646209683, + 99.52553384592301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5940635742828, + "ymin": 99.52562935135074, + "xmax": 667.8022350061065, + "ymax": 126.96157181258144 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5940635742828, + 126.94543409052108 + ], + [ + 665.8696546115516, + 126.96157181258144 + ], + [ + 667.3809485459553, + 118.3959676742167 + ], + [ + 667.1086777476049, + 118.3802204201198 + ], + [ + 665.9927755189915, + 107.98833063586213 + ], + [ + 666.2726691816691, + 108.00427824337635 + ], + [ + 667.8022350061065, + 99.54118519088098 + ], + [ + 667.5257654234938, + 99.52562935135074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291101186849, + "ymin": 107.66457745173312, + "xmax": 669.0943468291396, + "ymax": 134.21142089659847 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291101186849, + 134.08816004375558 + ], + [ + 667.0128232727048, + 134.21142089659847 + ], + [ + 668.7020739348702, + 124.4486803305509 + ], + [ + 666.6466804441013, + 124.32878116881295 + ], + [ + 665.2745664272271, + 117.32400519329934 + ], + [ + 667.3872205440855, + 117.44602716881823 + ], + [ + 669.0943468291396, + 107.78322636400694 + ], + [ + 667.0107990335304, + 107.66457745173312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291104252353, + "ymin": 107.66457746918837, + "xmax": 669.0943470335611, + "ymax": 134.21142090869202 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291104252353, + 134.08816006188943 + ], + [ + 667.0128234771428, + 134.21142090869202 + ], + [ + 668.7020741365291, + 124.44868034231453 + ], + [ + 666.6466807464861, + 124.32878118645223 + ], + [ + 665.2745667380345, + 117.32400521125084 + ], + [ + 667.3872207513632, + 117.44602718079025 + ], + [ + 669.0943470335611, + 107.78322637564793 + ], + [ + 667.0107993400565, + 107.66457746918837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291098404423, + "ymin": 107.6645795382858, + "xmax": 669.0943464614089, + "ymax": 134.21142305896151 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291098404423, + 134.0881622114135 + ], + [ + 667.0128228985504, + 134.21142305896151 + ], + [ + 668.7020735709209, + 124.4486824339348 + ], + [ + 666.6466801748446, + 124.32878327735739 + ], + [ + 665.2745661461968, + 117.32400733916523 + ], + [ + 667.3872201658997, + 117.4460293094528 + ], + [ + 669.0943464614089, + 107.7832284454627 + ], + [ + 667.0107987617045, + 107.6645795382858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.1702775086834, + "ymin": 80.65969593295978, + "xmax": 650.172565059574, + "ymax": 106.1475907633081 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 646.1702775086834, + 106.03386813395642 + ], + [ + 648.1686152046747, + 106.1475907633081 + ], + [ + 650.0407530633427, + 97.13549290412482 + ], + [ + 648.0684755171008, + 97.02475182920568 + ], + [ + 646.252362898434, + 89.56693051910833 + ], + [ + 648.2773035302964, + 89.67938707511001 + ], + [ + 650.172565059574, + 80.76916568660647 + ], + [ + 648.1743784100772, + 80.65969593295978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5941036126402, + "ymin": 99.52540883493072, + "xmax": 667.8022744465101, + "ymax": 126.96134303700424 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5941036126402, + 126.94520532543649 + ], + [ + 665.8696945612318, + 126.96134303700424 + ], + [ + 667.3809875240142, + 118.39574443414975 + ], + [ + 667.1087168122174, + 118.37999719016682 + ], + [ + 665.9928160494395, + 107.98810456588478 + ], + [ + 666.2727096206492, + 108.0040521628685 + ], + [ + 667.8022744465101, + 99.54096466431605 + ], + [ + 667.5258049531413, + 99.52540883493072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291096621736, + "ymin": 107.66457994861423, + "xmax": 669.0943463878627, + "ymax": 134.21142349143418 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291096621736, + 134.0881626376916 + ], + [ + 667.0128228237195, + 134.21142349143418 + ], + [ + 668.7020734981311, + 124.44868285461166 + ], + [ + 666.6466800000393, + 124.32878369201055 + ], + [ + 665.2745659656676, + 117.3240077611579 + ], + [ + 667.3872200902625, + 117.44602973757975 + ], + [ + 669.0943463878627, + 107.78322886175391 + ], + [ + 667.0107985847288, + 107.66457994861423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.0489575752187, + "ymin": 98.17062050893401, + "xmax": 668.841923462433, + "ymax": 129.44186921594851 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 666.0489575752187, + 129.4224100734412 + ], + [ + 666.3801168800635, + 129.44186921594851 + ], + [ + 668.383174387217, + 118.00203489038427 + ], + [ + 668.0573252683027, + 117.98320109167119 + ], + [ + 666.4770139835556, + 109.46621557614162 + ], + [ + 666.8136272934198, + 109.48543554184428 + ], + [ + 668.841923462433, + 98.1892129170393 + ], + [ + 668.510795245866, + 98.17062050893401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5941436387044, + "ymin": 99.52548353840547, + "xmax": 667.8023148385694, + "ymax": 126.96142053840092 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5941436387044, + 126.94528282327869 + ], + [ + 665.8697346185658, + 126.96142053840092 + ], + [ + 667.3810272581808, + 118.39582006030372 + ], + [ + 667.1087565158633, + 118.38007281289458 + ], + [ + 665.9928567436363, + 107.98818115071589 + ], + [ + 666.2727503470998, + 108.00412875126699 + ], + [ + 667.8023148385694, + 99.54103937122744 + ], + [ + 667.5258453137315, + 99.52548353840547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291104252353, + "ymin": 107.66457746918837, + "xmax": 669.0943470335611, + "ymax": 134.21142090869202 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291104252353, + 134.08816006188943 + ], + [ + 667.0128234771428, + 134.21142090869202 + ], + [ + 668.7020741365291, + 124.44868034231453 + ], + [ + 666.6466807464861, + 124.32878118645223 + ], + [ + 665.2745667380345, + 117.32400521125084 + ], + [ + 667.3872207513632, + 117.44602718079025 + ], + [ + 669.0943470335611, + 107.78322637564793 + ], + [ + 667.0107993400565, + 107.66457746918837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.0488663894043, + "ymin": 98.17061538945256, + "xmax": 668.8418321773561, + "ymax": 129.4418638514726 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 666.0488663894043, + 129.4224047153017 + ], + [ + 666.3800255864155, + 129.4418638514726 + ], + [ + 668.3830845575154, + 118.0020296983048 + ], + [ + 668.0572355446257, + 117.98319590571984 + ], + [ + 666.4769212960049, + 109.46621028386258 + ], + [ + 666.8135344961754, + 109.48543024330195 + ], + [ + 668.8418321773561, + 98.1892077915038 + ], + [ + 668.5107040686113, + 98.17061538945256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.048954745736, + "ymin": 98.17070543059924, + "xmax": 668.8419208823575, + "ymax": 129.44195809531905 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 666.048954745736, + 129.42249895395437 + ], + [ + 666.3801139893767, + 129.44195809531905 + ], + [ + 668.3831717913769, + 118.00212091346688 + ], + [ + 668.0573227333416, + 117.98328711593649 + ], + [ + 666.4770111623388, + 109.4663033641643 + ], + [ + 666.8136244106876, + 109.48552332881792 + ], + [ + 668.8419208823575, + 98.18929783761138 + ], + [ + 668.5107927269927, + 98.17070543059924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.9291110622249, + "ymin": 107.66457624402153, + "xmax": 669.0943476630428, + "ymax": 134.21141963546094 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.9291110622249, + 134.08815878909985 + ], + [ + 667.0128241105111, + 134.21141963546094 + ], + [ + 668.7020747582163, + 124.44867910381117 + ], + [ + 666.6466813716969, + 124.32877994837239 + ], + [ + 665.274567383224, + 117.32400395125691 + ], + [ + 667.3872213928303, + 117.44602592035324 + ], + [ + 669.0943476630428, + 107.78322515005624 + ], + [ + 667.0107999731588, + 107.66457624402153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.0490488957778, + "ymin": 98.17062772128708, + "xmax": 668.8420147880807, + "ymax": 129.4418767649406 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 666.0490488957778, + 129.42241762201724 + ], + [ + 666.3802082066791, + 129.4418767649406 + ], + [ + 668.3832642554478, + 118.00204219677676 + ], + [ + 668.0574151306706, + 117.98320839766757 + ], + [ + 666.477106809415, + 109.46622303193297 + ], + [ + 666.8137201255366, + 109.48544299805326 + ], + [ + 668.8420147880807, + 98.18922012978976 + ], + [ + 668.5108865654595, + 98.17062772128708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.3466992924707, + "ymin": 61.624411520945046, + "xmax": 677.2310718646232, + "ymax": 86.36643547985415 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.3466992924707, + 86.25920534028063 + ], + [ + 675.2915459228957, + 86.36643547985415 + ], + [ + 676.7624418706006, + 77.86563288626417 + ], + [ + 674.8422887246132, + 77.76113421531716 + ], + [ + 673.7773080360015, + 70.01999359037836 + ], + [ + 675.7473432933623, + 70.12594826064912 + ], + [ + 677.2310718646232, + 61.72763303480468 + ], + [ + 675.2863697199174, + 61.624411520945046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.048957624124, + "ymin": 98.17061967755706, + "xmax": 668.8419234050858, + "ymax": 129.44186833972572 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 666.048957624124, + 129.42240920330744 + ], + [ + 666.3801168257538, + 129.44186833972572 + ], + [ + 668.3831743313419, + 118.00203404232033 + ], + [ + 668.0573253139811, + 117.9832002494999 + ], + [ + 666.4770140327283, + 109.46621471670323 + ], + [ + 666.813627237671, + 109.48543467639092 + ], + [ + 668.8419234050858, + 98.18921207984454 + ], + [ + 668.5107952917241, + 98.17061967755706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4818083400921, + "ymin": 111.57245689089882, + "xmax": 667.6332533377227, + "ymax": 138.0323068820389 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 663.4818083400921, + 137.90879734574725 + ], + [ + 665.5583129686271, + 138.0323068820389 + ], + [ + 667.2619072536094, + 128.24942619625457 + ], + [ + 665.2135279399644, + 128.12927411615954 + ], + [ + 663.806107089952, + 121.25415597691142 + ], + [ + 665.9113514177774, + 121.37645345317583 + ], + [ + 667.6332533377227, + 111.69138489493997 + ], + [ + 665.5569128437377, + 111.57245689089882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5940630461596, + "ymin": 99.52553384592301, + "xmax": 667.8022341645172, + "ymax": 126.96147273012153 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5940630461596, + 126.94533501260554 + ], + [ + 665.8696540446125, + 126.96147273012153 + ], + [ + 667.3809477757145, + 118.39587098918062 + ], + [ + 667.1086770152502, + 118.3801237394641 + ], + [ + 665.9927749256284, + 107.9882327251944 + ], + [ + 666.2726685482687, + 108.0041803281479 + ], + [ + 667.8022341645172, + 99.54108968105953 + ], + [ + 667.5257646209683, + 99.52553384592301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.2768735017963, + "ymin": 57.438963733971605, + "xmax": 675.135925912443, + "ymax": 82.01705002883108 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 671.2768735017963, + 81.91122183090067 + ], + [ + 673.2086311149578, + 82.01705002883108 + ], + [ + 674.6965315316636, + 73.62669149285546 + ], + [ + 672.7891381434213, + 73.52354170866363 + ], + [ + 671.6780717637624, + 65.72410076724799 + ], + [ + 673.6346779590691, + 65.82865246006725 + ], + [ + 675.135925912443, + 57.54083603025833 + ], + [ + 673.2043107396177, + 57.438963733971605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5940670833406, + "ymin": 99.52561531182698, + "xmax": 667.8022384800222, + "ymax": 126.96155724722561 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.5940670833406, + 126.94541952583324 + ], + [ + 665.8696581149857, + 126.96155724722561 + ], + [ + 667.3809519758446, + 118.3959534612878 + ], + [ + 667.1086811829833, + 118.38020620783476 + ], + [ + 665.9927790743336, + 107.98831624276244 + ], + [ + 666.2726727312104, + 108.00426384960628 + ], + [ + 667.8022384800222, + 99.5411711507113 + ], + [ + 667.5257689030692, + 99.52561531182698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.6267199703325, + "ymin": 73.42244387880095, + "xmax": 673.5852569411817, + "ymax": 128.37385398886258 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 670.6267199703325, + 128.29385356860973 + ], + [ + 671.9908807435057, + 128.37385398886258 + ], + [ + 672.1614152876286, + 127.35514703024037 + ], + [ + 670.7992058290577, + 127.27537758962663 + ], + [ + 671.9845058366118, + 74.40471120057845 + ], + [ + 673.4093125273479, + 74.48187279114183 + ], + [ + 673.5852569411817, + 73.49937283110609 + ], + [ + 672.1625787886495, + 73.42244387880095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.0288367862519, + "ymin": 65.4659589478045, + "xmax": 675.0105526872255, + "ymax": 120.09363616315207 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.0288367862519, + 120.01550351079825 + ], + [ + 673.3771353287027, + 120.09363616315207 + ], + [ + 673.5436908369079, + 119.0986973772655 + ], + [ + 672.1972985298495, + 119.02078766860694 + ], + [ + 673.4313804385389, + 66.42431430492906 + ], + [ + 674.8388920885719, + 66.49959600010749 + ], + [ + 675.0105526872255, + 65.5410164481969 + ], + [ + 673.6051182569425, + 65.4659589478045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.7548933761714, + "ymin": 562.7605293709851, + "xmax": 1083.0540592338284, + "ymax": 586.111609798375 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1080.7082441609548, + 586.111609798375 + ], + [ + 1076.527946271172, + 569.3887291175807 + ], + [ + 1048.7548933761714, + 566.8274739710793 + ], + [ + 1052.5213697472495, + 583.4751510096814 + ], + [ + 1083.0540592338284, + 582.0783648978619 + ], + [ + 1078.8179200476395, + 565.3260640156544 + ], + [ + 1050.8943561108968, + 562.7605293709851 + ], + [ + 1054.7121460878725, + 579.4370975509079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.8052754447949, + "ymin": 84.72502044127867, + "xmax": 647.7323671946217, + "ymax": 140.12206987703294 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 645.8052754447949, + 140.03938158870403 + ], + [ + 647.1893012037465, + 140.12206987703294 + ], + [ + 647.3991009055694, + 139.06915921979044 + ], + [ + 646.0170835728233, + 138.986713640359 + ], + [ + 646.0671239105292, + 85.74176323607566 + ], + [ + 647.5136156091513, + 85.82163526802742 + ], + [ + 647.7323671946217, + 84.80464747979545 + ], + [ + 646.2880691657217, + 84.72502044127867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.9887765605168, + "ymin": 551.7643523081231, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1132.8043927839017, + 811.8135003903277 + ], + [ + 1127.3084735105622, + 789.5501892577863 + ], + [ + 934.9887765605168, + 768.4937896257804 + ], + [ + 937.3138901550715, + 790.0707513897446 + ], + [ + 1326.7725961672759, + 602.4085183023113 + ], + [ + 1314.8546197972566, + 576.2265721525689 + ], + [ + 1046.1097913466558, + 551.7643523081231 + ], + [ + 1051.7988679449898, + 576.8350101158883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.5750191395755, + "ymin": 562.6363473239094, + "xmax": 1083.2434950974277, + "ymax": 586.2386253936131 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1080.8712985065426, + 586.2386253936131 + ], + [ + 1076.644033169351, + 569.3354876266797 + ], + [ + 1048.5750191395755, + 566.7471878280281 + ], + [ + 1052.379531192914, + 583.5735001084058 + ], + [ + 1083.2434950974277, + 582.1622136795943 + ], + [ + 1078.9591553229488, + 565.2290162181869 + ], + [ + 1050.736398846886, + 562.6363473239094 + ], + [ + 1054.5933099165095, + 579.4921729954698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.7647941347177, + "ymin": 116.05378841988059, + "xmax": 666.5782703865406, + "ymax": 172.11242550117734 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 663.7647941347177, + 172.02291118322557 + ], + [ + 665.2012209324316, + 172.11242550117734 + ], + [ + 665.3912121803559, + 170.9726520503385 + ], + [ + 663.9569487248564, + 170.88340999506278 + ], + [ + 664.8774497165797, + 117.15915845948044 + ], + [ + 666.38127694944, + 117.24599825412787 + ], + [ + 666.5782703865406, + 116.14035174899396 + ], + [ + 665.0768141140791, + 116.05378841988059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.8097797697071, + "ymin": 0.0, + "xmax": 1025.7191477015558, + "ymax": 147.76025345956134 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 968.8777447939908, + 147.76025345956134 + ], + [ + 967.3699650173683, + 141.65246878987236 + ], + [ + 866.8097797697071, + 135.78828682321355 + ], + [ + 867.4572091901366, + 141.79634606609474 + ], + [ + 1025.7191477015558, + -58.96305563755351 + ], + [ + 1023.3921490103592, + -64.07507316318157 + ], + [ + 905.2527625109558, + -68.96922546987417 + ], + [ + 906.3906480247133, + -63.954823635476714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.94286641937913, + "ymin": 0.0, + "xmax": 230.17649214261417, + "ymax": 52.420577139863724 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 225.61810260054295, + 52.420577139863724 + ], + [ + 230.17649214261417, + 47.33924373312749 + ], + [ + 108.72643500134598, + 40.79505012415467 + ], + [ + 103.23782186862638, + 45.76995023330244 + ], + [ + 160.51924368259, + -150.45931148345778 + ], + [ + 166.39465444989793, + -154.43792422323725 + ], + [ + 27.043363548269667, + -159.54710482034852 + ], + [ + 19.94286641937913, + -155.66462191434152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5613623216202, + "ymin": 74.19287873980733, + "xmax": 670.3918031615968, + "ymax": 129.17519615181064 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 667.5613623216202, + 129.0950137966946 + ], + [ + 668.9267252955981, + 129.17519615181064 + ], + [ + 669.1018853003761, + 128.15417409089653 + ], + [ + 667.7384770691668, + 128.07422350322054 + ], + [ + 668.7847006499549, + 75.177477153074 + ], + [ + 670.2108189394878, + 75.25482201615966 + ], + [ + 670.3918031615968, + 74.26999013594161 + ], + [ + 668.9678173165205, + 74.19287873980733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.0401932574266, + "ymin": 61.232260684223036, + "xmax": 672.9185735510492, + "ymax": 115.68429652047982 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 670.0401932574266, + 115.60714947604464 + ], + [ + 671.3797387031657, + 115.68429652047982 + ], + [ + 671.5480756580266, + 114.70190032384946 + ], + [ + 670.2104117885791, + 114.62497202089696 + ], + [ + 671.3469692175745, + 62.17801261044207 + ], + [ + 672.7449448411379, + 62.252303485023674 + ], + [ + 672.9185735510492, + 61.30633177229964 + ], + [ + 671.5226471092338, + 61.232260684223036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8387791091133, + "ymin": 112.05828289697831, + "xmax": 666.6647733729882, + "ymax": 168.4641536809034 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.8387791091133, + 168.37479814026545 + ], + [ + 665.2796872246472, + 168.4641536809034 + ], + [ + 665.4701493253956, + 167.32640688796997 + ], + [ + 664.0314180614456, + 167.23732397130124 + ], + [ + 664.9585365677834, + 113.16086013059129 + ], + [ + 666.4672762495311, + 113.24748100262701 + ], + [ + 666.6647733729882, + 112.14462710369159 + ], + [ + 665.1584201551021, + 112.05828289697831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.2780683573683, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 73.96211029984596 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1153.437156195542, + 73.96211029984596 + ], + [ + 1312.1010488497523, + 65.69502611360298 + ], + [ + 1220.9298008025312, + -6.573527108715211 + ], + [ + 1079.2780683573683, + -0.07118719229072212 + ], + [ + 1281.4542067852033, + -242.66022759522718 + ], + [ + 1477.026823875354, + -247.94620503435635 + ], + [ + 1344.0485707756666, + -292.77147435856546 + ], + [ + 1173.665867510689, + -288.83716669129706 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00139/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00139/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..88f22c68f16b19ef4328ed2fc559447f07bf9cac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00139/meta.json @@ -0,0 +1,6946 @@ +{ + "frame_id": 139, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.5, + "sim_timestamp": 13232.389687479706 + }, + "drone_pose": { + "x": -30.47587638794625, + "y": 2.4709607522828154, + "z": 20.0, + "pitch": -44.23358902918152, + "yaw": -6.219470643553756, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7122845649719238, + 0.07762379199266434, + 0.6975852251052856, + 7.947597503662109 + ], + [ + -0.10833718627691269, + 0.9941142201423645, + 3.725290298461914e-09, + 0.8452532291412354 + ], + [ + -0.6934794187545776, + -0.07557442784309387, + 0.716501772403717, + -35.65116882324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.021387738650354, + "y": 2.437410008393201, + "z": 20.0 + }, + "t1_image_uv": [ + 686.7299361289938, + -574.6548370970211 + ], + "t1_depth": 0.3263296001424006 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -10.66718292236328, + "y": 0.3122367858886719, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.810082592734304, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -10.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.18738706409931183, + "y": 0.29267534613609314, + "z": 0.5549985766410828 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.0596937841353, + "ymin": 340.86460853487245, + "xmax": 650.8522993629957, + "ymax": 378.8201206512007 + }, + "corners_3d": [ + [ + -10.854569435119629, + 0.019561439752578735, + 0.04509758949279785 + ], + [ + -10.854569435119629, + 0.6049121618270874, + 0.04509758949279785 + ], + [ + -10.4797945022583, + 0.6049121618270874, + 0.04509758949279785 + ], + [ + -10.4797945022583, + 0.019561439752578735, + 0.04509758949279785 + ], + [ + -10.854569435119629, + 0.019561439752578735, + 1.1550947427749634 + ], + [ + -10.854569435119629, + 0.6049121618270874, + 1.1550947427749634 + ], + [ + -10.4797945022583, + 0.6049121618270874, + 1.1550947427749634 + ], + [ + -10.4797945022583, + 0.019561439752578735, + 1.1550947427749634 + ] + ], + "corners_2d": [ + [ + 629.3613075863353, + 377.2776288842605 + ], + [ + 649.265906406973, + 378.8201206512007 + ], + [ + 650.5554529597354, + 369.8287843490132 + ], + [ + 630.8361885838785, + 368.31522393682013 + ], + [ + 629.0596937841353, + 349.8128038868648 + ], + [ + 649.5290385917315, + 351.35333192372406 + ], + [ + 650.8522993629957, + 342.3754340812176 + ], + [ + 630.5789032913635, + 340.86460853487245 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 139, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 316209, + "2": 288552, + "3": 27362, + "5": 5976, + "6": 4136, + "9": 236, + "10": 4356, + "12": 1906, + "14": 38209, + "15": 5745, + "20": 3372, + "24": 21808, + "25": 203733 + }, + "instance_pixel_counts": { + "2118": 4356, + "3424": 151546, + "5506": 623, + "6215": 112531, + "6284": 2691, + "6290": 8969, + "6730": 595, + "6992": 3041, + "7774": 2904, + "8286": 1551, + "8332": 14515, + "8338": 39695, + "8798": 2195, + "9822": 1795, + "10846": 4625, + "15184": 2935, + "16203": 634, + "17738": 709, + "18000": 3372, + "21140": 29589, + "23392": 690, + "23700": 140136, + "23904": 668, + "28000": 364, + "28256": 357, + "28768": 353, + "29024": 71, + "29280": 142, + "29826": 386, + "31584": 267, + "31840": 108, + "32096": 140, + "35402": 174, + "35476": 1846, + "36170": 157, + "37524": 8652, + "38540": 3066, + "40588": 13544, + "41562": 27337, + "42330": 25, + "42897": 7013, + "44945": 41510, + "45898": 592, + "52038": 45018, + "54859": 546, + "56576": 196, + "56647": 52187, + "56832": 176, + "57088": 523, + "57173": 236, + "57344": 667, + "57600": 344, + "57856": 14949, + "58368": 5745, + "60928": 10190, + "62081": 3127, + "62101": 729, + "62611": 25948, + "64149": 3795, + "64585": 219, + "64659": 120536 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 196, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -10.667181968688965, + "y": 0.3122367858886719, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.20067869126796722, + "y": 0.27605459094047546, + "z": 0.5555569529533386 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.5855975421043, + "ymin": 340.57904588370707, + "xmax": 650.3225233089618, + "ymax": 379.11168035512253 + }, + "corners_3d": [ + [ + -10.867860794067383, + 0.03618219494819641, + 0.04453921318054199 + ], + [ + -10.867860794067383, + 0.5882914066314697, + 0.04453921318054199 + ], + [ + -10.466503143310547, + 0.5882914066314697, + 0.04453921318054199 + ], + [ + -10.466503143310547, + 0.03618219494819641, + 0.04453921318054199 + ], + [ + -10.867860794067383, + 0.03618219494819641, + 1.1556531190872192 + ], + [ + -10.867860794067383, + 0.5882914066314697, + 1.1556531190872192 + ], + [ + -10.466503143310547, + 0.5882914066314697, + 1.1556531190872192 + ], + [ + -10.466503143310547, + 0.03618219494819641, + 1.1556531190872192 + ] + ], + "corners_2d": [ + [ + 629.8731076739367, + 377.6558029159316 + ], + [ + 648.6533411254486, + 379.11168035512253 + ], + [ + 650.0399952170629, + 369.48343709518423 + ], + [ + 631.4469658367088, + 368.0567833806036 + ], + [ + 629.5855975421043, + 350.16285751549685 + ], + [ + 648.8994022880629, + 351.6169074612802 + ], + [ + 650.3225233089618, + 342.00309237180244 + ], + [ + 631.2066551262416, + 340.57904588370707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 176, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -6.541196346282959, + "y": 3.309941291809082, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.23418548703193665, + "y": 0.23276519775390625, + "z": 0.5247750878334045 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 738.4438265175926, + "ymin": 259.27701464065194, + "xmax": 757.5055926258204, + "ymax": 294.7315829472734 + }, + "corners_3d": [ + [ + -6.808911323547363, + 3.1166765689849854, + 0.07531619071960449 + ], + [ + -6.736085891723633, + 3.5764753818511963, + 0.07531619071960449 + ], + [ + -6.273481369018555, + 3.5032060146331787, + 0.07531619071960449 + ], + [ + -6.346306800842285, + 3.0434072017669678, + 0.07531619071960449 + ], + [ + -6.808911323547363, + 3.1166765689849854, + 1.1248663663864136 + ], + [ + -6.736085891723633, + 3.5764753818511963, + 1.1248663663864136 + ], + [ + -6.273481369018555, + 3.5032060146331787, + 1.1248663663864136 + ], + [ + -6.346306800842285, + 3.0434072017669678, + 1.1248663663864136 + ] + ], + "corners_2d": [ + [ + 740.2287731303177, + 294.7315829472734 + ], + [ + 754.7053368595856, + 294.27369442524974 + ], + [ + 752.7650820182388, + 284.8957913849933 + ], + [ + 738.4438265175926, + 285.34384717753994 + ], + [ + 742.6769391820353, + 269.05273828733084 + ], + [ + 757.5055926258204, + 268.5975262204013 + ], + [ + 755.4875432905014, + 259.27701464065194 + ], + [ + 740.8218018596556, + 259.722216699799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 523, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -12.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.33636900782585144, + "y": 0.32022520899772644, + "z": 0.8721569776535034 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 870.0497096726845, + "ymin": 406.17392964905065, + "xmax": 909.3264543497309, + "ymax": 469.2401203523632 + }, + "corners_3d": [ + [ + -13.275672912597656, + 6.9527668952941895, + -0.2720559239387512 + ], + [ + -13.242155075073242, + 7.592339515686035, + -0.2720559239387512 + ], + [ + -12.57033920288086, + 7.557131290435791, + -0.2720559239387512 + ], + [ + -12.603857040405273, + 6.917558670043945, + -0.2720559239387512 + ], + [ + -13.275672912597656, + 6.9527668952941895, + 1.4722580909729004 + ], + [ + -13.242155075073242, + 7.592339515686035, + 1.4722580909729004 + ], + [ + -12.57033920288086, + 7.557131290435791, + 1.4722580909729004 + ], + [ + -12.603857040405273, + 6.917558670043945, + 1.4722580909729004 + ] + ], + "corners_2d": [ + [ + 872.9079389284245, + 468.2071762520237 + ], + [ + 896.7312265708377, + 469.2401203523632 + ], + [ + 893.437579867319, + 450.2826851350004 + ], + [ + 870.0497096726845, + 449.2868996085922 + ], + [ + 884.3225360753994, + 425.18579224738517 + ], + [ + 909.3264543497309, + 426.22470976650266 + ], + [ + 905.6345560660445, + 407.1736932412455 + ], + [ + 881.1098439608278, + 406.17392964905065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 667, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -20.715396881103516, + "y": -0.17509061098098755, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.35125547647476196, + "y": 0.3091490864753723, + "z": 0.8670148849487305 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 546.5510650520348, + "ymin": 644.3623916064917, + "xmax": 585.9209729355005, + "ymax": 717.7004673127234 + }, + "corners_3d": [ + [ + -21.049991607666016, + -0.5021992921829224, + -0.2669089436531067 + ], + [ + -21.08234977722168, + 0.11525148153305054, + -0.2669089436531067 + ], + [ + -20.380802154541016, + 0.15201807022094727, + -0.2669089436531067 + ], + [ + -20.34844398498535, + -0.46543270349502563, + -0.2669089436531067 + ], + [ + -21.049991607666016, + -0.5021992921829224, + 1.467120885848999 + ], + [ + -21.08234977722168, + 0.11525148153305054, + 1.467120885848999 + ], + [ + -20.380802154541016, + 0.15201807022094727, + 1.467120885848999 + ], + [ + -20.34844398498535, + -0.46543270349502563, + 1.467120885848999 + ] + ], + "corners_2d": [ + [ + 551.9127846792592, + 713.3495981275687 + ], + [ + 579.4997278273728, + 717.7004673127234 + ], + [ + 585.9209729355005, + 687.8469400725119 + ], + [ + 558.9480745510563, + 683.6944372268488 + ], + [ + 546.5510650520348, + 674.8392642670253 + ], + [ + 575.8039791974095, + 679.3178785237822 + ], + [ + 582.6983341342409, + 648.6248186410642 + ], + [ + 554.1349157675176, + 644.3623916064917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 344, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 0.5781533122062683, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.3845785856246948, + "y": 0.3522222936153412, + "z": 0.9073579907417297 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 441.4693566341145, + "ymin": 107.03781976083931, + "xmax": 473.12518694481423, + "ymax": 162.19112296841516 + }, + "corners_3d": [ + [ + 0.25340938568115234, + -8.26602554321289, + -0.15495222806930542 + ], + [ + 0.14320969581604004, + -7.570253849029541, + -0.15495222806930542 + ], + [ + 0.9028972387313843, + -7.4499311447143555, + -0.15495222806930542 + ], + [ + 1.0130969285964966, + -8.145702362060547, + -0.15495222806930542 + ], + [ + 0.25340938568115234, + -8.26602554321289, + 1.6597638130187988 + ], + [ + 0.14320969581604004, + -7.570253849029541, + 1.6597638130187988 + ], + [ + 0.9028972387313843, + -7.4499311447143555, + 1.6597638130187988 + ], + [ + 1.0130969285964966, + -8.145702362060547, + 1.6597638130187988 + ] + ], + "corners_2d": [ + [ + 448.3022895639053, + 159.5366843028466 + ], + [ + 465.41469217547615, + 162.19112296841516 + ], + [ + 473.12518694481423, + 151.652392382763 + ], + [ + 456.22929646946454, + 149.07320870569026 + ], + [ + 441.4693566341145, + 117.2448594402043 + ], + [ + 459.16841519778643, + 119.83589316364043 + ], + [ + 467.24317609779723, + 109.55283084621163 + ], + [ + 449.7755487346514, + 107.03781976083931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 14949, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 650.0272177495461, + "ymin": 458.52114810801663, + "xmax": 752.6196869277301, + "ymax": 693.9981780804413 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 650.0272177495461, + 684.802701860518 + ], + [ + 741.9400091078603, + 693.9981780804413 + ], + [ + 748.177950851368, + 499.9140913596723 + ], + [ + 670.2016213071945, + 493.30957816740914 + ], + [ + 650.5132025861385, + 652.7551648782924 + ], + [ + 746.9185258687712, + 662.1543163272022 + ], + [ + 752.6196869277301, + 465.1728671641134 + ], + [ + 671.4337531331572, + 458.52114810801663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5745, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 700.3649129428458, + "ymin": 67.00143546134848, + "xmax": 765.457243013467, + "ymax": 217.19512149121402 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 700.3649129428458, + 213.68191271660857 + ], + [ + 756.6910702622225, + 217.19512149121402 + ], + [ + 759.5715419284418, + 129.54891810662923 + ], + [ + 709.443884097466, + 126.76902459033465 + ], + [ + 703.7109437619187, + 150.9156530655393 + ], + [ + 763.1896941274758, + 154.32922100704917 + ], + [ + 765.457243013467, + 69.6696329952847 + ], + [ + 712.8479831968516, + 67.00143546134848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 10190, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 345.96812002195156, + "ymin": 456.56227490793026, + "xmax": 471.90755231489754, + "ymax": 628.2367310468378 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 471.90755231489754, + 500.70417928353027 + ], + [ + 404.6619401149868, + 494.87750815399585 + ], + [ + 360.16687811811875, + 620.9522579346376 + ], + [ + 435.1008375392719, + 628.2367310468378 + ], + [ + 464.2706664525433, + 462.4351713051066 + ], + [ + 394.0333804645006, + 456.56227490793026 + ], + [ + 345.96812002195156, + 584.2940949707515 + ], + [ + 424.63542505795647, + 591.7155868919274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977139428419, + "ymin": 115.1849592490232, + "xmax": 666.9469832388218, + "ymax": 141.9677119565669 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977139428419, + 141.84539186074292 + ], + [ + 664.9005175890666, + 141.9677119565669 + ], + [ + 666.5808384339651, + 132.0253562521559 + ], + [ + 664.5069211476408, + 131.9064064454624 + ], + [ + 663.1161718620885, + 125.02427961037719 + ], + [ + 665.2484094748028, + 125.14539687145097 + ], + [ + 666.9469832388218, + 115.30269372368326 + ], + [ + 664.8444406248859, + 115.1849592490232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.797713488488, + "ymin": 115.18496179202995, + "xmax": 666.9469827998205, + "ymax": 141.96771459952285 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.797713488488, + 141.84539450279672 + ], + [ + 664.9005171423903, + 141.96771459952285 + ], + [ + 666.5808379995973, + 132.02535882228437 + ], + [ + 664.5069207058046, + 131.9064090147257 + ], + [ + 663.1161714025785, + 125.02428222644411 + ], + [ + 665.2484090231869, + 125.14539948842369 + ], + [ + 666.9469827998205, + 115.30269626755819 + ], + [ + 664.8444401782087, + 115.18496179202995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.537426811849, + "ymin": 77.10603102045161, + "xmax": 670.4571982680586, + "ymax": 102.39315366486215 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.537426811849, + 102.28396945052481 + ], + [ + 668.5247089171128, + 102.39315366486215 + ], + [ + 670.0659120699978, + 93.51178014439193 + ], + [ + 668.1044492832036, + 93.40544142831328 + ], + [ + 666.887386324992, + 85.88216771544074 + ], + [ + 668.9009369756866, + 85.99011166300522 + ], + [ + 670.4571982680586, + 77.2111254292247 + ], + [ + 668.4701494873342, + 77.10603102045161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.7402318925142, + "ymin": 76.32701518715953, + "xmax": 673.6549561662332, + "ymax": 101.5835613761135 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.7402318925142, + 101.47463809728055 + ], + [ + 671.7256537331923, + 101.5835613761135 + ], + [ + 673.2230983402487, + 92.72327629919641 + ], + [ + 671.2634479395448, + 92.6171883906706 + ], + [ + 670.1319529832208, + 85.08204419493597 + ], + [ + 672.1435938544711, + 85.18972677492832 + ], + [ + 673.6549561662332, + 76.43185850325847 + ], + [ + 671.669767374936, + 76.32701518715953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4554902819608, + "ymin": 107.0248203074724, + "xmax": 665.6289011408613, + "ymax": 134.6855612015863 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4554902819608, + 134.66954553124813 + ], + [ + 663.733615690432, + 134.6855612015863 + ], + [ + 665.2375078733154, + 125.96160023182384 + ], + [ + 664.9627694303705, + 125.94597607832918 + ], + [ + 663.8238394431573, + 115.64608855701044 + ], + [ + 664.1063411298044, + 115.66191947430892 + ], + [ + 665.6289011408613, + 107.04025826039722 + ], + [ + 665.3498931781664, + 107.0248203074724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4554910561076, + "ymin": 107.02491756322866, + "xmax": 665.628902227452, + "ymax": 134.68566210140017 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4554910561076, + 134.66964642650584 + ], + [ + 663.7336165041581, + 134.68566210140017 + ], + [ + 665.2375088883233, + 125.96169866502731 + ], + [ + 664.9627704067572, + 125.94607450714247 + ], + [ + 663.8238402826788, + 115.64618828832886 + ], + [ + 664.1063420101606, + 115.66201921020163 + ], + [ + 665.628902227452, + 107.04035552055859 + ], + [ + 665.3498942249262, + 107.02491756322866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977139428419, + "ymin": 115.1849592490232, + "xmax": 666.9469832388218, + "ymax": 141.9677119565669 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977139428419, + 141.84539186074292 + ], + [ + 664.9005175890666, + 141.9677119565669 + ], + [ + 666.5808384339651, + 132.0253562521559 + ], + [ + 664.5069211476408, + 131.9064064454624 + ], + [ + 663.1161718620885, + 125.02427961037719 + ], + [ + 665.2484094748028, + 125.14539687145097 + ], + [ + 666.9469832388218, + 115.30269372368326 + ], + [ + 664.8444406248859, + 115.1849592490232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977142522017, + "ymin": 115.18495926634407, + "xmax": 666.9469834451064, + "ymax": 141.96771196856795 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977142522017, + 141.84539187873838 + ], + [ + 664.9005177953768, + 141.96771196856795 + ], + [ + 666.5808386374409, + 132.0253562638263 + ], + [ + 664.5069214527516, + 131.9064064629621 + ], + [ + 663.1161721757778, + 125.02427962819567 + ], + [ + 665.2484096840014, + 125.14539688333409 + ], + [ + 666.9469834451064, + 115.30269373523447 + ], + [ + 664.8444409342073, + 115.18495926634407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977136673336, + "ymin": 115.18496137396917, + "xmax": 666.9469828729873, + "ymax": 141.96771415903018 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977136673336, + 141.84539406845292 + ], + [ + 664.9005172168364, + 141.96771415903018 + ], + [ + 666.5808380719919, + 132.02535839392965 + ], + [ + 664.5069208811476, + 131.90640859234844 + ], + [ + 663.1161715837266, + 125.02428179637246 + ], + [ + 665.2484090984562, + 125.14539905226155 + ], + [ + 666.9469828729873, + 115.30269584357904 + ], + [ + 664.8444403557621, + 115.18496137396917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.8086737459171, + "ymin": 87.72609574180962, + "xmax": 647.7949369830388, + "ymax": 113.4301428975123 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 643.8086737459171, + 113.31737015800195 + ], + [ + 645.8246268829351, + 113.4301428975123 + ], + [ + 647.6931840468001, + 104.25880702219126 + ], + [ + 645.7037946045635, + 104.14902025495158 + ], + [ + 643.859729842297, + 96.79255753744235 + ], + [ + 645.9027202382731, + 96.90409719825385 + ], + [ + 647.7949369830388, + 87.83464328647585 + ], + [ + 645.7792227694774, + 87.72609574180962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4555308999609, + "ymin": 107.02469294505744, + "xmax": 665.6289414763247, + "ymax": 134.685429067053 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4555308999609, + 134.66941340268156 + ], + [ + 663.7336562575406, + 134.685429067053 + ], + [ + 665.2375476648049, + 125.96147132746842 + ], + [ + 664.9628092715197, + 125.94584717972299 + ], + [ + 663.8238806293383, + 115.64595795269494 + ], + [ + 664.1063822634795, + 115.66178886400286 + ], + [ + 665.6289414763247, + 107.04013089221343 + ], + [ + 665.3499335648452, + 107.02469294505744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.797713488488, + "ymin": 115.18496179202995, + "xmax": 666.9469827998205, + "ymax": 141.96771459952285 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.797713488488, + 141.84539450279672 + ], + [ + 664.9005171423903, + 141.96771459952285 + ], + [ + 666.5808379995973, + 132.02535882228437 + ], + [ + 664.5069207058046, + 131.9064090147257 + ], + [ + 663.1161714025785, + 125.02428222644411 + ], + [ + 665.2484090231869, + 125.14539948842369 + ], + [ + 666.9469827998205, + 115.30269626755819 + ], + [ + 664.8444401782087, + 115.18496179202995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9199126641466, + "ymin": 105.64366523560614, + "xmax": 666.6746073076032, + "ymax": 137.19599926928154 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.9199126641466, + 137.17668674039294 + ], + [ + 664.2541221229798, + 137.19599926928154 + ], + [ + 666.2470224150408, + 125.54483097747479 + ], + [ + 665.9182297774386, + 125.52614545950789 + ], + [ + 664.3161676717301, + 117.15089664582476 + ], + [ + 664.6559246942992, + 117.16997679744361 + ], + [ + 666.6746073076032, + 105.66211591394608 + ], + [ + 666.3404469250164, + 105.64366523560614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4555714771204, + "ymin": 107.02476895968292, + "xmax": 665.6289824192686, + "ymax": 134.68550792985604 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4555714771204, + 134.66949226192355 + ], + [ + 663.7336968665376, + 134.68550792985604 + ], + [ + 665.2375879395071, + 125.96154826238126 + ], + [ + 664.9628495151554, + 125.94592411120459 + ], + [ + 663.8239218853231, + 115.6460359022071 + ], + [ + 664.1064235523116, + 115.66186681709038 + ], + [ + 665.6289824192686, + 107.04020691028185 + ], + [ + 665.3499744757494, + 107.02476895968292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977142522017, + "ymin": 115.18495926634407, + "xmax": 666.9469834451064, + "ymax": 141.96771196856795 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977142522017, + 141.84539187873838 + ], + [ + 664.9005177953768, + 141.96771196856795 + ], + [ + 666.5808386374409, + 132.0253562638263 + ], + [ + 664.5069214527516, + 131.9064064629621 + ], + [ + 663.1161721757778, + 125.02427962819567 + ], + [ + 665.2484096840014, + 125.14539688333409 + ], + [ + 666.9469834451064, + 115.30269373523447 + ], + [ + 664.8444409342073, + 115.18495926634407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9198206384232, + "ymin": 105.64366015514838, + "xmax": 666.6745151866612, + "ymax": 137.19599394522615 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.9198206384232, + 137.17668142262175 + ], + [ + 664.2540299885077, + 137.19599394522615 + ], + [ + 666.2469317739119, + 125.54482582627531 + ], + [ + 665.9181392432153, + 125.52614031438401 + ], + [ + 664.3160741185079, + 117.15089139204176 + ], + [ + 664.6558310304391, + 117.16997153744731 + ], + [ + 666.6745151866612, + 105.66211082748464 + ], + [ + 666.3403549128053, + 105.64366015514838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9199100259443, + "ymin": 105.64375171460398, + "xmax": 666.6746049166792, + "ymax": 137.19608978671945 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.9199100259443, + 137.1767772589147 + ], + [ + 664.2541194234509, + 137.19608978671945 + ], + [ + 666.2470200089616, + 125.54491855608589 + ], + [ + 665.9182274323683, + 125.52623303924548 + ], + [ + 664.3161650410473, + 117.15098607514585 + ], + [ + 664.6559220019877, + 117.1700662257742 + ], + [ + 666.6746049166792, + 105.66220239190682 + ], + [ + 666.340444595416, + 105.64375171460398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7977148918584, + "ymin": 115.18495801793512, + "xmax": 666.9469840771764, + "ymax": 141.96771067109208 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.7977148918584, + 141.84539058170546 + ], + [ + 664.9005184313355, + 141.96771067109208 + ], + [ + 666.5808392615762, + 132.02535500210277 + ], + [ + 664.5069220804842, + 131.90640520166338 + ], + [ + 663.1161728237853, + 125.02427834392017 + ], + [ + 665.2484103282065, + 125.14539559861387 + ], + [ + 666.9469840771764, + 115.30269248639928 + ], + [ + 664.8444415699744, + 115.18495801793512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9200048311831, + "ymin": 105.6436724470181, + "xmax": 666.6746994747025, + "ymax": 137.1960068179557 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.9200048311831, + 137.17669428865747 + ], + [ + 664.2542142960608, + 137.1960068179557 + ], + [ + 666.2471131002728, + 125.54483828106632 + ], + [ + 665.9183204568211, + 125.52615276270967 + ], + [ + 664.3162613698685, + 117.15090410326172 + ], + [ + 664.6560183986843, + 117.16998425529192 + ], + [ + 666.6746994747025, + 105.66212312574925 + ], + [ + 666.3405390860739, + 105.6436724470181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.1696162142692, + "ymin": 68.32721651116537, + "xmax": 675.0360660789297, + "ymax": 93.26981845763197 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 671.1696162142692, + 93.16355673788843 + ], + [ + 673.130856423199, + 93.26981845763197 + ], + [ + 674.5919415992778, + 84.62466009459416 + ], + [ + 672.6558529120372, + 84.52113111725828 + ], + [ + 671.5750521675662, + 76.86697833058906 + ], + [ + 673.5618724937764, + 76.97199565428673 + ], + [ + 675.0360660789297, + 68.42949865149888 + ], + [ + 673.075053346508, + 68.32721651116537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9199127113716, + "ymin": 105.64366438895209, + "xmax": 666.674607247645, + "ymax": 137.19599837703586 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.9199127113716, + 137.17668585419085 + ], + [ + 664.2541220660348, + 137.19599837703586 + ], + [ + 666.2470223565708, + 125.54483011419757 + ], + [ + 665.9182298214434, + 125.5261446020773 + ], + [ + 664.3161677192359, + 117.15089577028624 + ], + [ + 664.6559246358989, + 117.16997591593343 + ], + [ + 666.674607247645, + 105.6621150615182 + ], + [ + 666.3404469692126, + 105.64366438895209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.3442112057829, + "ymin": 119.10746200431885, + "xmax": 665.4797033112293, + "ymax": 145.80194182813375 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 661.3442112057829, + 145.6793807767688 + ], + [ + 663.4396955617331, + 145.80194182813375 + ], + [ + 665.1346436006256, + 135.83954130084658 + ], + [ + 663.0678461697592, + 135.72034605675537 + ], + [ + 661.6413488058541, + 128.96899372477174 + ], + [ + 663.7660611671273, + 129.09037849937184 + ], + [ + 665.4797033112293, + 119.22546783787698 + ], + [ + 663.384478096471, + 119.10746200431885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4554902819608, + "ymin": 107.0248203074724, + "xmax": 665.6289011408613, + "ymax": 134.6855612015863 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4554902819608, + 134.66954553124813 + ], + [ + 663.733615690432, + 134.6855612015863 + ], + [ + 665.2375078733154, + 125.96160023182384 + ], + [ + 664.9627694303705, + 125.94597607832918 + ], + [ + 663.8238394431573, + 115.64608855701044 + ], + [ + 664.1063411298044, + 115.66191947430892 + ], + [ + 665.6289011408613, + 107.04025826039722 + ], + [ + 665.3498931781664, + 107.0248203074724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.0717142452592, + "ymin": 64.07457751529586, + "xmax": 672.9128199210961, + "ymax": 88.85032501377992 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.0717142452592, + 88.7454647467776 + ], + [ + 671.0196458047355, + 88.85032501377992 + ], + [ + 672.4983352294965, + 80.31846324165826 + ], + [ + 670.5752170832731, + 80.21628217715056 + ], + [ + 669.4473278914353, + 72.50100990425267 + ], + [ + 671.4204913703371, + 72.60462435083105 + ], + [ + 672.9128199210961, + 64.1755110496187 + ], + [ + 670.9651126591302, + 64.07457751529586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.4554945614735, + "ymin": 107.02490326115648, + "xmax": 665.6289056978793, + "ymax": 134.68564726344624 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.4554945614735, + 134.66963158922186 + ], + [ + 663.7336200037854, + 134.68564726344624 + ], + [ + 665.2375123138382, + 125.96168418980412 + ], + [ + 664.962773837872, + 125.94606003256487 + ], + [ + 663.8238438352678, + 115.64617362220952 + ], + [ + 664.1063455568287, + 115.66200454340964 + ], + [ + 665.6289056978793, + 107.0403412178386 + ], + [ + 665.3498977011287, + 107.02490326115648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.5051351370977, + "ymin": 80.32710173550186, + "xmax": 671.3901378439929, + "ymax": 135.4729871796948 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 668.5051351370977, + 135.39373375712165 + ], + [ + 669.8805965177154, + 135.4729871796948 + ], + [ + 670.0499906425656, + 134.43718508576927 + ], + [ + 668.6765164274609, + 134.3581626819545 + ], + [ + 669.778177493154, + 81.32648034093205 + ], + [ + 671.2152227271463, + 81.40296927597774 + ], + [ + 671.3901378439929, + 80.40335777483068 + ], + [ + 669.9552615667885, + 80.32710173550186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.8981368541063, + "ymin": 72.23311696145748, + "xmax": 672.8069040480989, + "ymax": 127.05465078769708 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.8981368541063, + 126.97726517253096 + ], + [ + 671.257446222886, + 127.05465078769708 + ], + [ + 671.4228506110372, + 126.04324384007063 + ], + [ + 670.065482048377, + 125.96608113093873 + ], + [ + 671.2168654559247, + 73.20793002013488 + ], + [ + 672.6362891729077, + 73.28253727993831 + ], + [ + 672.8069040480989, + 72.30749986019458 + ], + [ + 671.3895964648912, + 72.23311696145748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.41504371446, + "ymin": 589.0273558019469, + "xmax": 1091.7150812623117, + "ymax": 613.1458112284901 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1089.2722358523406, + 613.1458112284901 + ], + [ + 1084.8079304762002, + 595.6602781298391 + ], + [ + 1056.41504371446, + 593.0519346238074 + ], + [ + 1060.4459622304748, + 610.4590299191352 + ], + [ + 1091.7150812623117, + 609.1608581833505 + ], + [ + 1087.1907075937286, + 591.6406338721852 + ], + [ + 1058.6407256932891, + 589.0273558019469 + ], + [ + 1062.7268702392262, + 606.4685639419985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 643.5052874866668, + "ymin": 91.86233861946687, + "xmax": 645.3423429350416, + "ymax": 147.45568065552015 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 643.5052874866668, + 147.37373020552965 + ], + [ + 644.9011204289188, + 147.45568065552015 + ], + [ + 645.1104179721189, + 146.3846537576313 + ], + [ + 643.7166313629275, + 146.30294620973893 + ], + [ + 643.6645953024356, + 92.89725618965787 + ], + [ + 645.1238922959602, + 92.97646741692165 + ], + [ + 645.3423429350416, + 91.94130441751247 + ], + [ + 643.8852824369854, + 91.86233861946687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.8099901414942, + "ymin": 577.8938556778012, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1140.061497837922, + 835.5136699638889 + ], + [ + 1134.2838170511, + 812.5013861726516 + ], + [ + 938.8099901414942, + 791.2994612910644 + ], + [ + 941.3054489910156, + 813.6080014373862 + ], + [ + 1341.1660868518054, + 630.2035828690573 + ], + [ + 1328.5460850940044, + 602.8142566773325 + ], + [ + 1053.7620987692826, + 577.8938556778012 + ], + [ + 1059.8554493868592, + 604.1231781947165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.2300044943634, + "ymin": 588.899131201697, + "xmax": 1091.9101313484027, + "ymax": 613.2770408671029 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1089.4397996544596, + 613.2770408671029 + ], + [ + 1084.925384778754, + 595.603051069341 + ], + [ + 1056.2300044943634, + 592.9671812835354 + ], + [ + 1060.3016789827589, + 610.5610419049826 + ], + [ + 1091.9101313484027, + 609.2494738485241 + ], + [ + 1087.3343218427876, + 591.5400390281454 + ], + [ + 1058.4784742772708, + 588.899131201697 + ], + [ + 1062.6065431383038, + 606.5278396282401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6888443104411, + "ymin": 123.66806898465316, + "xmax": 664.4260562222676, + "ymax": 179.91733048721917 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 661.6888443104411, + 179.82855913803104 + ], + [ + 663.1379540551204, + 179.91733048721917 + ], + [ + 663.3268694038127, + 178.75721849654747 + ], + [ + 661.879965130923, + 178.66871988336865 + ], + [ + 662.7123675019885, + 124.79396566408417 + ], + [ + 664.2299970504384, + 124.88014585895786 + ], + [ + 664.4260562222676, + 123.75397193876506 + ], + [ + 662.9108454740517, + 123.66806898465316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.2687028578873, + "ymin": 0.0, + "xmax": 1026.5036290074056, + "ymax": 154.81154213535996 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 969.1595049497616, + 154.81154213535996 + ], + [ + 967.6011754623809, + 148.6048255217589 + ], + [ + 866.2687028578873, + 142.79849639263756 + ], + [ + 866.9518499421763, + 148.90553650908194 + ], + [ + 1026.5036290074056, + -52.71556420446581 + ], + [ + 1024.1044550047498, + -57.922479415451676 + ], + [ + 904.9277531639634, + -62.77956809150464 + ], + [ + 906.1146383307619, + -57.67056341794938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 11.05493066844383, + "ymin": 0.0, + "xmax": 224.2783514663799, + "ymax": 59.024411995939715 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 219.66031822847776, + 59.024411995939715 + ], + [ + 224.2783514663799, + 53.85741010727929 + ], + [ + 101.72739497217128, + 47.3733247198474 + ], + [ + 96.16037802391577, + 52.43383595764766 + ], + [ + 153.08054728708123, + -144.8314316525524 + ], + [ + 159.05122376577214, + -148.8861003901713 + ], + [ + 18.2782715588487, + -153.95954026503864 + ], + [ + 11.05493066844383, + -150.0013754455872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4167395357379, + "ymin": 81.11523844252463, + "xmax": 668.1716658658814, + "ymax": 136.29224925247118 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.4167395357379, + 136.21281286264173 + ], + [ + 666.7934427412225, + 136.29224925247118 + ], + [ + 666.9675401595891, + 135.25405755337184 + ], + [ + 665.5928276970513, + 135.17485298217653 + ], + [ + 666.5532217812388, + 82.1170254294708 + ], + [ + 667.9916226564727, + 82.19369885037378 + ], + [ + 668.1716658658814, + 81.19167812526268 + ], + [ + 666.7354380274305, + 81.11523844252463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.8827152653394, + "ymin": 67.93096964119968, + "xmax": 670.686737021834, + "ymax": 122.57661247582311 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 667.8827152653394, + 122.50021134022589 + ], + [ + 669.2331292702834, + 122.57661247582311 + ], + [ + 669.4003787735357, + 121.57806396912252 + ], + [ + 668.051880268224, + 121.50188150249673 + ], + [ + 669.104357605544, + 68.89285012987386 + ], + [ + 670.51408463377, + 68.96646680697853 + ], + [ + 670.686737021834, + 68.0043664074376 + ], + [ + 669.279097328087, + 67.93096964119968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7568799577066, + "ymin": 119.65857887201932, + "xmax": 664.5061862712873, + "ymax": 176.25891697816706 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.7568799577066, + 176.17029890522707 + ], + [ + 663.2105439754356, + 176.25891697816706 + ], + [ + 663.399939135315, + 175.1008132429076 + ], + [ + 661.9484944635478, + 175.01246828720207 + ], + [ + 662.7869870831389, + 120.78168890502059 + ], + [ + 664.3096125169246, + 120.86765628935652 + ], + [ + 664.5061862712873, + 119.7442687937451 + ], + [ + 662.9859955763785, + 119.65857887201932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.0776384447486, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 79.47652516261951 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1154.2195102270025, + 79.47652516261951 + ], + [ + 1313.573829750092, + 70.87727749084155 + ], + [ + 1221.275369277384, + -2.1714882734495404 + ], + [ + 1079.0776384447486, + 4.581513010197909 + ], + [ + 1283.2676049209178, + -238.37728205588155 + ], + [ + 1479.8426058883265, + -243.88924214807696 + ], + [ + 1345.0659309680898, + -289.29000688892995 + ], + [ + 1173.9265282614106, + -285.1966972319743 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00140/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00140/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3f266c7e14e42a35148d880c970e23b96066b8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00140/meta.json @@ -0,0 +1,6945 @@ +{ + "frame_id": 140, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.0, + "sim_timestamp": 13242.486951121362 + }, + "drone_pose": { + "x": -30.021387738650354, + "y": 2.437410008393201, + "z": 20.0, + "pitch": -44.173793181683, + "yaw": -6.1096175879243235, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7131556272506714, + 0.07633543014526367, + 0.6968371272087097, + 7.659238815307617 + ], + [ + -0.10643097758293152, + 0.9943200945854187, + 0.0, + 0.7716398239135742 + ], + [ + -0.6928791403770447, + -0.07416506111621857, + 0.7172293663024902, + -35.32655334472656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -29.56237032419785, + "y": 2.420242258071536, + "z": 20.0 + }, + "t1_image_uv": [ + 732.8374921031966, + -572.70524308073 + ], + "t1_depth": 0.3286613545939643 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -10.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.839933342211133, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -10.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21458066999912262, + "y": 0.29362988471984863, + "z": 0.5572111010551453 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9386319748636, + "ymin": 340.1897313243026, + "xmax": 650.9566135621124, + "ymax": 379.50961589639235 + }, + "corners_3d": [ + [ + -10.381762504577637, + 0.018606901168823242, + 0.042889952659606934 + ], + [ + -10.381762504577637, + 0.6058666706085205, + 0.042889952659606934 + ], + [ + -9.952601432800293, + 0.6058666706085205, + 0.042889952659606934 + ], + [ + -9.952601432800293, + 0.018606901168823242, + 0.042889952659606934 + ], + [ + -10.381762504577637, + 0.018606901168823242, + 1.1573121547698975 + ], + [ + -10.381762504577637, + 0.6058666706085205, + 1.1573121547698975 + ], + [ + -9.952601432800293, + 0.6058666706085205, + 1.1573121547698975 + ], + [ + -9.952601432800293, + 0.018606901168823242, + 1.1573121547698975 + ] + ], + "corners_2d": [ + [ + 629.2443496719532, + 377.99039105199074 + ], + [ + 649.2097557360679, + 379.50961589639235 + ], + [ + 650.6565805788151, + 369.232974406382 + ], + [ + 630.9040247187551, + 367.74633904216074 + ], + [ + 628.9386319748636, + 350.4162618026505 + ], + [ + 649.4719632894966, + 351.93342156901286 + ], + [ + 650.9566135621124, + 341.67343545480145 + ], + [ + 630.6483456803921, + 340.1897313243026 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 140, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 314592, + "2": 289883, + "3": 25461, + "5": 6705, + "6": 3849, + "9": 289, + "10": 4588, + "12": 1888, + "14": 38883, + "15": 5871, + "20": 3430, + "24": 21709, + "25": 204452 + }, + "instance_pixel_counts": { + "2118": 4586, + "3424": 149970, + "5506": 650, + "6215": 111531, + "6284": 2820, + "6290": 9388, + "6730": 596, + "6992": 3775, + "7774": 2180, + "8286": 1970, + "8332": 14359, + "8338": 39208, + "8798": 2599, + "9822": 1186, + "10846": 4730, + "15184": 2930, + "16203": 633, + "17738": 618, + "18000": 3430, + "21140": 31165, + "23392": 713, + "23700": 137431, + "23904": 677, + "28000": 380, + "28256": 372, + "28768": 360, + "29024": 73, + "29280": 112, + "29826": 414, + "31584": 274, + "31840": 111, + "32096": 120, + "35402": 200, + "35476": 1899, + "36170": 161, + "37524": 8621, + "38540": 3209, + "40588": 13387, + "41562": 25461, + "42897": 7463, + "44945": 40974, + "45898": 568, + "52038": 47544, + "54859": 511, + "56576": 200, + "56647": 54482, + "56832": 173, + "57088": 545, + "57173": 289, + "57344": 641, + "57600": 329, + "57856": 15617, + "58368": 5871, + "60928": 10601, + "62081": 2785, + "62101": 753, + "62611": 27301, + "64149": 3699, + "64585": 258, + "64659": 118695 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 200, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -10.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.19836118817329407, + "y": 0.27680376172065735, + "z": 0.5516860485076904 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.5925451153313, + "ymin": 340.7550248795455, + "xmax": 650.3166309313352, + "ymax": 378.94064932468444 + }, + "corners_3d": [ + [ + -10.365543365478516, + 0.035433024168014526, + 0.04841500520706177 + ], + [ + -10.365543365478516, + 0.5890405178070068, + 0.04841500520706177 + ], + [ + -9.968820571899414, + 0.5890405178070068, + 0.04841500520706177 + ], + [ + -9.968820571899414, + 0.035433024168014526, + 0.04841500520706177 + ], + [ + -10.365543365478516, + 0.035433024168014526, + 1.1517870426177979 + ], + [ + -10.365543365478516, + 0.5890405178070068, + 1.1517870426177979 + ], + [ + -9.968820571899414, + 0.5890405178070068, + 1.1517870426177979 + ], + [ + -9.968820571899414, + 0.035433024168014526, + 1.1517870426177979 + ] + ], + "corners_2d": [ + [ + 629.8772723971312, + 377.5096653277934 + ], + [ + 648.6934988067961, + 378.94064932468444 + ], + [ + 650.0367848376227, + 369.4417137398201 + ], + [ + 631.4060948535819, + 368.0391330998227 + ], + [ + 629.5925451153313, + 350.2095431197908 + ], + [ + 648.9384040395469, + 351.63856844054925 + ], + [ + 650.3166309313352, + 342.154899536903 + ], + [ + 631.166845845652, + 340.7550248795455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 173, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -6.041196346282959, + "y": 3.309941291809082, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.2888162136077881, + "y": 0.23180893063545227, + "z": 0.5359921455383301 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 737.8868080670711, + "ymin": 257.982667358516, + "xmax": 757.3804971234422, + "ymax": 296.1423004843525 + }, + "corners_3d": [ + [ + -6.362719535827637, + 3.1261672973632812, + 0.06409913301467896 + ], + [ + -6.290194034576416, + 3.5840771198272705, + 0.06409913301467896 + ], + [ + -5.719673156738281, + 3.493715286254883, + 0.06409913301467896 + ], + [ + -5.792198657989502, + 3.0358054637908936, + 0.06409913301467896 + ], + [ + -6.362719535827637, + 3.1261672973632812, + 1.1360833644866943 + ], + [ + -6.290194034576416, + 3.5840771198272705, + 1.1360833644866943 + ], + [ + -5.719673156738281, + 3.493715286254883, + 1.1360833644866943 + ], + [ + -5.792198657989502, + 3.0358054637908936, + 1.1360833644866943 + ] + ], + "corners_2d": [ + [ + 740.1160747864392, + 296.1423004843525 + ], + [ + 754.527028193845, + 295.6682088036906 + ], + [ + 752.1074928177297, + 284.1306990157638 + ], + [ + 737.8868080670711, + 284.59227314643744 + ], + [ + 742.6118870711841, + 269.9180126850537 + ], + [ + 757.3804971234422, + 269.4467748513315 + ], + [ + 754.8626551536317, + 257.982667358516 + ], + [ + 740.2938095578816, + 258.4411592245196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 545, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -12.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5288622975349426, + "y": 0.3271801769733429, + "z": 0.8854809403419495 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.7770306170434, + "ymin": 400.03711947531184, + "xmax": 910.6368681896097, + "ymax": 474.5393440048262 + }, + "corners_3d": [ + [ + -12.968266487121582, + 6.955895900726318, + -0.28537988662719727 + ], + [ + -12.934020042419434, + 7.609359264373779, + -0.28537988662719727 + ], + [ + -11.877745628356934, + 7.554002285003662, + -0.28537988662719727 + ], + [ + -11.911992073059082, + 6.900538921356201, + -0.28537988662719727 + ], + [ + -12.968266487121582, + 6.955895900726318, + 1.4855819940567017 + ], + [ + -12.934020042419434, + 7.609359264373779, + 1.4855819940567017 + ], + [ + -11.877745628356934, + 7.554002285003662, + 1.4855819940567017 + ], + [ + -11.911992073059082, + 6.900538921356201, + 1.4855819940567017 + ] + ], + "corners_2d": [ + [ + 873.3322908610078, + 473.5119874274297 + ], + [ + 897.754987105335, + 474.5393440048262 + ], + [ + 892.5020685536258, + 444.8101367955992 + ], + [ + 868.7770306170434, + 443.84025453358026 + ], + [ + 884.9815821733149, + 429.8478424978978 + ], + [ + 910.6368681896097, + 430.8815236503958 + ], + [ + 904.7458138491386, + 401.01021211276236 + ], + [ + 879.8592701105081, + 400.03711947531184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 641, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -20.39833641052246, + "y": -0.49509939551353455, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.37112730741500854, + "y": 0.2963366210460663, + "z": 0.87226802110672 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 531.0723095762967, + "ymin": 649.2899995310909, + "xmax": 571.0380668170072, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.753446578979492, + -0.8104531764984131, + -0.2721620798110962 + ], + [ + -20.78446388244629, + -0.21859219670295715, + -0.2721620798110962 + ], + [ + -20.04322624206543, + -0.17974558472633362, + -0.2721620798110962 + ], + [ + -20.012208938598633, + -0.7716065645217896, + -0.2721620798110962 + ], + [ + -20.753446578979492, + -0.8104531764984131, + 1.4723739624023438 + ], + [ + -20.78446388244629, + -0.21859219670295715, + 1.4723739624023438 + ], + [ + -20.04322624206543, + -0.17974558472633362, + 1.4723739624023438 + ], + [ + -20.012208938598633, + -0.7716065645217896, + 1.4723739624023438 + ] + ], + "corners_2d": [ + [ + 537.3828310505355, + 720.3853211099434 + ], + [ + 563.9113528968999, + 724.5459183026403 + ], + [ + 571.0380668170072, + 692.7439334294379 + ], + [ + 545.1355557391382, + 688.7845177529638 + ], + [ + 531.0723095762967, + 681.7839246430597 + ], + [ + 559.2162388230346, + 686.0693886507474 + ], + [ + 566.8933020581402, + 653.3559737863063 + ], + [ + 539.4529007914974, + 649.2899995310909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 329, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 1.0781532526016235, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.3759700357913971, + "y": 0.393370658159256, + "z": 0.9109714031219482 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 440.0723037303031, + "ymin": 107.61174061453985, + "xmax": 473.56385481077643, + "ymax": 162.93630438814515 + }, + "corners_3d": [ + [ + 0.7683489322662354, + -8.305320739746094, + -0.15856564044952393 + ], + [ + 0.6452751755714417, + -7.528265476226807, + -0.15856564044952393 + ], + [ + 1.3879575729370117, + -7.410635948181152, + -0.15856564044952393 + ], + [ + 1.5110313892364502, + -8.187690734863281, + -0.15856564044952393 + ], + [ + 0.7683489322662354, + -8.305320739746094, + 1.6633771657943726 + ], + [ + 0.6452751755714417, + -7.528265476226807, + 1.6633771657943726 + ], + [ + 1.3879575729370117, + -7.410635948181152, + 1.6633771657943726 + ], + [ + 1.5110313892364502, + -8.187690734863281, + 1.6633771657943726 + ] + ], + "corners_2d": [ + [ + 446.96508217196146, + 159.99799438665042 + ], + [ + 466.07099414958276, + 162.93630438814515 + ], + [ + 473.56385481077643, + 152.63956876227445 + ], + [ + 454.69481555059696, + 149.78277800870717 + ], + [ + 440.0723037303031, + 117.57417144426049 + ], + [ + 459.83463970316507, + 120.44160725605937 + ], + [ + 467.68264356277155, + 110.3968385315043 + ], + [ + 448.17354219789866, + 107.61174061453985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 15617, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 648.6007690320524, + "ymin": 473.6605221752535, + "xmax": 752.3665706177716, + "ymax": 714.8446580647816 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 648.6007690320524, + 705.5247167767151 + ], + [ + 741.9845717746857, + 714.8446580647816 + ], + [ + 747.8808448206548, + 515.0135806545265 + ], + [ + 668.8656284930864, + 508.354589515118 + ], + [ + 649.024112072377, + 673.8964953126705 + ], + [ + 747.0428252019246, + 683.436640814828 + ], + [ + 752.3665706177716, + 480.3738061079639 + ], + [ + 670.0582206559977, + 473.6605221752535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5871, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 698.978703970568, + "ymin": 73.82387570329695, + "xmax": 764.4113575969727, + "ymax": 225.78888159488145 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 698.978703970568, + 222.2735295174322 + ], + [ + 755.8358623498452, + 225.78888159488145 + ], + [ + 758.5330170547966, + 136.57161554064032 + ], + [ + 707.9932092103227, + 133.79656664425062 + ], + [ + 702.2767795261346, + 159.3179350958424 + ], + [ + 762.3436295334401, + 162.73675679956207 + ], + [ + 764.4113575969727, + 76.48929870538228 + ], + [ + 711.3513134492547, + 73.82387570329695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 10601, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 339.4720506419226, + "ymin": 472.1853233270452, + "xmax": 467.87412111848687, + "ymax": 647.5743714967753 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 467.87412111848687, + 516.2707011831473 + ], + [ + 399.6986288091275, + 510.39106126193155 + ], + [ + 354.19331549371645, + 640.1976930693959 + ], + [ + 430.29652034681385, + 647.5743714967753 + ], + [ + 459.9511733757379, + 478.11838198597775 + ], + [ + 388.7029019607106, + 472.1853233270452 + ], + [ + 339.4720506419226, + 603.8689933693822 + ], + [ + 419.4238490389426, + 611.3954516509974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625198862208, + "ymin": 122.8021984409036, + "xmax": 665.1135769176175, + "ymax": 149.82932853520202 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625198862208, + 149.7069213758704 + ], + [ + 663.0848869937241, + 149.82932853520202 + ], + [ + 664.7695986959244, + 139.70109086439277 + ], + [ + 662.6766958080624, + 139.58209109187354 + ], + [ + 661.2577750202514, + 132.827758203767 + ], + [ + 663.41009134019, + 132.94898941860197 + ], + [ + 665.1135769176175, + 122.92000847820714 + ], + [ + 662.9915563170467, + 122.8021984409036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625194304796, + "ymin": 122.8022010316576, + "xmax": 665.1135764774125, + "ymax": 149.8293312279631 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625194304796, + 149.70692406771917 + ], + [ + 663.0848865458154, + 149.8293312279631 + ], + [ + 664.7695982604849, + 139.70109348219074 + ], + [ + 662.6766953650064, + 139.58209370879703 + ], + [ + 661.2577745592068, + 132.82776086974928 + ], + [ + 663.4100908872005, + 132.94899208550052 + ], + [ + 665.1135764774125, + 122.92001106983892 + ], + [ + 662.9915558690118, + 122.8022010316576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.6925400819014, + "ymin": 84.03362797008822, + "xmax": 668.611625410889, + "ymax": 109.53541261460492 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.6925400819014, + 109.42627641420759 + ], + [ + 666.697144850673, + 109.53541261460492 + ], + [ + 668.2413000102373, + 100.49826355607746 + ], + [ + 666.263000858263, + 100.39199927784443 + ], + [ + 665.0206821147223, + 92.96548365764386 + ], + [ + 667.0519838260318, + 93.0734018028063 + ], + [ + 668.611625410889, + 84.13866926179543 + ], + [ + 666.6073299426273, + 84.03362797008822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.9221136886853, + "ymin": 83.2380055017116, + "xmax": 671.8359758973745, + "ymax": 108.70850973926898 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 667.9221136886853, + 108.5996379069505 + ], + [ + 669.924804977359, + 108.70850973926898 + ], + [ + 671.4244099738568, + 99.69310943233398 + ], + [ + 669.4479745568967, + 99.58709916190105 + ], + [ + 668.2927182639655, + 92.1480860591223 + ], + [ + 670.3220551820746, + 92.25573931882343 + ], + [ + 671.8359758973745, + 83.3427924227048 + ], + [ + 669.8335934763448, + 83.2380055017116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155149437102, + "ymin": 114.6208355590689, + "xmax": 663.7704730487058, + "ymax": 142.51349965354126 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155149437102, + 142.49747141835726 + ], + [ + 661.8962379005677, + 142.51349965354126 + ], + [ + 663.4045212743413, + 133.6256366973762 + ], + [ + 663.127253340533, + 133.61000434125236 + ], + [ + 661.9578063086259, + 123.40631788348003 + ], + [ + 662.242982532983, + 123.42216531619383 + ], + [ + 663.7704730487058, + 114.63628549714866 + ], + [ + 663.488861640777, + 114.6208355590689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155158329411, + "ymin": 114.62093463594968, + "xmax": 663.770474251278, + "ymax": 142.5136024435215 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155158329411, + 142.49757420373044 + ], + [ + 661.8962388301635, + 142.5136024435215 + ], + [ + 663.4045224064594, + 133.6257369485336 + ], + [ + 663.1272544332735, + 133.61010458797233 + ], + [ + 661.9578072619095, + 123.40641950937288 + ], + [ + 662.2429835279223, + 123.42226694671388 + ], + [ + 663.770474251278, + 114.63638457848364 + ], + [ + 663.4888628027285, + 114.62093463594968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625198862208, + "ymin": 122.8021984409036, + "xmax": 665.1135769176175, + "ymax": 149.82932853520202 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625198862208, + 149.7069213758704 + ], + [ + 663.0848869937241, + 149.82932853520202 + ], + [ + 664.7695986959244, + 139.70109086439277 + ], + [ + 662.6766958080624, + 139.58209109187354 + ], + [ + 661.2577750202514, + 132.827758203767 + ], + [ + 663.41009134019, + 132.94898941860197 + ], + [ + 665.1135769176175, + 122.92000847820714 + ], + [ + 662.9915563170467, + 122.8021984409036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625201984592, + "ymin": 122.80219845823558, + "xmax": 665.113577125813, + "ymax": 149.82932854721156 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625201984592, + 149.70692139387867 + ], + [ + 663.0848872019535, + 149.82932854721156 + ], + [ + 664.7695989012626, + 139.70109087606804 + ], + [ + 662.6766961159667, + 139.5820911093806 + ], + [ + 661.2577753368951, + 132.82775822160224 + ], + [ + 663.4100915513583, + 132.94898943049617 + ], + [ + 665.113577125813, + 122.92000848976568 + ], + [ + 662.9915566292341, + 122.80219845823558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625196105159, + "ymin": 122.80220060564253, + "xmax": 665.1135765507801, + "ymax": 149.82933077916962 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625196105159, + 149.70692362508044 + ], + [ + 663.0848866204668, + 149.82933077916962 + ], + [ + 664.7695983330582, + 139.70109304589104 + ], + [ + 662.6766955414838, + 139.5820932784787 + ], + [ + 661.2577747415955, + 132.82776043136397 + ], + [ + 663.4100909626987, + 132.94899164101744 + ], + [ + 665.1135765507801, + 122.92001063790025 + ], + [ + 662.9915560477467, + 122.80220060564253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.7749658863223, + "ymin": 94.86247392862475, + "xmax": 645.7621113738553, + "ymax": 120.7900964222417 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 641.7749658863223, + 120.67733001200824 + ], + [ + 643.8089135754223, + 120.7900964222417 + ], + [ + 645.6863175745182, + 111.45436109661722 + ], + [ + 643.6794450387372, + 111.34461010108606 + ], + [ + 641.7989479259136, + 104.0933811506817 + ], + [ + 643.8603853098112, + 104.20493789624595 + ], + [ + 645.7621113738553, + 94.97100812081555 + ], + [ + 643.7284809538186, + 94.86247392862475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155557972634, + "ymin": 114.62070577028447, + "xmax": 663.770513619412, + "ymax": 142.5133650006687 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155557972634, + 142.49733677151977 + ], + [ + 661.8962787021852, + 142.5133650006687 + ], + [ + 663.4045612884935, + 133.6255053703117 + ], + [ + 663.1272934053504, + 133.60987302000072 + ], + [ + 661.9578477436517, + 123.40618475553995 + ], + [ + 662.2430239144122, + 123.42203218219228 + ], + [ + 663.770513619412, + 114.63615570252941 + ], + [ + 663.4889022637485, + 114.62070577028447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625194304796, + "ymin": 122.8022010316576, + "xmax": 665.1135764774125, + "ymax": 149.8293312279631 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625194304796, + 149.70692406771917 + ], + [ + 663.0848865458154, + 149.8293312279631 + ], + [ + 664.7695982604849, + 139.70109348219074 + ], + [ + 662.6766953650064, + 139.58209370879703 + ], + [ + 661.2577745592068, + 132.82776086974928 + ], + [ + 663.4100908872005, + 132.94899208550052 + ], + [ + 665.1135764774125, + 122.92001106983892 + ], + [ + 662.9915558690118, + 122.8022010316576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.0874097150781, + "ymin": 113.21286249577807, + "xmax": 664.8243489042392, + "ymax": 145.0553791567928 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 662.0874097150781, + 145.0360509030227 + ], + [ + 662.4247455076463, + 145.0553791567928 + ], + [ + 664.4232120625879, + 133.18547407191508 + ], + [ + 664.0914018583243, + 133.16677980250847 + ], + [ + 662.4563743888223, + 124.93927587900112 + ], + [ + 662.7993555479387, + 124.9583767829426 + ], + [ + 664.8243489042392, + 113.23132666964287 + ], + [ + 664.4870782620496, + 113.21286249577807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155968352359, + "ymin": 114.62078316845071, + "xmax": 663.7705550247011, + "ymax": 142.51344529948236 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155968352359, + 142.4974170667345 + ], + [ + 661.8963197725948, + 142.51344529948236 + ], + [ + 663.4046020157634, + 133.62558368581503 + ], + [ + 663.1273341009772, + 133.6099513320376 + ], + [ + 661.9578894705163, + 123.40626414497623 + ], + [ + 662.243065674751, + 123.42211157524324 + ], + [ + 663.7705550247011, + 114.6362331041752 + ], + [ + 663.4889436363953, + 114.62078316845071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625201984592, + "ymin": 122.80219845823558, + "xmax": 665.113577125813, + "ymax": 149.82932854721156 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625201984592, + 149.70692139387867 + ], + [ + 663.0848872019535, + 149.82932854721156 + ], + [ + 664.7695989012626, + 139.70109087606804 + ], + [ + 662.6766961159667, + 139.5820911093806 + ], + [ + 661.2577753368951, + 132.82775822160224 + ], + [ + 663.4100915513583, + 132.94898943049617 + ], + [ + 665.113577125813, + 122.92000848976568 + ], + [ + 662.9915566292341, + 122.80219845823558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.0873168284892, + "ymin": 113.21285741160318, + "xmax": 664.8242559258833, + "ymax": 145.0553738284035 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 662.0873168284892, + 145.03604558092044 + ], + [ + 662.424652511329, + 145.0553738284035 + ], + [ + 664.4231205895986, + 133.1854689183041 + ], + [ + 664.0913104931847, + 133.16677465497375 + ], + [ + 662.4562799478043, + 124.93927061950285 + ], + [ + 662.7992609952711, + 124.9583715172264 + ], + [ + 664.8242559258833, + 113.23132157946213 + ], + [ + 664.4869853933991, + 113.21285741160318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.0874071498498, + "ymin": 113.21295059351417, + "xmax": 664.8243465867586, + "ymax": 145.05547137626127 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 662.0874071498498, + 145.03614312352468 + ], + [ + 662.4247428809678, + 145.05547137626127 + ], + [ + 664.4232097318688, + 133.18556326646092 + ], + [ + 664.0913995887461, + 133.1668689981333 + ], + [ + 662.4563718289414, + 124.93936701471273 + ], + [ + 662.7993529263156, + 124.95846791771481 + ], + [ + 664.8243465867586, + 113.23141476638983 + ], + [ + 664.4870760060157, + 113.21295059351417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9625208426475, + "ymin": 122.80219718596805, + "xmax": 665.1135777623062, + "ymax": 149.82932722485018 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.9625208426475, + 149.7069200719653 + ], + [ + 663.0848878423667, + 149.82932722485018 + ], + [ + 664.7695995296586, + 139.7010895905197 + ], + [ + 662.6766967480338, + 139.58208982426174 + ], + [ + 661.257775989609, + 132.8277569123914 + ], + [ + 663.4100922001896, + 132.94898812083537 + ], + [ + 665.1135777623062, + 122.92000721706705 + ], + [ + 662.9915572695013, + 122.80219718596805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.0875027466955, + "ymin": 113.2128697505903, + "xmax": 664.8244419315275, + "ymax": 145.05538675152224 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 662.0875027466955, + 145.03605849734296 + ], + [ + 662.4248385453383, + 145.05538675152224 + ], + [ + 664.4233035824733, + 133.18548141752711 + ], + [ + 664.0914933723332, + 133.16678714773138 + ], + [ + 662.4564689784787, + 124.93928338398939 + ], + [ + 662.7994501438747, + 124.95838428834185 + ], + [ + 664.8244419315275, + 113.23133392484576 + ], + [ + 664.4871712832667, + 113.2128697505903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.3539922354958, + "ymin": 75.0985999264663, + "xmax": 673.2190729236573, + "ymax": 100.24915192617073 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.3539922354958, + 100.14296627106381 + ], + [ + 671.3320471447346, + 100.24915192617073 + ], + [ + 672.7948883922609, + 91.45475968777026 + ], + [ + 670.8424515319058, + 91.35133102389653 + ], + [ + 669.7387024503605, + 83.78746276658126 + ], + [ + 671.7427471848972, + 83.8924253215718 + ], + [ + 673.2190729236573, + 75.20080223475577 + ], + [ + 671.2413193971058, + 75.0985999264663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.0874097617874, + "ymin": 113.21286163325485, + "xmax": 664.8243488427847, + "ymax": 145.0553782478565 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 662.0874097617874, + 145.03605000013542 + ], + [ + 662.424745449207, + 145.0553782478565 + ], + [ + 664.423212002626, + 133.1854731927931 + ], + [ + 664.0914019017819, + 133.16677892923633 + ], + [ + 662.4563744358398, + 124.93927498673455 + ], + [ + 662.7993554880408, + 124.95837588469723 + ], + [ + 664.8243488427847, + 113.23132580134109 + ], + [ + 664.4870783057235, + 113.21286163325485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.5016268907108, + "ymin": 126.73897533251429, + "xmax": 663.6388481668987, + "ymax": 153.67645463554032 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 659.5016268907108, + 153.55381267584437 + ], + [ + 661.616554964565, + 153.67645463554032 + ], + [ + 663.3161511042364, + 143.5283123299026 + ], + [ + 661.2304824236536, + 143.40907296682394 + ], + [ + 659.7753617038442, + 136.78664225392026 + ], + [ + 661.9200279477039, + 136.90813478376955 + ], + [ + 663.6388481668987, + 126.85705084148512 + ], + [ + 661.5242641005285, + 126.73897533251429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155149437102, + "ymin": 114.6208355590689, + "xmax": 663.7704730487058, + "ymax": 142.51349965354126 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155149437102, + 142.49747141835726 + ], + [ + 661.8962379005677, + 142.51349965354126 + ], + [ + 663.4045212743413, + 133.6256366973762 + ], + [ + 663.127253340533, + 133.61000434125236 + ], + [ + 661.9578063086259, + 123.40631788348003 + ], + [ + 662.242982532983, + 123.42216531619383 + ], + [ + 663.7704730487058, + 114.63628549714866 + ], + [ + 663.488861640777, + 114.6208355590689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.2331307715941, + "ymin": 70.77520683081718, + "xmax": 671.0727179049594, + "ymax": 95.75585022536768 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 667.2331307715941, + 95.65107772447305 + ], + [ + 669.1976457823886, + 95.75585022536768 + ], + [ + 670.6785557174909, + 87.07774861744991 + ], + [ + 668.7393114053041, + 86.97567860774643 + ], + [ + 667.5876314548336, + 79.3477117009316 + ], + [ + 669.5777794204621, + 79.45125925588792 + ], + [ + 671.0727179049594, + 70.87604940443316 + ], + [ + 669.1085000653194, + 70.77520683081718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.6155193549624, + "ymin": 114.6209200624622, + "xmax": 663.7704777383041, + "ymax": 142.51358732386427 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 661.6155193549624, + 142.49755908475086 + ], + [ + 661.8962423463294, + 142.51358732386427 + ], + [ + 663.4045258474418, + 133.62572220231863 + ], + [ + 663.1272578799684, + 133.61008984241008 + ], + [ + 661.9578108323533, + 123.4064045609444 + ], + [ + 662.2429870923233, + 123.42225199760475 + ], + [ + 663.7704777383041, + 114.63637000434102 + ], + [ + 663.4888662956472, + 114.6209200624622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.7287555249734, + "ymin": 87.30675222679093, + "xmax": 669.556432809567, + "ymax": 142.65278307591655 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 666.7287555249734, + 142.57361238993053 + ], + [ + 668.1157912342069, + 142.65278307591655 + ], + [ + 668.285370254617, + 141.59932777896552 + ], + [ + 666.9003581652614, + 141.52039008614727 + ], + [ + 667.9315803226918, + 88.32382777326609 + ], + [ + 669.3811805834495, + 88.40028675553907 + ], + [ + 669.556432809567, + 87.38297609317294 + ], + [ + 668.1090427020374, + 87.30675222679093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.1234177614969, + "ymin": 79.07057571585864, + "xmax": 670.975734569133, + "ymax": 134.09182890874365 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 668.1234177614969, + 134.0145417115123 + ], + [ + 669.4940068221192, + 134.09182890874365 + ], + [ + 669.659554037095, + 133.06341879252992 + ], + [ + 668.2909409293158, + 132.9863563296123 + ], + [ + 669.3731869008348, + 80.0624067471137 + ], + [ + 670.8048329135563, + 80.13696642325903 + ], + [ + 670.975734569133, + 79.14490897566787 + ], + [ + 669.5462443455098, + 79.07057571585864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1064.0089851838, + "ymin": 616.9170807157868, + "xmax": 1100.3576708902253, + "ymax": 641.8906856963504 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1097.8120727934293, + 641.8906856963504 + ], + [ + 1093.0683283782666, + 623.5731039792528 + ], + [ + 1064.0089851838, + 620.8902951399648 + ], + [ + 1068.2979465365174, + 639.1251804876501 + ], + [ + 1100.3576708902253, + 637.9639465836362 + ], + [ + 1095.549348601623, + 619.6056013448494 + ], + [ + 1066.3256396967433, + 616.9170807157868 + ], + [ + 1070.6739831072396, + 635.192089753567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.5292277151888, + "ymin": 99.07145618394077, + "xmax": 643.2912389464956, + "ymax": 154.86604431421887 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 641.5292277151888, + 154.78414738185154 + ], + [ + 642.937106883553, + 154.86604431421887 + ], + [ + 643.1472876768986, + 153.7763382001034 + ], + [ + 641.7414932729394, + 153.69468638941788 + ], + [ + 641.5992733106661, + 100.12514254166058 + ], + [ + 643.0716555970776, + 100.20435606587694 + ], + [ + 643.2912389464956, + 99.15042178311285 + ], + [ + 641.8211366766745, + 99.07145618394077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.414552848956, + "ymin": 605.6360057156061, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1147.3011796147325, + 860.5778132959457 + ], + [ + 1141.251516998574, + 836.7589560687097 + ], + [ + 942.414552848956, + 815.2111486371809 + ], + [ + 945.0621989351073, + 838.3013220260837 + ], + [ + 1356.0202522048216, + 659.9990865889931 + ], + [ + 1342.6771541778953, + 631.281495354121 + ], + [ + 1061.3499453532452, + 605.6360057156061 + ], + [ + 1067.8381889984487, + 633.1292582249843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1063.8185449441921, + "ymin": 616.7843546207055, + "xmax": 1100.5586145314091, + "ymax": 642.0266152080915 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1097.9843582342328, + 642.0266152080915 + ], + [ + 1093.18740274444, + 623.5116286739066 + ], + [ + 1063.8185449441921, + 620.8005236795905 + ], + [ + 1068.150902657705, + 639.2310308569988 + ], + [ + 1100.5586145314091, + 638.0579269230946 + ], + [ + 1095.6956553009268, + 619.5012913341602 + ], + [ + 1066.1589042661649, + 616.7843546207055 + ], + [ + 1070.5519003736094, + 635.2558501686924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9050230495424, + "ymin": 131.38176567273172, + "xmax": 662.580516095472, + "ymax": 187.82603792818017 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 659.9050230495424, + 187.7372655312172 + ], + [ + 661.3671114449756, + 187.82603792818017 + ], + [ + 661.5564303090429, + 186.644909001303 + ], + [ + 660.0965902543271, + 186.55641210681907 + ], + [ + 660.8520801438691, + 132.52890866853966 + ], + [ + 662.3838572748793, + 132.6151536848776 + ], + [ + 662.580516095472, + 131.46773032564354 + ], + [ + 661.0512065650719, + 131.38176567273172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.1369810692822, + "ymin": 0.0, + "xmax": 1027.861162857438, + "ymax": 162.0967131758117 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 969.8980818325383, + 162.0967131758117 + ], + [ + 968.2950508500153, + 155.7852773470186 + ], + [ + 866.1369810692822, + 149.9861516806267 + ], + [ + 866.84916627863, + 156.19707441169476 + ], + [ + 1027.861162857438, + -46.282881538339325 + ], + [ + 1025.3948645718178, + -51.590916611599994 + ], + [ + 905.1015644943409, + -56.45400685509617 + ], + [ + 906.3308504587486, + -51.24507548032466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.747886949009853, + "ymin": 0.0, + "xmax": 218.8382619033722, + "ymax": 65.48792337632773 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 214.15454684501327, + 65.48792337632773 + ], + [ + 218.8382619033722, + 60.235710639406534 + ], + [ + 95.24478982845949, + 53.761923250472194 + ], + [ + 89.59435769798074, + 58.90680839564925 + ], + [ + 146.15004741377948, + -139.3350949913413 + ], + [ + 152.2227765359936, + -143.4657769643095 + ], + [ + 10.099472496950284, + -148.54228947251858 + ], + [ + 2.747886949009853, + -144.50919392180305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.615482861566, + "ymin": 88.11178368207914, + "xmax": 666.310974083685, + "ymax": 143.4890839169921 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.615482861566, + 143.40972801612045 + ], + [ + 665.0037952063609, + 143.4890839169921 + ], + [ + 665.1781603415797, + 142.43316588031388 + ], + [ + 663.7918753311212, + 142.35404379008597 + ], + [ + 664.6795050302417, + 89.13134375780987 + ], + [ + 666.1304998170202, + 89.20798967549388 + ], + [ + 666.310974083685, + 88.18819362176231 + ], + [ + 664.8621936904237, + 88.11178368207914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.0862205260016, + "ymin": 74.69636007054379, + "xmax": 668.8324404400701, + "ymax": 129.54151807641932 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 666.0862205260016, + 129.4652227562508 + ], + [ + 667.447764567103, + 129.54151807641932 + ], + [ + 667.6152057425574, + 128.5262974926707 + ], + [ + 666.255611672807, + 128.45022259757144 + ], + [ + 667.2376675214988, + 75.67491297383202 + ], + [ + 668.6594476338738, + 75.74847368035233 + ], + [ + 668.8324404400701, + 74.7696988924369 + ], + [ + 667.4127865220548, + 74.69636007054379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9679540984415, + "ymin": 127.35800004836392, + "xmax": 662.6552008633622, + "ymax": 184.15734587030693 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.9679540984415, + 184.06872239249765 + ], + [ + 661.4346728941748, + 184.15734587030693 + ], + [ + 661.6244841835648, + 182.97820368829755 + ], + [ + 660.1600279812005, + 182.88985611837873 + ], + [ + 660.9211524100042, + 128.5023654527783 + ], + [ + 662.4580126320335, + 128.5884021414289 + ], + [ + 662.6552008633622, + 127.44375612656901 + ], + [ + 661.1208246332225, + 127.35800004836392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.5844534981347, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 85.24004886262497 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1155.6879379926102, + 85.24004886262497 + ], + [ + 1315.8949750398742, + 76.36798359079074 + ], + [ + 1222.4540824257606, + 2.4419495447710915 + ], + [ + 1079.5844534981347, + 9.397320344852744 + ], + [ + 1286.0403861949783, + -233.97633882314017 + ], + [ + 1483.867232788755, + -239.67905960239784 + ], + [ + 1347.187673916898, + -285.73175794432086 + ], + [ + 1175.1080691012007, + -281.50719066636657 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00141/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00141/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e9fd47dd14386b84df5c69b4722c9bc6a81407bf --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00141/meta.json @@ -0,0 +1,6945 @@ +{ + "frame_id": 141, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.5, + "sim_timestamp": 13252.937208236428 + }, + "drone_pose": { + "x": -29.56237032419785, + "y": 2.420242258071536, + "z": 20.0, + "pitch": -44.11801293837768, + "yaw": -6.048239370158071, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7139112949371338, + 0.07564286142587662, + 0.6961385607719421, + 7.365215301513672 + ], + [ + -0.10536574572324753, + 0.9944335222244263, + 0.0, + 0.7080912590026855 + ], + [ + -0.6922635436058044, + -0.07334915548563004, + 0.7179074287414551, + -35.0006217956543 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -29.098879537494245, + "y": 2.4172989753670753, + "z": 20.0 + }, + "t1_image_uv": [ + 773.1046032497845, + -570.8901355099034 + ], + "t1_depth": 0.3311139354164369 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -9.66718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.9999999999998 + ], + "depth": 27.86787123572416, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -9.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2833804190158844, + "y": 0.25776490569114685, + "z": 0.564475417137146 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.9333162536323, + "ymin": 338.49891207010427, + "xmax": 649.9336153795789, + "ymax": 381.238562624882 + }, + "corners_3d": [ + [ + -9.950562477111816, + 0.054471880197525024, + 0.0356256365776062 + ], + [ + -9.950562477111816, + 0.5700017213821411, + 0.0356256365776062 + ], + [ + -9.383801460266113, + 0.5700017213821411, + 0.0356256365776062 + ], + [ + -9.383801460266113, + 0.054471880197525024, + 0.0356256365776062 + ], + [ + -9.950562477111816, + 0.054471880197525024, + 1.164576530456543 + ], + [ + -9.950562477111816, + 0.5700017213821411, + 1.164576530456543 + ], + [ + -9.383801460266113, + 0.5700017213821411, + 1.164576530456543 + ], + [ + -9.383801460266113, + 0.054471880197525024, + 1.164576530456543 + ] + ], + "corners_2d": [ + [ + 630.215083659853, + 379.91619865186993 + ], + [ + 647.7539352546753, + 381.238562624882 + ], + [ + 649.6591465944172, + 367.69431887198175 + ], + [ + 632.3668390364269, + 366.4092837680632 + ], + [ + 629.9333162536323, + 351.980990298622 + ], + [ + 647.9775378243532, + 353.30151552573307 + ], + [ + 649.9336153795789, + 339.78110963071396 + ], + [ + 632.1502448881909, + 338.49891207010427 + ] + ], + "center_offset_px": [ + 0.0, + -2.2737367544323206e-13 + ] + }, + "trace_timestep_index": 141, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 312916, + "2": 291298, + "3": 23338, + "5": 7264, + "6": 3726, + "9": 351, + "10": 4864, + "12": 1926, + "14": 39625, + "15": 6010, + "20": 3524, + "24": 21687, + "25": 205071 + }, + "instance_pixel_counts": { + "2118": 4864, + "3424": 148228, + "5506": 689, + "6215": 110299, + "6284": 2972, + "6290": 9819, + "6730": 591, + "6992": 4387, + "7774": 1587, + "8286": 2380, + "8332": 14187, + "8338": 38712, + "8798": 2978, + "9822": 694, + "10846": 4848, + "15184": 2877, + "16203": 630, + "17738": 526, + "18000": 3524, + "21140": 32710, + "23392": 718, + "23700": 134882, + "23904": 623, + "28000": 389, + "28256": 376, + "28768": 364, + "29024": 72, + "29280": 81, + "29826": 450, + "31584": 279, + "31840": 111, + "32096": 145, + "35402": 201, + "35476": 2028, + "36170": 148, + "37524": 8599, + "38540": 3361, + "40588": 13229, + "41562": 23338, + "42897": 7863, + "44945": 40500, + "45898": 561, + "52038": 50356, + "54859": 473, + "56576": 202, + "56647": 56843, + "56832": 174, + "57088": 543, + "57173": 351, + "57344": 674, + "57600": 333, + "57856": 16111, + "58368": 6010, + "60928": 11027, + "62081": 2587, + "62101": 788, + "62611": 28648, + "64149": 3723, + "64585": 261, + "64659": 116676 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 202, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -9.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.29534053802490234, + "y": 0.26615363359451294, + "z": 0.5545938014984131 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.5951677981191, + "ymin": 338.44899047191944, + "xmax": 650.2614224534993, + "ymax": 381.3124163839967 + }, + "corners_3d": [ + [ + -9.962522506713867, + 0.046083152294158936, + 0.04550725221633911 + ], + [ + -9.962522506713867, + 0.5783904194831848, + 0.04550725221633911 + ], + [ + -9.371841430664062, + 0.5783904194831848, + 0.04550725221633911 + ], + [ + -9.371841430664062, + 0.046083152294158936, + 0.04550725221633911 + ], + [ + -9.962522506713867, + 0.046083152294158936, + 1.1546947956085205 + ], + [ + -9.962522506713867, + 0.5783904194831848, + 1.1546947956085205 + ], + [ + -9.371841430664062, + 0.5783904194831848, + 1.1546947956085205 + ], + [ + -9.371841430664062, + 0.046083152294158936, + 1.1546947956085205 + ] + ], + "corners_2d": [ + [ + 629.8814524424761, + 379.9461921243594 + ], + [ + 648.0009832524532, + 381.3124163839967 + ], + [ + 649.9828696904619, + 367.19595368112147 + ], + [ + 632.1287808263479, + 365.86990966405426 + ], + [ + 629.5951677981191, + 352.49983393533705 + ], + [ + 648.2276900118807, + 353.8642158017785 + ], + [ + 650.2614224534993, + 339.7721360345305 + ], + [ + 631.9094687192355, + 338.44899047191944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 174, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -5.541196346282959, + "y": 3.309941291809082, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.26544615626335144, + "y": 0.1866859346628189, + "z": 0.5424237251281738 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 739.1090711831037, + "ymin": 258.43076252672984, + "xmax": 755.6085895209874, + "ymax": 295.8564915560983 + }, + "corners_3d": [ + [ + -5.832578659057617, + 3.167078733444214, + 0.057667553424835205 + ], + [ + -5.774170398712158, + 3.535853862762451, + 0.057667553424835205 + ], + [ + -5.249814033508301, + 3.45280385017395, + 0.057667553424835205 + ], + [ + -5.30822229385376, + 3.084028720855713, + 0.057667553424835205 + ], + [ + -5.832578659057617, + 3.167078733444214, + 1.142514944076538 + ], + [ + -5.774170398712158, + 3.535853862762451, + 1.142514944076538 + ], + [ + -5.249814033508301, + 3.45280385017395, + 1.142514944076538 + ], + [ + -5.30822229385376, + 3.084028720855713, + 1.142514944076538 + ] + ], + "corners_2d": [ + [ + 741.1881905376038, + 295.8564915560983 + ], + [ + 752.7721529188618, + 295.4678155156389 + ], + [ + 750.5524608800765, + 284.8855869187839 + ], + [ + 739.1090711831037, + 285.26482381411734 + ], + [ + 743.7344387355465, + 269.3300528048001 + ], + [ + 755.6085895209874, + 268.9437952802286 + ], + [ + 753.2982603454774, + 258.43076252672984 + ], + [ + 741.571768305342, + 258.8074080737605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 543, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -11.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5387560725212097, + "y": 0.33314451575279236, + "z": 0.8983386754989624 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.2752613866767, + "ymin": 399.10979990585037, + "xmax": 910.8274974325204, + "ymax": 474.74145096412815 + }, + "corners_3d": [ + [ + -12.478459358215332, + 6.950457572937012, + -0.2982376217842102 + ], + [ + -12.443588256835938, + 7.615833282470703, + -0.2982376217842102 + ], + [ + -11.367552757263184, + 7.559440612792969, + -0.2982376217842102 + ], + [ + -11.402423858642578, + 6.894064903259277, + -0.2982376217842102 + ], + [ + -12.478459358215332, + 6.950457572937012, + 1.4984397888183594 + ], + [ + -12.443588256835938, + 7.615833282470703, + 1.4984397888183594 + ], + [ + -11.367552757263184, + 7.559440612792969, + 1.4984397888183594 + ], + [ + -11.402423858642578, + 6.894064903259277, + 1.4984397888183594 + ] + ], + "corners_2d": [ + [ + 872.9445326318576, + 473.717873746765 + ], + [ + 897.7785301617421, + 474.74145096412815 + ], + [ + 892.3871783626925, + 444.5254360956237 + ], + [ + 868.2752613866767, + 443.5601342276003 + ], + [ + 884.7242550796703, + 429.4043301557997 + ], + [ + 910.8274974325204, + 430.4341022984464 + ], + [ + 904.7759140166177, + 400.0781118247457 + ], + [ + 879.4692593660119, + 399.10979990585037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 674, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -19.959346771240234, + "y": -0.8419658541679382, + "z": 0.5999106168746948 + }, + "extent": { + "x": 0.3602246046066284, + "y": 0.31566330790519714, + "z": 0.8800190687179565 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 513.7522391799208, + "ymin": 649.9203807626081, + "xmax": 556.5447302460698, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.30255699157715, + -1.1760492324829102, + -0.2801084518432617 + ], + [ + -20.33559799194336, + -0.5455878973007202, + -0.2801084518432617 + ], + [ + -19.61613655090332, + -0.5078824758529663, + -0.2801084518432617 + ], + [ + -19.58309555053711, + -1.1383438110351562, + -0.2801084518432617 + ], + [ + -20.30255699157715, + -1.1760492324829102, + 1.4799296855926514 + ], + [ + -20.33559799194336, + -0.5455878973007202, + 1.4799296855926514 + ], + [ + -19.61613655090332, + -0.5078824758529663, + 1.4799296855926514 + ], + [ + -19.58309555053711, + -1.1383438110351562, + 1.4799296855926514 + ] + ], + "corners_2d": [ + [ + 521.1179071025316, + 720.459159263136 + ], + [ + 549.3109494840643, + 724.8570856879204 + ], + [ + 556.5447302460698, + 693.9876098178249 + ], + [ + 528.9971551424759, + 689.7963980096155 + ], + [ + 513.7522391799208, + 681.4529712972757 + ], + [ + 543.6717331721458, + 685.9832659625877 + ], + [ + 551.4864482087697, + 654.2250199973748 + ], + [ + 522.2928351568657, + 649.9203807626081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 333, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 1.5781532526016235, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.5428135395050049, + "y": 0.3313461244106293, + "z": 0.9152685403823853 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 439.61971757074014, + "ymin": 106.13399980701354, + "xmax": 473.51632660591224, + "ymax": 165.63840602354185 + }, + "corners_3d": [ + [ + 1.093856692314148, + -8.270159721374512, + -0.16286277770996094 + ], + [ + 0.9901885986328125, + -7.615626811981201, + -0.16286277770996094 + ], + [ + 2.0624496936798096, + -7.445796966552734, + -0.16286277770996094 + ], + [ + 2.1661179065704346, + -8.100330352783203, + -0.16286277770996094 + ], + [ + 1.093856692314148, + -8.270159721374512, + 1.6676743030548096 + ], + [ + 0.9901885986328125, + -7.615626811981201, + 1.6676743030548096 + ], + [ + 2.0624496936798096, + -7.445796966552734, + 1.6676743030548096 + ], + [ + 2.1661179065704346, + -8.100330352783203, + 1.6676743030548096 + ] + ], + "corners_2d": [ + [ + 446.57157533196835, + 163.1615513301493 + ], + [ + 462.7016513495354, + 165.63840602354185 + ], + [ + 473.51632660591224, + 150.80023871682255 + ], + [ + 457.6744882495929, + 148.42201316331585 + ], + [ + 439.61971757074014, + 120.50560643682928 + ], + [ + 456.3072353932482, + 122.92266931517997 + ], + [ + 467.63718748731543, + 108.45145699187975 + ], + [ + 451.2578807484938, + 106.13399980701354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 16111, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 646.796483279176, + "ymin": 489.2439579563379, + "xmax": 752.0105052290525, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 646.796483279176, + 726.9566410833409 + ], + [ + 741.7045432393018, + 736.4848778648245 + ], + [ + 747.4826569265854, + 530.5968715909249 + ], + [ + 667.3935084173856, + 523.8255781272796 + ], + [ + 647.1363866966459, + 695.796199667866 + ], + [ + 746.8301805976361, + 705.5643382541829 + ], + [ + 752.0105052290525, + 496.0775877628188 + ], + [ + 668.5401050244474, + 489.2439579563379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6010, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 697.8002965281158, + "ymin": 80.73637642865015, + "xmax": 763.7105137664488, + "ymax": 234.56561677834213 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 697.8002965281158, + 231.01865051123596 + ], + [ + 755.2060875945402, + 234.56561677834213 + ], + [ + 757.8217346846934, + 143.71304957092485 + ], + [ + 706.8555792375978, + 140.91973816682693 + ], + [ + 701.0620414540635, + 167.87195902715118 + ], + [ + 761.7377012472311, + 171.32487777512375 + ], + [ + 763.7105137664488, + 83.42132078773432 + ], + [ + 710.183337164097, + 80.73637642865015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 11027, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 332.5164371188384, + "ymin": 488.09024641940715, + "xmax": 463.61788360308947, + "ymax": 667.3752873769934 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 463.61788360308947, + 532.148830586764 + ], + [ + 394.50484587672986, + 526.1669975135451 + ], + [ + 347.79873461313383, + 659.8434304986528 + ], + [ + 425.0827519981488, + 667.3752873769934 + ], + [ + 455.3900207238629, + 494.133544008655 + ], + [ + 383.12084816903166, + 488.09024641940715 + ], + [ + 332.5164371188384, + 623.8813742172708 + ], + [ + 413.7678305926151, + 631.5778139951356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719212065031, + "ymin": 130.51999752913937, + "xmax": 663.5414910878184, + "ymax": 157.80010108131788 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719212065031, + 157.6766122688153 + ], + [ + 661.5143353822041, + 157.80010108131788 + ], + [ + 663.2163654146857, + 147.47941275055575 + ], + [ + 661.1040055591099, + 147.35939690643642 + ], + [ + 659.647114281002, + 140.7384530126782 + ], + [ + 661.8200156402061, + 140.86078464715445 + ], + [ + 663.5414910878184, + 130.6388409116331 + ], + [ + 661.3994993419469, + 130.51999752913937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719207459326, + "ymin": 130.52000016934042, + "xmax": 663.541490643032, + "ymax": 157.80010382565075 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719207459326, + 157.67661501221812 + ], + [ + 661.514334929624, + 157.80010382565075 + ], + [ + 663.216364974835, + 147.47941541770132 + ], + [ + 661.1040051114912, + 147.35939957269085 + ], + [ + 659.6471138149398, + 140.73845573036687 + ], + [ + 661.8200151823632, + 140.86078736577747 + ], + [ + 663.541490643032, + 130.63884355272884 + ], + [ + 661.3994988891732, + 130.52000016934042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.1427813137062, + "ymin": 91.03627516598789, + "xmax": 667.0769311375648, + "ymax": 116.76032375596367 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 663.1427813137062, + 116.65035196151695 + ], + [ + 665.1651379382579, + 116.76032375596367 + ], + [ + 666.7237576532301, + 107.56208237433066 + ], + [ + 664.7282025485447, + 107.4550327126783 + ], + [ + 663.4527815458541, + 100.12922075720184 + ], + [ + 665.5022825110075, + 100.23798792479079 + ], + [ + 667.0769311375648, + 91.14211427825416 + ], + [ + 665.0549511057106, + 91.03627516598789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.4010459865355, + "ymin": 90.22477403127493, + "xmax": 670.3297943517455, + "ymax": 115.91686688039994 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.4010459865355, + 115.807164671554 + ], + [ + 668.4214426509254, + 115.91686688039994 + ], + [ + 669.9346714361593, + 106.7410258307097 + ], + [ + 667.941024833908, + 106.63423508765104 + ], + [ + 666.7542515445508, + 99.2952851950509 + ], + [ + 668.8017395784344, + 99.40378216479235 + ], + [ + 670.3297943517455, + 90.33035377619893 + ], + [ + 668.3097737074938, + 90.22477403127493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.0222520657289, + "ymin": 122.31736570147163, + "xmax": 662.1739906650338, + "ymax": 150.4491808414525 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.0222520657289, + 150.4330097505868 + ], + [ + 660.3056371309365, + 150.4491808414525 + ], + [ + 661.8297610015401, + 141.39160451628422 + ], + [ + 661.5499004742401, + 141.37583697946513 + ], + [ + 660.3420511611305, + 131.27298299952037 + ], + [ + 660.6299698918333, + 131.28897598110314 + ], + [ + 662.1739906650338, + 122.33295332074908 + ], + [ + 661.8897094252588, + 122.31736570147163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.0222529430716, + "ymin": 122.3174666730333, + "xmax": 662.1739918584668, + "ymax": 150.4492855972584 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.0222529430716, + 150.4331145016959 + ], + [ + 660.3056380494533, + 150.4492855972584 + ], + [ + 661.8297621270835, + 141.3917066578511 + ], + [ + 661.5499015596273, + 141.3759391165099 + ], + [ + 660.3420520996696, + 131.27308659685815 + ], + [ + 660.6299708728743, + 131.28907958316023 + ], + [ + 662.1739918584668, + 122.33305429685174 + ], + [ + 661.8897105772571, + 122.3174666730333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719212065031, + "ymin": 130.51999752913937, + "xmax": 663.5414910878184, + "ymax": 157.80010108131788 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719212065031, + 157.6766122688153 + ], + [ + 661.5143353822041, + 157.80010108131788 + ], + [ + 663.2163654146857, + 147.47941275055575 + ], + [ + 661.1040055591099, + 147.35939690643642 + ], + [ + 659.647114281002, + 140.7384530126782 + ], + [ + 661.8200156402061, + 140.86078464715445 + ], + [ + 663.5414910878184, + 130.6388409116331 + ], + [ + 661.3994993419469, + 130.51999752913937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719215216906, + "ymin": 130.51999754662342, + "xmax": 663.5414912979733, + "ymax": 157.80010109343354 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719215216906, + 157.67661228698276 + ], + [ + 661.5143355924004, + 157.80010109343354 + ], + [ + 663.2163656219327, + 147.4794127623307 + ], + [ + 661.1040058698767, + 147.35939692409303 + ], + [ + 659.6471146006741, + 140.7384530306754 + ], + [ + 661.820015853394, + 140.86078465915656 + ], + [ + 663.5414912979733, + 130.63884092329297 + ], + [ + 661.3994996570724, + 130.51999754662342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.371920927757, + "ymin": 130.519999735135, + "xmax": 663.541490717163, + "ymax": 157.80010336826194 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.371920927757, + 157.6766145610402 + ], + [ + 661.514335005054, + 157.80010336826194 + ], + [ + 663.2163650481434, + 147.4794149731771 + ], + [ + 661.1040052896833, + 147.35939913420074 + ], + [ + 659.6471139991742, + 140.7384552834179 + ], + [ + 661.8200152586704, + 140.86078691267366 + ], + [ + 663.541490717163, + 130.63884311254625 + ], + [ + 661.3994990696773, + 130.519999735135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 640.0163412320919, + "ymin": 102.07213912486628, + "xmax": 644.0202678222424, + "ymax": 128.23086800662435 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 640.0163412320919, + 128.11719704129843 + ], + [ + 642.0686723756078, + 128.23086800662435 + ], + [ + 643.9669673134772, + 118.72531890711099 + ], + [ + 641.9422316189915, + 118.61471772216413 + ], + [ + 640.0165638252206, + 111.47296839814092 + ], + [ + 642.0968555722484, + 111.5854444739245 + ], + [ + 644.0202678222424, + 102.18153716338475 + ], + [ + 641.9683233659771, + 102.07213912486628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.022293333792, + "ymin": 122.31723340706563, + "xmax": 662.1740316477602, + "ymax": 150.44904358887445 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.022293333792, + 150.43287250416267 + ], + [ + 660.3056783460038, + 150.44904358887445 + ], + [ + 661.8298014127254, + 141.39147068891953 + ], + [ + 661.5499409371113, + 141.3757031580255 + ], + [ + 660.3420930265144, + 131.2728472647849 + ], + [ + 660.6300117025121, + 131.2888402401843 + ], + [ + 662.1740316477602, + 122.33282102039334 + ], + [ + 661.889750461317, + 122.31723340706563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719207459326, + "ymin": 130.52000016934042, + "xmax": 663.541490643032, + "ymax": 157.80010382565075 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719207459326, + 157.67661501221812 + ], + [ + 661.514334929624, + 157.80010382565075 + ], + [ + 663.216364974835, + 147.47941541770132 + ], + [ + 661.1040051114912, + 147.35939957269085 + ], + [ + 659.6471138149398, + 140.73845573036687 + ], + [ + 661.8200151823632, + 140.86078736577747 + ], + [ + 663.541490643032, + 130.63884355272884 + ], + [ + 661.3994988891732, + 130.52000016934042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.4996632234848, + "ymin": 120.88194269785984, + "xmax": 663.2381364015466, + "ymax": 153.02392699186825 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 660.4996632234848, + 153.00442587141532 + ], + [ + 660.8402032473105, + 153.02392699186825 + ], + [ + 662.8595002736997, + 140.92752427787093 + ], + [ + 662.524596940469, + 140.90866942053088 + ], + [ + 660.8450698488609, + 132.8354523421381 + ], + [ + 661.1913573800513, + 132.85472956281674 + ], + [ + 663.2381364015466, + 120.90057058463083 + ], + [ + 662.8976758098208, + 120.88194269785984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.0223347455104, + "ymin": 122.31731226265771, + "xmax": 662.1740734300093, + "ymax": 150.44912539984156 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.0223347455104, + 150.43295431146174 + ], + [ + 660.3057197907908, + 150.44912539984156 + ], + [ + 661.8298425077949, + 141.39155045824916 + ], + [ + 661.5499819999299, + 141.37578292382352 + ], + [ + 660.3421351365171, + 131.27292817102457 + ], + [ + 660.63005384665, + 131.2889211501096 + ], + [ + 662.1740734300093, + 122.3328998795318 + ], + [ + 661.8897922102883, + 122.31731226265771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3719215216906, + "ymin": 130.51999754662342, + "xmax": 663.5414912979733, + "ymax": 157.80010109343354 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.3719215216906, + 157.67661228698276 + ], + [ + 661.5143355924004, + 157.80010109343354 + ], + [ + 663.2163656219327, + 147.4794127623307 + ], + [ + 661.1040058698767, + 147.35939692409303 + ], + [ + 659.6471146006741, + 140.7384530306754 + ], + [ + 661.820015853394, + 140.86078465915656 + ], + [ + 663.5414912979733, + 130.63884092329297 + ], + [ + 661.3994996570724, + 130.51999754662342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.4995694546005, + "ymin": 120.88193756860616, + "xmax": 663.2380425437887, + "ymax": 153.02392161582324 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 660.4995694546005, + 153.00442050171372 + ], + [ + 660.8401093676536, + 153.02392161582324 + ], + [ + 662.8594079480005, + 140.92751907998928 + ], + [ + 662.5245047236256, + 140.90866422877778 + ], + [ + 660.8449744974237, + 132.83544703409052 + ], + [ + 661.1912619158853, + 132.85472424849374 + ], + [ + 663.2380425437887, + 120.9005654493179 + ], + [ + 662.8975820628074, + 120.88193756860616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.4996606164618, + "ymin": 120.88203247823421, + "xmax": 663.2381340452775, + "ymax": 153.0240209799547 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 660.4996606164618, + 153.00451986049183 + ], + [ + 660.8402005787132, + 153.0240209799547 + ], + [ + 662.859497907485, + 140.9276151511705 + ], + [ + 662.5245946355278, + 140.90876029486947 + ], + [ + 660.8450672435139, + 132.83554525204832 + ], + [ + 661.1913547128482, + 132.85482247183268 + ], + [ + 663.2381340452775, + 120.90066036405744 + ], + [ + 662.8976735151219, + 120.88203247823421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.371922172226, + "ymin": 130.519996249835, + "xmax": 663.5414919406761, + "ymax": 157.80009974549864 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.371922172226, + 157.67661093950468 + ], + [ + 661.5143362390829, + 157.80009974549864 + ], + [ + 663.2163662563523, + 147.47941145230791 + ], + [ + 661.1040065080417, + 147.35939561450792 + ], + [ + 659.6471152599346, + 140.73845169582734 + ], + [ + 661.8200165086913, + 140.86078332384957 + ], + [ + 663.5414919406761, + 130.63883962606508 + ], + [ + 661.3995003036266, + 130.519996249835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.4997571383478, + "ymin": 120.88195003909303, + "xmax": 663.2382303082866, + "ymax": 153.02393467765614 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 660.4997571383478, + 153.00443355678908 + ], + [ + 660.840297168319, + 153.02393467765614 + ], + [ + 662.859592646395, + 140.92753170895006 + ], + [ + 662.5246893072211, + 140.90867685121628 + ], + [ + 660.8451653498602, + 132.83545993926964 + ], + [ + 661.191452887405, + 132.85473716036466 + ], + [ + 663.2382303082866, + 120.9005779262595 + ], + [ + 662.8977697104191, + 120.88195003909303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.8461845892339, + "ymin": 81.9409474149586, + "xmax": 671.7254445478161, + "ymax": 107.3068939473828 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 667.8461845892339, + 107.19992479410789 + ], + [ + 669.8414809630427, + 107.3068939473828 + ], + [ + 671.3172526486859, + 98.35817303555763 + ], + [ + 669.348050154855, + 98.25400792959306 + ], + [ + 668.2139927078584, + 90.7840538628775 + ], + [ + 670.2357070829689, + 90.88981232592056 + ], + [ + 671.7254445478161, + 82.04389767861653 + ], + [ + 669.730514976851, + 81.9409474149586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.4996632708087, + "ymin": 120.88194181885069, + "xmax": 663.2381363396763, + "ymax": 153.02392606554957 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 660.4996632708087, + 153.00442495120024 + ], + [ + 660.8402031884823, + 153.02392606554957 + ], + [ + 662.8595002133138, + 140.92752338225066 + ], + [ + 662.5245969844709, + 140.9086685308111 + ], + [ + 660.8450698965357, + 132.83545143248878 + ], + [ + 661.191357319775, + 132.8547286471331 + ], + [ + 663.2381363396763, + 120.90056969979145 + ], + [ + 662.8976758540775, + 120.88194181885069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9025942734776, + "ymin": 134.47068744870415, + "xmax": 662.0581993697424, + "ymax": 161.6596624078252 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 657.9025942734776, + 161.5359435901745 + ], + [ + 660.0374406994931, + 161.6596624078252 + ], + [ + 661.7545852193887, + 151.31925631468027 + ], + [ + 659.6495825782191, + 151.19900529875957 + ], + [ + 658.1560333577049, + 144.71109985080355 + ], + [ + 660.321150450865, + 144.8336881681945 + ], + [ + 662.0581993697424, + 134.58979204602576 + ], + [ + 659.9237723203382, + 134.47068744870415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.0222520657289, + "ymin": 122.31736570147163, + "xmax": 662.1739906650338, + "ymax": 150.4491808414525 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.0222520657289, + 150.4330097505868 + ], + [ + 660.3056371309365, + 150.4491808414525 + ], + [ + 661.8297610015401, + 141.39160451628422 + ], + [ + 661.5499004742401, + 141.37583697946513 + ], + [ + 660.3420511611305, + 131.27298299952037 + ], + [ + 660.6299698918333, + 131.28897598110314 + ], + [ + 662.1739906650338, + 122.33295332074908 + ], + [ + 661.8897094252588, + 122.31736570147163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.7072802100766, + "ymin": 77.54317974958798, + "xmax": 669.5607755339688, + "ymax": 102.73602333139752 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 665.7072802100766, + 102.63049109520068 + ], + [ + 667.6887936686431, + 102.73602333139752 + ], + [ + 669.1829649039543, + 93.90673482121883 + ], + [ + 667.2271883204342, + 93.80395068804154 + ], + [ + 666.0445182938776, + 86.26674907617388 + ], + [ + 668.0520836760967, + 86.3710683110196 + ], + [ + 669.5607755339688, + 77.64474753743411 + ], + [ + 667.5796237289535, + 77.54317974958798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.0222565015227, + "ymin": 122.31745181879808, + "xmax": 662.1739953816149, + "ymax": 150.44927018631134 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 660.0222565015227, + 150.43309909143994 + ], + [ + 660.3056416019298, + 150.44927018631134 + ], + [ + 661.8297656028, + 141.39169163149273 + ], + [ + 661.5499050411706, + 141.37592409081688 + ], + [ + 660.3420557080157, + 131.27307135633697 + ], + [ + 660.6299744750532, + 131.28906434194462 + ], + [ + 662.1739953816149, + 122.33303944194839 + ], + [ + 661.8897141064175, + 122.31745181879808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.2455890480379, + "ymin": 94.36410532338016, + "xmax": 668.0300321273456, + "ymax": 149.9155504083015 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.2455890480379, + 149.83582328105206 + ], + [ + 666.6444768454968, + 149.9155504083015 + ], + [ + 666.8155199572176, + 148.84385895892916 + ], + [ + 665.418692901013, + 148.7643687184103 + ], + [ + 666.3906442296226, + 95.39949026878344 + ], + [ + 667.853120631809, + 95.47653903080965 + ], + [ + 668.0300321273456, + 94.44091479684528 + ], + [ + 666.5698079259071, + 94.36410532338016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.6523097799106, + "ymin": 85.98083222909196, + "xmax": 669.4625714565285, + "ymax": 141.20727989989004 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 666.6523097799106, + 141.1294674467178 + ], + [ + 668.0344509249894, + 141.20727989989004 + ], + [ + 668.2013889705697, + 140.16130809466966 + ], + [ + 666.8212595616892, + 140.0837240524468 + ], + [ + 667.8459121112207, + 86.99026676609412 + ], + [ + 669.2900946913412, + 87.06538283078874 + ], + [ + 669.4625714565285, + 86.05571794525059 + ], + [ + 668.0205851317595, + 85.98083222909196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.50501370319, + "ymin": 646.5528943222034, + "xmax": 1108.9549468998202, + "ymax": 672.4772139886118 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1106.3005369639131, + 672.4772139886118 + ], + [ + 1101.2808136794517, + 653.2504956924045 + ], + [ + 1071.50501370319, + 650.4642110838823 + ], + [ + 1076.0465106942352, + 669.6028170025272 + ], + [ + 1108.9549468998202, + 668.6203093042633 + ], + [ + 1103.8658169507378, + 649.3458202633487 + ], + [ + 1073.917619582381, + 646.5528943222034 + ], + [ + 1078.5229290913994, + 665.7385548602347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 639.8175409854377, + "ymin": 106.35580919803584, + "xmax": 641.5254023562579, + "ymax": 162.3562081566802 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 639.825594262162, + 162.27370538422778 + ], + [ + 641.2457650006755, + 162.3562081566802 + ], + [ + 641.4581692392292, + 161.2472324674218 + ], + [ + 640.0401222896168, + 161.1649790497727 + ], + [ + 639.8175409854377, + 107.42888784529714 + ], + [ + 641.3032956272385, + 107.50874398549493 + ], + [ + 641.5254023562579, + 106.4354128636216 + ], + [ + 640.0419720265935, + 106.35580919803584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 945.7700603803175, + "ymin": 635.1140416422927, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1154.5010720399177, + 887.0666594130305 + ], + [ + 1148.1881550917558, + 862.3791280715475 + ], + [ + 945.7700603803175, + 840.281510215453 + ], + [ + 948.5520612470116, + 864.2073067213842 + ], + [ + 1371.3445246768747, + 691.9486300764031 + ], + [ + 1357.2521815208638, + 661.7680033071618 + ], + [ + 1068.8411074731498, + 635.1140416422927 + ], + [ + 1075.7162365963063, + 663.9882886125698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.308912734207, + "ymin": 646.4151674898444, + "xmax": 1109.162091808118, + "ymax": 672.6183727763226 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1106.4777803270538, + 672.6183727763226 + ], + [ + 1101.401771928314, + 653.1844701897646 + ], + [ + 1071.308912734207, + 650.3688146194784 + ], + [ + 1075.8963748655, + 669.7127052784704 + ], + [ + 1109.162091808118, + 668.7203148862596 + ], + [ + 1104.0151441892863, + 649.2376039866541 + ], + [ + 1073.7461884693748, + 646.4151674898444 + ], + [ + 1078.3988131453907, + 665.8071269976319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.3632032898178, + "ymin": 139.19869648762835, + "xmax": 660.9893398615542, + "ymax": 195.84188360480277 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 658.3632032898178, + 195.75239182063433 + ], + [ + 659.8385726660209, + 195.84188360480277 + ], + [ + 660.0297278143838, + 194.63902716369074 + ], + [ + 658.5566504655409, + 194.5498159340474 + ], + [ + 659.2443140704695, + 140.36784058529824 + ], + [ + 660.7905916774293, + 140.45485152035994 + ], + [ + 660.9893398615542, + 139.28542158852693 + ], + [ + 659.445579707713, + 139.19869648762835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.3621618545299, + "ymin": 0.0, + "xmax": 1029.731491525283, + "ymax": 169.61265778067036 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 971.0404460657122, + 169.61265778067036 + ], + [ + 969.3982284570577, + 163.19059122061788 + ], + [ + 866.3621618545299, + 157.3500073288951 + ], + [ + 867.0970157467984, + 163.66984771582958 + ], + [ + 1029.731491525283, + -39.66494300857454 + ], + [ + 1027.202763941847, + -45.08051026153902 + ], + [ + 905.7143907613012, + -49.99130994614296 + ], + [ + 906.9797832326636, + -44.67693952601741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 213.7960610987795, + "ymax": 71.82023792936025 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 209.0407750843608, + 71.82023792936025 + ], + [ + 213.7960610987795, + 66.48312454763709 + ], + [ + 89.21532778564313, + 59.971683625325 + ], + [ + 83.47658011329088, + 65.19985828591979 + ], + [ + 139.6587665039557, + -133.96275212233974 + ], + [ + 145.84027331514477, + -138.16953669432246 + ], + [ + 2.434377914770039, + -143.28675424166357 + ], + [ + -5.0508316724721, + -139.17934979506447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.1056350384716, + "ymin": 95.18529865354196, + "xmax": 664.7556502521641, + "ymax": 150.7680859988943 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 662.1056350384716, + 150.6881701700076 + ], + [ + 663.5058297168106, + 150.7680859988943 + ], + [ + 663.6817468703139, + 149.69385984531814 + ], + [ + 662.2836167728817, + 149.61418174403525 + ], + [ + 663.1095120350683, + 96.22324333994908 + ], + [ + 664.5734169537307, + 96.3004827512695 + ], + [ + 664.7556502521641, + 95.26229788830955 + ], + [ + 663.2940019218323, + 95.18529865354196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.598135530141, + "ymin": 81.53086859289044, + "xmax": 667.3010138812648, + "ymax": 136.58107309765745 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 664.598135530141, + 136.50426833220723 + ], + [ + 665.9710745306915, + 136.58107309765745 + ], + [ + 666.1399407814654, + 135.54863779973087 + ], + [ + 664.7689868316165, + 135.47205702586828 + ], + [ + 665.6922690962858, + 82.52666228807283 + ], + [ + 667.1264079026146, + 82.60076245934954 + ], + [ + 667.3010138812648, + 81.6047430692393 + ], + [ + 665.8690409042135, + 81.53086859289044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4217312171867, + "ymin": 135.16039836241183, + "xmax": 661.0593515033071, + "ymax": 192.1628101996266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.4217312171867, + 192.073463968157 + ], + [ + 659.9018103535135, + 192.1628101996266 + ], + [ + 660.0934743478841, + 190.961915686645 + ], + [ + 658.6157018845398, + 190.87285044408182 + ], + [ + 659.3086032014231, + 136.32677702625165 + ], + [ + 660.8600549549938, + 136.41358266223403 + ], + [ + 661.0593515033071, + 135.24691788831606 + ], + [ + 659.5104340652765, + 135.16039836241183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1080.7325483016043, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 91.24342902294944 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1157.779699713817, + 91.24342902294944 + ], + [ + 1318.994789391465, + 82.15398074145713 + ], + [ + 1224.3939590229802, + 7.255231485320735 + ], + [ + 1080.7325483016043, + 14.367929542708907 + ], + [ + 1289.6967074229033, + -229.46064587331887 + ], + [ + 1489.0159088532957, + -235.3212493028833 + ], + [ + 1350.3270719735556, + -282.10191308488083 + ], + [ + 1177.1315650714544, + -277.77196837387487 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d0c77cef88ce1d90f226ed9aa0505a2efb9d167 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00142/meta.json @@ -0,0 +1,6949 @@ +{ + "frame_id": 142, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 13263.249032263877 + }, + "drone_pose": { + "x": -29.098879537494245, + "y": 2.4172989753670753, + "z": 20.0, + "pitch": -44.06654008177389, + "yaw": -6.0288752896133495, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.714558482170105, + 0.07546722888946533, + 0.6954933404922485, + 7.0654096603393555 + ], + [ + -0.10502965748310089, + 0.9944691061973572, + 0.0, + 0.6523160934448242 + ], + [ + -0.6916465759277344, + -0.07304742187261581, + 0.7185325622558594, + -34.673370361328125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -28.630429395823825, + "y": 2.4250498004657715, + "z": 20.0 + }, + "t1_image_uv": [ + 803.4976458238066, + -569.2182294479677 + ], + "t1_depth": 0.33415006885985754 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -9.16718292236328, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.893725014153752, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -9.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.29862669110298157, + "y": 0.26459822058677673, + "z": 0.546489417552948 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6516471872662, + "ymin": 338.599422276688, + "xmax": 650.2038809162825, + "ymax": 381.17657163406346 + }, + "corners_3d": [ + [ + -9.465808868408203, + 0.04763856530189514, + 0.0536116361618042 + ], + [ + -9.465808868408203, + 0.576835036277771, + 0.0536116361618042 + ], + [ + -8.868555068969727, + 0.576835036277771, + 0.0536116361618042 + ], + [ + -8.868555068969727, + 0.04763856530189514, + 0.0536116361618042 + ], + [ + -9.465808868408203, + 0.04763856530189514, + 1.1465904712677002 + ], + [ + -9.465808868408203, + 0.576835036277771, + 1.1465904712677002 + ], + [ + -8.868555068969727, + 0.576835036277771, + 1.1465904712677002 + ], + [ + -8.868555068969727, + 0.04763856530189514, + 1.1465904712677002 + ] + ], + "corners_2d": [ + [ + 629.9317857096983, + 379.8248840979094 + ], + [ + 647.9349435455814, + 381.17657163406346 + ], + [ + 649.9314069725802, + 366.92851548916263 + ], + [ + 632.194972451951, + 365.61702444729104 + ], + [ + 629.6516471872662, + 352.7805567745005 + ], + [ + 648.1560490452435, + 354.1303172408272 + ], + [ + 650.2038809162825, + 339.9079516388428 + ], + [ + 631.9811451790342, + 338.599422276688 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 312954, + "2": 293000, + "3": 21089, + "5": 7406, + "6": 3726, + "9": 593, + "10": 5121, + "12": 1934, + "14": 38970, + "15": 6125, + "20": 3523, + "24": 21550, + "25": 205609 + }, + "instance_pixel_counts": { + "2118": 5119, + "2706": 87, + "3424": 146281, + "5506": 739, + "6215": 109012, + "6284": 3117, + "6290": 10191, + "6730": 590, + "6992": 4608, + "7774": 1096, + "8286": 2719, + "8332": 14021, + "8338": 38213, + "8798": 3313, + "9822": 297, + "10846": 4963, + "15184": 2798, + "15510": 13, + "16203": 623, + "17738": 436, + "18000": 3523, + "19092": 252, + "21140": 34108, + "23392": 757, + "23700": 133873, + "23904": 562, + "28000": 389, + "28256": 389, + "28768": 372, + "29024": 74, + "29280": 48, + "29826": 478, + "31584": 287, + "31840": 114, + "32096": 149, + "34956": 43, + "35402": 209, + "35476": 2124, + "36170": 127, + "37524": 8532, + "38540": 3467, + "40588": 13052, + "41562": 21089, + "42897": 8265, + "44945": 40055, + "45898": 512, + "52038": 53477, + "54859": 429, + "56576": 205, + "56647": 59328, + "56832": 171, + "57088": 556, + "57173": 593, + "57344": 655, + "57600": 347, + "57856": 15089, + "58368": 6125, + "60928": 11493, + "62081": 2509, + "62101": 819, + "62611": 30040, + "64149": 3725, + "64585": 270, + "64659": 114681 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 205, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -9.167181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24015744030475616, + "y": 0.2809423804283142, + "z": 0.5628108978271484 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.3086894216592, + "ymin": 339.51321694063313, + "xmax": 650.5750164286262, + "ymax": 380.1970426243367 + }, + "corners_3d": [ + [ + -9.407339096069336, + 0.031294405460357666, + 0.03729015588760376 + ], + [ + -9.407339096069336, + 0.5931791663169861, + 0.03729015588760376 + ], + [ + -8.927024841308594, + 0.5931791663169861, + 0.03729015588760376 + ], + [ + -8.927024841308594, + 0.031294405460357666, + 0.03729015588760376 + ], + [ + -9.407339096069336, + 0.031294405460357666, + 1.1629118919372559 + ], + [ + -9.407339096069336, + 0.5931791663169861, + 1.1629118919372559 + ], + [ + -8.927024841308594, + 0.5931791663169861, + 1.1629118919372559 + ], + [ + -8.927024841308594, + 0.031294405460357666, + 1.1629118919372559 + ] + ], + "corners_2d": [ + [ + 629.6061800361816, + 378.76611132771393 + ], + [ + 648.6855818191877, + 380.1970426243367 + ], + [ + 650.2838745576028, + 368.73775455496775 + ], + [ + 631.4320352887122, + 367.34113160896703 + ], + [ + 629.3086894216592, + 350.91601522092213 + ], + [ + 648.9345654568953, + 352.3447227462637 + ], + [ + 650.5750164286262, + 340.90670644243 + ], + [ + 631.1898431118298, + 339.51321694063313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 171, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -5.041196346282959, + "y": 3.309941291809082, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.2984999120235443, + "y": 0.23046432435512543, + "z": 0.5413357615470886 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 737.5097015169745, + "ymin": 257.9132776436931, + "xmax": 756.9920188503216, + "ymax": 296.66008574342 + }, + "corners_3d": [ + [ + -5.372073650360107, + 3.1290102005004883, + 0.05875551700592041 + ], + [ + -5.299968719482422, + 3.584264039993286, + 0.05875551700592041 + ], + [ + -4.7103190422058105, + 3.490872383117676, + 0.05875551700592041 + ], + [ + -4.782423973083496, + 3.035618543624878, + 0.05875551700592041 + ], + [ + -5.372073650360107, + 3.1290102005004883, + 1.1414270401000977 + ], + [ + -5.299968719482422, + 3.584264039993286, + 1.1414270401000977 + ], + [ + -4.7103190422058105, + 3.490872383117676, + 1.1414270401000977 + ], + [ + -4.782423973083496, + 3.035618543624878, + 1.1414270401000977 + ] + ], + "corners_2d": [ + [ + 739.8327352119485, + 296.66008574342 + ], + [ + 754.1305863191923, + 296.17727745460286 + ], + [ + 751.6126100963833, + 284.3008103364156 + ], + [ + 737.5097015169745, + 284.7704540865445 + ], + [ + 742.3371296702921, + 270.19090993707596 + ], + [ + 756.9920188503216, + 269.71112596627984 + ], + [ + 754.3715605370655, + 257.9132776436931 + ], + [ + 739.9214014496024, + 258.37965836264766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 556, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -11.423006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3886450231075287, + "y": 0.32937103509902954, + "z": 0.8724825978279114 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 869.0156329515297, + "ymin": 403.71077627992474, + "xmax": 909.3810995711106, + "ymax": 469.58571262014607 + }, + "corners_3d": [ + [ + -11.828356742858887, + 6.946369647979736, + -0.2723815441131592 + ], + [ + -11.793880462646484, + 7.604208946228027, + -0.2723815441131592 + ], + [ + -11.017655372619629, + 7.563528537750244, + -0.2723815441131592 + ], + [ + -11.052131652832031, + 6.905689239501953, + -0.2723815441131592 + ], + [ + -11.828356742858887, + 6.946369647979736, + 1.4725836515426636 + ], + [ + -11.793880462646484, + 7.604208946228027, + 1.4725836515426636 + ], + [ + -11.017655372619629, + 7.563528537750244, + 1.4725836515426636 + ], + [ + -11.052131652832031, + 6.905689239501953, + 1.4725836515426636 + ] + ], + "corners_2d": [ + [ + 872.3989974672384, + 468.5902273706232 + ], + [ + 896.8424463590962, + 469.58571262014607 + ], + [ + 892.9439901704585, + 447.8302497393494 + ], + [ + 869.0156329515297, + 446.8760052143153 + ], + [ + 883.7329566108357, + 425.5165472943427 + ], + [ + 909.3810995711106, + 426.5172964883039 + ], + [ + 905.0213701514303, + 404.6681100313287 + ], + [ + 879.9397506608412, + 403.71077627992474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 655, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -19.364892959594727, + "y": -1.1817036867141724, + "z": 0.600164532661438 + }, + "extent": { + "x": 0.5597753524780273, + "y": 0.3049159049987793, + "z": 0.8836209177970886 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 496.75857236331194, + "ymin": 635.395577120627, + "xmax": 544.0859187186135, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -19.907943725585938, + -1.515498161315918, + -0.28345638513565063 + ], + [ + -19.93985939025879, + -0.9065020680427551, + -0.28345638513565063 + ], + [ + -18.821842193603516, + -0.8479092717170715, + -0.28345638513565063 + ], + [ + -18.789926528930664, + -1.4569053649902344, + -0.28345638513565063 + ], + [ + -19.907943725585938, + -1.515498161315918, + 1.4837853908538818 + ], + [ + -19.93985939025879, + -0.9065020680427551, + 1.4837853908538818 + ], + [ + -18.821842193603516, + -0.8479092717170715, + 1.4837853908538818 + ], + [ + -18.789926528930664, + -1.4569053649902344, + 1.4837853908538818 + ] + ], + "corners_2d": [ + [ + 505.1538083936043, + 723.0184977901586 + ], + [ + 532.371220559152, + 727.269686288294 + ], + [ + 544.0859187186135, + 679.7968510838625 + ], + [ + 517.8249535766556, + 675.8508161401598 + ], + [ + 496.75857236331194, + 683.8718126136314 + ], + [ + 525.6470612712262, + 688.2517658673137 + ], + [ + 538.3262330035651, + 639.4426578764569 + ], + [ + 510.5128506537292, + 635.395577120627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 347, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 2.078153371810913, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.49924346804618835, + "y": 0.379595011472702, + "z": 0.9321486949920654 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 438.8951368917501, + "ymin": 106.59896747104943, + "xmax": 474.33323365737317, + "ymax": 166.00321629274896 + }, + "corners_3d": [ + [ + 1.6444382667541504, + -8.310998916625977, + -0.1797429323196411 + ], + [ + 1.52567458152771, + -7.561155796051025, + -0.1797429323196411 + ], + [ + 2.511868476867676, + -7.4049577713012695, + -0.1797429323196411 + ], + [ + 2.630632162094116, + -8.154800415039062, + -0.1797429323196411 + ], + [ + 1.6444382667541504, + -8.310998916625977, + 1.6845544576644897 + ], + [ + 1.52567458152771, + -7.561155796051025, + 1.6845544576644897 + ], + [ + 2.511868476867676, + -7.4049577713012695, + 1.6845544576644897 + ], + [ + 2.630632162094116, + -8.154800415039062, + 1.6845544576644897 + ] + ], + "corners_2d": [ + [ + 445.9784507822133, + 163.1781179186363 + ], + [ + 464.4248867553508, + 166.00321629274896 + ], + [ + 474.33323365737317, + 152.36868157549335 + ], + [ + 456.1902353644891, + 149.64720015255168 + ], + [ + 438.8951368917501, + 119.78400891804563 + ], + [ + 457.98938168789823, + 122.53913708071116 + ], + [ + 468.377566085602, + 109.24945445278095 + ], + [ + 449.60814706056397, + 106.59896747104943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 15089, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 644.5949663352428, + "ymin": 505.29467900352284, + "xmax": 751.5219699947751, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 644.5949663352428, + 749.1420702678372 + ], + [ + 741.0840198595718, + 758.9598840248358 + ], + [ + 746.9551397430399, + 546.68217868287 + ], + [ + 665.7551770524746, + 539.7436342218878 + ], + [ + 644.8285711287486, + 718.5032988667539 + ], + [ + 746.2632901769147, + 728.584293497159 + ], + [ + 751.5219699947751, + 512.3047460920236 + ], + [ + 666.8477580347505, + 505.29467900352284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6125, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 696.7770191274473, + "ymin": 87.73791003496763, + "xmax": 763.2909189744926, + "ymax": 243.52529357792866 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 696.7770191274473, + 239.91949235574776 + ], + [ + 754.7494916382249, + 243.52529357792866 + ], + [ + 757.3765817735444, + 150.97000344681982 + ], + [ + 705.9697178613454, + 148.13726636865022 + ], + [ + 700.0113529102027, + 176.58053096957556 + ], + [ + 761.3170562129811, + 180.09429088171495 + ], + [ + 763.2909189744926, + 90.46285568591361 + ], + [ + 709.280050182768, + 87.73791003496763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 11493, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 325.0628529947431, + "ymin": 504.31181506374605, + "xmax": 459.1035789417375, + "ymax": 687.6847271626652 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 459.1035789417375, + 548.3690153982653 + ], + [ + 389.0424002082297, + 542.2381263891301 + ], + [ + 340.94880880623543, + 679.9369375616809 + ], + [ + 419.42903411251984, + 687.6847271626652 + ], + [ + 450.54927779438464, + 510.51324977336037 + ], + [ + 377.2460419072899, + 504.31181506374605 + ], + [ + 325.0628529947431, + 644.3826038047719 + ], + [ + 407.6332556856793, + 652.3121266074181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679699478046, + "ymin": 138.3405922021789, + "xmax": 662.1710703517059, + "ymax": 165.88258647961533 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679699478046, + 165.75709811867011 + ], + [ + 660.1309434781119, + 165.88258647961533 + ], + [ + 661.8622413787594, + 155.3624122877546 + ], + [ + 659.7299260655352, + 155.24048970547793 + ], + [ + 658.2254813223881, + 148.75907798798357 + ], + [ + 660.4195038845828, + 148.8834213086046 + ], + [ + 662.1710703517059, + 138.46135273863734 + ], + [ + 660.0085861050325, + 138.3405922021789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679694792208, + "ymin": 138.34059489364867, + "xmax": 662.1710698992143, + "ymax": 165.8825892774122 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679694792208, + 165.75710091551187 + ], + [ + 660.1309430176804, + 165.8825892774122 + ], + [ + 661.8622409314123, + 155.36241500604484 + ], + [ + 659.7299256102651, + 155.24049242285344 + ], + [ + 658.2254808480826, + 148.75908075929823 + ], + [ + 660.4195034186654, + 148.88342408087928 + ], + [ + 662.1710698992143, + 138.4613554310259 + ], + [ + 660.0085856443923, + 138.34059489364867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.8262291036017, + "ymin": 98.11459605487795, + "xmax": 665.7895490860714, + "ymax": 124.06878037673809 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 661.8262291036017, + 123.95716090602906 + ], + [ + 663.8667901388087, + 124.06878037673809 + ], + [ + 665.450474716027, + 114.70375568928273 + ], + [ + 663.43722197663, + 114.59513116014946 + ], + [ + 662.121005461552, + 107.37438474393468 + ], + [ + 664.189178107032, + 107.48480561624521 + ], + [ + 665.7895490860714, + 98.22201494831984 + ], + [ + 663.7494237084012, + 98.11459605487795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.1150430277203, + "ymin": 97.2877987560023, + "xmax": 669.0727810571107, + "ymax": 123.20937537576171 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 665.1150430277203, + 123.09803243491316 + ], + [ + 667.1536035936175, + 123.20937537576171 + ], + [ + 668.6910070333812, + 113.86739781066214 + ], + [ + 666.6797017300206, + 113.75903876332279 + ], + [ + 665.4538107260007, + 106.52449788844334 + ], + [ + 667.5199283952335, + 106.63464151233012 + ], + [ + 669.0727810571107, + 97.39495162324005 + ], + [ + 667.0346554551044, + 97.2877987560023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174024825549, + "ymin": 130.1166920535675, + "xmax": 660.7794405039356, + "ymax": 158.4952168590048 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174024825549, + 158.47878263126736 + ], + [ + 658.9035180516248, + 158.4952168590048 + ], + [ + 660.4540713494347, + 149.261700374046 + ], + [ + 660.1715514746676, + 149.24568054386668 + ], + [ + 658.9174156287842, + 139.24879110428932 + ], + [ + 659.2081488439651, + 139.26504888359034 + ], + [ + 660.7794405039356, + 130.13253340574687 + ], + [ + 660.4924192310052, + 130.1166920535675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174032310802, + "ymin": 130.11679499743516, + "xmax": 660.7794415730009, + "ymax": 158.49532366046208 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174032310802, + 158.47888942790078 + ], + [ + 658.9035188421583, + 158.49532366046208 + ], + [ + 660.4540723546141, + 149.26180448241905 + ], + [ + 660.171552438888, + 149.24578464759728 + ], + [ + 658.9174164341111, + 139.24889675424726 + ], + [ + 659.208149692667, + 139.26515453839713 + ], + [ + 660.7794415730009, + 130.13263635427836 + ], + [ + 660.4924202577961, + 130.11679499743516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679699478046, + "ymin": 138.3405922021789, + "xmax": 662.1710703517059, + "ymax": 165.88258647961533 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679699478046, + 165.75709811867011 + ], + [ + 660.1309434781119, + 165.88258647961533 + ], + [ + 661.8622413787594, + 155.3624122877546 + ], + [ + 659.7299260655352, + 155.24048970547793 + ], + [ + 658.2254813223881, + 148.75907798798357 + ], + [ + 660.4195038845828, + 148.8834213086046 + ], + [ + 662.1710703517059, + 138.46135273863734 + ], + [ + 660.0085861050325, + 138.3405922021789 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679702660164, + "ymin": 138.34059221994488, + "xmax": 662.1710705638715, + "ymax": 165.88258649192719 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679702660164, + 165.75709813713166 + ], + [ + 660.1309436903256, + 165.88258649192719 + ], + [ + 661.8622415879647, + 155.36241229971662 + ], + [ + 659.7299263792374, + 155.2404897234149 + ], + [ + 658.225481645167, + 148.75907800627658 + ], + [ + 660.4195040998434, + 148.8834213208041 + ], + [ + 662.1710705638715, + 138.46135275048542 + ], + [ + 660.0085864231723, + 138.34059221994488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679696633887, + "ymin": 138.34059445099246, + "xmax": 662.1710699746296, + "ymax": 165.8825888111127 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679696633887, + 165.75710045552546 + ], + [ + 660.130943094419, + 165.8825888111127 + ], + [ + 661.8622410059701, + 155.3624145529965 + ], + [ + 659.7299257907109, + 155.24049197593655 + ], + [ + 658.2254810347265, + 148.75908030351013 + ], + [ + 660.4195034963184, + 148.88342361883343 + ], + [ + 662.1710699746296, + 138.46135498229452 + ], + [ + 660.0085858272122, + 138.34059445099246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.450842098388, + "ymin": 109.3569441293819, + "xmax": 642.5067846815592, + "ymax": 135.75462364916697 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 638.4718335090229, + 135.6392098832624 + ], + [ + 640.5429663967208, + 135.75462364916697 + ], + [ + 642.4732782094395, + 126.07343261486673 + ], + [ + 640.4302713267147, + 125.96116671960397 + ], + [ + 638.450842098388, + 118.93359474396055 + ], + [ + 640.5504260043984, + 119.04782116790824 + ], + [ + 642.5067846815592, + 109.46801315948062 + ], + [ + 640.4360994275701, + 109.3569441293819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174443312693, + "ymin": 130.11655716741828, + "xmax": 660.77948206284, + "ymax": 158.49507691830098 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174443312693, + 158.4786426968841 + ], + [ + 658.9035598462639, + 158.49507691830098 + ], + [ + 660.4541123193758, + 149.26156396205812 + ], + [ + 660.1715924973338, + 149.24554413796193 + ], + [ + 658.9174580932549, + 139.24865267238238 + ], + [ + 659.2081912526007, + 139.2649104453299 + ], + [ + 660.77948206284, + 130.1323985134867 + ], + [ + 660.4924608443283, + 130.11655716741828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679694792208, + "ymin": 138.34059489364867, + "xmax": 662.1710698992143, + "ymax": 165.8825892774122 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679694792208, + 165.75710091551187 + ], + [ + 660.1309430176804, + 165.8825892774122 + ], + [ + 661.8622409314123, + 155.36241500604484 + ], + [ + 659.7299256102651, + 155.24049242285344 + ], + [ + 658.2254808480826, + 148.75908075929823 + ], + [ + 660.4195034186654, + 148.88342408087928 + ], + [ + 662.1710698992143, + 138.4613554310259 + ], + [ + 660.0085856443923, + 138.34059489364867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0985737748289, + "ymin": 128.65309247449545, + "xmax": 661.8558244920815, + "ymax": 161.104292866371 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 659.0985737748289, + 161.0844737948997 + ], + [ + 659.4424005321652, + 161.104292866371 + ], + [ + 661.4966432537609, + 148.77307852220395 + ], + [ + 661.1585669182228, + 148.75392306650048 + ], + [ + 659.4232512031454, + 140.8421805916981 + ], + [ + 659.7729321677596, + 140.86177792077092 + ], + [ + 661.8558244920815, + 128.6720227435047 + ], + [ + 661.5120897465832, + 128.65309247449545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174860378386, + "ymin": 130.11663755602208, + "xmax": 660.7795241447177, + "ymax": 158.49516031928667 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174860378386, + 158.478726094103 + ], + [ + 658.9036015865659, + 158.49516031928667 + ], + [ + 660.4541537055096, + 149.2616452600217 + ], + [ + 660.1716338505776, + 149.24562543230027 + ], + [ + 658.9175005068483, + 139.24873517416475 + ], + [ + 659.2082337010245, + 139.26499295089866 + ], + [ + 660.7795241447177, + 130.13247890573234 + ], + [ + 660.4925028922597, + 130.11663755602208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679702660164, + "ymin": 138.34059221994488, + "xmax": 662.1710705638715, + "ymax": 165.88258649192719 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679702660164, + 165.75709813713166 + ], + [ + 660.1309436903256, + 165.88258649192719 + ], + [ + 661.8622415879647, + 155.36241229971662 + ], + [ + 659.7299263792374, + 155.2404897234149 + ], + [ + 658.225481645167, + 148.75907800627658 + ], + [ + 660.4195040998434, + 148.8834213208041 + ], + [ + 662.1710705638715, + 138.46135275048542 + ], + [ + 660.0085864231723, + 138.34059221994488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0984791009498, + "ymin": 128.65308726198086, + "xmax": 661.8557297316901, + "ymax": 161.10428740267253 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 659.0984791009498, + 161.08446833765038 + ], + [ + 659.4423057464069, + 161.10428740267253 + ], + [ + 661.4965500533148, + 148.77307324145266 + ], + [ + 661.1584738276995, + 148.7539177919776 + ], + [ + 659.4231549173346, + 140.84217519550882 + ], + [ + 659.7728357680757, + 140.8617725181996 + ], + [ + 661.8557297316901, + 128.6720175248303 + ], + [ + 661.5119950980388, + 128.65308726198086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0985710202082, + "ymin": 128.65318400512786, + "xmax": 661.8558219935779, + "ymax": 161.104388693541 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 659.0985710202082, + 161.08456962302128 + ], + [ + 659.4423977158461, + 161.104388693541 + ], + [ + 661.4966407499847, + 148.77317114068356 + ], + [ + 661.1585644758538, + 148.75401568598465 + ], + [ + 659.4232484450233, + 140.84227534761905 + ], + [ + 659.7729293476685, + 140.8618726758384 + ], + [ + 661.8558219935779, + 128.6721142732259 + ], + [ + 661.5120873097735, + 128.65318400512786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.9679709245908, + "ymin": 138.34059089789793, + "xmax": 662.1710712144486, + "ymax": 165.8825851176525 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.9679709245908, + 165.75709676332608 + ], + [ + 660.1309443449687, + 165.8825851176525 + ], + [ + 661.8622422300488, + 155.3624109644955 + ], + [ + 659.729927025142, + 155.2404883886431 + ], + [ + 658.2254823126916, + 148.75907664500986 + ], + [ + 660.4195047633231, + 148.8834199590659 + ], + [ + 662.1710712144486, + 138.46135142798713 + ], + [ + 660.0085870776788, + 138.34059089789793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0986685930945, + "ymin": 128.65309994207456, + "xmax": 661.8559192989952, + "ymax": 161.10430068498752 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 659.0986685930945, + 161.08448161309187 + ], + [ + 659.4424953566851, + 161.10430068498752 + ], + [ + 661.4967364988261, + 148.77308607902089 + ], + [ + 661.1586601572421, + 148.7539306229142 + ], + [ + 659.4233476368648, + 140.84218832241416 + ], + [ + 659.7730286079478, + 140.86178565191366 + ], + [ + 661.8559192989952, + 128.672030211489 + ], + [ + 661.5121845472472, + 128.65309994207456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.5833527102595, + "ymin": 88.85439998386573, + "xmax": 670.4907091243348, + "ymax": 114.44343939263175 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.5833527102595, + 114.33489753114335 + ], + [ + 668.5963387359928, + 114.44343939263175 + ], + [ + 670.095316682072, + 105.33494241377485 + ], + [ + 668.1089108658617, + 105.2292732915127 + ], + [ + 666.9373267553431, + 97.85725263689017 + ], + [ + 668.9771782241521, + 97.96458869179276 + ], + [ + 670.4907091243348, + 88.95885814692252 + ], + [ + 668.478147286994, + 88.85439998386573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0985738238097, + "ymin": 128.65309157834648, + "xmax": 661.8558244307885, + "ymax": 161.10429192194252 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 659.0985738238097, + 161.08447285667515 + ], + [ + 659.442400473965, + 161.10429192194252 + ], + [ + 661.4966431939317, + 148.773077609399 + ], + [ + 661.1585669637749, + 148.7539221596908 + ], + [ + 659.4232512525347, + 140.8421796639711 + ], + [ + 659.7729321081351, + 140.86177698690858 + ], + [ + 661.8558244307885, + 128.67202184143005 + ], + [ + 661.5120897924425, + 128.65309157834648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.4893235885553, + "ymin": 142.30486714873578, + "xmax": 660.6782644311528, + "ymax": 169.75415222383748 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 656.4893235885553, + 169.62843760060943 + ], + [ + 658.6445917048832, + 169.75415222383748 + ], + [ + 660.391207776624, + 159.2144954880428 + ], + [ + 658.2663813024456, + 159.09234102649725 + ], + [ + 656.7248175599054, + 152.74511190031328 + ], + [ + 658.9109123133289, + 152.86970851121964 + ], + [ + 660.6782644311528, + 142.4258859529818 + ], + [ + 658.5234820432248, + 142.30486714873578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174024825549, + "ymin": 130.1166920535675, + "xmax": 660.7794405039356, + "ymax": 158.4952168590048 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174024825549, + 158.47878263126736 + ], + [ + 658.9035180516248, + 158.4952168590048 + ], + [ + 660.4540713494347, + 149.261700374046 + ], + [ + 660.1715514746676, + 149.24568054386668 + ], + [ + 658.9174156287842, + 139.24879110428932 + ], + [ + 659.2081488439651, + 139.26504888359034 + ], + [ + 660.7794405039356, + 130.13253340574687 + ], + [ + 660.4924192310052, + 130.1166920535675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.4308491766786, + "ymin": 84.37856522753384, + "xmax": 668.3120563689158, + "ymax": 109.79116544206579 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.4308491766786, + 109.6840956794926 + ], + [ + 666.4297974896192, + 109.79116544206579 + ], + [ + 667.9473812092272, + 100.80539747826134 + ], + [ + 665.9746460144003, + 100.70114259312078 + ], + [ + 664.7539186362997, + 93.25854354463928 + ], + [ + 666.7793565563017, + 93.36440466890122 + ], + [ + 668.3120563689158, + 84.48160718180719 + ], + [ + 666.3135262480507, + 84.37856522753384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6174068442878, + "ymin": 130.11677985238734, + "xmax": 660.7794451503686, + "ymax": 158.49530794788757 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 658.6174068442878, + 158.47887371603593 + ], + [ + 658.9035224492698, + 158.49530794788757 + ], + [ + 660.4540758829028, + 149.26178916604982 + ], + [ + 660.1715559731206, + 149.24576933191105 + ], + [ + 658.9174200989623, + 139.24888121108071 + ], + [ + 659.2081533512237, + 139.26513899451726 + ], + [ + 660.7794451503686, + 130.1326212085444 + ], + [ + 660.4924238412987, + 130.11677985238734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9949939078408, + "ymin": 101.49983959392438, + "xmax": 666.7476987549836, + "ymax": 157.2617973682944 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.9949939078408, + 157.18092778198965 + ], + [ + 665.4060262761435, + 157.2617973682944 + ], + [ + 665.579708550517, + 156.1712463793085 + ], + [ + 664.1707748045014, + 156.090619391053 + ], + [ + 665.0922195202567, + 102.55418963456873 + ], + [ + 666.5679098010771, + 102.63239790904987 + ], + [ + 666.7476987549836, + 101.57780255028842 + ], + [ + 665.2743036812644, + 101.49983959392438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4233224610135, + "ymin": 92.9642196635753, + "xmax": 668.2033310966397, + "ymax": 148.4011866015032 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.4233224610135, + 148.3222775515175 + ], + [ + 666.8173020599231, + 148.4011866015032 + ], + [ + 666.9867764091216, + 147.33705600326542 + ], + [ + 665.5948450550205, + 147.258380789411 + ], + [ + 666.5710441007052, + 93.99188438984083 + ], + [ + 668.0280932755131, + 94.06811159600204 + ], + [ + 668.2033310966397, + 93.04021080636784 + ], + [ + 666.7485195571635, + 92.9642196635753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.9117061361558, + "ymin": 678.0662180000627, + "xmax": 1117.5220658169026, + "ymax": 705.0446188739638 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1114.7521590767242, + 705.0446188739638 + ], + [ + 1109.4573588827764, + 684.822963008827 + ], + [ + 1078.9117061361558, + 681.9033032424472 + ], + [ + 1083.7025550821195, + 702.0301494308161 + ], + [ + 1117.5220658169026, + 701.2711633787101 + ], + [ + 1112.1526577085654, + 680.993634667198 + ], + [ + 1081.4257324910654, + 678.0662180000627 + ], + [ + 1086.285145437708, + 698.2481267442813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.2572499126899, + "ymin": 113.71747107713713, + "xmax": 639.9833747724592, + "ymax": 169.92809537746248 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 638.3347849270857, + 169.84438145014292 + ], + [ + 639.7675118431156, + 169.92809537746248 + ], + [ + 639.9833747724592, + 168.79921455377925 + ], + [ + 638.5528113683743, + 168.71575612538498 + ], + [ + 638.2572499126899, + 114.81061381688431 + ], + [ + 639.7566855481975, + 114.8917020747655 + ], + [ + 639.9826018215082, + 113.7983003533976 + ], + [ + 638.4855356905636, + 113.71747107713713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.8725235695345, + "ymin": 666.4597719641871, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1161.666143966068, + 915.0313277628871 + ], + [ + 1155.0964135939398, + 889.4084558491273 + ], + [ + 948.8725235695345, + 866.560987510494 + ], + [ + 951.7726489212945, + 891.3806167101676 + ], + [ + 1387.1902992951777, + 726.2089993365632 + ], + [ + 1372.315009539479, + 694.4151356183975 + ], + [ + 1076.2439413645473, + 666.4597719641871 + ], + [ + 1083.501523421868, + 696.8455278514896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.7096519090392, + "ymin": 677.9229508876963, + "xmax": 1117.7357578534884, + "ymax": 705.1915800298643 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1114.9346272695523, + 705.1915800298643 + ], + [ + 1109.5804668953365, + 684.7520353844596 + ], + [ + 1078.7096519090392, + 681.8016162228134 + ], + [ + 1083.548986682231, + 702.1443074692716 + ], + [ + 1117.7357578534884, + 701.3779210190521 + ], + [ + 1112.3053419730163, + 680.8812901325765 + ], + [ + 1081.2493657994542, + 677.9229508876963 + ], + [ + 1086.1587149602624, + 698.3218916767228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.0069193716566, + "ymin": 147.12132656455913, + "xmax": 659.5934709354578, + "ymax": 203.96703905237592 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 657.0069193716566, + 203.87616681529286 + ], + [ + 658.4958904592667, + 203.96703905237592 + ], + [ + 658.6902030479429, + 202.74169433006037 + ], + [ + 657.2035686048667, + 202.65110987668004 + ], + [ + 657.8301031827052, + 148.3132809108995 + ], + [ + 659.3912550788418, + 148.40170494952125 + ], + [ + 659.5934709354578, + 147.20945705134122 + ], + [ + 658.034887529933, + 147.12132656455913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.8836146295047, + "ymin": 0.0, + "xmax": 1032.0444726129285, + "ymax": 177.34841997473282 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 972.5250331586681, + 177.34841997473282 + ], + [ + 970.8484862744524, + 170.80970392274529 + ], + [ + 866.8836146295047, + 164.88303926548983 + ], + [ + 867.6354156609954, + 171.31698539386497 + ], + [ + 1032.0444726129285, + -32.86969852245073 + ], + [ + 1029.457290891743, + -38.39939985417192 + ], + [ + 906.696990246013, + -43.39656317571519 + ], + [ + 907.9928812785258, + -37.97101842656127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 209.07029770318047, + "ymax": 78.03659353318324 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 204.23784959585782, + 78.03659353318324 + ], + [ + 209.07029770318047, + 72.61451323854703 + ], + [ + 83.54948704770788, + 66.02160469025716 + ], + [ + 77.71770030097446, + 71.33240497926334 + ], + [ + 133.51071033981344, + -128.7040452840738 + ], + [ + 139.80758419265112, + -132.98737217171072 + ], + [ + -4.823400151113674, + -138.17998339690217 + ], + [ + -12.447648435477959, + -133.9985102593231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.8266212734397, + "ymin": 102.33660917431479, + "xmax": 663.442520667068, + "ymax": 158.12991547545772 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 660.8266212734397, + 158.04885250630005 + ], + [ + 662.238986717667, + 158.12991547545772 + ], + [ + 662.417636078674, + 157.03675854991903 + ], + [ + 661.0073732110181, + 156.95593904885183 + ], + [ + 661.780155837847, + 103.39359368563612 + ], + [ + 663.2573042881078, + 103.47199754714507 + ], + [ + 663.442520667068, + 102.41476679760922 + ], + [ + 661.967671947217, + 102.33660917431479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3565030961242, + "ymin": 88.43475283549355, + "xmax": 666.0279051876109, + "ymax": 143.69540112265216 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.3565030961242, + 143.61752350939744 + ], + [ + 664.7411159748586, + 143.69540112265216 + ], + [ + 664.9125391728259, + 142.64517061512282 + ], + [ + 663.5299471191156, + 142.5675222715678 + ], + [ + 664.4036957895364, + 89.44839599971226 + ], + [ + 665.8505146391029, + 89.52358230190254 + ], + [ + 666.0279051876109, + 88.5097078893645 + ], + [ + 664.5832926783786, + 88.43475283549355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.061579017162, + "ymin": 143.06825565442318, + "xmax": 659.6594000793809, + "ymax": 200.27750423500848 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.061579017162, + 200.18677496133873 + ], + [ + 658.5553426157505, + 200.27750423500848 + ], + [ + 658.7501842767218, + 199.05409303828378 + ], + [ + 657.2587723769938, + 198.96365201688965 + ], + [ + 657.8901916026894, + 144.25746011007257 + ], + [ + 659.4566127462565, + 144.34568068109851 + ], + [ + 659.6594000793809, + 143.15618236448216 + ], + [ + 658.0955647800728, + 143.06825565442318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1082.437140426628, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 97.4660284506931 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1160.415659319493, + 97.4660284506931 + ], + [ + 1322.7825612367187, + 88.2080448676877 + ], + [ + 1227.0008397274673, + 12.244708379609733 + ], + [ + 1082.437140426628, + 19.47508309731961 + ], + [ + 1294.140089433774, + -224.8442023004311 + ], + [ + 1495.1768042474819, + -230.83383356969546 + ], + [ + 1354.37026769071, + -278.41684794798437 + ], + [ + 1179.8953637069465, + -274.0042612253511 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00143/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00143/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0999607f864934e12001427cd41807c471816cd8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00143/meta.json @@ -0,0 +1,7056 @@ +{ + "frame_id": 143, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.5, + "sim_timestamp": 13277.024058752926 + }, + "drone_pose": { + "x": -28.630429395823825, + "y": 2.4250498004657715, + "z": 20.0, + "pitch": -44.0205918586326, + "yaw": -6.0414171205073846, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7150963544845581, + 0.07568231970071793, + 0.694916844367981, + 6.7587127685546875 + ], + [ + -0.10524734109640121, + 0.9944460988044739, + 0.0, + 0.6016952991485596 + ], + [ + -0.6910573244094849, + -0.07313814759254456, + 0.7190901041030884, + -34.34443664550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -28.156556151749328, + "y": 2.4380066642650493, + "z": 20.0 + }, + "t1_image_uv": [ + 818.3108291984383, + -567.7282252088909 + ], + "t1_depth": 0.3378844096290278 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -8.667182922363281, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.916863487518317, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -8.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.1965414136648178, + "y": 0.2942410409450531, + "z": 0.5517851710319519 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.029399899201, + "ymin": 340.7930296589747, + "xmax": 650.8767567339427, + "ymax": 378.9057177969575 + }, + "corners_3d": [ + [ + -8.863723754882812, + 0.017995744943618774, + 0.04831588268280029 + ], + [ + -8.863723754882812, + 0.6064778566360474, + 0.04831588268280029 + ], + [ + -8.470640182495117, + 0.6064778566360474, + 0.04831588268280029 + ], + [ + -8.470640182495117, + 0.017995744943618774, + 0.04831588268280029 + ], + [ + -8.863723754882812, + 0.017995744943618774, + 1.151886224746704 + ], + [ + -8.863723754882812, + 0.6064778566360474, + 1.151886224746704 + ], + [ + -8.470640182495117, + 0.6064778566360474, + 1.151886224746704 + ], + [ + -8.470640182495117, + 0.017995744943618774, + 1.151886224746704 + ] + ], + "corners_2d": [ + [ + 629.3279319420773, + 377.4096975106803 + ], + [ + 649.2774651639307, + 378.9057177969575 + ], + [ + 650.5832420669427, + 369.54241559405557 + ], + [ + 630.8286807743696, + 368.07582075393617 + ], + [ + 629.029399899201, + 350.1082693469754 + ], + [ + 649.5374079758105, + 351.601781097011 + ], + [ + 650.8767567339427, + 342.25635539880517 + ], + [ + 630.5747332712566, + 340.7930296589747 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 143, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 312930, + "2": 296687, + "3": 18806, + "5": 7411, + "6": 1993, + "9": 969, + "10": 5302, + "12": 1946, + "14": 38059, + "15": 6267, + "20": 3398, + "24": 21624, + "25": 206208 + }, + "instance_pixel_counts": { + "2118": 5299, + "2706": 305, + "3218": 10, + "3424": 144125, + "3458": 6, + "5506": 796, + "6215": 109525, + "6284": 3267, + "6290": 10446, + "6730": 582, + "6992": 4671, + "7774": 679, + "8286": 2849, + "8332": 13862, + "8338": 37738, + "8798": 3523, + "9822": 37, + "10846": 5081, + "15184": 2740, + "15510": 295, + "16203": 624, + "17738": 356, + "18000": 3398, + "19092": 747, + "21140": 35102, + "23392": 764, + "23700": 133025, + "23904": 508, + "28000": 410, + "28256": 398, + "28768": 378, + "29024": 69, + "29280": 19, + "29826": 514, + "31584": 291, + "31840": 114, + "32096": 149, + "34956": 112, + "35402": 218, + "35476": 2158, + "36170": 106, + "37524": 8397, + "38540": 3561, + "40588": 12879, + "41562": 18806, + "42897": 8679, + "44945": 39597, + "45898": 492, + "52038": 56706, + "54859": 392, + "56576": 204, + "56647": 62083, + "56832": 175, + "57088": 572, + "57173": 969, + "57344": 643, + "57600": 352, + "57856": 13916, + "58368": 6267, + "60051": 62, + "60928": 11974, + "62081": 677, + "62101": 879, + "62611": 31373, + "64149": 3753, + "64585": 272, + "64659": 112621 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -8.667181968688965, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.19834989309310913, + "y": 0.2766433656215668, + "z": 0.5557515621185303 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6334991147561, + "ymin": 340.6935210802076, + "xmax": 650.2758569528929, + "ymax": 378.99986205969157 + }, + "corners_3d": [ + [ + -8.865531921386719, + 0.0355934202671051, + 0.044349491596221924 + ], + [ + -8.865531921386719, + 0.588880181312561, + 0.044349491596221924 + ], + [ + -8.468832015991211, + 0.588880181312561, + 0.044349491596221924 + ], + [ + -8.468832015991211, + 0.0355934202671051, + 0.044349491596221924 + ], + [ + -8.865531921386719, + 0.0355934202671051, + 1.1558525562286377 + ], + [ + -8.865531921386719, + 0.588880181312561, + 1.1558525562286377 + ], + [ + -8.468832015991211, + 0.588880181312561, + 1.1558525562286377 + ], + [ + -8.468832015991211, + 0.0355934202671051, + 1.1558525562286377 + ] + ], + "corners_2d": [ + [ + 629.9176188331454, + 377.59318093977043 + ], + [ + 648.6730447232198, + 378.99986205969157 + ], + [ + 649.9966174481234, + 369.55126769253667 + ], + [ + 631.4261532583569, + 368.17250410584353 + ], + [ + 629.6334991147561, + 350.0952758582238 + ], + [ + 648.9178235396431, + 351.499584694665 + ], + [ + 650.2758569528929, + 342.0691855437175 + ], + [ + 631.1870187079022, + 340.6935210802076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 175, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -4.541196346282959, + "y": 3.309941291809082, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.24292327463626862, + "y": 0.23266342282295227, + "z": 0.5261331796646118 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 737.6390777072227, + "ymin": 259.5396325921366, + "xmax": 756.7021034964405, + "ymax": 295.31779218067766 + }, + "corners_3d": [ + [ + -4.817525386810303, + 3.1181440353393555, + 0.07395809888839722 + ], + [ + -4.74473237991333, + 3.577741861343384, + 0.07395809888839722 + ], + [ + -4.264867305755615, + 3.5017385482788086, + 0.07395809888839722 + ], + [ + -4.337660312652588, + 3.0421407222747803, + 0.07395809888839722 + ], + [ + -4.817525386810303, + 3.1181440353393555, + 1.1262245178222656 + ], + [ + -4.74473237991333, + 3.577741861343384, + 1.1262245178222656 + ], + [ + -4.264867305755615, + 3.5017385482788086, + 1.1262245178222656 + ], + [ + -4.337660312652588, + 3.0421407222747803, + 1.1262245178222656 + ] + ], + "corners_2d": [ + [ + 739.5253330306151, + 295.31779218067766 + ], + [ + 753.9350410890672, + 294.83448568559953 + ], + [ + 751.8886341618611, + 285.18531462381543 + ], + [ + 737.6390777072227, + 285.6578654950747 + ], + [ + 741.9438239644142, + 269.6062618223716 + ], + [ + 756.7021034964405, + 269.12596575765673 + ], + [ + 754.5748689471849, + 259.5396325921366 + ], + [ + 739.984537502, + 260.0089848201843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 572, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -10.923006057739258, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5489526391029358, + "y": 0.34913572669029236, + "z": 0.8771106004714966 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 867.4026557000709, + "ymin": 399.11673228765085, + "xmax": 910.8586154847884, + "ymax": 474.2236795996534 + }, + "corners_3d": [ + [ + -11.489479064941406, + 6.935021877288818, + -0.2770095467567444 + ], + [ + -11.452934265136719, + 7.632336139678955, + -0.2770095467567444 + ], + [ + -10.35653305053711, + 7.574876308441162, + -0.2770095467567444 + ], + [ + -10.393077850341797, + 6.877562046051025, + -0.2770095467567444 + ], + [ + -11.489479064941406, + 6.935021877288818, + 1.4772117137908936 + ], + [ + -11.452934265136719, + 7.632336139678955, + 1.4772117137908936 + ], + [ + -10.35653305053711, + 7.574876308441162, + 1.4772117137908936 + ], + [ + -10.393077850341797, + 6.877562046051025, + 1.4772117137908936 + ] + ], + "corners_2d": [ + [ + 872.1459074051036, + 473.15631211596605 + ], + [ + 898.1494887431861, + 474.2236795996534 + ], + [ + 892.6356686113552, + 443.53650209717557 + ], + [ + 867.4026557000709, + 442.531049861519 + ], + [ + 883.5625513088951, + 429.86731072331753 + ], + [ + 910.8586154847884, + 430.9406506710948 + ], + [ + 904.6895536328673, + 400.12488789278177 + ], + [ + 878.2413082668265, + 399.11673228765085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 643, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -18.817033767700195, + "y": -1.3919461965560913, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3123406767845154, + "y": 0.3161975145339966, + "z": 0.8828882575035095 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 489.9436196571164, + "ymin": 642.1836290808354, + "xmax": 533.1991262002977, + "ymax": 712.9332343583707 + }, + "corners_3d": [ + [ + -19.112398147583008, + -1.7240569591522217, + -0.2827872037887573 + ], + [ + -19.14549446105957, + -1.0925287008285522, + -0.2827872037887573 + ], + [ + -18.521669387817383, + -1.059835433959961, + -0.2827872037887573 + ], + [ + -18.48857307434082, + -1.6913636922836304, + -0.2827872037887573 + ], + [ + -19.112398147583008, + -1.7240569591522217, + 1.4829893112182617 + ], + [ + -19.14549446105957, + -1.0925287008285522, + 1.4829893112182617 + ], + [ + -18.521669387817383, + -1.059835433959961, + 1.4829893112182617 + ], + [ + -18.48857307434082, + -1.6913636922836304, + 1.4829893112182617 + ] + ], + "corners_2d": [ + [ + 498.62275482292665, + 708.6193707108193 + ], + [ + 526.5011537163832, + 712.9332343583707 + ], + [ + 533.1991262002977, + 686.615579525046 + ], + [ + 505.86963970536146, + 682.4769078384069 + ], + [ + 489.9436196571164, + 669.0366966918771 + ], + [ + 519.5084700873533, + 673.4743122949508 + ], + [ + 526.7624749486284, + 646.4303037622407 + ], + [ + 497.81417496394073, + 642.1836290808354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 352, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 2.578153371810913, + "y": -7.857978343963623, + "z": 0.7524057626724243 + }, + "extent": { + "x": 0.5343247652053833, + "y": 0.3799459636211395, + "z": 0.9348040819168091 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 438.73885325039305, + "ymin": 106.45210023907771, + "xmax": 474.89661160788876, + "ymax": 166.86859568742742 + }, + "corners_3d": [ + [ + 2.1098437309265137, + -8.31683349609375, + -0.18239831924438477 + ], + [ + 1.990970253944397, + -7.5662970542907715, + -0.18239831924438477 + ], + [ + 3.0464630126953125, + -7.399123191833496, + -0.18239831924438477 + ], + [ + 3.1653366088867188, + -8.149659156799316, + -0.18239831924438477 + ], + [ + 2.1098437309265137, + -8.31683349609375, + 1.6872098445892334 + ], + [ + 1.990970253944397, + -7.5662970542907715, + 1.6872098445892334 + ], + [ + 3.0464630126953125, + -7.399123191833496, + 1.6872098445892334 + ], + [ + 3.1653366088867188, + -8.149659156799316, + 1.6872098445892334 + ] + ], + "corners_2d": [ + [ + 445.84044782384876, + 164.03939817692788 + ], + [ + 464.29728352235793, + 166.86859568742742 + ], + [ + 474.89661160788876, + 152.30005450472436 + ], + [ + 456.76442778147214, + 149.58175310292074 + ], + [ + 438.73885325039305, + 120.53745994520955 + ], + [ + 457.845008621102, + 123.29618738384013 + ], + [ + 468.9581396898177, + 109.09885215636467 + ], + [ + 450.19954676798704, + 106.45210023907771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 13916, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 642.0218737592802, + "ymin": 521.843215657432, + "xmax": 750.8979701305474, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 642.0218737592802, + 772.1410980898984 + ], + [ + 740.1542245716926, + 782.320695468858 + ], + [ + 746.2954167423528, + 563.2897354035003 + ], + [ + 663.9444569631762, + 556.136473062681 + ], + [ + 642.126422229886, + 742.0852447975055 + ], + [ + 745.3744665083805, + 752.5551735346925 + ], + [ + 750.8979701305474, + 529.0784881530299 + ], + [ + 664.9744040161596, + 521.843215657432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6267, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 695.8501322876054, + "ymin": 94.81823797800007, + "xmax": 763.0736943163192, + "ymax": 252.6602637233879 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 695.8501322876054, + 248.97301117787669 + ], + [ + 754.40855839295, + 252.6602637233879 + ], + [ + 757.1219843831643, + 158.32893543798517 + ], + [ + 705.2592287603901, + 155.43938756640563 + ], + [ + 699.0629341135011, + 185.44071810449705 + ], + [ + 761.0213890018175, + 189.03767881975102 + ], + [ + 763.0736943163192, + 97.60009036268923 + ], + [ + 708.5615978074852, + 94.81823797800007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 11974, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 317.1011988053613, + "ymin": 520.9092334108979, + "xmax": 454.3156089433769, + "ymax": 708.5772922844307 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 454.3156089433769, + 564.9811948140616 + ], + [ + 383.2893207208703, + 558.6607042372761 + ], + [ + 333.63719076730615, + 700.5600207107075 + ], + [ + 413.33720341844327, + 708.5772922844307 + ], + [ + 445.41104751395665, + 527.3105496665628 + ], + [ + 371.0535087033493, + 520.9092334108979 + ], + [ + 317.1011988053613, + 665.460518451433 + ], + [ + 401.01924748671684, + 673.6792563630298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820297545065, + "ymin": 146.26036993670718, + "xmax": 660.9307690113988, + "ymax": 174.07405813036834 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820297545065, + 173.94580797784522 + ], + [ + 658.8661513627586, + 174.07405813036834 + ], + [ + 660.6366193777372, + 163.34645144130295 + ], + [ + 658.4837764890492, + 163.22188354613135 + ], + [ + 656.9233088750856, + 156.88695380423437 + ], + [ + 659.1390682077522, + 157.01406673119521 + ], + [ + 660.9307690113988, + 146.38378162586943 + ], + [ + 658.74719446321, + 146.26036993670718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820292752675, + "ymin": 146.26037268150654, + "xmax": 660.9307685486116, + "ymax": 174.07406098376623 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820292752675, + 173.94581083025656 + ], + [ + 658.8661508918382, + 174.07406098376623 + ], + [ + 660.6366189203387, + 163.34645421276866 + ], + [ + 658.4837760235687, + 163.22188631665267 + ], + [ + 656.9233083898565, + 156.88695663134564 + ], + [ + 659.1390677310844, + 157.01406955929843 + ], + [ + 660.9307685486116, + 146.38378437161776 + ], + [ + 658.7471939921085, + 146.26037268150654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.6659839246165, + "ymin": 105.2617524213596, + "xmax": 664.6698072320206, + "ymax": 131.4547573790759 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.6659839246165, + 131.3408196523374 + ], + [ + 662.7252688449016, + 131.4547573790759 + ], + [ + 664.3427584330558, + 121.91649638533724 + ], + [ + 662.3113017937538, + 121.80564588698857 + ], + [ + 660.9474805899815, + 114.69491487249294 + ], + [ + 663.034866696902, + 114.80765483780493 + ], + [ + 664.6698072320206, + 105.37139686010451 + ], + [ + 662.6110088236866, + 105.2617524213596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.9871029822671, + "ymin": 104.41995154308992, + "xmax": 667.9851637868574, + "ymax": 130.57971005626737 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 663.9871029822671, + 130.4660573149028 + ], + [ + 666.0443513649515, + 130.57971005626737 + ], + [ + 667.614621140956, + 121.0651464849825 + ], + [ + 665.5851465282358, + 120.95456947491499 + ], + [ + 664.3134230488698, + 113.82936508017403 + ], + [ + 666.3987166563223, + 113.94181922186223 + ], + [ + 667.9851637868574, + 104.5293218417819 + ], + [ + 665.9284011203421, + 104.41995154308992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3318569314011, + "ymin": 138.01514951439367, + "xmax": 659.5148551803625, + "ymax": 166.64888970511896 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.3318569314011, + 166.63209240375878 + ], + [ + 657.6207816208945, + 166.64888970511896 + ], + [ + 659.2065474792195, + 157.23239479701024 + ], + [ + 658.9212916150917, + 157.21602549337595 + ], + [ + 657.6137376357772, + 147.33090677015747 + ], + [ + 657.9073679811162, + 147.3475286010481 + ], + [ + 659.5148551803625, + 138.0313410646778 + ], + [ + 659.2250133585601, + 138.01514951439367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.331857455465, + "ymin": 138.0152545161071, + "xmax": 659.5148560308206, + "ymax": 166.64899864010061 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.331857455465, + 166.6322013337571 + ], + [ + 657.6207821878282, + 166.64899864010061 + ], + [ + 659.2065482710947, + 157.23250095628111 + ], + [ + 658.9212923651787, + 157.21613164785276 + ], + [ + 657.6137382108565, + 147.3310145621952 + ], + [ + 657.9073686004733, + 147.3476363980973 + ], + [ + 659.5148560308206, + 138.0314460712094 + ], + [ + 659.2250141658756, + 138.0152545161071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820297545065, + "ymin": 146.26036993670718, + "xmax": 660.9307690113988, + "ymax": 174.07405813036834 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820297545065, + 173.94580797784522 + ], + [ + 658.8661513627586, + 174.07405813036834 + ], + [ + 660.6366193777372, + 163.34645144130295 + ], + [ + 658.4837764890492, + 163.22188354613135 + ], + [ + 656.9233088750856, + 156.88695380423437 + ], + [ + 659.1390682077522, + 157.01406673119521 + ], + [ + 660.9307690113988, + 146.38378162586943 + ], + [ + 658.74719446321, + 146.26036993670718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.682030075829, + "ymin": 146.26036995486322, + "xmax": 660.9307692256341, + "ymax": 174.07405814295123 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.682030075829, + 173.94580799671309 + ], + [ + 658.8661515770476, + 174.07405814295123 + ], + [ + 660.6366195889569, + 163.3464514535246 + ], + [ + 658.4837768057707, + 163.22188356445753 + ], + [ + 656.9233092010616, + 156.88695382293488 + ], + [ + 659.1390684251459, + 157.01406674366663 + ], + [ + 660.9307692256341, + 146.38378163797762 + ], + [ + 658.747194784452, + 146.26036995486322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820294622481, + "ymin": 146.26037223009206, + "xmax": 660.9307686257428, + "ymax": 174.07406050819992 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820294622481, + 173.945810361144 + ], + [ + 658.8661509703248, + 174.07406050819992 + ], + [ + 660.6366189965718, + 163.3464537508577 + ], + [ + 658.4837762067226, + 163.22188586100788 + ], + [ + 656.9233085793867, + 156.88695616639393 + ], + [ + 659.139067810529, + 157.0140690879479 + ], + [ + 660.9307686257428, + 146.38378391399306 + ], + [ + 658.747194177706, + 146.26037223009206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 637.0256657042075, + "ymin": 116.7125182502385, + "xmax": 641.1437290664743, + "ymax": 143.3578868205451 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 637.0663157818075, + 143.24003692275318 + ], + [ + 639.1567476180415, + 143.3578868205451 + ], + [ + 641.1283120457729, + 133.49438521736758 + ], + [ + 639.0665497072414, + 133.37978178165895 + ], + [ + 637.0256657042075, + 126.47174692551962 + ], + [ + 639.1450612765971, + 126.5884120368301 + ], + [ + 641.1437290664743, + 116.82592593872869 + ], + [ + 639.0537973499207, + 116.7125182502385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3318995000601, + "ymin": 138.0150119368941, + "xmax": 659.5148974531611, + "ymax": 166.6487469740921 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.3318995000601, + 166.63194967926108 + ], + [ + 657.6208241343726, + 166.6487469740921 + ], + [ + 659.2065891433198, + 157.23225570283154 + ], + [ + 658.9213333329805, + 157.21588640547844 + ], + [ + 657.6137808410862, + 147.33076553666262 + ], + [ + 657.9074111294324, + 147.34738736098726 + ], + [ + 659.5148974531611, + 138.0312034808655 + ], + [ + 659.2250556868905, + 138.0150119368941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820292752675, + "ymin": 146.26037268150654, + "xmax": 660.9307685486116, + "ymax": 174.07406098376623 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820292752675, + 173.94581083025656 + ], + [ + 658.8661508918382, + 174.07406098376623 + ], + [ + 660.6366189203387, + 163.34645421276866 + ], + [ + 658.4837760235687, + 163.22188631665267 + ], + [ + 656.9233083898565, + 156.88695663134564 + ], + [ + 659.1390677310844, + 157.01406955929843 + ], + [ + 660.9307685486116, + 146.38378437161776 + ], + [ + 658.7471939921085, + 146.26037268150654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8154192503019, + "ymin": 136.5224595037791, + "xmax": 660.6051747881361, + "ymax": 169.29384548278296 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 657.8154192503019, + 169.27358790010987 + ], + [ + 658.1626274967474, + 169.29384548278296 + ], + [ + 660.2635206306609, + 156.7184253020706 + ], + [ + 659.9221796966398, + 156.6988531016383 + ], + [ + 658.1210921403471, + 148.9567141896864 + ], + [ + 658.474266419084, + 148.97675133594527 + ], + [ + 660.6051747881361, + 136.541807395893 + ], + [ + 660.2580694294036, + 136.5224595037791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3319414402066, + "ymin": 138.01509393728446, + "xmax": 659.5149397747439, + "ymax": 166.64883204614205 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.3319414402066, + 166.6320347474195 + ], + [ + 657.6208661089481, + 166.64883204614205 + ], + [ + 659.206630761023, + 157.23233860720904 + ], + [ + 658.9213749171237, + 157.2159693061122 + ], + [ + 657.6138234965201, + 147.33084971613772 + ], + [ + 657.9074538204259, + 147.3474715443758 + ], + [ + 659.5149397747439, + 138.03128548501843 + ], + [ + 659.2250979738258, + 138.01509393728446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.682030075829, + "ymin": 146.26036995486322, + "xmax": 660.9307692256341, + "ymax": 174.07405814295123 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.682030075829, + 173.94580799671309 + ], + [ + 658.8661515770476, + 174.07405814295123 + ], + [ + 660.6366195889569, + 163.3464514535246 + ], + [ + 658.4837768057707, + 163.22188356445753 + ], + [ + 656.9233092010616, + 156.88695382293488 + ], + [ + 659.1390684251459, + 157.01406674366663 + ], + [ + 660.9307692256341, + 146.38378163797762 + ], + [ + 658.747194784452, + 146.26036995486322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8153236453516, + "ymin": 136.52245417627233, + "xmax": 660.6050790985047, + "ymax": 169.29383989819422 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 657.8153236453516, + 169.27358232211682 + ], + [ + 658.1625317787508, + 169.29383989819422 + ], + [ + 660.2634265302028, + 156.71841990642992 + ], + [ + 659.9220857072294, + 156.69884771236497 + ], + [ + 658.1209948926756, + 148.95670867239383 + ], + [ + 658.4741690563321, + 148.97674581212365 + ], + [ + 660.6050790985047, + 136.5418020620869 + ], + [ + 660.2579738527824, + 136.52245417627233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.815416261267, + "ymin": 136.52255285954345, + "xmax": 660.6051720625452, + "ymax": 169.2939432269901 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 657.815416261267, + 169.27368564523258 + ], + [ + 658.1626244458896, + 169.2939432269901 + ], + [ + 660.2635179057257, + 156.71851973921758 + ], + [ + 659.9221770332464, + 156.6989475397584 + ], + [ + 658.1210891412625, + 148.95681087113317 + ], + [ + 658.4742633579177, + 148.9768480165776 + ], + [ + 660.6051720625452, + 136.5419007507804 + ], + [ + 660.2580667656307, + 136.52255285954345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.6820307438783, + "ymin": 146.26036860667162, + "xmax": 660.9307698854983, + "ymax": 174.07405674141793 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.6820307438783, + 173.9458065956645 + ], + [ + 658.866152241086, + 174.07405674141793 + ], + [ + 660.6366202400955, + 163.3464500922349 + ], + [ + 658.4837774608064, + 163.22188220363185 + ], + [ + 656.9233098783109, + 156.88695243431317 + ], + [ + 659.139069098267, + 157.01406535455754 + ], + [ + 660.9307698854983, + 146.38378028931984 + ], + [ + 658.7471954483253, + 146.26036860667162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8155149959775, + "ymin": 136.52246713134133, + "xmax": 660.6052705197807, + "ymax": 169.29385346941322 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 657.8155149959775, + 169.27359588630125 + ], + [ + 658.1627232488172, + 169.29385346941322 + ], + [ + 660.2636147713409, + 156.71843301848276 + ], + [ + 659.9222738311408, + 156.6988608176336 + ], + [ + 658.1211895321742, + 148.95672208897088 + ], + [ + 658.4743638175269, + 148.97675923567138 + ], + [ + 660.6052705197807, + 136.54181502387428 + ], + [ + 660.2581651546587, + 136.52246713134133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4867526467924, + "ymin": 95.83113810529323, + "xmax": 669.4333813408279, + "ymax": 121.6517554968375 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 665.4867526467924, + 121.540990081921 + ], + [ + 667.5179397445756, + 121.6517554968375 + ], + [ + 669.048578868824, + 112.37731085466342 + ], + [ + 667.0444710094812, + 112.26950548269048 + ], + [ + 665.8289822406365, + 104.99997800117916 + ], + [ + 667.8875037757451, + 105.10953715228388 + ], + [ + 669.4333813408279, + 95.93773093403308 + ], + [ + 667.4026678042392, + 95.83113810529323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8154193017972, + "ymin": 136.5224585897632, + "xmax": 660.6051747282281, + "ymax": 169.2938445194507 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 657.8154193017972, + 169.2735869431192 + ], + [ + 658.1626274400027, + 169.2938445194507 + ], + [ + 660.2635205721851, + 156.71842437133157 + ], + [ + 659.9221797445674, + 156.69885217702537 + ], + [ + 658.1210921923221, + 148.95671324310987 + ], + [ + 658.4742663609512, + 148.9767503830952 + ], + [ + 660.6051747282281, + 136.5418064758203 + ], + [ + 660.2580694777033, + 136.5224585897632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.1933448567711, + "ymin": 150.2380335873346, + "xmax": 659.427672306762, + "ymax": 177.95732104307982 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 655.1933448567711, + 177.828847778262 + ], + [ + 657.3696143590222, + 177.95732104307982 + ], + [ + 659.1555822109719, + 167.2105173764033 + ], + [ + 657.0103684625824, + 167.085720224883 + ], + [ + 655.4123173992502, + 160.88612880052838 + ], + [ + 657.6199959247366, + 161.0134923682793 + ], + [ + 659.427672306762, + 150.36170141463862 + ], + [ + 657.2519458601769, + 150.2380335873346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3318569314011, + "ymin": 138.01514951439367, + "xmax": 659.5148551803625, + "ymax": 166.64888970511896 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.3318569314011, + 166.63209240375878 + ], + [ + 657.6207816208945, + 166.64888970511896 + ], + [ + 659.2065474792195, + 157.23239479701024 + ], + [ + 658.9212916150917, + 157.21602549337595 + ], + [ + 657.6137376357772, + 147.33090677015747 + ], + [ + 657.9073679811162, + 147.3475286010481 + ], + [ + 659.5148551803625, + 138.0313410646778 + ], + [ + 659.2250133585601, + 138.01514951439367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3241052025801, + "ymin": 91.27338437242469, + "xmax": 667.2441027470094, + "ymax": 116.91408379110209 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 663.3241052025801, + 116.8048354651624 + ], + [ + 665.3409880901473, + 116.91408379110209 + ], + [ + 666.8903372880295, + 107.76583007100447 + ], + [ + 664.9001560062673, + 107.65948158493973 + ], + [ + 663.6351146106267, + 100.31584361763925 + ], + [ + 665.6789457621974, + 100.42388226060979 + ], + [ + 667.2441027470094, + 91.37851781742086 + ], + [ + 665.2276866704893, + 91.27338437242469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.3318611387147, + "ymin": 138.01523906874644, + "xmax": 659.5148596775101, + "ymax": 166.64898261409593 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 657.3318611387147, + 166.63218530848553 + ], + [ + 657.6207858648571, + 166.64898261409593 + ], + [ + 659.2065518668134, + 157.23248533862605 + ], + [ + 658.9212959669612, + 157.21611603090292 + ], + [ + 657.6137419477583, + 147.330998704335 + ], + [ + 657.90737233095, + 147.34762053949987 + ], + [ + 659.5148596775101, + 138.03143062313987 + ], + [ + 659.2250178188254, + 138.01523906874644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.9013753851976, + "ymin": 108.70723694192296, + "xmax": 665.6304416293245, + "ymax": 164.68529802079834 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 662.9013753851976, + 164.6028039243549 + ], + [ + 664.324887688451, + 164.68529802079834 + ], + [ + 664.5021744663323, + 163.57518132470952 + ], + [ + 663.0807995950855, + 163.4929370967539 + ], + [ + 663.9574797263942, + 109.7812957240767 + ], + [ + 665.44676994884, + 109.86113427701792 + ], + [ + 665.6304416293245, + 108.78682254383739 + ], + [ + 664.1434907778907, + 108.70723694192296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.3591552869987, + "ymin": 100.01331385216054, + "xmax": 667.1172941671499, + "ymax": 155.66665450439206 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 664.3591552869987, + 155.58617938599104 + ], + [ + 665.7653012271301, + 155.66665450439206 + ], + [ + 665.9382518488072, + 154.5836883300042 + ], + [ + 664.5341915495763, + 154.5034539701836 + ], + [ + 665.4680253276401, + 101.05991990109482 + ], + [ + 666.9383178488192, + 101.1377160905327 + ], + [ + 667.1172941671499, + 100.09086672695804 + ], + [ + 665.6492817653008, + 100.01331385216054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.3237318133458, + "ymin": 711.6045059007122, + "xmax": 1126.1641495301847, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1123.2707658394293, + 739.7476426770073 + ], + [ + 1117.6962107663862, + 718.4349037128263 + ], + [ + 1086.3237318133458, + 715.3528233484926 + ], + [ + 1091.3660699115035, + 736.5626937414877 + ], + [ + 1126.1641495301847, + 736.0736868508211 + ], + [ + 1120.5093245080382, + 714.6956795522744 + ], + [ + 1088.9457601565778, + 711.6045059007122 + ], + [ + 1094.0618152863224, + 732.8787191112963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 636.8414091636263, + "ymin": 121.15252169327908, + "xmax": 638.6490413994926, + "ymax": 177.5783016351793 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 636.9830983735136, + 177.4928778127333 + ], + [ + 638.4286979261188, + 177.5783016351793 + ], + [ + 638.6490413994926, + 176.42878784151358 + ], + [ + 637.2056459774632, + 176.34362730544194 + ], + [ + 636.8414091636263, + 122.26649836762516 + ], + [ + 638.3548926463326, + 122.3493067280418 + ], + [ + 638.5856882834045, + 121.23506287010255 + ], + [ + 637.0746206258873, + 121.15252169327908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1185.6769330619863, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 4.796154991346157 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1209.6133782622833, + 4.385221699540239 + ], + [ + 1219.082912296909, + 4.796154991346157 + ], + [ + 1194.600678334782, + -27.220677720393837 + ], + [ + 1185.6769330619863, + -27.58695022166353 + ], + [ + 1284.6088560495625, + -173.22575061178577 + ], + [ + 1295.3871305649086, + -172.9050527512518 + ], + [ + 1263.0875783982824, + -197.7109940907552 + ], + [ + 1253.0105540244722, + -197.99267463851947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.7758602846379, + "ymin": 699.82167179477, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1168.8586030680183, + 944.5063993640413 + ], + [ + 1162.033750232003, + 917.8769045374207 + ], + [ + 951.7758602846379, + 894.098730089163 + ], + [ + 954.7820354233197, + 919.8752002981807 + ], + [ + 1403.6991887848137, + 762.9389803608801 + ], + [ + 1387.994824856948, + 729.3641972842601 + ], + [ + 1083.6536555970818, + 699.82167179477 + ], + [ + 1091.297452274462, + 731.8655805579909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.1153786738475, + "ymin": 711.4551213111458, + "xmax": 1126.38479407877, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1123.458770301218, + 739.901020094324 + ], + [ + 1117.8217179252167, + 718.358652054002 + ], + [ + 1086.1153786738475, + 715.2441200846464 + ], + [ + 1091.208730658287, + 736.6814023326143 + ], + [ + 1126.38479407877, + 736.1879916983711 + ], + [ + 1120.6656988222353, + 714.5789379978022 + ], + [ + 1088.7641758981745, + 711.4551213111458 + ], + [ + 1093.9328040313223, + 732.9581335388727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.7689604801856, + "ymin": 155.14656235618156, + "xmax": 658.3224427759908, + "ymax": 212.19866561841647 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 655.7689604801856, + 212.1058664458672 + ], + [ + 657.2719034117952, + 212.19866561841647 + ], + [ + 657.4704644149654, + 210.94997311123237 + ], + [ + 655.9699038782417, + 210.85747083317102 + ], + [ + 656.539159250987, + 156.3622423085555 + ], + [ + 658.1156152808694, + 156.4526171618289 + ], + [ + 658.3224427759908, + 155.23663398352542 + ], + [ + 656.7486076999572, + 155.14656235618156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.6278578642048, + "ymin": 0.0, + "xmax": 1034.715815424877, + "ymax": 185.27526338254114 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 974.2773868081815, + 185.27526338254114 + ], + [ + 972.5700936010378, + 178.61372920282653 + ], + [ + 867.6278578642048, + 172.56421745894752 + ], + [ + 868.3921661589661, + 179.11772362492232 + ], + [ + 1034.715815424877, + -25.92443572963498 + ], + [ + 1032.0727189550723, + -31.575142124116667 + ], + [ + 907.9658650117854, + -36.69108091391365 + ], + [ + 909.2880678156547, + -31.148255458896188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 204.5390785002416, + "ymax": 84.15875606281969 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 199.6244059301133, + 84.15875606281969 + ], + [ + 204.5390785002416, + 78.65078096660909 + ], + [ + 78.10782446920416, + 71.94062232478763 + ], + [ + 72.17852472382879, + 77.33435562071514 + ], + [ + 127.55772411900762, + -123.54939282178537 + ], + [ + 133.97635779710293, + -127.91052389119483 + ], + [ + -11.845480978781438, + -133.20727936865757 + ], + [ + -19.61440913910633, + -128.9510668571868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.702953886353, + "ymin": 109.55929086445144, + "xmax": 662.2926936251388, + "ymax": 165.56864684412176 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.702953886353, + 165.48595364442014 + ], + [ + 661.1278224319711, + 165.56864684412176 + ], + [ + 661.3101743238007, + 164.45585278983208 + ], + [ + 659.8874472714728, + 164.37341036307146 + ], + [ + 660.6127083080671, + 110.63605932346496 + ], + [ + 662.103483131844, + 110.71609947362867 + ], + [ + 662.2926936251388, + 109.6390771056789 + ], + [ + 660.8042628231984, + 109.55929086445144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.2830605734907, + "ymin": 95.40042378037623, + "xmax": 664.931412593912, + "ymax": 150.87747175713184 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 662.2830605734907, + 150.79805860683567 + ], + [ + 663.6796678681751, + 150.87747175713184 + ], + [ + 663.8545768655185, + 149.808786920619 + ], + [ + 662.4600270258892, + 149.72960978250148 + ], + [ + 663.2904049389587, + 96.43260827895858 + ], + [ + 664.7502719474805, + 96.5093316002675 + ], + [ + 664.931412593912, + 95.47690879902848 + ], + [ + 663.4737935011211, + 95.40042378037623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.8200818807607, + "ymin": 151.0784472867324, + "xmax": 658.3846562212426, + "ymax": 208.49858102036112 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.8200818807607, + 208.40592268191733 + ], + [ + 657.3279038885714, + 208.49858102036112 + ], + [ + 657.5270177004128, + 207.2517895480648 + ], + [ + 656.0215935686266, + 207.15942861231937 + ], + [ + 656.5954053290214, + 152.29139676580613 + ], + [ + 658.1772302579267, + 152.38156918610562 + ], + [ + 658.3846562212426, + 151.16831613394552 + ], + [ + 656.80547011413, + 151.0784472867324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.5818612048124, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 103.86166545481984 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1163.4899970356587, + 103.86166545481984 + ], + [ + 1327.1328977951248, + 94.47207829016781 + ], + [ + 1230.14329517433, + 17.358848653453492 + ], + [ + 1084.5818612048124, + 24.67685474471125 + ], + [ + 1299.2417235082312, + -220.16787378989227 + ], + [ + 1502.1946264492267, + -226.2651679183191 + ], + [ + 1359.1587716941633, + -274.72150102730416 + ], + [ + 1183.2605772608254, + -270.2432719932541 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00145/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00145/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e7fe38779a90cfea21af03ce5040bd743b5f6f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00145/meta.json @@ -0,0 +1,6952 @@ +{ + "frame_id": 145, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.5, + "sim_timestamp": 13306.034917515935 + }, + "drone_pose": { + "x": -27.67785010278008, + "y": 2.448990178233732, + "z": 20.0, + "pitch": -43.949819217583965, + "yaw": -6.0949891753375995, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7158782482147217, + 0.07644199579954147, + 0.6940280795097351, + 6.120615005493164 + ], + [ + -0.10617711395025253, + 0.9943472146987915, + 0.0, + 0.5036077499389648 + ], + [ + -0.6901049017906189, + -0.07368990033864975, + 0.7199479341506958, + -33.68004608154297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -27.195270231686436, + "y": 2.4511096059524435, + "z": 20.0 + }, + "t1_image_uv": [ + 788.3103907029348, + -565.4377293873038 + ], + "t1_depth": 0.3453064071262126 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -7.667182922363281, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.952613374265027, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -7.667182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.28517940640449524, + "y": 0.26155999302864075, + "z": 0.563162088394165 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.8184473381564, + "ymin": 338.52635512892374, + "xmax": 650.0463978572087, + "ymax": 381.2190164833557 + }, + "corners_3d": [ + [ + -7.952362060546875, + 0.05067679286003113, + 0.03693896532058716 + ], + [ + -7.952362060546875, + 0.5737967491149902, + 0.03693896532058716 + ], + [ + -7.382002830505371, + 0.5737967491149902, + 0.03693896532058716 + ], + [ + -7.382002830505371, + 0.05067679286003113, + 0.03693896532058716 + ], + [ + -7.952362060546875, + 0.05067679286003113, + 1.1632630825042725 + ], + [ + -7.952362060546875, + 0.5737967491149902, + 1.1632630825042725 + ], + [ + -7.382002830505371, + 0.5737967491149902, + 1.1632630825042725 + ], + [ + -7.382002830505371, + 0.05067679286003113, + 1.1632630825042725 + ] + ], + "corners_2d": [ + [ + 630.1010866217199, + 379.87469269062467 + ], + [ + 647.8454913982856, + 381.2190164833557 + ], + [ + 649.7711111708377, + 367.6697881607476 + ], + [ + 632.2776260610054, + 366.3636442775691 + ], + [ + 629.8184473381564, + 352.0080150460713 + ], + [ + 648.0698279055773, + 353.3500166454459 + ], + [ + 650.0463978572087, + 339.8291776848998 + ], + [ + 632.0603726456762, + 338.52635512892374 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 145, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 315012, + "2": 300775, + "3": 14308, + "5": 7616, + "6": 1608, + "9": 1831, + "10": 5336, + "12": 1814, + "14": 35033, + "15": 6579, + "20": 3539, + "24": 21455, + "25": 206694 + }, + "instance_pixel_counts": { + "2118": 5329, + "2188": 67, + "2706": 817, + "3218": 978, + "3424": 138683, + "3458": 11, + "5506": 990, + "6215": 107189, + "6284": 3513, + "6290": 11011, + "6730": 575, + "6992": 4724, + "7774": 90, + "8286": 2972, + "8332": 13532, + "8338": 36695, + "8798": 3676, + "10846": 5311, + "15184": 2892, + "15510": 585, + "16203": 616, + "17738": 158, + "18000": 3539, + "19092": 2216, + "21140": 36983, + "23392": 821, + "23700": 131783, + "23904": 382, + "28000": 424, + "28256": 420, + "28768": 439, + "29826": 580, + "31584": 306, + "31840": 118, + "32096": 150, + "34560": 27, + "34956": 243, + "35402": 232, + "35476": 2325, + "36170": 62, + "37524": 7968, + "38540": 3754, + "38801": 54, + "40588": 12526, + "41562": 14308, + "42897": 9527, + "44945": 38730, + "45898": 413, + "52038": 62139, + "54859": 300, + "56576": 193, + "56647": 68011, + "56832": 171, + "57088": 536, + "57173": 1831, + "57344": 579, + "57600": 335, + "57856": 11283, + "58368": 6579, + "59541": 402, + "60051": 847, + "60928": 11701, + "62101": 928, + "62611": 33165, + "64149": 3540, + "64585": 291, + "64659": 110018 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 193, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -7.667182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2699480950832367, + "y": 0.2898291349411011, + "z": 0.5456438064575195 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8997245823552, + "ymin": 339.255851909127, + "xmax": 650.9633751125825, + "ymax": 380.5031788385679 + }, + "corners_3d": [ + [ + -7.937130451202393, + 0.0224076509475708, + 0.054457247257232666 + ], + [ + -7.937130451202393, + 0.602065920829773, + 0.054457247257232666 + ], + [ + -7.3972344398498535, + 0.602065920829773, + 0.054457247257232666 + ], + [ + -7.3972344398498535, + 0.0224076509475708, + 0.054457247257232666 + ], + [ + -7.937130451202393, + 0.0224076509475708, + 1.145744800567627 + ], + [ + -7.937130451202393, + 0.602065920829773, + 1.145744800567627 + ], + [ + -7.3972344398498535, + 0.602065920829773, + 1.145744800567627 + ], + [ + -7.3972344398498535, + 0.0224076509475708, + 1.145744800567627 + ] + ], + "corners_2d": [ + [ + 629.1982725371026, + 379.01473613186056 + ], + [ + 648.8614414063205, + 380.5031788385679 + ], + [ + 650.6720492205664, + 367.6759796977907 + ], + [ + 631.2722936166573, + 366.2275997140633 + ], + [ + 628.8997245823552, + 352.01599112209914 + ], + [ + 649.1067586494236, + 353.50191184886387 + ], + [ + 650.9633751125825, + 340.70069452778574 + ], + [ + 631.03442433827, + 339.255851909127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 171, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.7978675365448, + "y": 3.3577730655670166, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.29441481828689575, + "y": 0.18068435788154602, + "z": 0.5543081760406494 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 740.1953502788738, + "ymin": 263.27298533413557, + "xmax": 756.6939490360587, + "ymax": 302.4960828156259 + }, + "corners_3d": [ + [ + -4.116922855377197, + 3.225369930267334, + 0.04578310251235962 + ], + [ + -4.060392379760742, + 3.582289457321167, + 0.04578310251235962 + ], + [ + -3.4788122177124023, + 3.490176200866699, + 0.04578310251235962 + ], + [ + -3.5353426933288574, + 3.133256673812866, + 0.04578310251235962 + ], + [ + -4.116922855377197, + 3.225369930267334, + 1.1543993949890137 + ], + [ + -4.060392379760742, + 3.582289457321167, + 1.1543993949890137 + ], + [ + -3.4788122177124023, + 3.490176200866699, + 1.1543993949890137 + ], + [ + -3.5353426933288574, + 3.133256673812866, + 1.1543993949890137 + ] + ], + "corners_2d": [ + [ + 742.5136183476378, + 302.4960828156259 + ], + [ + 753.7664169757353, + 302.12294303080444 + ], + [ + 751.2959056199376, + 290.3095990719488 + ], + [ + 740.1953502788738, + 290.6726440251613 + ], + [ + 745.1527478389531, + 275.3782664373149 + ], + [ + 756.6939490360587, + 275.00748313249005 + ], + [ + 754.1198771470112, + 263.27298533413557 + ], + [ + 742.738767316536, + 263.63348476938484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 536, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -9.923007011413574, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2809298634529114, + "y": 0.3338564932346344, + "z": 0.8798006176948547 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.7396082350178, + "ymin": 406.3825876946013, + "xmax": 908.3136022786327, + "ymax": 466.5774355773823 + }, + "corners_3d": [ + [ + -10.221024513244629, + 6.936253070831299, + -0.27969956398010254 + ], + [ + -10.186079025268555, + 7.603050708770752, + -0.27969956398010254 + ], + [ + -9.62498950958252, + 7.573645114898682, + -0.27969956398010254 + ], + [ + -9.659934997558594, + 6.9068474769592285, + -0.27969956398010254 + ], + [ + -10.221024513244629, + 6.936253070831299, + 1.479901671409607 + ], + [ + -10.186079025268555, + 7.603050708770752, + 1.479901671409607 + ], + [ + -9.62498950958252, + 7.573645114898682, + 1.479901671409607 + ], + [ + -9.659934997558594, + 6.9068474769592285, + 1.479901671409607 + ] + ], + "corners_2d": [ + [ + 871.1518707894817, + 465.5562015655973 + ], + [ + 895.8084665913934, + 466.5774355773823 + ], + [ + 893.0195345513359, + 450.9102228224562 + ], + [ + 868.7396082350178, + 449.91974565315894 + ], + [ + 882.4399468815366, + 422.079422799065 + ], + [ + 908.3136022786327, + 423.10540915373053 + ], + [ + 905.1915277515831, + 407.376200239421 + ], + [ + 879.7323294804385, + 406.3825876946013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 579, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -16.416950225830078, + "y": -1.4007309675216675, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5623449683189392, + "y": 0.30488279461860657, + "z": 0.8815553188323975 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 500.79859489587807, + "ymin": 575.5114908423552, + "xmax": 545.5707365211779, + "ymax": 663.9897691860184 + }, + "corners_3d": [ + [ + -16.962568283081055, + -1.7346267700195312, + -0.28145915269851685 + ], + [ + -16.99448013305664, + -1.1256968975067139, + -0.28145915269851685 + ], + [ + -15.871332168579102, + -1.0668351650238037, + -0.28145915269851685 + ], + [ + -15.8394193649292, + -1.675765037536621, + -0.28145915269851685 + ], + [ + -16.962568283081055, + -1.7346267700195312, + 1.4816515445709229 + ], + [ + -16.99448013305664, + -1.1256968975067139, + 1.4816515445709229 + ], + [ + -15.871332168579102, + -1.0668351650238037, + 1.4816515445709229 + ], + [ + -15.8394193649292, + -1.675765037536621, + 1.4816515445709229 + ] + ], + "corners_2d": [ + [ + 508.51768201098275, + 660.1235801221388 + ], + [ + 534.3797372685012, + 663.9897691860184 + ], + [ + 545.5707365211779, + 620.870629281899 + ], + [ + 520.5790224053402, + 617.2704462111009 + ], + [ + 500.79859489587807, + 619.2785707665967 + ], + [ + 528.1582508933597, + 623.2360543030102 + ], + [ + 540.2145969231489, + 579.181555503695 + ], + [ + 513.8270421375544, + 575.5114908423552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 335, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 3.578153371810913, + "y": -7.857978343963623, + "z": 0.7523910999298096 + }, + "extent": { + "x": 0.49351727962493896, + "y": 0.395311564207077, + "z": 0.9330548644065857 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 439.39431419198127, + "ymin": 107.48206253583615, + "xmax": 475.3810491582761, + "ymax": 166.75045267666877 + }, + "corners_3d": [ + [ + 3.152552604675293, + -8.325626373291016, + -0.18066376447677612 + ], + [ + 3.028871536254883, + -7.544736862182617, + -0.18066376447677612 + ], + [ + 4.003754138946533, + -7.3903303146362305, + -0.18066376447677612 + ], + [ + 4.127435207366943, + -8.171219825744629, + -0.18066376447677612 + ], + [ + 3.152552604675293, + -8.325626373291016, + 1.68544602394104 + ], + [ + 3.028871536254883, + -7.544736862182617, + 1.68544602394104 + ], + [ + 4.003754138946533, + -7.3903303146362305, + 1.68544602394104 + ], + [ + 4.127435207366943, + -8.171219825744629, + 1.68544602394104 + ] + ], + "corners_2d": [ + [ + 446.4351865053297, + 163.80916451930497 + ], + [ + 465.5936989922692, + 166.75045267666877 + ], + [ + 475.3810491582761, + 153.33236004924794 + ], + [ + 456.53365193935304, + 150.4976795882007 + ], + [ + 439.39431419198127, + 120.44886184258812 + ], + [ + 459.22319087307187, + 123.31631177939809 + ], + [ + 469.4821849661257, + 110.24189995888926 + ], + [ + 449.9862732487429, + 107.48206253583615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 11283, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 636.0529484331385, + "ymin": 556.5729169464549, + "xmax": 749.455840874442, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 636.2537176993228, + 820.860651507509 + ], + [ + 737.8880060245955, + 831.8866634484754 + ], + [ + 744.782822117456, + 598.127854771358 + ], + [ + 659.9937370533664, + 590.4722179512717 + ], + [ + 636.0529484331385, + 792.189551519002 + ], + [ + 743.17795998947, + 803.5710580944863 + ], + [ + 749.455840874442, + 564.3354444111819 + ], + [ + 660.8792749035816, + 556.5729169464549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6579, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 694.0184549266373, + "ymin": 109.16966773782923, + "xmax": 762.8187923621211, + "ymax": 271.4022664315181 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 694.0184549266373, + 267.52225925586094 + ], + [ + 753.810753745822, + 271.4022664315181 + ], + [ + 756.7763907940748, + 173.27753943329378 + ], + [ + 703.9542581550004, + 170.25245155718542 + ], + [ + 697.1910906121988, + 203.6019350043107 + ], + [ + 760.5281112987215, + 207.39562797247697 + ], + [ + 762.8187923621211, + 112.08712100925763 + ], + [ + 707.249216067759, + 109.16966773782923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 11701, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 299.9087651049703, + "ymin": 555.6240504502064, + "xmax": 444.05868153124516, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 444.05868153124516, + 599.6984177435952 + ], + [ + 371.00608677149575, + 592.9357966292449 + ], + [ + 317.88739884238066, + 743.9278245990174 + ], + [ + 400.1572150313051, + 752.5731178851227 + ], + [ + 434.38118476078637, + 562.4917912681727 + ], + [ + 357.8043474015204, + 555.6240504502064 + ], + [ + 299.9087651049703, + 709.9138459789106 + ], + [ + 386.6747866097749, + 718.8075975138814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264283153811, + "ymin": 162.39213870398595, + "xmax": 658.4813467040391, + "ymax": 190.78196226373814 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264283153811, + 190.6471806907654 + ], + [ + 656.3550085906704, + 190.78196226373814 + ], + [ + 658.2166784551403, + 179.61131954925736 + ], + [ + 656.0206853894593, + 179.48049012529822 + ], + [ + 654.3347546630553, + 173.46356704759665 + ], + [ + 656.5962440580315, + 173.5972282657166 + ], + [ + 658.4813467040391, + 162.5218241166189 + ], + [ + 656.2534068142959, + 162.39213870398595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264278113771, + "ymin": 162.39214156276236, + "xmax": 658.4813462172842, + "ymax": 190.78196523591313 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264278113771, + 190.64718366188097 + ], + [ + 656.3550080953355, + 190.78196523591313 + ], + [ + 658.2166779743312, + 179.61132243427272 + ], + [ + 656.0206849002327, + 179.4804930093005 + ], + [ + 654.3347541524494, + 173.46356999400749 + ], + [ + 656.5962435563526, + 173.59723121319348 + ], + [ + 658.4813462172842, + 162.52182697641416 + ], + [ + 656.2534063188767, + 162.39214156276236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4093541819796, + "ymin": 119.74269699579688, + "xmax": 662.507913930506, + "ymax": 146.44240540151736 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 658.4093541819796, + 146.32296456904035 + ], + [ + 660.5079843502292, + 146.44240540151736 + ], + [ + 662.204218206181, + 136.5347189144885 + ], + [ + 660.1345105325075, + 136.41857934241392 + ], + [ + 658.664705740815, + 129.54587430559178 + ], + [ + 660.7924938823041, + 129.66411772610158 + ], + [ + 662.507913930506, + 119.85762787278415 + ], + [ + 660.4098518751388, + 119.74269699579688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.7992082226405, + "ymin": 118.86969953654929, + "xmax": 665.891655238032, + "ymax": 145.53484725101907 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 661.7992082226405, + 145.4157107373387 + ], + [ + 663.8957311301695, + 145.53484725101907 + ], + [ + 665.5427424164722, + 135.652231433934 + ], + [ + 663.4750844966261, + 135.53638365918988 + ], + [ + 662.1011888408516, + 128.64773379758932 + ], + [ + 664.2268107604841, + 128.765671778995 + ], + [ + 665.891655238032, + 118.98433771132855 + ], + [ + 663.7956994843498, + 118.86969953654929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7780902185921, + "ymin": 154.10395758389947, + "xmax": 657.014532278374, + "ymax": 183.27767942323408 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.7780902185921, + 183.2600235258208 + ], + [ + 655.072921959507, + 183.27767942323408 + ], + [ + 656.7405787022835, + 173.47024910766396 + ], + [ + 656.4495700644164, + 173.45305272500727 + ], + [ + 655.023185621685, + 163.81250628207945 + ], + [ + 655.3229131554822, + 163.82998879004646 + ], + [ + 657.014532278374, + 154.12097769379943 + ], + [ + 656.7187550210235, + 154.10395758389947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7780901805097, + "ymin": 154.10406699108555, + "xmax": 657.0145325802363, + "ymax": 183.27779292269503 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.7780901805097, + 183.26013701992898 + ], + [ + 655.072921966118, + 183.27779292269503 + ], + [ + 656.7405789583003, + 173.47035965313825 + ], + [ + 656.4495702768914, + 173.45316326533631 + ], + [ + 655.023185620741, + 163.81261866157695 + ], + [ + 655.322913200728, + 163.8301011749321 + ], + [ + 657.0145325802363, + 154.12108710616133 + ], + [ + 656.7187552779054, + 154.10406699108555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264283153811, + "ymin": 162.39213870398595, + "xmax": 658.4813467040391, + "ymax": 190.78196226373814 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264283153811, + 190.6471806907654 + ], + [ + 656.3550085906704, + 190.78196226373814 + ], + [ + 658.2166784551403, + 179.61131954925736 + ], + [ + 656.0206853894593, + 179.48049012529822 + ], + [ + 654.3347546630553, + 173.46356704759665 + ], + [ + 656.5962440580315, + 173.5972282657166 + ], + [ + 658.4813467040391, + 162.5218241166189 + ], + [ + 656.2534068142959, + 162.39213870398595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264286432423, + "ymin": 162.39213872306482, + "xmax": 658.4813469226284, + "ymax": 190.78196227696196 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264286432423, + 190.64718071059394 + ], + [ + 656.3550088093225, + 190.78196227696196 + ], + [ + 658.2166786705947, + 179.61131956209334 + ], + [ + 656.0206857125273, + 179.48049014454537 + ], + [ + 654.3347549957572, + 173.46356706726036 + ], + [ + 656.5962442799131, + 173.59722827883053 + ], + [ + 658.4813469226284, + 162.52182412934272 + ], + [ + 656.253407142063, + 162.39213872306482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264280046648, + "ymin": 162.3921410926592, + "xmax": 658.48134629841, + "ymax": 190.78196474055062 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264280046648, + 190.64718317330448 + ], + [ + 656.3550081778914, + 190.78196474055062 + ], + [ + 658.2166780544661, + 179.6113219534368 + ], + [ + 656.0206850894598, + 179.4804925350491 + ], + [ + 654.3347543484509, + 173.4635695094935 + ], + [ + 656.5962436399658, + 173.59723072194728 + ], + [ + 658.48134629841, + 162.52182649978158 + ], + [ + 656.2534065107023, + 162.3921410926592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 634.2031064820794, + "ymin": 131.63261283508675, + "xmax": 638.4810731023373, + "ymax": 158.80316537011132 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 634.2837905142018, + 158.67954100716236 + ], + [ + 636.414742353098, + 158.80316537011132 + ], + [ + 638.4810731023373, + 148.55090253543014 + ], + [ + 636.3799339525051, + 148.43075313103034 + ], + [ + 634.2031064820794, + 141.7814921569767 + ], + [ + 636.3641278458819, + 141.9039361404565 + ], + [ + 638.4599375799899, + 131.75156749790722 + ], + [ + 636.3295701512823, + 131.63261283508675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7781344213474, + "ymin": 154.10381425651727, + "xmax": 657.0145761715563, + "ymax": 183.2775307348232 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.7781344213474, + 183.25987484442257 + ], + [ + 655.0729661047538, + 183.2775307348232 + ], + [ + 656.7406219424273, + 173.47010428908186 + ], + [ + 656.4496133605875, + 173.45290791316583 + ], + [ + 655.0232305080655, + 163.81235906086246 + ], + [ + 655.3229579824281, + 163.82984156177054 + ], + [ + 657.0145761715563, + 154.1208343596365 + ], + [ + 656.7187989720843, + 154.10381425651727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264278113771, + "ymin": 162.39214156276236, + "xmax": 658.4813462172842, + "ymax": 190.78196523591313 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264278113771, + 190.64718366188097 + ], + [ + 656.3550080953355, + 190.78196523591313 + ], + [ + 658.2166779743312, + 179.61132243427272 + ], + [ + 656.0206849002327, + 179.4804930093005 + ], + [ + 654.3347541524494, + 173.46356999400749 + ], + [ + 656.5962435563526, + 173.59723121319348 + ], + [ + 658.4813462172842, + 162.52182697641416 + ], + [ + 656.2534063188767, + 162.39214156276236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.2652741913473, + "ymin": 152.54927604298126, + "xmax": 658.1354844605871, + "ymax": 185.9992361627343 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 655.2652741913473, + 185.9779416997726 + ], + [ + 655.6195931055317, + 185.9992361627343 + ], + [ + 657.829040245772, + 172.90208543267627 + ], + [ + 657.4808352310207, + 172.88152679314754 + ], + [ + 655.5323805630868, + 165.50788031307468 + ], + [ + 655.8929071051688, + 165.52895713538746 + ], + [ + 658.1354844605871, + 152.56961215646433 + ], + [ + 657.7812860140915, + 152.54927604298126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7781767842579, + "ymin": 154.10389971878544, + "xmax": 657.0146189303653, + "ymax": 183.27761939372886 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.7781767842579, + 183.2599634991467 + ], + [ + 655.0730085035757, + 183.27761939372886 + ], + [ + 656.7406639807549, + 173.47019064051273 + ], + [ + 656.4496553639292, + 173.45299426057727 + ], + [ + 655.0232736030705, + 163.81244684491966 + ], + [ + 655.3230011145471, + 163.82992935003682 + ], + [ + 657.0146189303653, + 154.12091982594796 + ], + [ + 656.7188416947514, + 154.10389971878544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264286432423, + "ymin": 162.39213872306482, + "xmax": 658.4813469226284, + "ymax": 190.78196227696196 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264286432423, + 190.64718071059394 + ], + [ + 656.3550088093225, + 190.78196227696196 + ], + [ + 658.2166786705947, + 179.61131956209334 + ], + [ + 656.0206857125273, + 179.48049014454537 + ], + [ + 654.3347549957572, + 173.46356706726036 + ], + [ + 656.5962442799131, + 173.59722827883053 + ], + [ + 658.4813469226284, + 162.52182412934272 + ], + [ + 656.253407142063, + 162.39213872306482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.2651766285342, + "ymin": 152.54927044336927, + "xmax": 658.1353868154579, + "ymax": 185.99923029229456 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 655.2651766285342, + 185.97793583627617 + ], + [ + 655.6194954271905, + 185.99923029229456 + ], + [ + 657.8289442529529, + 172.90207976509052 + ], + [ + 657.4807393516413, + 172.88152113225956 + ], + [ + 655.5322812910332, + 165.50787450950912 + ], + [ + 655.8928077154648, + 165.52895132494382 + ], + [ + 658.1353868154579, + 152.5696065502217 + ], + [ + 657.781188484448, + 152.54927044336927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.2652706283982, + "ymin": 152.54937330490088, + "xmax": 658.1354811783276, + "ymax": 185.99933800733024 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 655.2652706283982, + 185.97804354520713 + ], + [ + 655.6195894805085, + 185.99933800733024 + ], + [ + 657.8290369781649, + 172.90218375801564 + ], + [ + 657.4808320252293, + 172.88162511939356 + ], + [ + 655.532376974631, + 165.5079811175453 + ], + [ + 655.8929034544057, + 165.52905793912808 + ], + [ + 658.1354811783276, + 152.56970941758019 + ], + [ + 657.7812827939013, + 152.54937330490088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1264293323927, + "ymin": 162.39213731911514, + "xmax": 658.4813476031844, + "ymax": 190.78196081732222 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 654.1264293323927, + 190.64717925147448 + ], + [ + 656.3550094942942, + 190.78196081732222 + ], + [ + 658.2166793419078, + 179.61131814525766 + ], + [ + 656.020686387898, + 179.48048872820726 + ], + [ + 654.3347556946627, + 173.46356562027344 + ], + [ + 656.5962449745156, + 173.59722683132003 + ], + [ + 658.4813476031844, + 162.5218227248927 + ], + [ + 656.2534078267954, + 162.39213731911514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.2653718852016, + "ymin": 152.54928403899692, + "xmax": 658.1355821363094, + "ymax": 185.9992445360405 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 655.2653718852016, + 185.97795007260436 + ], + [ + 655.6196908061027, + 185.9992445360405 + ], + [ + 657.8291362676642, + 172.9020935166415 + ], + [ + 657.4809312464271, + 172.88153487666273 + ], + [ + 655.5324799693819, + 165.50788860032756 + ], + [ + 655.893006518418, + 165.5289654231181 + ], + [ + 658.1355821363094, + 152.5696201529328 + ], + [ + 657.7813836831028, + 152.54928403899692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3719214551867, + "ymin": 109.94929183791862, + "xmax": 667.4106042502525, + "ymax": 136.26137294894838 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 663.3719214551867, + 136.14532380058893 + ], + [ + 665.4413586924053, + 136.26137294894838 + ], + [ + 667.0459741299202, + 126.63313528167214 + ], + [ + 665.0046659352928, + 126.5202487229486 + ], + [ + 663.6914085626133, + 119.47228734791437 + ], + [ + 665.7891926940608, + 119.58712751918799 + ], + [ + 667.4106042502525, + 110.06096047222175 + ], + [ + 665.3417196894826, + 109.94929183791862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.2652742489236, + "ymin": 152.549275090733, + "xmax": 658.1354844043663, + "ymax": 185.99923515894338 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 655.2652742489236, + 185.97794070264916 + ], + [ + 655.6195930526412, + 185.99923515894338 + ], + [ + 657.8290401909034, + 172.90208446357153 + ], + [ + 657.4808352847048, + 172.88152583047892 + ], + [ + 655.5323806213099, + 165.50787932614284 + ], + [ + 655.8929070509814, + 165.52895614185533 + ], + [ + 658.1354844043663, + 152.5696111978487 + ], + [ + 657.7812860682998, + 152.549275090733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6163710902453, + "ymin": 166.39687292683806, + "xmax": 656.9562742765032, + "ymax": 194.68856258674782 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 652.6163710902453, + 194.55356505417834 + ], + [ + 654.8367806302908, + 194.68856258674782 + ], + [ + 656.7142947515445, + 183.49944167038254 + ], + [ + 654.5262355645995, + 183.36838889317787 + ], + [ + 652.8017588517988, + 177.48917202126424 + ], + [ + 655.0548348784747, + 177.62307789224766 + ], + [ + 656.9562742765032, + 166.52680972491444 + ], + [ + 654.736500349867, + 166.39687292683806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7780902185921, + "ymin": 154.10395758389947, + "xmax": 657.014532278374, + "ymax": 183.27767942323408 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.7780902185921, + 183.2600235258208 + ], + [ + 655.072921959507, + 183.27767942323408 + ], + [ + 656.7405787022835, + 173.47024910766396 + ], + [ + 656.4495700644164, + 173.45305272500727 + ], + [ + 655.023185621685, + 163.81250628207945 + ], + [ + 655.3229131554822, + 163.82998879004646 + ], + [ + 657.014532278374, + 154.12097769379943 + ], + [ + 656.7187550210235, + 154.10395758389947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.1916414424155, + "ymin": 105.21604653892587, + "xmax": 665.202576668175, + "ymax": 131.3408461601291 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 661.1916414424155, + 131.22641871625683 + ], + [ + 663.2462090463745, + 131.3408461601291 + ], + [ + 664.8696377741425, + 121.84625373979625 + ], + [ + 662.8427990482902, + 121.73492327114911 + ], + [ + 661.4792662007388, + 114.60510392308706 + ], + [ + 663.5617720665596, + 114.71831757896129 + ], + [ + 665.202576668175, + 105.3261553386505 + ], + [ + 663.1485537152868, + 105.21604653892587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.778094024487, + "ymin": 154.10405089755488, + "xmax": 657.0145363860114, + "ymax": 183.2777762272006 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 654.778094024487, + 183.26012032522192 + ], + [ + 655.0729258036116, + 183.2777762272006 + ], + [ + 656.7405827088268, + 173.4703433921682 + ], + [ + 656.4495740337347, + 173.45314700512313 + ], + [ + 655.0231895229151, + 163.81260213082643 + ], + [ + 655.3229170962012, + 163.83008464338897 + ], + [ + 657.0145363860114, + 154.1210710118693 + ], + [ + 656.7187590902059, + 154.10405089755488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.7846709852787, + "ymin": 123.3172409116255, + "xmax": 663.4711763895809, + "ymax": 179.74511594098522 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 660.7846709852787, + 179.6587604886226 + ], + [ + 662.2343665720643, + 179.74511594098522 + ], + [ + 662.4200711981848, + 178.5933585889689 + ], + [ + 660.9725945198768, + 178.50726985750384 + ], + [ + 661.7605656401217, + 124.43336209742404 + ], + [ + 663.2784549007513, + 124.51707156543631 + ], + [ + 663.4711763895809, + 123.40067972042834 + ], + [ + 661.9557195309225, + 123.3172409116255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.3111766341697, + "ymin": 114.2855247153073, + "xmax": 665.0308218852609, + "ymax": 170.39017790541192 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 662.3111766341697, + 170.3059769133766 + ], + [ + 663.7428476110546, + 170.39017790541192 + ], + [ + 663.9239221922282, + 169.26713529911547 + ], + [ + 662.4944153360486, + 169.18319111643902 + ], + [ + 663.3449858827058, + 115.37254309484706 + ], + [ + 664.8431264132325, + 115.45406798019994 + ], + [ + 665.0308218852609, + 114.36678945890154 + ], + [ + 663.5350509292929, + 114.2855247153073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 634.0421407734276, + "ymin": 136.24187591328229, + "xmax": 636.0173462226633, + "ymax": 193.11387416556826 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 634.3141254118142, + 193.0243926611905 + ], + [ + 635.7867054500673, + 193.11387416556826 + ], + [ + 636.0173462226633, + 191.92045360574886 + ], + [ + 634.547055540446, + 191.83125342378275 + ], + [ + 634.0421407734276, + 137.40031385699896 + ], + [ + 635.5851369769521, + 137.48719990684796 + ], + [ + 635.8271259313683, + 136.3284757653367 + ], + [ + 634.2866430766177, + 136.24187591328229 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1191.7145864794913, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 14.904177555676483 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1216.3303247162958, + 14.477206209736948 + ], + [ + 1225.948810434923, + 14.904177555676483 + ], + [ + 1200.769986066709, + -18.038801684853922 + ], + [ + 1191.7145864794913, + -18.418690833384915 + ], + [ + 1293.375565131848, + -164.84118318644846 + ], + [ + 1304.345262117471, + -164.5067758457202 + ], + [ + 1271.0053097008174, + -190.11602112839535 + ], + [ + 1260.7617822368106, + -190.4090882746068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3149709156313, + "ymin": 171.50216777585445, + "xmax": 655.8041223362263, + "ymax": 228.9784323879751 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 653.3149709156313, + 228.88107111967847 + ], + [ + 654.8472275947432, + 228.9784323879751 + ], + [ + 655.0556819896395, + 227.67999294354374 + ], + [ + 653.5259039067038, + 227.58294966142017 + ], + [ + 653.9779302101526, + 172.76855211679757 + ], + [ + 655.5865738661951, + 172.86354135687367 + ], + [ + 655.8041223362263, + 171.59683136869202 + ], + [ + 654.1982103481839, + 171.50216777585445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 869.3838650413935, + "ymin": 0.0, + "xmax": 1040.6425703341056, + "ymax": 201.49963701251414 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 978.1669440810758, + 201.49963701251414 + ], + [ + 976.399146369322, + 194.57475432719104 + ], + [ + 869.3838650413935, + 188.23260172057937 + ], + [ + 870.1699007325635, + 195.04187456236494 + ], + [ + 1040.6425703341056, + -11.764712569713026 + ], + [ + 1037.884449552992, + -17.677713703702125 + ], + [ + 910.896289990531, + -23.07588274780136 + ], + [ + 912.2697556627743, + -17.27946978431953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 195.33519376260057, + "ymax": 96.33391311446343 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 190.24531316286863, + 96.33391311446343 + ], + [ + 195.33519376260057, + 90.64549016436797 + ], + [ + 67.04531847776184, + 83.65653213501486 + ], + [ + 60.90976498396992, + 89.22389398674483 + ], + [ + 115.34951008364624, + -113.40864475865209 + ], + [ + 122.02841981930737, + -117.93473574083464 + ], + [ + -26.24110409917489, + -123.47793637710276 + ], + [ + -34.31730811592058, + -119.06383293303583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.522394700659, + "ymin": 124.20108364462232, + "xmax": 660.0640983100159, + "ymax": 180.66001996607903 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.522394700659, + 180.57345234280155 + ], + [ + 658.9734917048297, + 180.66001996607903 + ], + [ + 659.1644701769774, + 179.50543491082206 + ], + [ + 657.7155963585112, + 179.41913499125414 + ], + [ + 658.3461744219445, + 125.32007351356489 + ], + [ + 659.865600173257, + 125.4039983271241 + ], + [ + 660.0640983100159, + 124.28473675473683 + ], + [ + 658.5471098704545, + 124.20108364462232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.2191744266944, + "ymin": 109.49390694244221, + "xmax": 662.8266051546763, + "ymax": 165.4227747989457 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 660.2191744266944, + 165.33970674243102 + ], + [ + 661.6409428231659, + 165.4227747989457 + ], + [ + 661.8239832315423, + 164.3148323960132 + ], + [ + 660.404349136971, + 164.23201598710472 + ], + [ + 661.149433938019, + 110.56564167760425 + ], + [ + 662.6367345481091, + 110.6460193420194 + ], + [ + 662.8266051546763, + 109.57402993252373 + ], + [ + 661.3416399713665, + 109.49390694244221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.7212414281819, + "ymin": 0.0, + "xmax": 986.1526057527549, + "ymax": 7.707487619582537 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 933.4446974966436, + 7.266369417888768 + ], + [ + 942.5415502513415, + 7.707487619582537 + ], + [ + 919.3819895451217, + -81.88455122192511 + ], + [ + 911.7212414281819, + -82.19857777320095 + ], + [ + 975.7072064299589, + -186.95986056215497 + ], + [ + 986.1526057527549, + -186.6263206931933 + ], + [ + 952.61060699679, + -252.8835241659434 + ], + [ + 944.015237215818, + -253.11062526443754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 465.77475400903415, + "ymin": 0.0, + "xmax": 742.5944640115877, + "ymax": 4.169539073740566 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 489.1103840045288, + -11.307593102836279 + ], + [ + 487.13417863438065, + -7.7203948773409365 + ], + [ + 729.4061848917171, + 4.169539073740566 + ], + [ + 729.8329603637742, + 0.4282728504348938 + ], + [ + 468.18150316798653, + -200.93722616554328 + ], + [ + 465.77475400903415, + -198.24790648112798 + ], + [ + 742.2030536034835, + -189.29936525410767 + ], + [ + 742.5944640115877, + -192.12085799507327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3589372776098, + "ymin": 167.40308671792522, + "xmax": 655.8588280227237, + "ymax": 225.25700699511506 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.3589372776098, + 225.1597818302853 + ], + [ + 654.8962595350739, + 225.25700699511506 + ], + [ + 655.1053208024377, + 223.96038914179573 + ], + [ + 653.5704935433665, + 223.86348256463552 + ], + [ + 654.0263917523316, + 168.66679318695353 + ], + [ + 655.6406195602033, + 168.76158217066475 + ], + [ + 655.8588280227237, + 167.4975496171234 + ], + [ + 654.2473508648947, + 167.40308671792522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1089.4453777842741, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 116.86054324703338 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1170.2779589633733, + 116.86054324703338 + ], + [ + 1336.6828081191784, + 107.23050231271347 + ], + [ + 1237.164981568081, + 27.631922212824804 + ], + [ + 1089.4453777842741, + 35.105062320778075 + ], + [ + 1310.5470702320663, + -210.8777250833624 + ], + [ + 1517.6924895067714, + -217.18222863577193 + ], + [ + 1369.8783554475522, + -267.55067332073645 + ], + [ + 1190.8723431042754, + -262.9499818847181 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00146/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00146/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26d4562dbd8bfdbe117fb54f975be7624ad533c2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00146/meta.json @@ -0,0 +1,6951 @@ +{ + "frame_id": 146, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 73.0, + "sim_timestamp": 13319.496238720836 + }, + "drone_pose": { + "x": -27.195270231686436, + "y": 2.4511096059524435, + "z": 20.0, + "pitch": -43.92486888749223, + "yaw": -6.095722592278404, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7161777019500732, + 0.07648325711488724, + 0.6937144994735718, + 5.789825439453125 + ], + [ + -0.10618985444307327, + 0.9943458437919617, + -3.725290298461914e-09, + 0.4506106376647949 + ], + [ + -0.6897921562194824, + -0.07366544008255005, + 0.720250129699707, + -33.34465026855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -26.70806586263613, + "y": 2.439170340508691, + "z": 20.0 + }, + "t1_image_uv": [ + 749.392954413517, + -564.6315336677919 + ], + "t1_depth": 0.3498380545518733 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -7.167182922363281, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.96524873117189, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 194, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -7.167182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2773473858833313, + "y": 0.2748897969722748, + "z": 0.5543234944343567 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.3926056996839, + "ymin": 338.90741986779807, + "xmax": 650.4716605019235, + "ymax": 380.84528609682894 + }, + "corners_3d": [ + [ + -7.444530010223389, + 0.037346988916397095, + 0.04577755928039551 + ], + [ + -7.444530010223389, + 0.587126612663269, + 0.04577755928039551 + ], + [ + -6.889834880828857, + 0.587126612663269, + 0.04577755928039551 + ], + [ + -6.889834880828857, + 0.037346988916397095, + 0.04577755928039551 + ], + [ + -7.444530010223389, + 0.037346988916397095, + 1.1544245481491089 + ], + [ + -7.444530010223389, + 0.587126612663269, + 1.1544245481491089 + ], + [ + -6.889834880828857, + 0.587126612663269, + 1.1544245481491089 + ], + [ + -6.889834880828857, + 0.037346988916397095, + 1.1544245481491089 + ] + ], + "corners_2d": [ + [ + 629.6821814788716, + 379.4340968488902 + ], + [ + 648.3230579328172, + 380.84528609682894 + ], + [ + 650.1893497166324, + 367.6789820013228 + ], + [ + 631.8049292054661, + 366.30679380335204 + ], + [ + 629.3926056996839, + 352.005942319885 + ], + [ + 648.5570085445245, + 353.41464625870293 + ], + [ + 650.4716605019235, + 340.27612134146415 + ], + [ + 631.5782162544184, + 338.90741986779807 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 146, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 317578, + "2": 302302, + "3": 12198, + "5": 7630, + "6": 1783, + "9": 2267, + "10": 5314, + "12": 1862, + "14": 32193, + "15": 6743, + "20": 3376, + "24": 21206, + "25": 207148 + }, + "instance_pixel_counts": { + "2118": 5307, + "2188": 131, + "2706": 1154, + "3218": 2031, + "3424": 135946, + "3458": 8, + "5506": 1095, + "6215": 105846, + "6284": 3612, + "6290": 11309, + "6730": 582, + "6992": 4703, + "8286": 3026, + "8332": 13359, + "8338": 36178, + "8798": 3754, + "10846": 5282, + "15184": 2927, + "15510": 598, + "16203": 621, + "17738": 53, + "18000": 3376, + "19092": 3117, + "21140": 38054, + "23392": 851, + "23700": 131029, + "23904": 310, + "28000": 439, + "28256": 433, + "28768": 418, + "29826": 619, + "31584": 315, + "31840": 123, + "32096": 154, + "34560": 61, + "34956": 310, + "35402": 240, + "35476": 2361, + "36170": 39, + "37524": 7922, + "38540": 3858, + "38801": 246, + "40588": 12337, + "41562": 12198, + "42897": 9733, + "44945": 38078, + "45898": 365, + "52038": 64120, + "54859": 241, + "56576": 194, + "56647": 71202, + "56832": 174, + "57088": 550, + "57173": 2267, + "57344": 615, + "57600": 329, + "57856": 9829, + "58368": 6743, + "59541": 459, + "60051": 1469, + "60928": 10302, + "62101": 950, + "62611": 34051, + "64149": 3437, + "64585": 295, + "64659": 109858 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 194, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -7.167182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20059140026569366, + "y": 0.29434704780578613, + "z": 0.5498191118240356 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.0242280375386, + "ymin": 340.76342520616134, + "xmax": 650.8797871394178, + "ymax": 378.9426897357315 + }, + "corners_3d": [ + [ + -7.36777400970459, + 0.017889738082885742, + 0.05028194189071655 + ], + [ + -7.36777400970459, + 0.606583833694458, + 0.05028194189071655 + ], + [ + -6.966590881347656, + 0.606583833694458, + 0.05028194189071655 + ], + [ + -6.966590881347656, + 0.017889738082885742, + 0.05028194189071655 + ], + [ + -7.36777400970459, + 0.017889738082885742, + 1.1499202251434326 + ], + [ + -7.36777400970459, + 0.606583833694458, + 1.1499202251434326 + ], + [ + -6.966590881347656, + 0.606583833694458, + 1.1499202251434326 + ], + [ + -6.966590881347656, + 0.017889738082885742, + 1.1499202251434326 + ] + ], + "corners_2d": [ + [ + 629.3208639688764, + 377.437504076375 + ], + [ + 649.2449319321167, + 378.9426897357315 + ], + [ + 650.5882479623324, + 369.41943477799066 + ], + [ + 630.8628297538538, + 367.94445496113514 + ], + [ + 629.0242280375386, + 350.2357924506347 + ], + [ + 649.5021514783135, + 351.7381859312277 + ], + [ + 650.8797871394178, + 342.2348437180514 + ], + [ + 630.6116530779025, + 340.76342520616134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 174, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.776294708251953, + "y": 3.466014862060547, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.2948773205280304, + "y": 0.18709532916545868, + "z": 0.5325518250465393 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 742.9203601409166, + "ymin": 273.56994986033993, + "xmax": 760.0193076250006, + "ymax": 312.0924773130805 + }, + "corners_3d": [ + [ + -4.0968098640441895, + 3.3273520469665527, + 0.06753945350646973 + ], + [ + -4.038273334503174, + 3.6969356536865234, + 0.06753945350646973 + ], + [ + -3.455779552459717, + 3.604677677154541, + 0.06753945350646973 + ], + [ + -3.5143160820007324, + 3.2350940704345703, + 0.06753945350646973 + ], + [ + -4.0968098640441895, + 3.3273520469665527, + 1.1326431035995483 + ], + [ + -4.038273334503174, + 3.6969356536865234, + 1.1326431035995483 + ], + [ + -3.455779552459717, + 3.604677677154541, + 1.1326431035995483 + ], + [ + -3.5143160820007324, + 3.2350940704345703, + 1.1326431035995483 + ] + ], + "corners_2d": [ + [ + 745.3078308346312, + 312.0924773130805 + ], + [ + 757.0941978130802, + 311.6975726574713 + ], + [ + 754.5451355047471, + 299.6042084360879 + ], + [ + 742.9203601409166, + 299.98828652030255 + ], + [ + 747.9397225638538, + 285.9847311425333 + ], + [ + 760.0193076250006, + 285.5920149785168 + ], + [ + 757.3661073063192, + 273.56994986033993 + ], + [ + 745.4561958236029, + 273.95163612519195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 550, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -9.423007011413574, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3059982359409332, + "y": 0.32219237089157104, + "z": 0.8863491415977478 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.9181114332916, + "ymin": 405.4803349492526, + "xmax": 907.9224524473499, + "ymax": 467.3518549109042 + }, + "corners_3d": [ + [ + -9.745448112487793, + 6.949213027954102, + -0.2862480878829956 + ], + [ + -9.711723327636719, + 7.592714786529541, + -0.2862480878829956 + ], + [ + -9.100565910339355, + 7.560685157775879, + -0.2862480878829956 + ], + [ + -9.13429069519043, + 6.9171833992004395, + -0.2862480878829956 + ], + [ + -9.745448112487793, + 6.949213027954102, + 1.4864501953125 + ], + [ + -9.711723327636719, + 7.592714786529541, + 1.4864501953125 + ], + [ + -9.100565910339355, + 7.560685157775879, + 1.4864501953125 + ], + [ + -9.13429069519043, + 6.9171833992004395, + 1.4864501953125 + ] + ], + "corners_2d": [ + [ + 871.5502106868112, + 466.3655897937401 + ], + [ + 895.3474589396685, + 467.3518549109042 + ], + [ + 892.3197205009036, + 450.30208674657933 + ], + [ + 868.9181114332916, + 449.3481262409832 + ], + [ + 882.9418366558401, + 422.56256371692723 + ], + [ + 907.9224524473499, + 423.55343293931674 + ], + [ + 904.5303807935378, + 406.4371925959955 + ], + [ + 879.9853675066208, + 405.4803349492526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 615, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -16.02169418334961, + "y": -1.2613904476165771, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.4026128947734833, + "y": 0.31435006856918335, + "z": 0.8813788294792175 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 507.6448470758851, + "ymin": 585.8182534351084, + "xmax": 549.5067144884351, + "ymax": 662.2419788529039 + }, + "corners_3d": [ + [ + -16.407302856445312, + -1.5963808298110962, + -0.2812826633453369 + ], + [ + -16.44020652770996, + -0.9685423374176025, + -0.2812826633453369 + ], + [ + -15.63608455657959, + -0.9264000654220581, + -0.2812826633453369 + ], + [ + -15.603180885314941, + -1.5542385578155518, + -0.2812826633453369 + ], + [ + -16.407302856445312, + -1.5963808298110962, + 1.4814749956130981 + ], + [ + -16.44020652770996, + -0.9685423374176025, + 1.4814749956130981 + ], + [ + -15.63608455657959, + -0.9264000654220581, + 1.4814749956130981 + ], + [ + -15.603180885314941, + -1.5542385578155518, + 1.4814749956130981 + ] + ], + "corners_2d": [ + [ + 514.966717159297, + 658.268933621574 + ], + [ + 541.6085278736585, + 662.2419788529039 + ], + [ + 549.5067144884351, + 631.1621980638936 + ], + [ + 523.5127460221977, + 627.3875879203079 + ], + [ + 507.6448470758851, + 617.3680005956801 + ], + [ + 535.8269662935494, + 621.4338150649738 + ], + [ + 544.3316645659864, + 589.6695628373196 + ], + [ + 516.8734022713057, + 585.8182534351084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 329, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 4.078153133392334, + "y": -7.857978343963623, + "z": 0.7523569464683533 + }, + "extent": { + "x": 0.4965234398841858, + "y": 0.3950445353984833, + "z": 0.934199869632721 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 439.46114117655134, + "ymin": 107.62936736539862, + "xmax": 475.4827931054299, + "ymax": 166.9997055094916 + }, + "corners_3d": [ + [ + 3.6495413780212402, + -8.32583236694336, + -0.18184292316436768 + ], + [ + 3.5259439945220947, + -7.54547119140625, + -0.18184292316436768 + ], + [ + 4.506764888763428, + -7.3901238441467285, + -0.18184292316436768 + ], + [ + 4.630362510681152, + -8.170485496520996, + -0.18184292316436768 + ], + [ + 3.6495413780212402, + -8.32583236694336, + 1.6865568161010742 + ], + [ + 3.5259439945220947, + -7.54547119140625, + 1.6865568161010742 + ], + [ + 4.506764888763428, + -7.3901238441467285, + 1.6865568161010742 + ], + [ + 4.630362510681152, + -8.170485496520996, + 1.6865568161010742 + ] + ], + "corners_2d": [ + [ + 446.5023229101518, + 164.06243839323105 + ], + [ + 465.6400583847985, + 166.9997055094916 + ], + [ + 475.4827931054299, + 153.51143725673663 + ], + [ + 456.6576879671636, + 150.68126063062837 + ], + [ + 439.46114117655134, + 120.66280517002542 + ], + [ + 459.26876970564115, + 123.52607251671546 + ], + [ + 469.58597002122144, + 110.38454382600753 + ], + [ + 450.1129357231059, + 107.62936736539862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 9829, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.1229132647397, + "ymin": 574.817534665984, + "xmax": 748.8528904279002, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 633.4790285247096, + 846.7109146538584 + ], + [ + 736.9858442800942, + 858.1516351531104 + ], + [ + 744.1361446551848, + 616.3655489728446 + ], + [ + 658.053802061372, + 608.4720529881587 + ], + [ + 633.1229132647397, + 818.8588525613251 + ], + [ + 742.3276150797253, + 830.6914916748565 + ], + [ + 748.8528904279002, + 582.8318498439206 + ], + [ + 658.8658202033656, + 574.817534665984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6743, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 692.9986466160603, + "ymin": 116.43656883192017, + "xmax": 762.5576461412837, + "ymax": 280.98539246953635 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 692.9986466160603, + 277.0199680139914 + ], + [ + 753.4386683447387, + 280.98539246953635 + ], + [ + 756.4731372889977, + 180.8406911772858 + ], + [ + 703.1487464882362, + 177.75717284892437 + ], + [ + 696.1456872763625, + 212.9076859197377 + ], + [ + 760.2082460368435, + 216.78966171404784 + ], + [ + 762.5576461412837, + 119.41316799941328 + ], + [ + 706.4332561610836, + 116.43656883192017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 10302, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 290.95584006726097, + "ymin": 573.9826214809116, + "xmax": 438.7685569559561, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 438.7685569559561, + 617.9928792784918 + ], + [ + 364.6271516973994, + 611.0196677458237 + ], + [ + 309.7206704203992, + 766.995686149691 + ], + [ + 393.37809426584045, + 775.9471188199557 + ], + [ + 428.67367102499753, + 581.0746417979749 + ], + [ + 350.9013599248248, + 573.9826214809116 + ], + [ + 290.95584006726097, + 733.6324814241912 + ], + [ + 379.26435229133955, + 742.8587547821005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981692709063, + "ymin": 170.62077473887933, + "xmax": 657.0998494541846, + "ymax": 199.3152660610473 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981692709063, + 199.17758428959164 + ], + [ + 654.9502070632756, + 199.3152660610473 + ], + [ + 656.8525115732245, + 187.9074812167664 + ], + [ + 654.6337590820654, + 187.77388030463976 + ], + [ + 652.8873680804284, + 181.9305386946143 + ], + [ + 655.1730012931952, + 182.06711703036586 + ], + [ + 657.0998494541846, + 170.7532459664664 + ], + [ + 654.8484944903342, + 170.62077473887933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981687558208, + "ymin": 170.62077765870626, + "xmax": 657.0998489567341, + "ymax": 199.31526909681472 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981687558208, + 199.17758732426492 + ], + [ + 654.9502065570464, + 199.31526909681472 + ], + [ + 656.8525110820012, + 187.9074841625465 + ], + [ + 654.6337585822455, + 187.773883249374 + ], + [ + 652.8873675584312, + 181.93054170495844 + ], + [ + 655.1730007803204, + 182.0671200418115 + ], + [ + 657.0998489567341, + 170.75324888734553 + ], + [ + 654.8484939840328, + 170.62077765870626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.1091211577251, + "ymin": 127.08868685819817, + "xmax": 661.2489223025228, + "ymax": 154.05636142422233 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.1091211577251, + 153.93450863093722 + ], + [ + 659.2284881783523, + 154.05636142422233 + ], + [ + 660.9595234219644, + 143.9512728329942 + ], + [ + 658.8696613441437, + 143.83282228217647 + ], + [ + 657.3487304840414, + 137.08975403658354 + ], + [ + 659.4978250600961, + 137.21041713722522 + ], + [ + 661.2489223025228, + 127.20593475361147 + ], + [ + 659.1301602729826, + 127.08868685819817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.5344647342783, + "ymin": 126.19823265113735, + "xmax": 664.6679862663998, + "ymax": 153.13062164974016 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.5344647342783, + 153.0090825382267 + ], + [ + 662.6516820220505, + 153.13062164974016 + ], + [ + 664.3324482537258, + 143.05136641439813 + ], + [ + 662.2446766532112, + 142.9332165081415 + ], + [ + 660.8216696644712, + 136.17338191606652 + ], + [ + 662.9685537811888, + 136.29373005543795 + ], + [ + 664.6679862663998, + 126.31517885369777 + ], + [ + 662.5513729301556, + 126.19823265113735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.349668038612, + "ymin": 162.3111151872464, + "xmax": 655.6056774546847, + "ymax": 191.77034649840036 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.349668038612, + 191.75230893537622 + ], + [ + 653.6476173133599, + 191.77034649840036 + ], + [ + 655.3518736303845, + 181.7535801591321 + ], + [ + 655.0578297987131, + 181.73601715766844 + ], + [ + 653.5733766540985, + 172.2302045048854 + ], + [ + 653.8763243937516, + 172.2480709945502 + ], + [ + 655.6056774546847, + 162.32850389772716 + ], + [ + 655.3067664083807, + 162.3111151872464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3496677795182, + "ymin": 162.31122695039514, + "xmax": 655.6056775416456, + "ymax": 191.77046243748254 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.3496677795182, + 191.75242486892895 + ], + [ + 653.6476170999288, + 191.77046243748254 + ], + [ + 655.3518736775438, + 181.75369304786446 + ], + [ + 655.0578298013991, + 181.73613004108816 + ], + [ + 653.5733764255261, + 172.23031933884587 + ], + [ + 653.8763242123867, + 172.24818583407944 + ], + [ + 655.6056775416456, + 162.3286156662228 + ], + [ + 655.3067664493836, + 162.31122695039514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981692709063, + "ymin": 170.62077473887933, + "xmax": 657.0998494541846, + "ymax": 199.3152660610473 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981692709063, + 199.17758428959164 + ], + [ + 654.9502070632756, + 199.3152660610473 + ], + [ + 656.8525115732245, + 187.9074812167664 + ], + [ + 654.6337590820654, + 187.77388030463976 + ], + [ + 652.8873680804284, + 181.9305386946143 + ], + [ + 655.1730012931952, + 182.06711703036586 + ], + [ + 657.0998494541846, + 170.7532459664664 + ], + [ + 654.8484944903342, + 170.62077473887933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.698169602218, + "ymin": 170.62077475836807, + "xmax": 657.0998496750717, + "ymax": 199.3152660745556 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.698169602218, + 199.17758430984694 + ], + [ + 654.9502072842296, + 199.3152660745556 + ], + [ + 656.8525117909123, + 187.9074812298743 + ], + [ + 654.633759408481, + 187.77388032429477 + ], + [ + 652.8873684166815, + 181.93053871470724 + ], + [ + 655.173001517446, + 182.06711704376593 + ], + [ + 657.0998496750717, + 170.75324597946351 + ], + [ + 654.8484948215454, + 170.62077475836807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981689521056, + "ymin": 170.6207771785647, + "xmax": 657.0998490396425, + "ymax": 199.31526859085346 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981689521056, + 199.1775868252378 + ], + [ + 654.9502066414179, + 199.31526859085346 + ], + [ + 656.8525111638718, + 187.90748367158312 + ], + [ + 654.633758774354, + 187.77388276513665 + ], + [ + 652.8873677575151, + 181.93054120993202 + ], + [ + 655.1730008657995, + 182.0671195399039 + ], + [ + 657.0998490396425, + 170.75324840053236 + ], + [ + 654.8484941788201, + 170.6207771785647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.6114498764231, + "ymin": 139.2188500494899, + "xmax": 636.9770591287464, + "ymax": 166.6673487270731 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 632.715286014989, + 166.54118238065132 + ], + [ + 634.8676336791513, + 166.6673487270731 + ], + [ + 636.9770591287464, + 156.2070949171271 + ], + [ + 634.8551339666972, + 156.0845117373864 + ], + [ + 632.6114498764231, + 149.57638264716473 + ], + [ + 634.7944642492188, + 149.70137861288538 + ], + [ + 636.9345877590379, + 139.34024658092338 + ], + [ + 634.7828626799611, + 139.2188500494899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3497130028978, + "ymin": 162.3109687737808, + "xmax": 655.6057221037311, + "ymax": 191.77019461432195 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.3497130028978, + 191.7521570585414 + ], + [ + 653.6476622188903, + 191.77019461432195 + ], + [ + 655.351917603567, + 181.7534322711135 + ], + [ + 655.0578738291211, + 181.7358692766095 + ], + [ + 653.5734223262065, + 172.23005406855418 + ], + [ + 653.8763700051162, + 172.2479205509238 + ], + [ + 655.6057221037311, + 162.32835747725701 + ], + [ + 655.3068111165627, + 162.3109687737808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981687558208, + "ymin": 170.62077765870626, + "xmax": 657.0998489567341, + "ymax": 199.31526909681472 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981687558208, + 199.17758732426492 + ], + [ + 654.9502065570464, + 199.31526909681472 + ], + [ + 656.8525110820012, + 187.9074841625465 + ], + [ + 654.6337585822455, + 187.773883249374 + ], + [ + 652.8873675584312, + 181.93054170495844 + ], + [ + 655.1730007803204, + 182.0671200418115 + ], + [ + 657.0998489567341, + 170.75324888734553 + ], + [ + 654.8484939840328, + 170.62077765870626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.8399858845748, + "ymin": 160.72301501877143, + "xmax": 656.7416982836313, + "ymax": 194.53250714936468 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 653.8399858845748, + 194.51075164167648 + ], + [ + 654.1980574185709, + 194.53250714936468 + ], + [ + 656.4559612228994, + 181.15600379620903 + ], + [ + 656.1041351821555, + 181.1350081895551 + ], + [ + 654.084679187158, + 173.96267055994917 + ], + [ + 654.4490888077729, + 173.98421144122787 + ], + [ + 656.7416982836313, + 160.74379054949821 + ], + [ + 656.3837552175305, + 160.72301501877143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3497556463482, + "ymin": 162.311056076684, + "xmax": 655.6057651500973, + "ymax": 191.77028517922275 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.3497556463482, + 191.75224761912295 + ], + [ + 653.6477048990315, + 191.77028517922275 + ], + [ + 655.3519599198604, + 181.75352045325812 + ], + [ + 655.0579161096796, + 181.73595745460415 + ], + [ + 653.5734657114926, + 172.2301437701972 + ], + [ + 653.8764134283344, + 172.24801025691687 + ], + [ + 655.6057651500973, + 162.32844478433694 + ], + [ + 655.3068541260012, + 162.311056076684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.698169602218, + "ymin": 170.62077475836807, + "xmax": 657.0998496750717, + "ymax": 199.3152660745556 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.698169602218, + 199.17758430984694 + ], + [ + 654.9502072842296, + 199.3152660745556 + ], + [ + 656.8525117909123, + 187.9074812298743 + ], + [ + 654.633759408481, + 187.77388032429477 + ], + [ + 652.8873684166815, + 181.93053871470724 + ], + [ + 655.173001517446, + 182.06711704376593 + ], + [ + 657.0998496750717, + 170.75324597946351 + ], + [ + 654.8484948215454, + 170.62077475836807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.8398872884975, + "ymin": 160.72300929816623, + "xmax": 656.7415996061571, + "ymax": 194.53250115182254 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 653.8398872884975, + 194.51074565123176 + ], + [ + 654.1979587056792, + 194.53250115182254 + ], + [ + 656.4558642318095, + 181.1559980081588 + ], + [ + 656.1040383057446, + 181.13500240834844 + ], + [ + 654.0845788459203, + 173.96266462860547 + ], + [ + 654.4489883475514, + 173.9842055028508 + ], + [ + 656.7415996061571, + 160.74378482211551 + ], + [ + 656.3836566568257, + 160.72300929816623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.8399820866856, + "ymin": 160.7231143703192, + "xmax": 656.7416947741033, + "ymax": 194.5326111865092 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 653.8399820866856, + 194.51085567961192 + ], + [ + 654.1980535584836, + 194.5326111865092 + ], + [ + 656.4559577348019, + 181.15610419937542 + ], + [ + 656.1041317560102, + 181.1351085935861 + ], + [ + 654.0846753562488, + 173.9627735714586 + ], + [ + 654.4490849144466, + 173.9843144520586 + ], + [ + 656.7416947741033, + 160.74388990028748 + ], + [ + 656.3837517701959, + 160.7231143703192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6981703015095, + "ymin": 170.62077332443957, + "xmax": 657.099850365571, + "ymax": 199.31526458368873 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 652.6981703015095, + 199.17758281951726 + ], + [ + 654.9502079792524, + 199.31526458368873 + ], + [ + 656.8525124718994, + 187.90747978320027 + ], + [ + 654.6337600936118, + 187.77387887813427 + ], + [ + 652.8873691260177, + 181.93053723632556 + ], + [ + 655.173002222385, + 182.06711556484348 + ], + [ + 657.099850365571, + 170.7532445450183 + ], + [ + 654.848495516311, + 170.62077332443957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.8400846082475, + "ymin": 160.7230231872673, + "xmax": 656.7417969873023, + "ymax": 194.5325157036567 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 653.8400846082475, + 194.51076019547816 + ], + [ + 654.1981561491075, + 194.5325157036567 + ], + [ + 656.4560582387935, + 181.156012051703 + ], + [ + 656.1042321914239, + 181.1350164445841 + ], + [ + 654.0847796590879, + 173.96267902936003 + ], + [ + 654.4491892868118, + 173.98421991113284 + ], + [ + 656.7417969873023, + 160.7437987184621 + ], + [ + 656.3838539143436, + 160.7230231872673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.1394128456594, + "ymin": 117.10057892905911, + "xmax": 666.2180510491261, + "ymax": 143.67254409776984 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.1394128456594, + 143.55418670845992 + ], + [ + 664.2289993193214, + 143.67254409776984 + ], + [ + 665.8660629411714, + 133.85535435019435 + ], + [ + 663.8051638825433, + 133.74025485612037 + ], + [ + 662.4449293929299, + 126.81288246896543 + ], + [ + 664.5634081169378, + 126.9300368763619 + ], + [ + 666.2180510491261, + 117.21446498523707 + ], + [ + 664.1290529521599, + 117.10057892905911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.8399859446943, + "ymin": 160.72301404606458, + "xmax": 656.7416982287041, + "ymax": 194.532506123963 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 653.8399859446943, + 194.5107506230872 + ], + [ + 654.1980573670484, + 194.532506123963 + ], + [ + 656.4559611692888, + 181.15600280662434 + ], + [ + 656.1041352382312, + 181.13500720654378 + ], + [ + 654.0846792480063, + 173.96266955140916 + ], + [ + 654.4490887549945, + 173.98421042594168 + ], + [ + 656.7416982287041, + 160.74378957028586 + ], + [ + 656.383755274205, + 160.72301404606458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.177238639934, + "ymin": 174.63963209157123, + "xmax": 655.5636063318011, + "ymax": 203.2339614863116 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 651.177238639934, + 203.0960690993807 + ], + [ + 653.4209362651703, + 203.2339614863116 + ], + [ + 655.3392835978213, + 191.80812150305474 + ], + [ + 653.1286269217259, + 191.67430190511573 + ], + [ + 651.3431707319266, + 185.96988399152795 + ], + [ + 653.62021356695, + 186.106702111266 + ], + [ + 655.5636063318011, + 174.7723505098148 + ], + [ + 653.3205863993351, + 174.63963209157123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.349668038612, + "ymin": 162.3111151872464, + "xmax": 655.6056774546847, + "ymax": 191.77034649840036 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.349668038612, + 191.75230893537622 + ], + [ + 653.6476173133599, + 191.77034649840036 + ], + [ + 655.3518736303845, + 181.7535801591321 + ], + [ + 655.0578297987131, + 181.73601715766844 + ], + [ + 653.5733766540985, + 172.2302045048854 + ], + [ + 653.8763243937516, + 172.2480709945502 + ], + [ + 655.6056774546847, + 162.32850389772716 + ], + [ + 655.3067664083807, + 162.3111151872464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.9466290188644, + "ymin": 112.27426489646564, + "xmax": 663.9969834300591, + "ymax": 138.65508718408032 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.9466290188644, + 138.5384005484684 + ], + [ + 662.0210494823209, + 138.65508718408032 + ], + [ + 663.6770648281015, + 128.97553971177098 + ], + [ + 661.6309195932056, + 128.86204270045172 + ], + [ + 660.2199096372523, + 121.84857329837831 + ], + [ + 662.3228016398231, + 121.96405135565706 + ], + [ + 663.9969834300591, + 112.38654401788418 + ], + [ + 661.9231427190714, + 112.27426489646564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3496716970384, + "ymin": 162.31121051033517, + "xmax": 655.605681420268, + "ymax": 191.77044538315417 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 653.3496716970384, + 191.7524078154138 + ], + [ + 653.6476210108245, + 191.77044538315417 + ], + [ + 655.3518774987326, + 181.75367644223428 + ], + [ + 655.0578336290397, + 181.73611343623932 + ], + [ + 653.5733804035664, + 172.23030244707778 + ], + [ + 653.8763281835785, + 172.24816894149228 + ], + [ + 655.605681420268, + 162.3285992253764 + ], + [ + 655.3067703346732, + 162.31121051033517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.5590004833128, + "ymin": 130.73169543630183, + "xmax": 662.215833704351, + "ymax": 187.39152241786076 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.5590004833128, + 187.30349004869942 + ], + [ + 661.0224730030893, + 187.39152241786076 + ], + [ + 661.21186198187, + 186.21755850086737 + ], + [ + 659.7506516491067, + 186.12980075128846 + ], + [ + 660.4861434951431, + 131.870309440914 + ], + [ + 662.0191102807232, + 131.95571778645578 + ], + [ + 662.215833704351, + 130.81682474857362 + ], + [ + 660.6853488722205, + 130.73169543630183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.1156126668226, + "ymin": 121.51938322007175, + "xmax": 663.8076194541525, + "ymax": 177.85726780661517 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.1156126668226, + 177.77145333383 + ], + [ + 662.5607110041526, + 177.85726780661517 + ], + [ + 662.7453316767675, + 176.71285990362588 + ], + [ + 661.3024391267854, + 176.62730974572128 + ], + [ + 662.1032608388865, + 122.62800384325678 + ], + [ + 663.6160789635675, + 122.7111604220731 + ], + [ + 663.8076194541525, + 121.60227171878941 + ], + [ + 662.2972185256641, + 121.51938322007175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.4596924689378, + "ymin": 143.91898227842663, + "xmax": 634.5292306120717, + "ymax": 201.02052025239425 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 632.8071285778869, + 200.92926835305198 + ], + [ + 634.2939345451637, + 201.02052025239425 + ], + [ + 634.5292306120717, + 199.80365341892303 + ], + [ + 633.0447593769768, + 199.71269132896083 + ], + [ + 632.4596924689378, + 145.1012292279924 + ], + [ + 634.0182809453858, + 145.18991344583148 + ], + [ + 634.2653841945362, + 144.0073712700753 + ], + [ + 632.7093611365751, + 143.91898227842663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.5356191451824, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 19.806238568967785 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1219.5192807650592, + 19.37280616378655 + ], + [ + 1229.2123007285736, + 19.806238568967785 + ], + [ + 1203.6568360664826, + -13.616395593023583 + ], + [ + 1194.5356191451824, + -14.0016878709651 + ], + [ + 1297.607889330434, + -160.83118570408442 + ], + [ + 1308.673887982875, + -160.49107950211373 + ], + [ + 1274.7763654036794, + -186.519073242015 + ], + [ + 1264.4491836686016, + -186.81679832091754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9413985507645, + "ymin": 179.85019391509155, + "xmax": 654.3900246501987, + "ymax": 237.5421526832945 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 651.9413985507645, + 237.4427855282764 + ], + [ + 653.48909577836, + 237.5421526832945 + ], + [ + 653.7019316847023, + 236.21714401390147 + ], + [ + 652.1567642641824, + 236.11810483143645 + ], + [ + 652.5420437931953, + 181.14373914568955 + ], + [ + 654.1676775560949, + 181.24077942766183 + ], + [ + 654.3900246501987, + 179.94689783495943 + ], + [ + 652.7671816668794, + 179.85019391509155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.1827029026888, + "ymin": 0.0, + "xmax": 1043.6167813403545, + "ymax": 209.68250320335403 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 980.074041442102, + 209.68250320335403 + ], + [ + 978.2701274501283, + 202.61851888862128 + ], + [ + 870.1827029026888, + 196.14936335891102 + ], + [ + 870.9845733220889, + 203.09418837113702 + ], + [ + 1043.6167813403545, + -4.641387675429144 + ], + [ + 1040.7926114019485, + -10.694364882379716 + ], + [ + 912.3030217351865, + -16.219602346005104 + ], + [ + 913.7088270132897, + -10.287420837861191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 190.26959839177846, + "ymax": 102.55719755764198 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 185.08980700327783, + 102.55719755764198 + ], + [ + 190.26959839177846, + 96.77086837052792 + ], + [ + 60.95504974529467, + 89.66199709095861 + ], + [ + 54.71236014065505, + 95.32407732019442 + ], + [ + 108.61401002805655, + -108.28266789036343 + ], + [ + 115.42940133736602, + -112.8990644525723 + ], + [ + -34.19865888654624, + -118.55223120272115 + ], + [ + -42.4376664882011, + -114.05123027911128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.2638299869583, + "ymin": 131.63332480549803, + "xmax": 658.7729343056207, + "ymax": 188.32406953363733 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 656.2638299869583, + 188.23581870660078 + ], + [ + 657.7287311289681, + 188.32406953363733 + ], + [ + 657.9235027348238, + 187.147194538818 + ], + [ + 656.460868183137, + 187.05921935341706 + ], + [ + 657.0357753707941, + 132.7748958720756 + ], + [ + 658.5703098064134, + 132.86052623048332 + ], + [ + 658.7729343056207, + 131.71867504284018 + ], + [ + 657.2408868843996, + 131.63332480549803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0121322381447, + "ymin": 116.63295731212065, + "xmax": 661.5905424627289, + "ymax": 172.79560345623662 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.0121322381447, + 172.71095494471103 + ], + [ + 660.4471377239033, + 172.79560345623662 + ], + [ + 660.633737239278, + 171.66673372865017 + ], + [ + 659.2009068530119, + 171.58234416754604 + ], + [ + 659.8950505245475, + 117.72583149448349 + ], + [ + 661.3968113520647, + 117.80780593936905 + ], + [ + 661.5905424627289, + 116.7146693684677 + ], + [ + 660.0911636450779, + 116.63295731212065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.4574982544824, + "ymin": 0.0, + "xmax": 987.7759902226048, + "ymax": 12.467256366577544 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 934.4952221979638, + 12.019609228544198 + ], + [ + 943.6595925395238, + 12.467256366577544 + ], + [ + 920.1655649506159, + -78.33130425581118 + ], + [ + 912.4574982544824, + -78.64920931518884 + ], + [ + 977.2421930765975, + -183.16836755373663 + ], + [ + 987.7759902226048, + -182.8292206510921 + ], + [ + 953.6981223819921, + -250.09040641119088 + ], + [ + 945.0436223174961, + -250.32062139617108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 463.1567371860877, + "ymin": 0.0, + "xmax": 742.197083855569, + "ymax": 8.876317776318672 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 486.9859525630312, + -6.824684249181587 + ], + [ + 484.98132473946373, + -3.186502685310927 + ], + [ + 728.9663864842876, + 8.876317776318672 + ], + [ + 729.3990193662814, + 5.080650075544156 + ], + [ + 465.60269340528794, + -197.37619851983243 + ], + [ + 463.1567371860877, + -194.64361693328135 + ], + [ + 741.7996102368178, + -185.5476405049443 + ], + [ + 742.197083855569, + -188.41571149791048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.9812143272965, + "ymin": 175.73530319387936, + "xmax": 654.4403454490927, + "ymax": 233.81004978026186 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 651.9812143272965, + 233.71081515477937 + ], + [ + 653.5340775767813, + 233.81004978026186 + ], + [ + 653.7475474991596, + 232.48681506436827 + ], + [ + 652.1972309595894, + 232.38790906345255 + ], + [ + 652.5859730920322, + 177.02620443789806 + ], + [ + 654.2173072192282, + 177.12304700349387 + ], + [ + 654.4403454490927, + 175.83180890996084 + ], + [ + 652.8118216911049, + 175.73530319387936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.714791507859, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 123.28947092280782 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1173.583108212722, + 123.28947092280782 + ], + [ + 1341.3593565396272, + 113.4942359384975 + ], + [ + 1240.5076306108015, + 32.61653943735121 + ], + [ + 1091.714791507859, + 40.20156180963079 + ], + [ + 1316.1946886414678, + -206.3717728193118 + ], + [ + 1525.4430659853247, + -212.81189885436925 + ], + [ + 1375.1095639216455, + -264.1774723407409 + ], + [ + 1194.543864051354, + -259.4930959864972 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00147/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00147/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5ddfe5e9df51bcb4267e6717a3de8a031d5709c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00147/meta.json @@ -0,0 +1,7159 @@ +{ + "frame_id": 147, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 73.5, + "sim_timestamp": 13333.357364443364 + }, + "drone_pose": { + "x": -26.70806586263613, + "y": 2.439170340508691, + "z": 20.0, + "pitch": -43.908585922919926, + "yaw": -6.058108487474812, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.716423749923706, + 0.07603387534618378, + 0.6935098171234131, + 5.449556350708008 + ], + [ + -0.1055370569229126, + 0.9944153428077698, + -3.725290298461914e-09, + 0.393141508102417 + ], + [ + -0.6896368265151978, + -0.07319097220897675, + 0.7204471826553345, + -33.00633239746094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -26.215341007267078, + "y": 2.4103609057434845, + "z": 20.0 + }, + "t1_image_uv": [ + 703.1157172570925, + -564.1057626965115 + ], + "t1_depth": 0.3551902893420451 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -6.667182922363281, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.973503780497715, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -6.667182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.27552884817123413, + "y": 0.28834688663482666, + "z": 0.5461176037788391 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9427342631949, + "ymin": 339.13338804216596, + "xmax": 650.9175345002785, + "ymax": 380.6301045144428 + }, + "corners_3d": [ + [ + -6.942711353302002, + 0.023889899253845215, + 0.053983449935913086 + ], + [ + -6.942711353302002, + 0.6005836725234985, + 0.053983449935913086 + ], + [ + -6.391653537750244, + 0.6005836725234985, + 0.053983449935913086 + ], + [ + -6.391653537750244, + 0.023889899253845215, + 0.053983449935913086 + ], + [ + -6.942711353302002, + 0.023889899253845215, + 1.1462186574935913 + ], + [ + -6.942711353302002, + 0.6005836725234985, + 1.1462186574935913 + ], + [ + -6.391653537750244, + 0.6005836725234985, + 1.1462186574935913 + ], + [ + -6.391653537750244, + 0.023889899253845215, + 1.1462186574935913 + ] + ], + "corners_2d": [ + [ + 629.2399866163207, + 379.15992115045503 + ], + [ + 648.7922539068984, + 380.6301045144428 + ], + [ + 650.6276490735312, + 367.5560409438245 + ], + [ + 631.3427307900587, + 366.1262365388041 + ], + [ + 628.9427342631949, + 352.1384858327464 + ], + [ + 649.0355346759375, + 353.6060677980377 + ], + [ + 650.9175345002785, + 340.5595717704202 + ], + [ + 631.106962765458, + 339.13338804216596 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 147, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 320187, + "2": 303826, + "3": 10176, + "5": 7531, + "6": 1992, + "9": 2726, + "10": 5328, + "12": 1891, + "14": 29245, + "15": 6919, + "20": 3384, + "24": 21150, + "25": 207245 + }, + "instance_pixel_counts": { + "2118": 5324, + "2188": 189, + "2706": 1399, + "3218": 2990, + "3424": 132863, + "3458": 6, + "5506": 1241, + "6215": 104328, + "6284": 3709, + "6290": 11638, + "6730": 573, + "6992": 4654, + "8286": 3081, + "8332": 13183, + "8338": 35635, + "8798": 3862, + "10846": 5139, + "15184": 2877, + "15510": 745, + "16203": 617, + "18000": 3384, + "19092": 3916, + "21140": 39170, + "23392": 895, + "23700": 130284, + "23904": 241, + "28000": 453, + "28256": 443, + "28768": 420, + "29826": 652, + "31584": 320, + "31840": 121, + "32096": 157, + "34560": 93, + "34956": 372, + "35402": 242, + "35468": 3, + "35476": 2398, + "36170": 11, + "37524": 7866, + "38540": 3949, + "38801": 447, + "40588": 12165, + "41562": 10176, + "42897": 10074, + "44945": 37663, + "45898": 296, + "52038": 66082, + "54859": 193, + "56576": 199, + "56647": 74382, + "56832": 184, + "57088": 543, + "57173": 2726, + "57344": 619, + "57600": 346, + "57856": 8348, + "58368": 6919, + "59541": 472, + "60051": 2148, + "60928": 8815, + "62101": 976, + "62611": 34986, + "64149": 3439, + "64585": 272, + "64659": 109683 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 199, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -6.667182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2017880082130432, + "y": 0.27575892210006714, + "z": 0.5554590225219727 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6705780136474, + "ymin": 340.6462062074481, + "xmax": 650.2372843064052, + "ymax": 379.0521612029329 + }, + "corners_3d": [ + [ + -6.8689703941345215, + 0.036477863788604736, + 0.04464203119277954 + ], + [ + -6.8689703941345215, + 0.587995707988739, + 0.04464203119277954 + ], + [ + -6.465394496917725, + 0.587995707988739, + 0.04464203119277954 + ], + [ + -6.465394496917725, + 0.036477863788604736, + 0.04464203119277954 + ], + [ + -6.8689703941345215, + 0.036477863788604736, + 1.15556001663208 + ], + [ + -6.8689703941345215, + 0.587995707988739, + 1.15556001663208 + ], + [ + -6.465394496917725, + 0.587995707988739, + 1.15556001663208 + ], + [ + -6.465394496917725, + 0.036477863788604736, + 1.15556001663208 + ] + ], + "corners_2d": [ + [ + 629.9524299052133, + 377.6514087950698 + ], + [ + 648.6122203479918, + 379.0521612029329 + ], + [ + 649.9603708785572, + 369.47792194906583 + ], + [ + 631.4877403681089, + 368.1054433021001 + ], + [ + 629.6705780136474, + 350.17087873918615 + ], + [ + 648.8541776006454, + 351.5689624055756 + ], + [ + 650.2372843064052, + 342.0152901245509 + ], + [ + 631.251444197622, + 340.6462062074481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 184, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.744025230407715, + "y": 3.6066625118255615, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.26632949709892273, + "y": 0.2312910407781601, + "z": 0.529612123966217 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 745.5822145362373, + "ymin": 283.94383027537117, + "xmax": 765.6033004571968, + "ymax": 321.56270488822054 + }, + "corners_3d": [ + [ + -4.043257713317871, + 3.419882297515869, + 0.07047915458679199 + ], + [ + -3.9708938598632812, + 3.8767690658569336, + 0.07047915458679199 + ], + [ + -3.4447927474975586, + 3.793442726135254, + 0.07047915458679199 + ], + [ + -3.5171566009521484, + 3.3365559577941895, + 0.07047915458679199 + ], + [ + -4.043257713317871, + 3.419882297515869, + 1.129703402519226 + ], + [ + -3.9708938598632812, + 3.8767690658569336, + 1.129703402519226 + ], + [ + -3.4447927474975586, + 3.793442726135254, + 1.129703402519226 + ], + [ + -3.5171566009521484, + 3.3365559577941895, + 1.129703402519226 + ] + ], + "corners_2d": [ + [ + 747.8069875326767, + 321.56270488822054 + ], + [ + 762.5279179144161, + 321.0577709800909 + ], + [ + 760.1187199618595, + 309.8930685194149 + ], + [ + 745.5822145362373, + 310.3853415997877 + ], + [ + 750.5144652360024, + 295.55136355550496 + ], + [ + 765.6033004571968, + 295.0489577852723 + ], + [ + 763.094663286547, + 283.94383027537117 + ], + [ + 748.1995255450192, + 284.43332844818104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 543, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -8.923007011413574, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3727825880050659, + "y": 0.31082579493522644, + "z": 0.871041476726532 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 869.1092109080935, + "ymin": 403.9111268935631, + "xmax": 907.710219488074, + "ymax": 468.68939059388725 + }, + "corners_3d": [ + [ + -9.311546325683594, + 6.964059352874756, + -0.2709404230117798 + ], + [ + -9.279011726379395, + 7.5848588943481445, + -0.2709404230117798 + ], + [ + -8.534467697143555, + 7.545838832855225, + -0.2709404230117798 + ], + [ + -8.567002296447754, + 6.925039291381836, + -0.2709404230117798 + ], + [ + -9.311546325683594, + 6.964059352874756, + 1.4711425304412842 + ], + [ + -9.279011726379395, + 7.5848588943481445, + 1.4711425304412842 + ], + [ + -8.534467697143555, + 7.545838832855225, + 1.4711425304412842 + ], + [ + -8.567002296447754, + 6.925039291381836, + 1.4711425304412842 + ] + ], + "corners_2d": [ + [ + 872.3450192408307, + 467.74671201690353 + ], + [ + 895.343412067703, + 468.68939059388725 + ], + [ + 891.6425162928545, + 447.933666351782 + ], + [ + 869.1092109080935, + 447.0284798117989 + ], + [ + 883.5871990782553, + 424.7055993699713 + ], + [ + 907.710219488074, + 425.65270794409287 + ], + [ + 903.5735397227064, + 404.8188010992194 + ], + [ + 879.9616959900601, + 403.9111268935631 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 619, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -15.383477210998535, + "y": -0.9327347278594971, + "z": 0.6001303791999817 + }, + "extent": { + "x": 0.5201824903488159, + "y": 0.30314868688583374, + "z": 0.8859951496124268 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 523.2196109362613, + "ymin": 577.297330672098, + "xmax": 565.1075360009803, + "ymax": 662.7063194443507 + }, + "corners_3d": [ + [ + -15.887081146240234, + -1.2626922130584717, + -0.28586477041244507 + ], + [ + -15.91881275177002, + -0.6572257876396179, + -0.28586477041244507 + ], + [ + -14.879873275756836, + -0.6027772426605225, + -0.28586477041244507 + ], + [ + -14.84814167022705, + -1.2082436084747314, + -0.28586477041244507 + ], + [ + -15.887081146240234, + -1.2626922130584717, + 1.4861254692077637 + ], + [ + -15.91881275177002, + -0.6572257876396179, + 1.4861254692077637 + ], + [ + -14.879873275756836, + -0.6027772426605225, + 1.4861254692077637 + ], + [ + -14.84814167022705, + -1.2082436084747314, + 1.4861254692077637 + ] + ], + "corners_2d": [ + [ + 529.7126185585171, + 658.8892130972164 + ], + [ + 555.455284769917, + 662.7063194443507 + ], + [ + 565.1075360009803, + 622.8330627172706 + ], + [ + 540.1699702544854, + 619.2596865627638 + ], + [ + 523.2196109362613, + 617.7719838801446 + ], + [ + 550.4613860085719, + 621.678647733412 + ], + [ + 560.8357575742609, + 580.9405879063586 + ], + [ + 534.493899798817, + 577.297330672098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 346, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 4.578153133392334, + "y": -7.857978343963623, + "z": 0.7523177862167358 + }, + "extent": { + "x": 0.5818367004394531, + "y": 0.33897918462753296, + "z": 0.906510591506958 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 439.8728266642487, + "ymin": 107.58919499239997, + "xmax": 474.7109607916709, + "ymax": 167.53388001215885 + }, + "corners_3d": [ + [ + 4.0565080642700195, + -8.283803939819336, + -0.15419280529022217 + ], + [ + 3.950451612472534, + -7.614192008972168, + -0.15419280529022217 + ], + [ + 5.099798202514648, + -7.432153224945068, + -0.15419280529022217 + ], + [ + 5.205854415893555, + -8.101764678955078, + -0.15419280529022217 + ], + [ + 4.0565080642700195, + -8.283803939819336, + 1.6588283777236938 + ], + [ + 3.950451612472534, + -7.614192008972168, + 1.6588283777236938 + ], + [ + 5.099798202514648, + -7.432153224945068, + 1.6588283777236938 + ], + [ + 5.205854415893555, + -8.101764678955078, + 1.6588283777236938 + ] + ], + "corners_2d": [ + [ + 446.70447485963825, + 165.01327884192622 + ], + [ + 463.1585671356416, + 167.53388001215885 + ], + [ + 474.7109607916709, + 151.74526101939048 + ], + [ + 458.57181396001124, + 149.33209856859344 + ], + [ + 439.8728266642487, + 122.87467015935937 + ], + [ + 456.88608296666274, + 125.33383356873031 + ], + [ + 468.979138293794, + 109.93995086203961 + ], + [ + 452.3022668094827, + 107.58919499239997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 8348, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 630.5739915892809, + "ymin": 593.717393893711, + "xmax": 748.5020961926284, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 631.0712344779931, + 873.6874126652308 + ], + [ + 736.5455626206061, + 885.4939626627335 + ], + [ + 743.7278402252364, + 635.1815271812233 + ], + [ + 656.2951376813046, + 627.0889574562094 + ], + [ + 630.5739915892809, + 846.7556745434802 + ], + [ + 741.9688149327792, + 858.9918588573927 + ], + [ + 748.5020961926284, + 601.9452883982678 + ], + [ + 657.039857763198, + 593.717393893711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6919, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 691.8792664821183, + "ymin": 123.75226922144361, + "xmax": 762.1184143508298, + "ymax": 290.6956941397499 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 691.8792664821183, + 286.66705087587326 + ], + [ + 752.9898033666949, + 290.6956941397499 + ], + [ + 755.9983176966077, + 188.43982513984062 + ], + [ + 702.1553073547816, + 185.31562496653922 + ], + [ + 694.9951582989418, + 222.36505375591813 + ], + [ + 759.8100955236549, + 226.31400691411218 + ], + [ + 762.1184143508298, + 126.77111583665345 + ], + [ + 705.4203056802734, + 123.75226922144361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 8815, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 281.95319652899894, + "ymin": 593.1880882985268, + "xmax": 433.505327327844, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 433.505327327844, + 637.0562087434737 + ], + [ + 358.20437516906054, + 629.9044417027212 + ], + [ + 301.54406172087147, + 791.231602134269 + ], + [ + 386.6851402921296, + 800.4520748012557 + ], + [ + 422.97625229329594, + 600.4730773580702 + ], + [ + 343.9285460054878, + 593.1880882985268 + ], + [ + 281.95319652899894, + 758.6101935118488 + ], + [ + 371.9145895844589, + 768.1331052275893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132578662546, + "ymin": 178.96214634273886, + "xmax": 655.5500579691067, + "ymax": 207.9737972434342 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132578662546, + 207.83395655412767 + ], + [ + 653.3897513629823, + 207.9737972434342 + ], + [ + 655.3227854728136, + 196.31659967393685 + ], + [ + 653.0803125170452, + 196.18094948793424 + ], + [ + 651.2806274883058, + 190.52276250326472 + ], + [ + 653.5914428689505, + 190.6615263841217 + ], + [ + 655.5500579691067, + 179.09669079353603 + ], + [ + 653.2742888086368, + 178.96214634273886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132573427078, + "ymin": 178.96214932681124, + "xmax": 655.5500574635425, + "ymax": 207.9738003460959 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132573427078, + 207.83395965566555 + ], + [ + 653.3897508484889, + 207.9738003460959 + ], + [ + 655.3227849737391, + 196.31660268361506 + ], + [ + 653.0803120091858, + 196.18095249653882 + ], + [ + 651.2806269575567, + 190.52276558091157 + ], + [ + 653.59144234753, + 190.66152946290052 + ], + [ + 655.5500574635425, + 179.09669377868914 + ], + [ + 653.274288294025, + 178.96214932681124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.6116853464316, + "ymin": 134.50297314526546, + "xmax": 659.7816711039071, + "ymax": 161.7496405352109 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 655.6116853464316, + 161.6260417045388 + ], + [ + 657.7526519232398, + 161.7496405352109 + ], + [ + 659.5096148844149, + 151.43716269835738 + ], + [ + 657.3987657253181, + 151.3170506512075 + ], + [ + 655.8325297810502, + 144.71208387057777 + ], + [ + 658.0038260564041, + 144.83451008483283 + ], + [ + 659.7816711039071, + 134.62189784854658 + ], + [ + 657.6413454386899, + 134.50297314526546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0728581741021, + "ymin": 133.59301410040047, + "xmax": 663.2364073984292, + "ymax": 160.80359584200485 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.0728581741021, + 160.68031895339809 + ], + [ + 661.2116231253375, + 160.80359584200485 + ], + [ + 662.9172489841759, + 150.51779158908084 + ], + [ + 660.8085401331388, + 150.3979879657971 + ], + [ + 659.3423081395474, + 143.7753529784219 + ], + [ + 661.5113399758959, + 143.89745580241586 + ], + [ + 663.2364073984292, + 133.7116291789073 + ], + [ + 661.0982822309345, + 133.59301410040047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7631448396306, + "ymin": 170.6309781072097, + "xmax": 654.027000331429, + "ymax": 200.3877379756628 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.7631448396306, + 200.36941568249387 + ], + [ + 652.0643449618274, + 200.3877379756628 + ], + [ + 653.7964705202497, + 190.15073408276555 + ], + [ + 653.4992625868156, + 190.1328991904568 + ], + [ + 651.9624071663253, + 180.77173318202082 + ], + [ + 652.2687144626908, + 180.78988819671827 + ], + [ + 654.027000331429, + 170.64864215651824 + ], + [ + 653.7248208291377, + 170.6309781072097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7631444679541, + "ymin": 170.63109234312168, + "xmax": 654.0270003105829, + "ymax": 200.38785647421972 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.7631444679541, + 200.36953417537086 + ], + [ + 652.0643446368288, + 200.38785647421972 + ], + [ + 653.796470464492, + 190.15084942904352 + ], + [ + 653.4992624856092, + 190.13301453127997 + ], + [ + 651.9624068197613, + 180.77185059303676 + ], + [ + 652.2687141644011, + 180.79000561345765 + ], + [ + 654.0270003105829, + 170.64875639792305 + ], + [ + 653.7248207613096, + 170.63109234312168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132578662546, + "ymin": 178.96214634273886, + "xmax": 655.5500579691067, + "ymax": 207.9737972434342 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132578662546, + 207.83395655412767 + ], + [ + 653.3897513629823, + 207.9737972434342 + ], + [ + 655.3227854728136, + 196.31659967393685 + ], + [ + 653.0803125170452, + 196.18094948793424 + ], + [ + 651.2806274883058, + 190.52276250326472 + ], + [ + 653.5914428689505, + 190.6615263841217 + ], + [ + 655.5500579691067, + 179.09669079353603 + ], + [ + 653.2742888086368, + 178.96214634273886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132582011637, + "ymin": 178.96214636253254, + "xmax": 655.5500581923893, + "ymax": 207.97379725715436 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132582011637, + 207.83395657470052 + ], + [ + 653.389751586336, + 207.97379725715436 + ], + [ + 655.3227856928288, + 196.3165996872458 + ], + [ + 653.0803128469503, + 196.18094950789066 + ], + [ + 651.2806278282633, + 190.5227625236791 + ], + [ + 653.5914430956723, + 190.66152639773622 + ], + [ + 655.5500581923893, + 179.09669080673652 + ], + [ + 653.2742891434394, + 178.96214636253254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.113257541602, + "ymin": 178.9621488360637, + "xmax": 655.5500575478032, + "ymax": 207.97379982898562 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.113257541602, + 207.83395914560015 + ], + [ + 653.3897509342379, + 207.97379982898562 + ], + [ + 655.3227850569182, + 196.31660218200201 + ], + [ + 653.0803122037973, + 196.1809520017568 + ], + [ + 651.280627159334, + 190.52276507477515 + ], + [ + 653.5914424344334, + 190.66152894977068 + ], + [ + 655.5500575478032, + 179.0966932811636 + ], + [ + 653.2742884913945, + 178.9621488360637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.8219347806862, + "ymin": 146.8937257769053, + "xmax": 635.2706002271188, + "ymax": 174.6319219589065 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 630.9522292893578, + 174.50389733765041 + ], + [ + 633.1269197346792, + 174.6319219589065 + ], + [ + 635.2706002271188, + 163.95284072709478 + ], + [ + 633.1269752771904, + 163.82849045027066 + ], + [ + 630.8219347806862, + 157.47093567690774 + ], + [ + 633.027924954243, + 157.59780939112264 + ], + [ + 635.2034801300496, + 147.0169068861865 + ], + [ + 633.029449544772, + 146.8937257769053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7631904408457, + "ymin": 170.6308284379607, + "xmax": 654.027045613708, + "ymax": 200.38758272159464 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.7631904408457, + 200.3692604358675 + ], + [ + 652.0643905029673, + 200.38758272159464 + ], + [ + 653.7965151045166, + 190.15058295873982 + ], + [ + 653.499307229576, + 190.13274807357786 + ], + [ + 651.9624534988532, + 180.77157935282466 + ], + [ + 652.268760733089, + 180.7897343600234 + ], + [ + 654.027045613708, + 170.64849248007266 + ], + [ + 653.7248661718834, + 170.6308284379607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132573427078, + "ymin": 178.96214932681124, + "xmax": 655.5500574635425, + "ymax": 207.9738003460959 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132573427078, + 207.83395965566555 + ], + [ + 653.3897508484889, + 207.9738003460959 + ], + [ + 655.3227849737391, + 196.31660268361506 + ], + [ + 653.0803120091858, + 196.18095249653882 + ], + [ + 651.2806269575567, + 190.52276558091157 + ], + [ + 653.59144234753, + 190.66152946290052 + ], + [ + 655.5500574635425, + 179.09669377868914 + ], + [ + 653.274288294025, + 178.96214932681124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.2585874793916, + "ymin": 169.00740220432044, + "xmax": 655.1770187926521, + "ymax": 203.19213591330782 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 652.2585874793916, + 203.17003625584653 + ], + [ + 652.6205718905252, + 203.19213591330782 + ], + [ + 654.9152693166398, + 189.52175408385176 + ], + [ + 654.5596690186198, + 189.5004348672514 + ], + [ + 652.4776802021693, + 182.54294971596147 + ], + [ + 652.8461408256408, + 182.56483962748945 + ], + [ + 655.1770187926521, + 169.028505640307 + ], + [ + 654.8151706763872, + 169.00740220432044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.763233466283, + "ymin": 170.63091765671467, + "xmax": 654.0270890482495, + "ymax": 200.38767526949346 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.763233466283, + 200.3693529793301 + ], + [ + 652.0644335658984, + 200.38767526949346 + ], + [ + 653.79655779769, + 190.15067304469534 + ], + [ + 653.4993498862431, + 190.132838155273 + ], + [ + 651.9624972776521, + 180.77167105134833 + ], + [ + 652.2688045506641, + 180.78982606301722 + ], + [ + 654.0270890482495, + 170.6485817031167 + ], + [ + 653.7249095686872, + 170.63091765671467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132582011637, + "ymin": 178.96214636253254, + "xmax": 655.5500581923893, + "ymax": 207.97379725715436 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132582011637, + 207.83395657470052 + ], + [ + 653.389751586336, + 207.97379725715436 + ], + [ + 655.3227856928288, + 196.3165996872458 + ], + [ + 653.0803128469503, + 196.18094950789066 + ], + [ + 651.2806278282633, + 190.5227625236791 + ], + [ + 653.5914430956723, + 190.66152639773622 + ], + [ + 655.5500581923893, + 179.09669080673652 + ], + [ + 653.2742891434394, + 178.96214636253254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.2584878059062, + "ymin": 169.00739639342643, + "xmax": 655.1769190386223, + "ymax": 203.19212982089 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 652.2584878059062, + 203.17003017064005 + ], + [ + 652.62047209892, + 203.19212982089 + ], + [ + 654.9151712850527, + 189.52174820658834 + ], + [ + 654.5595711029687, + 189.50042899693864 + ], + [ + 652.4775787454918, + 182.54294368851225 + ], + [ + 652.8460392486256, + 182.56483359289112 + ], + [ + 655.1769190386223, + 169.0284998225269 + ], + [ + 654.8150710404294, + 169.00739639342643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.25858354239, + "ymin": 169.00750375023958, + "xmax": 655.1770151497376, + "ymax": 203.19224225212787 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 652.25858354239, + 203.17014259540156 + ], + [ + 652.6205678912025, + 203.19224225212787 + ], + [ + 654.9152657009233, + 189.5218566673046 + ], + [ + 654.5596654649926, + 189.50053745151857 + ], + [ + 652.4776762257109, + 182.54305504620308 + ], + [ + 652.8461367866578, + 182.56494495711144 + ], + [ + 655.1770151497376, + 169.02860718552094 + ], + [ + 654.8151670957892, + 169.00750375023958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1132589094827, + "ymin": 178.96214489688793, + "xmax": 655.5500588917365, + "ymax": 207.97379573326398 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 651.1132589094827, + 207.8339550513621 + ], + [ + 653.3897522902901, + 207.97379573326398 + ], + [ + 655.3227863823965, + 196.31659820902473 + ], + [ + 653.0803135407534, + 196.18094803019696 + ], + [ + 651.2806285469145, + 190.5227610120749 + ], + [ + 653.5914438098259, + 190.66152488557606 + ], + [ + 655.5500588917365, + 179.0966893405611 + ], + [ + 653.2742898471489, + 178.96214489688793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.2586872794742, + "ymin": 169.0074105170908, + "xmax": 655.1771185708337, + "ymax": 203.19214461899725 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 652.2586872794742, + 203.17004496103436 + ], + [ + 652.6206716975894, + 203.19214461899725 + ], + [ + 654.9153673710865, + 189.5217624820988 + ], + [ + 654.5597670663301, + 189.50044326502322 + ], + [ + 652.4777817884682, + 182.5429583385247 + ], + [ + 652.8462424191731, + 182.5648482505583 + ], + [ + 655.1771185708337, + 169.02851395355606 + ], + [ + 654.8152704475938, + 169.0074105170908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.7017228972124, + "ymin": 124.30910561096397, + "xmax": 664.8093942885923, + "ymax": 151.15161032743782 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 660.7017228972124, + 151.0315941195688 + ], + [ + 662.8122839886489, + 151.15161032743782 + ], + [ + 664.4731041200421, + 141.13599617529596 + ], + [ + 662.3918171533758, + 141.01931728931942 + ], + [ + 660.9902368317854, + 134.220340671555 + ], + [ + 663.1302663030125, + 134.33916916062984 + ], + [ + 664.8093942885923, + 124.42458472862236 + ], + [ + 662.6994563063148, + 124.30910561096397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.2585875411249, + "ymin": 169.00740121012112, + "xmax": 655.177018738058, + "ymax": 203.19213486525493 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 652.2585875411249, + 203.17003521471446 + ], + [ + 652.6205718393912, + 203.19213486525493 + ], + [ + 654.9152692633384, + 189.521753072811 + ], + [ + 654.5596690761865, + 189.500433862886 + ], + [ + 652.4776802647034, + 182.54294868471123 + ], + [ + 652.8461407732792, + 182.56483858938302 + ], + [ + 655.177018738058, + 169.0285046394989 + ], + [ + 654.8151707346177, + 169.00740121012112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.5814270168701, + "ymin": 182.99585116301023, + "xmax": 654.0026483686808, + "ymax": 211.90519612395843 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 649.5814270168701, + 211.76515198749425 + ], + [ + 651.8494046191473, + 211.90519612395843 + ], + [ + 653.7987217017092, + 200.23040819054873 + ], + [ + 651.5645123942949, + 200.0945458084395 + ], + [ + 649.725196691889, + 194.57653160621697 + ], + [ + 652.0272379584777, + 194.71552839958332 + ], + [ + 654.0026483686808, + 183.13063661462638 + ], + [ + 651.7353896052135, + 182.99585116301023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.7631448396306, + "ymin": 170.6309781072097, + "xmax": 654.027000331429, + "ymax": 200.3877379756628 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.7631448396306, + 200.36941568249387 + ], + [ + 652.0643449618274, + 200.3877379756628 + ], + [ + 653.7964705202497, + 190.15073408276555 + ], + [ + 653.4992625868156, + 190.1328991904568 + ], + [ + 651.9624071663253, + 180.77173318202082 + ], + [ + 652.2687144626908, + 180.78988819671827 + ], + [ + 654.027000331429, + 170.64864215651824 + ], + [ + 653.7248208291377, + 170.6309781072097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.4909748623581, + "ymin": 119.38606685269582, + "xmax": 662.5698946415433, + "ymax": 146.03345466881217 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 658.4909748623581, + 145.9151497696985 + ], + [ + 660.5860650871821, + 146.03345466881217 + ], + [ + 662.266119512795, + 136.15967546700554 + ], + [ + 660.1998786514124, + 136.04463725437148 + ], + [ + 658.7468089939609, + 129.15504720130744 + ], + [ + 660.8709342084744, + 129.27215795794092 + ], + [ + 662.5698946415433, + 119.49990009539096 + ], + [ + 660.4754183087813, + 119.38606685269582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.763148444584, + "ymin": 170.6310755379008, + "xmax": 654.0270042478351, + "ymax": 200.38783904192212 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 651.763148444584, + 200.36951674390886 + ], + [ + 652.0643486066858, + 200.38783904192212 + ], + [ + 653.7964743422227, + 190.15083246047698 + ], + [ + 653.4992663699343, + 190.1329975635159 + ], + [ + 651.962410859133, + 180.77183332072707 + ], + [ + 652.2687181967684, + 180.78998834030597 + ], + [ + 654.0270042478351, + 170.64873959189413 + ], + [ + 653.7248247053786, + 170.6310755379008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.1390490420604, + "ymin": 138.21715615598353, + "xmax": 660.7558639320341, + "ymax": 195.11388869314158 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.1390490420604, + 195.024666194044 + ], + [ + 659.6168534903062, + 195.11388869314158 + ], + [ + 659.8089299197588, + 193.91662877066418 + ], + [ + 658.3334331013526, + 193.82768743404074 + ], + [ + 659.0074852630495, + 139.37941365799915 + ], + [ + 660.5561576528168, + 139.46605507078786 + ], + [ + 660.7558639320341, + 138.30351149983724 + ], + [ + 659.2097256169608, + 138.21715615598353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.7176786612223, + "ymin": 128.8150368728296, + "xmax": 662.3715290095588, + "ymax": 185.39153905146233 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 659.7176786612223, + 185.3045869058347 + ], + [ + 661.17674193282, + 185.39153905146233 + ], + [ + 661.3639340836854, + 184.22472276798754 + ], + [ + 659.907120333408, + 184.13804112990692 + ], + [ + 660.6490359851608, + 129.94635891968144 + ], + [ + 662.1771391176511, + 130.03069221667747 + ], + [ + 662.3715290095588, + 128.89909544654765 + ], + [ + 660.8458931441227, + 128.8150368728296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.6749807922985, + "ymin": 151.68990660930638, + "xmax": 632.8494440744289, + "ymax": 209.025565277595 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 631.1088390792933, + 208.93304328825846 + ], + [ + 632.6104866483395, + 209.025565277595 + ], + [ + 632.8494440744289, + 207.7840628936863 + ], + [ + 631.3501790281267, + 207.69183779360614 + ], + [ + 630.6749807922985, + 152.8972216091848 + ], + [ + 632.2498583712079, + 152.98722490860433 + ], + [ + 632.5010652430553, + 151.77960704347112 + ], + [ + 630.9288080225285, + 151.68990660930638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.9644852902102, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 24.492965199255593 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1222.3462996598396, + 24.05580299211772 + ], + [ + 1232.1112092850358, + 24.492965199255593 + ], + [ + 1206.149109728975, + -9.413192158987215 + ], + [ + 1196.9644852902102, + -9.801456272174846 + ], + [ + 1301.448369626442, + -157.04170182404107 + ], + [ + 1312.6075869496187, + -156.69801157697316 + ], + [ + 1278.118708815958, + -183.15005278111732 + ], + [ + 1267.7106693764147, + -183.4505783282607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.4243974048363, + "ymin": 0.0, + "xmax": 931.0502834072372, + "ymax": 5.336985916390461 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 930.2879061469869, + 5.336985916390461 + ], + [ + 929.2058156894135, + 1.1979858965855783 + ], + [ + 915.4243974048363, + 0.5914671762378134 + ], + [ + 916.4045075910219, + 4.7215572749519765 + ], + [ + 931.0502834072372, + 1.7863831241670596 + ], + [ + 929.9598159939787, + -2.3375329776901594 + ], + [ + 916.141695180957, + -2.9418281125399517 + ], + [ + 917.1296365665147, + 1.1731873484285984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4131715261727, + "ymin": 188.31703457607665, + "xmax": 652.8118985772908, + "ymax": 246.2268599951598 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 650.4131715261727, + 246.12602946314865 + ], + [ + 651.9769485530649, + 246.2268599951598 + ], + [ + 652.193060680335, + 244.87395021554352 + ], + [ + 650.6318673234532, + 244.77345606953764 + ], + [ + 650.9425337597895, + 189.63916403126652 + ], + [ + 652.5858863148336, + 189.737734041357 + ], + [ + 652.8118985772908, + 188.41525906740424 + ], + [ + 651.171399094548, + 188.31703457607665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 870.8482699661997, + "ymin": 0.0, + "xmax": 1046.4950148272792, + "ymax": 217.84028319972725 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 981.8697607738134, + 217.84028319972725 + ], + [ + 980.0220501674855, + 210.63260225537587 + ], + [ + 870.8482699661997, + 204.073741412495 + ], + [ + 871.673173623615, + 211.1593409721427 + ], + [ + 1046.4950148272792, + 2.445020296975599 + ], + [ + 1043.5947790167497, + -3.7536147578159103 + ], + [ + 913.5761331017884, + -9.375551795931585 + ], + [ + 915.023253611681, + -3.3013477713232646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 184.6854337954482, + "ymax": 108.95505003950447 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 179.41567066351945, + 108.95505003950447 + ], + [ + 184.6854337954482, + 103.06326509842319 + ], + [ + 54.23410582283145, + 95.87066146086698 + ], + [ + 47.88216059704371, + 101.63554623399011 + ], + [ + 101.19073152674969, + -103.05998759856215 + ], + [ + 108.14621987388159, + -107.77428887106703 + ], + [ + -42.99644226055375, + -113.5104987774389 + ], + [ + -51.40521383900068, + -108.91456950718123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.8107432983029, + "ymin": 139.13865514100277, + "xmax": 657.2767760398718, + "ymax": 196.06615714443 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 654.8107432983029, + 195.97671069336724 + ], + [ + 656.2900097424404, + 196.06615714443 + ], + [ + 656.4875795810858, + 194.86589433169627 + ], + [ + 655.010625319033, + 194.77673010151824 + ], + [ + 655.5207634323516, + 140.3039671076765 + ], + [ + 657.0710415273344, + 140.39083642657994 + ], + [ + 657.2767760398718, + 139.2252372624382 + ], + [ + 655.7290372587132, + 139.13865514100277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.5974867681431, + "ymin": 123.83005562079433, + "xmax": 660.1361429623528, + "ymax": 180.2321222964978 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.5974867681431, + 180.14636308478947 + ], + [ + 659.0462618788766, + 180.2321222964978 + ], + [ + 659.235461353578, + 179.08130273246735 + ], + [ + 657.7889041689516, + 178.99580848487776 + ], + [ + 658.422708050757, + 124.94514530501604 + ], + [ + 659.9395301561842, + 125.02826753294931 + ], + [ + 660.1361429623528, + 123.91290901717574 + ], + [ + 658.6217518503172, + 123.83005562079433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.506396478899, + "ymin": 0.0, + "xmax": 930.9658419966886, + "ymax": 5.292812941595116 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 930.2118158512201, + 5.292812941595116 + ], + [ + 929.1417488617152, + 1.1980286535780351 + ], + [ + 915.506396478899, + 0.5979321074437962 + ], + [ + 916.4766410423068, + 4.683995266878867 + ], + [ + 930.9658419966886, + 1.7800681111358472 + ], + [ + 929.8875783068213, + -2.2999517226533612 + ], + [ + 916.2162977437818, + -2.897871707498666 + ], + [ + 917.1942104972902, + 1.1734359847396831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.7799621641647, + "ymin": 0.0, + "xmax": 989.0462549360541, + "ymax": 17.091663330851702 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 935.2232256950349, + 16.639962881312442 + ], + [ + 944.4552140937019, + 17.091663330851702 + ], + [ + 920.5352824736235, + -74.94666916480008 + ], + [ + 912.7799621641647, + -75.26667424699207 + ], + [ + 978.4236111857861, + -179.53881384286717 + ], + [ + 989.0462549360541, + -179.1958913091812 + ], + [ + 954.3324490858433, + -247.49355306324048 + ], + [ + 945.6187286286049, + -247.72561392612238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 460.0387969127761, + "ymin": 0.0, + "xmax": 741.4113770058344, + "ymax": 13.508719947329723 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 484.4365941082925, + -2.3565194613860285 + ], + [ + 482.405786053666, + 1.3357558463820283 + ], + [ + 728.1867175150919, + 13.508719947329723 + ], + [ + 728.6217036592998, + 9.65629831452543 + ], + [ + 462.5223145741238, + -193.8902524051815 + ], + [ + 460.0387969127761, + -191.1115322633732 + ], + [ + 741.0114942859616, + -181.91385049395603 + ], + [ + 741.4113770058344, + -184.83076578189082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.4482453442902, + "ymin": 184.18610299366264, + "xmax": 652.8571794194327, + "ymax": 242.4840965344041 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 650.4482453442902, + 242.38339366789916 + ], + [ + 652.0172945482656, + 242.4840965344041 + ], + [ + 652.234065872225, + 241.13290676009544 + ], + [ + 650.6676177746691, + 241.03254098249857 + ], + [ + 650.9812708647585, + 185.50562843570938 + ], + [ + 652.6304468154685, + 185.60400496267272 + ], + [ + 652.8571794194327, + 184.28413346247234 + ], + [ + 651.2108767797072, + 184.18610299366264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.6676355644513, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 129.55892753390816 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1176.6466331073623, + 129.55892753390816 + ], + [ + 1345.7283606721116, + 119.53568508367374 + ], + [ + 1243.4856759004815, + 37.38222717361032 + ], + [ + 1093.6676355644513, + 45.127583580565386 + ], + [ + 1321.594061625354, + -202.04892321109207 + ], + [ + 1532.859814168753, + -208.66775142731706 + ], + [ + 1379.92894090539, + -261.0379693379166 + ], + [ + 1197.8623967725612, + -256.2390491838446 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00148/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00148/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fdc56a5372a9bfa09b5744ee844772dc6de086d4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00148/meta.json @@ -0,0 +1,7160 @@ +{ + "frame_id": 148, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.0, + "sim_timestamp": 13345.23928470281 + }, + "drone_pose": { + "x": -26.215341007267078, + "y": 2.4103609057434845, + "z": 20.0, + "pitch": -43.90259860840841, + "yaw": -5.974495912416131, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7166060209274292, + 0.07499584555625916, + 0.6934345364570618, + 5.098149299621582 + ], + [ + -0.104085773229599, + 0.9945683479309082, + -3.725290298461914e-09, + 0.3313751220703125 + ], + [ + -0.6896679997444153, + -0.07217666506767273, + 0.7205196619033813, + -32.66424560546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -25.718243033751776, + "y": 2.363906268595929, + "z": 20.0 + }, + "t1_image_uv": [ + 654.7813782057121, + -563.9125068327805 + ], + "t1_depth": 0.35970731173432957 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -6.167182922363281, + "y": 0.3122367858886719, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.976540990723677, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 210, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -6.167182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.27529263496398926, + "y": 0.18189522624015808, + "z": 0.5595818758010864 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 629.079402813484, + "ymin": 338.2327421252328, + "xmax": 650.9774089655318, + "ymax": 381.5328843255897 + }, + "corners_3d": [ + [ + -6.4904632568359375, + 0.3782787024974823, + 0.04051917791366577 + ], + [ + -6.233224391937256, + 0.635517418384552, + 0.04051917791366577 + ], + [ + -5.843901634216309, + 0.24619486927986145, + 0.04051917791366577 + ], + [ + -6.10114049911499, + -0.011043846607208252, + 0.04051917791366577 + ], + [ + -6.4904632568359375, + 0.3782787024974823, + 1.1596829891204834 + ], + [ + -6.233224391937256, + 0.635517418384552, + 1.1596829891204834 + ], + [ + -5.843901634216309, + 0.24619486927986145, + 1.1596829891204834 + ], + [ + -6.10114049911499, + -0.011043846607208252, + 1.1596829891204834 + ] + ], + "corners_2d": [ + [ + 641.0933231355306, + 381.5328843255897 + ], + [ + 650.6763026309916, + 376.0176336085904 + ], + [ + 638.924770334836, + 365.88953280358766 + ], + [ + 629.3774429605276, + 371.2862248711328 + ], + [ + 641.124344457709, + 353.8414380977776 + ], + [ + 650.9774089655318, + 348.33673323483464 + ], + [ + 638.8947812501773, + 338.2327421252328 + ], + [ + 629.079402813484, + 343.6158232684344 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 148, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 322979, + "2": 304879, + "3": 8207, + "5": 7444, + "6": 2298, + "9": 3200, + "10": 5330, + "12": 1874, + "14": 25905, + "15": 7071, + "20": 3439, + "24": 21517, + "25": 207457 + }, + "instance_pixel_counts": { + "2118": 5323, + "2188": 255, + "2706": 1468, + "3218": 3701, + "3424": 129790, + "3458": 7, + "5506": 1496, + "6215": 102728, + "6284": 3810, + "6290": 11961, + "6730": 567, + "6992": 4646, + "8286": 3158, + "8332": 12997, + "8338": 35084, + "8798": 3939, + "10846": 4892, + "15184": 2798, + "15510": 1058, + "16203": 616, + "18000": 3439, + "19092": 4576, + "19604": 51, + "21140": 40297, + "23392": 919, + "23700": 129625, + "23904": 160, + "28000": 464, + "28256": 454, + "28768": 479, + "29826": 693, + "31584": 325, + "31840": 130, + "32096": 158, + "34304": 10, + "34560": 92, + "34956": 445, + "35402": 255, + "35468": 168, + "35476": 2504, + "37524": 7872, + "38540": 4072, + "38801": 650, + "40588": 11976, + "41562": 8207, + "42897": 10317, + "44945": 37191, + "45898": 254, + "52038": 68056, + "54859": 122, + "56576": 210, + "56647": 77667, + "56832": 165, + "57088": 478, + "57173": 3200, + "57344": 660, + "57600": 361, + "57856": 6781, + "58368": 7071, + "59541": 478, + "60051": 2847, + "60928": 7135, + "62101": 1000, + "62611": 35988, + "64149": 3459, + "64585": 243, + "64659": 109595 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 210, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -6.167182445526123, + "y": 0.3122367858886719, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2223183959722519, + "y": 0.274857759475708, + "z": 0.5531204342842102 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.7006247252981, + "ymin": 337.99097743301223, + "xmax": 652.2991504309949, + "ymax": 381.79853073987846 + }, + "corners_3d": [ + [ + -6.518739223480225, + 0.27508580684661865, + 0.04698061943054199 + ], + [ + -6.130031585693359, + 0.6637934446334839, + 0.04698061943054199 + ], + [ + -5.8156256675720215, + 0.3493877649307251, + 0.04698061943054199 + ], + [ + -6.204333305358887, + -0.03931984305381775, + 0.04698061943054199 + ], + [ + -6.518739223480225, + 0.27508580684661865, + 1.1532214879989624 + ], + [ + -6.130031585693359, + 0.6637934446334839, + 1.1532214879989624 + ], + [ + -5.8156256675720215, + 0.3493877649307251, + 1.1532214879989624 + ], + [ + -6.204333305358887, + -0.03931984305381775, + 1.1532214879989624 + ] + ], + "corners_2d": [ + [ + 637.4885395915691, + 381.79853073987846 + ], + [ + 651.9664765884067, + 373.48201944284654 + ], + [ + 642.4677219826243, + 365.32721311782575 + ], + [ + 628.0333106848991, + 373.49902521388685 + ], + [ + 637.4180829611346, + 354.42623780845884 + ], + [ + 652.2991504309949, + 346.12592519464334 + ], + [ + 642.535712589893, + 337.99097743301223 + ], + [ + 627.7006247252981, + 346.1428936646383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 165, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.692816972732544, + "y": 3.79606556892395, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.19164520502090454, + "y": 0.22509139776229858, + "z": 0.5211494565010071 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 750.398451132457, + "ymin": 293.4002756805003, + "xmax": 772.2180369306748, + "ymax": 331.6694309131884 + }, + "corners_3d": [ + [ + -3.9875659942626953, + 3.8188042640686035, + 0.07894182205200195 + ], + [ + -3.6233603954315186, + 4.0834150314331055, + 0.07894182205200195 + ], + [ + -3.3980679512023926, + 3.773326873779297, + 0.07894182205200195 + ], + [ + -3.7622735500335693, + 3.508715867996216, + 0.07894182205200195 + ], + [ + -3.9875659942626953, + 3.8188042640686035, + 1.1212407350540161 + ], + [ + -3.6233603954315186, + 4.0834150314331055, + 1.1212407350540161 + ], + [ + -3.3980679512023926, + 3.773326873779297, + 1.1212407350540161 + ], + [ + -3.7622735500335693, + 3.508715867996216, + 1.1212407350540161 + ] + ], + "corners_2d": [ + [ + 760.3167328658346, + 331.6694309131884 + ], + [ + 769.0196093011523, + 324.4411390314696 + ], + [ + 759.1274251193983, + 318.9832169965609 + ], + [ + 750.398451132457, + 326.1226050337272 + ], + [ + 763.3242899867583, + 306.0268200554981 + ], + [ + 772.2180369306748, + 298.83143066002003 + ], + [ + 762.0620320829133, + 293.4002756805003 + ], + [ + 753.1405645634188, + 300.50498369202114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 478, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -8.423007011413574, + "y": 7.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4193057119846344, + "y": 0.3284081816673279, + "z": 0.8862172365188599 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 862.4638706555978, + "ymin": 399.35903547433935, + "xmax": 914.5393121191055, + "ymax": 472.8187753499849 + }, + "corners_3d": [ + [ + -8.9476318359375, + 7.346806049346924, + -0.28611618280410767 + ], + [ + -8.459522247314453, + 7.786302089691162, + -0.28611618280410767 + ], + [ + -7.89838171005249, + 7.163092136383057, + -0.28611618280410767 + ], + [ + -8.386491775512695, + 6.723596096038818, + -0.28611618280410767 + ], + [ + -8.9476318359375, + 7.346806049346924, + 1.4863183498382568 + ], + [ + -8.459522247314453, + 7.786302089691162, + 1.4863183498382568 + ], + [ + -7.89838171005249, + 7.163092136383057, + 1.4863183498382568 + ], + [ + -8.386491775512695, + 6.723596096038818, + 1.4863183498382568 + ] + ], + "corners_2d": [ + [ + 886.9667576374773, + 472.8187753499849 + ], + [ + 901.7520890167152, + 460.371409632837 + ], + [ + 877.2911801912014, + 443.23984072011643 + ], + [ + 862.4638706555978, + 455.27188145790177 + ], + [ + 899.1855515209102, + 429.0489109593598 + ], + [ + 914.5393121191055, + 416.5446506678397 + ], + [ + 888.680237842719, + 399.35903547433935 + ], + [ + 873.2750325076009, + 411.4260996910214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 660, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -14.907045364379883, + "y": -0.5833052396774292, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.375274658203125, + "y": 0.3757723867893219, + "z": 0.899005115032196 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 534.7999975151781, + "ymin": 580.7288420283397, + "xmax": 585.1895350954825, + "ymax": 663.977565299014 + }, + "corners_3d": [ + [ + -15.437369346618652, + -0.6114506721496582, + -0.29889917373657227 + ], + [ + -14.934488296508789, + -0.052944183349609375, + -0.29889917373657227 + ], + [ + -14.376721382141113, + -0.5551598072052002, + -0.29889917373657227 + ], + [ + -14.879602432250977, + -1.113666296005249, + -0.29889917373657227 + ], + [ + -15.437369346618652, + -0.6114506721496582, + 1.4991110563278198 + ], + [ + -14.934488296508789, + -0.052944183349609375, + 1.4991110563278198 + ], + [ + -14.376721382141113, + -0.5551598072052002, + 1.4991110563278198 + ], + [ + -14.879602432250977, + -1.113666296005249, + 1.4991110563278198 + ] + ], + "corners_2d": [ + [ + 557.9056288335996, + 663.977565299014 + ], + [ + 585.1895350954825, + 646.4762262539251 + ], + [ + 567.6404589911704, + 623.2394666763782 + ], + [ + 540.6389625252799, + 640.0706106080388 + ], + [ + 552.9798003124748, + 622.3649917567354 + ], + [ + 581.9504413297491, + 604.4575511445069 + ], + [ + 563.4511263135086, + 580.7288420283397 + ], + [ + 534.7999975151781, + 597.9109473914897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 361, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 5.078153133392334, + "y": -7.857978343963623, + "z": 0.7522739171981812 + }, + "extent": { + "x": 0.47065871953964233, + "y": 0.4856545925140381, + "z": 0.9172543287277222 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 437.1697407683703, + "ymin": 107.51247175014316, + "xmax": 476.82058765079233, + "ymax": 167.97415776064162 + }, + "corners_3d": [ + [ + 4.411921501159668, + -7.9742350578308105, + -0.16498041152954102 + ], + [ + 4.982842922210693, + -7.188429355621338, + -0.16498041152954102 + ], + [ + 5.744384765625, + -7.7417216300964355, + -0.16498041152954102 + ], + [ + 5.173463344573975, + -8.527527809143066, + -0.16498041152954102 + ], + [ + 4.411921501159668, + -7.9742350578308105, + 1.6695282459259033 + ], + [ + 4.982842922210693, + -7.188429355621338, + 1.6695282459259033 + ], + [ + 5.744384765625, + -7.7417216300964355, + 1.6695282459259033 + ], + [ + 5.173463344573975, + -8.527527809143066, + 1.6695282459259033 + ] + ], + "corners_2d": [ + [ + 453.2717417612763, + 167.97415776064162 + ], + [ + 476.82058765079233, + 161.05824829532563 + ], + [ + 467.3548048539777, + 149.7501091075748 + ], + [ + 444.0878344095513, + 156.45095386513253 + ], + [ + 446.56868921959915, + 125.27341968680463 + ], + [ + 471.02019619743214, + 118.52951688357433 + ], + [ + 461.31701258364666, + 107.51247175014316 + ], + [ + 437.1697407683703, + 114.03934897466627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 6781, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 628.5890019201581, + "ymin": 613.3399773558167, + "xmax": 748.5190717960564, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 629.2026882166249, + 901.9118116324009 + ], + [ + 736.7506611442092, + 914.013420093194 + ], + [ + 743.6674714179445, + 654.6226951427428 + ], + [ + 654.820863903944, + 646.3843405294965 + ], + [ + 628.5890019201581, + 876.017735101851 + ], + [ + 742.2976756938679, + 888.5871323718225 + ], + [ + 748.5190717960564, + 621.7284281270297 + ], + [ + 655.5095676816784, + 613.3399773558167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7071, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 690.6735731345411, + "ymin": 131.1127303483266, + "xmax": 761.4904388595838, + "ymax": 300.53414589297563 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 690.6735731345411, + 296.47120642859653 + ], + [ + 752.4799506362153, + 300.53414589297563 + ], + [ + 755.3417226859764, + 196.06633946175887 + ], + [ + 700.9618924499598, + 192.9242849600202 + ], + [ + 693.7534952264807, + 231.98242591614738 + ], + [ + 759.3506983655838, + 235.9704131373464 + ], + [ + 761.4904388595838, + 134.15198940739876 + ], + [ + 704.1975420011124, + 131.1127303483266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 7135, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 273.00564676759933, + "ymin": 613.3657454976183, + "xmax": 428.35377164117835, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 428.35377164117835, + 656.9927732107692 + ], + [ + 351.81005933562454, + 649.7066226888915 + ], + [ + 293.4616600304479, + 816.8082185490046 + ], + [ + 380.1996689489631, + 826.2447765842917 + ], + [ + 417.37585349947915, + 620.8000173642613 + ], + [ + 336.9585941714986, + 613.3657454976183 + ], + [ + 273.00564676759933, + 785.0369131132952 + ], + [ + 364.75037217832966, + 794.8042387227997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726641052393, + "ymin": 187.42258159084258, + "xmax": 653.8299659691608, + "ymax": 216.76529220894514 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726641052393, + 216.6242571480351 + ], + [ + 651.6747527033828, + 216.76529220894514 + ], + [ + 653.625619604958, + 204.84484656565522 + ], + [ + 651.3583291014685, + 204.70808527324698 + ], + [ + 649.5154145926032, + 199.2481786534384 + ], + [ + 651.8525978006, + 199.38817463627177 + ], + [ + 653.8299659691608, + 187.55827217228762 + ], + [ + 651.5286416612876, + 187.42258159084258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726635766476, + "ymin": 187.42258464276753, + "xmax": 653.8299654588473, + "ymax": 216.76529538222306 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726635766476, + 216.62426032016657 + ], + [ + 651.6747521840529, + 216.76529538222306 + ], + [ + 653.6256191013667, + 204.84484964276535 + ], + [ + 651.3583285888931, + 204.70808834926237 + ], + [ + 649.5154140565497, + 199.2481818021905 + ], + [ + 651.852597274093, + 199.3881777861792 + ], + [ + 653.8299654588473, + 187.55827522531501 + ], + [ + 651.5286411417181, + 187.42258464276753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.9060835415872, + "ymin": 141.98628734898068, + "xmax": 658.0924231235991, + "ymax": 169.52427192423937 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 653.9060835415872, + 169.39978792644223 + ], + [ + 656.0696357196268, + 169.52427192423937 + ], + [ + 657.841040725647, + 158.99312499443025 + ], + [ + 655.7082526557224, + 158.8721898762061 + ], + [ + 654.1048828970024, + 152.41492161528066 + ], + [ + 656.2994044589551, + 152.53826101948843 + ], + [ + 658.0924231235991, + 142.10606132760546 + ], + [ + 655.9295462664655, + 141.98628734898068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.4033253443207, + "ymin": 141.05434989873277, + "xmax": 661.5830854323361, + "ymax": 168.555358783221 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 657.4033253443207, + 168.43120343562003 + ], + [ + 659.5646123413477, + 168.555358783221 + ], + [ + 661.2835930443239, + 158.05181876662002 + ], + [ + 659.1530063852294, + 157.93119835400987 + ], + [ + 657.6517874525678, + 151.45526342241263 + ], + [ + 659.8439785316835, + 151.57827255199697 + ], + [ + 661.5830854323361, + 141.17380781066 + ], + [ + 659.4224725306602, + 141.05434989873277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193041687862, + "ymin": 179.0698763107919, + "xmax": 652.2765099978401, + "ymax": 209.1376402709922 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193041687862, + 209.11915944501447 + ], + [ + 650.3239073549452, + 209.1376402709922 + ], + [ + 652.0725239624788, + 198.66810045539376 + ], + [ + 651.7720047309774, + 198.65011681136377 + ], + [ + 650.1909574185981, + 189.4448593538356 + ], + [ + 650.5007834443917, + 189.46317839487708 + ], + [ + 652.2765099978401, + 179.0876942529473 + ], + [ + 651.9709082075369, + 179.0698763107919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193038245551, + "ymin": 179.06999315032363, + "xmax": 652.276510007496, + "ymax": 209.13776146312762 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193038245551, + 209.11928063135534 + ], + [ + 650.3239070584589, + 209.13776146312762 + ], + [ + 652.0725239404284, + 198.66821838710942 + ], + [ + 651.7720046624537, + 198.6502347375171 + ], + [ + 650.1909570958403, + 189.44497947923753 + ], + [ + 650.50078317103, + 189.46329852612126 + ], + [ + 652.276510007496, + 179.0878110980832 + ], + [ + 651.9709081691344, + 179.06999315032363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726641052393, + "ymin": 187.42258159084258, + "xmax": 653.8299659691608, + "ymax": 216.76529220894514 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726641052393, + 216.6242571480351 + ], + [ + 651.6747527033828, + 216.76529220894514 + ], + [ + 653.625619604958, + 204.84484656565522 + ], + [ + 651.3583291014685, + 204.70808527324698 + ], + [ + 649.5154145926032, + 199.2481786534384 + ], + [ + 651.8525978006, + 199.38817463627177 + ], + [ + 653.8299659691608, + 187.55827217228762 + ], + [ + 651.5286416612876, + 187.42258159084258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726644439141, + "ymin": 187.42258161080488, + "xmax": 653.8299661949505, + "ymax": 216.76529222278248 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726644439141, + 216.62425716878366 + ], + [ + 651.6747529292476, + 216.76529222278248 + ], + [ + 653.6256198274081, + 204.84484657907322 + ], + [ + 651.3583294350248, + 204.70808529336682 + ], + [ + 649.51541493644, + 199.248178674034 + ], + [ + 651.8525980299087, + 199.38817465000716 + ], + [ + 653.8299661949505, + 187.5582721856006 + ], + [ + 651.5286419998499, + 187.42258161080488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726637776377, + "ymin": 187.42258414076753, + "xmax": 653.8299655438996, + "ymax": 216.76529485334345 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726637776377, + 216.62425979839423 + ], + [ + 651.6747522706079, + 216.76529485334345 + ], + [ + 653.6256191852987, + 204.8448491299137 + ], + [ + 651.3583287855078, + 204.70808784329984 + ], + [ + 649.5154142605043, + 199.24818128426375 + ], + [ + 651.8525973618441, + 199.3881772611946 + ], + [ + 653.8299655438996, + 187.5582747164772 + ], + [ + 651.5286413411671, + 187.42258414076753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8255433259052, + "ymin": 154.66173341217657, + "xmax": 633.3504109752976, + "ymax": 182.70279575277382 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 628.9858696300555, + 182.57379840574862 + ], + [ + 631.1839914029404, + 182.70279575277382 + ], + [ + 633.3504109752976, + 171.79261063518922 + ], + [ + 631.1840357432045, + 171.66735546681184 + ], + [ + 628.8255433259052, + 165.47112245611177 + ], + [ + 631.0556393828604, + 165.59899939780357 + ], + [ + 633.2550347759096, + 154.7858478711277 + ], + [ + 631.0576086880442, + 154.66173341217657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193502430294, + "ymin": 179.06972319309793, + "xmax": 652.2765557519696, + "ymax": 209.13748144923 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193502430294, + 209.1190006308459 + ], + [ + 650.3239533677096, + 209.13748144923 + ], + [ + 652.0725689977006, + 198.66794590639677 + ], + [ + 651.7720498260405, + 198.649962269656 + ], + [ + 650.1910042463276, + 189.44470193002383 + ], + [ + 650.5008302085159, + 189.4630209634092 + ], + [ + 652.2765557519696, + 179.08754112790922 + ], + [ + 651.9709540235491, + 179.06972319309793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726635766476, + "ymin": 187.42258464276753, + "xmax": 653.8299654588473, + "ymax": 216.76529538222306 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726635766476, + 216.62426032016657 + ], + [ + 651.6747521840529, + 216.76529538222306 + ], + [ + 653.6256191013667, + 204.84484964276535 + ], + [ + 651.3583285888931, + 204.70808834926237 + ], + [ + 649.5154140565497, + 199.2481818021905 + ], + [ + 651.852597274093, + 199.3881777861792 + ], + [ + 653.8299654588473, + 187.55827522531501 + ], + [ + 651.5286411417181, + 187.42258464276753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.5223681079341, + "ymin": 177.40845901693038, + "xmax": 653.4390669705606, + "ymax": 211.98606520476517 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 650.5223681079341, + 211.9637736045539 + ], + [ + 650.8884483300641, + 211.98606520476517 + ], + [ + 653.2047431480842, + 198.00542073017408 + ], + [ + 652.8451936629016, + 197.98392521044792 + ], + [ + 650.7125746584277, + 191.25665418629072 + ], + [ + 651.085278050776, + 191.27874306208432 + ], + [ + 653.4390669705606, + 177.42974518335953 + ], + [ + 653.0731305808334, + 177.40845901693038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193937785969, + "ymin": 179.06981440953138, + "xmax": 652.2765997017431, + "ymax": 209.13757606373437 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193937785969, + 209.11909524082643 + ], + [ + 650.3239969415986, + 209.13757606373437 + ], + [ + 652.0726121925783, + 198.66803797549716 + ], + [ + 651.7720929836178, + 198.65005433441388 + ], + [ + 650.1910485491256, + 189.4447957117303 + ], + [ + 650.5008745509609, + 189.46311474967678 + ], + [ + 652.2765997017431, + 179.0876323487179 + ], + [ + 651.9709979347498, + 179.06981440953138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726644439141, + "ymin": 187.42258161080488, + "xmax": 653.8299661949505, + "ymax": 216.76529222278248 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726644439141, + 216.62425716878366 + ], + [ + 651.6747529292476, + 216.76529222278248 + ], + [ + 653.6256198274081, + 204.84484657907322 + ], + [ + 651.3583294350248, + 204.70808529336682 + ], + [ + 649.51541493644, + 199.248178674034 + ], + [ + 651.8525980299087, + 199.38817465000716 + ], + [ + 653.8299661949505, + 187.5582721856006 + ], + [ + 651.5286419998499, + 187.42258161080488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.5222673066477, + "ymin": 177.4084531557206, + "xmax": 653.4389660894858, + "ymax": 211.98605905943313 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 650.5222673066477, + 211.963767466495 + ], + [ + 650.8883474093359, + 211.98605905943313 + ], + [ + 653.204644027796, + 198.005414804308 + ], + [ + 652.8450946598219, + 197.98391929158913 + ], + [ + 650.7124720334848, + 191.25664810405578 + ], + [ + 651.0851753041237, + 191.27873697263604 + ], + [ + 653.4389660894858, + 177.4297393152048 + ], + [ + 653.0730298191501, + 177.4084531557206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.5223641558194, + "ymin": 177.40856287476106, + "xmax": 653.4390633157076, + "ymax": 211.98617396755873 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 650.5223641558194, + 211.96388236801812 + ], + [ + 650.8884443155056, + 211.98617396755873 + ], + [ + 653.2047395247023, + 198.00552560876227 + ], + [ + 652.8451901017468, + 197.9840300897914 + ], + [ + 650.7125706620185, + 191.25676196058183 + ], + [ + 651.0852739917362, + 191.27885083582282 + ], + [ + 653.4390633157076, + 177.42984904054626 + ], + [ + 653.0731269884199, + 177.40856287476106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.3726651597764, + "ymin": 187.4225801114589, + "xmax": 653.8299669016868, + "ymax": 216.76529066381818 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 649.3726651597764, + 216.62425561038253 + ], + [ + 651.674753640642, + 216.76529066381818 + ], + [ + 653.6256205241037, + 204.84484506735433 + ], + [ + 651.3583301360542, + 204.70808378218578 + ], + [ + 649.5154156629159, + 199.24817712711874 + ], + [ + 651.8525987517795, + 199.3881731025243 + ], + [ + 653.8299669016868, + 187.558270685713 + ], + [ + 651.528642711051, + 187.4225801114589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.5224690379715, + "ymin": 177.40846743679379, + "xmax": 653.4391678767763, + "ymax": 211.98607402284009 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 650.5224690379715, + 211.9637824221221 + ], + [ + 650.8885492671618, + 211.98607402284009 + ], + [ + 653.204842292282, + 198.00542923333236 + ], + [ + 652.8452928002898, + 197.98393371312645 + ], + [ + 650.7126774151177, + 191.25666292366563 + ], + [ + 651.085380814784, + 191.2787517999704 + ], + [ + 653.4391678767763, + 177.42975360370644 + ], + [ + 653.0732314799956, + 177.40846743679379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.0453434124557, + "ymin": 131.5740031829494, + "xmax": 663.1683976710982, + "ymax": 158.69896149737522 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 659.0453434124557, + 158.5781247723147 + ], + [ + 661.1778217411842, + 158.69896149737522 + ], + [ + 662.8511719869039, + 148.47422669187833 + ], + [ + 660.7485867477062, + 148.35678510231915 + ], + [ + 659.3135383569432, + 141.69504802089614 + ], + [ + 661.4760966490105, + 141.81472317896953 + ], + [ + 663.1683976710982, + 131.6902695039435 + ], + [ + 661.0365756739196, + 131.5740031829494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.5223681700774, + "ymin": 177.40845800007702, + "xmax": 653.4390669150631, + "ymax": 211.9860641329 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 650.5223681700774, + 211.96377253967034 + ], + [ + 650.8884482780572, + 211.9860641329 + ], + [ + 653.2047430938721, + 198.00541969658804 + ], + [ + 652.8451937207946, + 197.98392418359313 + ], + [ + 650.7125747214285, + 191.25665313109204 + ], + [ + 651.0852779975521, + 191.27874199996637 + ], + [ + 653.4390669150631, + 177.4297441598395 + ], + [ + 653.073130639441, + 177.40845800007702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.8298335100591, + "ymin": 191.47201793475543, + "xmax": 652.27133218738, + "ymax": 220.71014772798011 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 647.8298335100591, + 220.56891839862806 + ], + [ + 650.1232236676053, + 220.71014772798011 + ], + [ + 652.090668768894, + 208.77262285793012 + ], + [ + 649.831816124102, + 208.63565788754656 + ], + [ + 647.9486431338328, + 203.3172101219961 + ], + [ + 650.2768611884121, + 203.4574299098818 + ], + [ + 652.27133218738, + 191.6079410799361 + ], + [ + 649.9787004682, + 191.47201793475543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193041687862, + "ymin": 179.0698763107919, + "xmax": 652.2765099978401, + "ymax": 209.1376402709922 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193041687862, + 209.11915944501447 + ], + [ + 650.3239073549452, + 209.1376402709922 + ], + [ + 652.0725239624788, + 198.66810045539376 + ], + [ + 651.7720047309774, + 198.65011681136377 + ], + [ + 650.1909574185981, + 189.4448593538356 + ], + [ + 650.5007834443917, + 189.46317839487708 + ], + [ + 652.2765099978401, + 179.0876942529473 + ], + [ + 651.9709082075369, + 179.0698763107919 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.8097505912331, + "ymin": 126.55024865840221, + "xmax": 660.9036760932862, + "ymax": 153.47600183498642 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 656.8097505912331, + 153.35690544343962 + ], + [ + 658.9264443900921, + 153.47600183498642 + ], + [ + 660.6194990471837, + 143.39750872583627 + ], + [ + 658.5322604004128, + 143.28173489600266 + ], + [ + 657.044729534127, + 136.5245570559729 + ], + [ + 659.191056564672, + 136.642484602621 + ], + [ + 660.9036760932862, + 126.66484123876626 + ], + [ + 658.787628831358, + 126.55024865840221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0193078413956, + "ymin": 179.069975958847, + "xmax": 652.2765139847548, + "ymax": 209.13774363121985 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 650.0193078413956, + 209.11926280030025 + ], + [ + 650.3239110683691, + 209.13774363121985 + ], + [ + 652.0725278562428, + 198.66820103493157 + ], + [ + 651.7720085850139, + 198.65021738615778 + ], + [ + 650.1909611774711, + 189.4449618042863 + ], + [ + 650.5007872454908, + 189.4632808503103 + ], + [ + 652.2765139847548, + 179.08779390578192 + ], + [ + 651.9709121533691, + 179.069975958847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.5131430851895, + "ymin": 145.77460259410645, + "xmax": 659.0784987725812, + "ymax": 202.91364352948483 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 656.5131430851895, + 202.8238578024733 + ], + [ + 658.0059130301537, + 202.91364352948483 + ], + [ + 658.1993912480361, + 201.69185950024448 + ], + [ + 656.7089768374533, + 201.60235963978565 + ], + [ + 657.3120341402931, + 146.9618041622275 + ], + [ + 658.8771299002804, + 147.049076152177 + ], + [ + 659.0784987725812, + 145.86158331100384 + ], + [ + 657.5159921366526, + 145.77460259410645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.1033609960804, + "ymin": 136.17226373812352, + "xmax": 660.7073491581543, + "ymax": 192.99330171315387 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 658.1033609960804, + 192.90582392209927 + ], + [ + 659.5770029550732, + 192.99330171315387 + ], + [ + 659.765511219488, + 191.80290082479397 + ], + [ + 658.2941648670296, + 191.71569795765697 + ], + [ + 658.9673155729772, + 137.3275299147275 + ], + [ + 660.5113979330458, + 137.41245224899532 + ], + [ + 660.7073491581543, + 136.25690647339016 + ], + [ + 659.1657869264626, + 136.17226373812352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.6777075920991, + "ymin": 159.5598921915344, + "xmax": 630.9684063211419, + "ymax": 217.13462494559812 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 629.2098810488898, + 217.04147837573757 + ], + [ + 630.7270777279776, + 217.13462494559812 + ], + [ + 630.9684063211419, + 215.86714158799577 + ], + [ + 629.4536427220088, + 215.77429707139143 + ], + [ + 628.6777075920991, + 160.7937032952524 + ], + [ + 630.2696758454541, + 160.88440471666172 + ], + [ + 630.523666915921, + 159.65028501854633 + ], + [ + 628.9343772553924, + 159.5598921915344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.9237086794053, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 28.908686173642366 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1224.7392388824915, + 28.471237315519488 + ], + [ + 1234.5724495866175, + 28.908686173642366 + ], + [ + 1208.1685022608344, + -5.482975572426938 + ], + [ + 1198.9237086794053, + -5.8711573916046405 + ], + [ + 1304.8138793729609, + -153.52657824853395 + ], + [ + 1316.0620240205583, + -153.1819916558959 + ], + [ + 1280.9430673630065, + -180.0619573488044 + ], + [ + 1270.4580090357977, + -180.36293386767682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.579551482065, + "ymin": 3.932260954691344, + "xmax": 932.4202392414732, + "ymax": 12.342297063655053 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 931.6451167152693, + 12.342297063655053 + ], + [ + 930.5252364350943, + 8.102552681146165 + ], + [ + 916.579551482065, + 7.489962665793371 + ], + [ + 917.5949541738325, + 11.720596642703526 + ], + [ + 932.4202392414732, + 8.7671994863166 + ], + [ + 931.2916866038263, + 4.542642868053633 + ], + [ + 917.3084273174693, + 3.932260954691344 + ], + [ + 918.331936671721, + 8.147715805847156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7301173744735, + "ymin": 196.90984953812404, + "xmax": 651.0689829218611, + "ymax": 255.0396588351444 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 648.7301173744735, + 254.9380675548664 + ], + [ + 650.3107035496676, + 255.0396588351444 + ], + [ + 650.5286581268305, + 253.65734884764078 + ], + [ + 648.9507125021549, + 253.5561002087279 + ], + [ + 649.1788799777806, + 198.2621698519467 + ], + [ + 650.8407836780799, + 198.36159097594592 + ], + [ + 651.0689829218611, + 197.0089181480038 + ], + [ + 649.4099982132116, + 196.90984953812404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.3750061208216, + "ymin": 0.0, + "xmax": 1049.2731652568996, + "ymax": 225.94368232327164 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 983.5485460882517, + 225.94368232327164 + ], + [ + 981.6475849018276, + 218.58753774751654 + ], + [ + 871.3750061208216, + 211.98707782310188 + ], + [ + 872.2319420889107, + 219.21907197715947 + ], + [ + 1049.2731652568996, + 9.46506524085163 + ], + [ + 1046.2846392340464, + 3.1147544628556716 + ], + [ + 914.7109514842086, + -2.5640026874442015 + ], + [ + 916.2105865781908, + 3.6590500696459003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 178.50362475791331, + "ymax": 115.56340506265573 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 173.14427383873084, + 115.56340506265573 + ], + [ + 178.50362475791331, + 109.5571611174368 + ], + [ + 46.77876143939375, + 102.32706670135701 + ], + [ + 40.31540743085668, + 108.20447900941389 + ], + [ + 92.96944280195999, + -97.71837463917683 + ], + [ + 100.06881365768379, + -102.5396931548828 + ], + [ + -52.77964748844761, + -108.32406705077062 + ], + [ + -61.3661184189549, + -103.62349926883502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.1515670106749, + "ymin": 146.71848679172348, + "xmax": 655.5629504595421, + "ymax": 203.88814264475747 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 653.1515670106749, + 203.7981285767416 + ], + [ + 654.6458399568999, + 203.88814264475747 + ], + [ + 654.8449240555138, + 202.66325378381887 + ], + [ + 653.3530113733323, + 202.57352667268165 + ], + [ + 653.7886756745845, + 147.90885106563718 + ], + [ + 655.3554237338382, + 147.99635576319943 + ], + [ + 655.5629504595421, + 146.80569905143955 + ], + [ + 653.9987969753575, + 146.71848679172348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.9598732713744, + "ymin": 131.08463504208908, + "xmax": 658.4467883928172, + "ymax": 187.73234549507117 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.9598732713744, + 187.64607945051617 + ], + [ + 657.423026585708, + 187.73234549507117 + ], + [ + 657.6135907418151, + 186.55842228663857 + ], + [ + 656.1527004899635, + 186.47242547784424 + ], + [ + 656.7159890774788, + 132.2231575664176 + ], + [ + 658.2485600560777, + 132.3068480217014 + ], + [ + 658.4467883928172, + 131.16805195511793 + ], + [ + 656.916700128395, + 131.08463504208908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 916.6626682157525, + "ymin": 3.976910252392713, + "xmax": 932.3346272594395, + "ymax": 12.297419580213557 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 931.5679977219415, + 12.297419580213557 + ], + [ + 930.4605551685339, + 8.102965722674469 + ], + [ + 916.6626682157525, + 7.496861352354358 + ], + [ + 917.6678438389845, + 11.682397840145995 + ], + [ + 932.3346272594395, + 8.760440972997685 + ], + [ + 931.2186989641478, + 4.580853220273184 + ], + [ + 917.3840303840783, + 3.976910252392713 + ], + [ + 918.3971439303464, + 8.147589000967344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.613599409711, + "ymin": 0.0, + "xmax": 989.9015222834632, + "ymax": 21.54563086732537 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 935.5744064592182, + 21.093000860164636 + ], + [ + 944.8738854567539, + 21.54563086732537 + ], + [ + 920.4159463153887, + -71.76767264687976 + ], + [ + 912.613599409711, + -72.08755554999857 + ], + [ + 979.1898482856304, + -176.10896178256064 + ], + [ + 989.9015222834632, + -175.76459538426354 + ], + [ + 954.429647796665, + -245.13364648588538 + ], + [ + 945.6567990273077, + -245.36595982940617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.33936532464475, + "ymin": 0.0, + "xmax": 740.1750454100574, + "ymax": 18.047067460205767 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 481.39418692081756, + 2.09314788150067 + ], + [ + 479.3401267444093, + 5.843164319959612 + ], + [ + 727.0140943817255, + 18.047067460205767 + ], + [ + 727.4470288321577, + 14.135234551465373 + ], + [ + 458.8581796813236, + -190.4936908792631 + ], + [ + 456.33936532464475, + -187.66544437023083 + ], + [ + 739.7773766655326, + -178.42430138343116 + ], + [ + 740.1750454100574, + -181.39263740901322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.7598359208976, + "ymin": 192.7626315826491, + "xmax": 651.1085417620219, + "ymax": 251.28627174869627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 648.7598359208976, + 251.18480183129978 + ], + [ + 650.345807002977, + 251.28627174869627 + ], + [ + 650.5644429112385, + 249.90562044597598 + ], + [ + 648.9811303875449, + 249.80449392273843 + ], + [ + 649.2117381031721, + 194.11239502740597 + ], + [ + 650.8795960889441, + 194.21162884978222 + ], + [ + 651.1085417620219, + 192.86151229875992 + ], + [ + 649.4436237034257, + 192.7626315826491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.246204467011, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 135.61753134234385 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1179.4238883688163, + 135.61753134234385 + ], + [ + 1349.7227267182432, + 125.28868982901386 + ], + [ + 1246.025608041711, + 41.87206343199796 + ], + [ + 1095.246204467011, + 49.83749754713256 + ], + [ + 1326.6882435010602, + -197.95927762091424 + ], + [ + 1539.8518782706674, + -204.81026463665387 + ], + [ + 1384.2437550377072, + -258.18662281576997 + ], + [ + 1200.7572915182116, + -253.2349487811225 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00149/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00149/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..75492d9e5018c04eb450c4b2cadf5d85baaeb728 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00149/meta.json @@ -0,0 +1,7162 @@ +{ + "frame_id": 149, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.5, + "sim_timestamp": 13356.485433600144 + }, + "drone_pose": { + "x": -25.718243033751776, + "y": 2.363906268595929, + "z": 20.0, + "pitch": -43.82442944060341, + "yaw": -7.252397080806416, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7156931161880493, + 0.09107809513807297, + 0.6924508213996887, + 4.772653579711914 + ], + [ + -0.12624047696590424, + 0.9919996857643127, + -3.725290298461914e-09, + 0.901688814163208 + ], + [ + -0.6869109272956848, + -0.08741532266139984, + 0.7214651107788086, + -32.302085876464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -25.21975198089612, + "y": 2.3019220515508656, + "z": 20.0 + }, + "t1_image_uv": [ + 643.818211915022, + -561.3929577688275 + ], + "t1_depth": 0.3624120066076247 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -5.667182922363281, + "y": -0.18776321411132812, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 28.016282892730906, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 194, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -5.667182445526123, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.27696743607521057, + "y": 0.2532954812049866, + "z": 0.5593208074569702 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.9910440408896, + "ymin": 338.7690518578189, + "xmax": 649.8828558922817, + "ymax": 380.98080201433714 + }, + "corners_3d": [ + [ + -5.944149971008301, + -0.4410586953163147, + 0.04078024625778198 + ], + [ + -5.944149971008301, + 0.06553226709365845, + 0.04078024625778198 + ], + [ + -5.390214920043945, + 0.06553226709365845, + 0.04078024625778198 + ], + [ + -5.390214920043945, + -0.4410586953163147, + 0.04078024625778198 + ], + [ + -5.944149971008301, + -0.4410586953163147, + 1.1594219207763672 + ], + [ + -5.944149971008301, + 0.06553226709365845, + 1.1594219207763672 + ], + [ + -5.390214920043945, + 0.06553226709365845, + 1.1594219207763672 + ], + [ + -5.390214920043945, + -0.4410586953163147, + 1.1594219207763672 + ] + ], + "corners_2d": [ + [ + 630.2656955447284, + 379.44049326235375 + ], + [ + 647.3681870651144, + 380.98080201433714 + ], + [ + 649.614988813802, + 367.9080872122101 + ], + [ + 632.7457410363057, + 366.4101827592722 + ], + [ + 629.9910440408896, + 351.7678577782719 + ], + [ + 647.5764290024371, + 353.3051138418285 + ], + [ + 649.8828558922817, + 340.2628180742838 + ], + [ + 632.5439771085466, + 338.7690518578189 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 149, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 328029, + "2": 298135, + "3": 1925, + "5": 6665, + "6": 2456, + "9": 3230, + "10": 4359, + "12": 1932, + "14": 23316, + "15": 7323, + "20": 3312, + "24": 22653, + "25": 218265 + }, + "instance_pixel_counts": { + "2118": 4352, + "2188": 314, + "2706": 1677, + "3218": 4222, + "3424": 135895, + "3458": 12, + "5506": 1558, + "6215": 94863, + "6284": 3885, + "6290": 12495, + "6730": 623, + "6992": 3922, + "8286": 3158, + "8332": 12859, + "8338": 34225, + "8798": 3943, + "10846": 5610, + "15184": 2743, + "15510": 1324, + "16022": 182, + "16203": 682, + "18000": 3312, + "19092": 6217, + "19604": 1508, + "21140": 41793, + "23392": 942, + "23700": 128848, + "23904": 296, + "28000": 469, + "28256": 460, + "28768": 447, + "29826": 695, + "31584": 332, + "31840": 127, + "32096": 158, + "34304": 37, + "34560": 154, + "34956": 610, + "35402": 253, + "35468": 509, + "35476": 2574, + "36170": 76, + "37524": 7651, + "38540": 4248, + "38801": 853, + "40588": 11698, + "41562": 1925, + "42897": 10538, + "44945": 36834, + "45898": 323, + "52038": 68305, + "54859": 209, + "56576": 194, + "56647": 82370, + "56832": 196, + "57088": 577, + "57173": 3230, + "57344": 623, + "57600": 342, + "57856": 4852, + "58368": 7323, + "59541": 721, + "60051": 3542, + "60928": 5753, + "62101": 1023, + "62611": 36909, + "64149": 3472, + "64585": 309, + "64659": 109212 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 194, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -5.667182445526123, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.296547532081604, + "y": 0.26404935121536255, + "z": 0.5534451007843018 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.5281611917819, + "ymin": 338.4339243838943, + "xmax": 650.3301761830105, + "ymax": 381.3410047941201 + }, + "corners_3d": [ + [ + -5.9637298583984375, + -0.4518125653266907, + 0.04665595293045044 + ], + [ + -5.9637298583984375, + 0.07628613710403442, + 0.04665595293045044 + ], + [ + -5.370635032653809, + 0.07628613710403442, + 0.04665595293045044 + ], + [ + -5.370635032653809, + -0.4518125653266907, + 0.04665595293045044 + ], + [ + -5.9637298583984375, + -0.4518125653266907, + 1.1535460948944092 + ], + [ + -5.9637298583984375, + 0.07628613710403442, + 1.1535460948944092 + ], + [ + -5.370635032653809, + 0.07628613710403442, + 1.1535460948944092 + ], + [ + -5.370635032653809, + -0.4518125653266907, + 1.1535460948944092 + ] + ], + "corners_2d": [ + [ + 629.8126681395031, + 379.73371341960404 + ], + [ + 647.6525530849132, + 381.3410047941201 + ], + [ + 650.0532130804634, + 367.34317116716045 + ], + [ + 632.473739814924, + 365.78321648094567 + ], + [ + 629.5281611917819, + 352.3510284049117 + ], + [ + 647.8666451442751, + 353.955212748889 + ], + [ + 650.3301761830105, + 339.98957306281125 + ], + [ + 632.2667513792687, + 338.4339243838943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 196, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.8383212089538574, + "y": 3.09802508354187, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.26150375604629517, + "y": 0.18760940432548523, + "z": 0.5408390760421753 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 746.9155687877815, + "ymin": 308.605996502268, + "xmax": 764.299808393838, + "ymax": 347.054038021588 + }, + "corners_3d": [ + [ + -4.1259541511535645, + 2.9536337852478027, + 0.05925220251083374 + ], + [ + -4.067256927490234, + 3.324233055114746, + 0.05925220251083374 + ], + [ + -3.5506882667541504, + 3.2424163818359375, + 0.05925220251083374 + ], + [ + -3.6093854904174805, + 2.871817111968994, + 0.05925220251083374 + ], + [ + -4.1259541511535645, + 2.9536337852478027, + 1.140930414199829 + ], + [ + -4.067256927490234, + 3.324233055114746, + 1.140930414199829 + ], + [ + -3.5506882667541504, + 3.2424163818359375, + 1.140930414199829 + ], + [ + -3.6093854904174805, + 2.871817111968994, + 1.140930414199829 + ] + ], + "corners_2d": [ + [ + 748.8204110343627, + 347.054038021588 + ], + [ + 761.1131392672963, + 346.7973330599188 + ], + [ + 759.0521610277045, + 335.22270094390007 + ], + [ + 746.9155687877815, + 335.47290343393166 + ], + [ + 751.6844705722074, + 320.3882582603316 + ], + [ + 764.299808393838, + 320.1325323631635 + ], + [ + 762.1436439404894, + 308.605996502268 + ], + [ + 749.6926900208875, + 308.85507760231525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 577, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -7.923007011413574, + "y": 6.75494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.471536248922348, + "y": 0.3206478953361511, + "z": 0.8887010812759399 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 866.7987721162699, + "ymin": 404.14942512981474, + "xmax": 906.6259454654721, + "ymax": 475.8005855901968 + }, + "corners_3d": [ + [ + -8.41067886352539, + 6.459418773651123, + -0.28860002756118774 + ], + [ + -8.377115249633789, + 7.0998358726501465, + -0.28860002756118774 + ], + [ + -7.435335636138916, + 7.050479412078857, + -0.28860002756118774 + ], + [ + -7.468898296356201, + 6.410062313079834, + -0.28860002756118774 + ], + [ + -8.41067886352539, + 6.459418773651123, + 1.488802194595337 + ], + [ + -8.377115249633789, + 7.0998358726501465, + 1.488802194595337 + ], + [ + -7.435335636138916, + 7.050479412078857, + 1.488802194595337 + ], + [ + -7.468898296356201, + 6.410062313079834, + 1.488802194595337 + ] + ], + "corners_2d": [ + [ + 870.1274959240277, + 474.43531502395535 + ], + [ + 894.018448587743, + 475.8005855901968 + ], + [ + 890.0784737974618, + 449.4495179300094 + ], + [ + 866.7987721162699, + 448.15266945106293 + ], + [ + 881.533452292841, + 430.53236852373936 + ], + [ + 906.6259454654721, + 431.90466230346885 + ], + [ + 902.1598473979813, + 405.44966803407937 + ], + [ + 877.7407606706539, + 404.14942512981474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 623, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -14.857851028442383, + "y": -0.5408838391304016, + "z": 0.6001059412956238 + }, + "extent": { + "x": 0.5096777081489563, + "y": 0.30456894636154175, + "z": 0.8976994752883911 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 551.0943554076184, + "ymin": 597.1670393165934, + "xmax": 592.0276441352725, + "ymax": 683.7317384837651 + }, + "corners_3d": [ + [ + -15.350890159606934, + -0.8717098236083984, + -0.29759353399276733 + ], + [ + -15.382770538330078, + -0.26340678334236145, + -0.29759353399276733 + ], + [ + -14.364811897277832, + -0.2100578248500824, + -0.29759353399276733 + ], + [ + -14.332931518554688, + -0.8183609247207642, + -0.29759353399276733 + ], + [ + -15.350890159606934, + -0.8717098236083984, + 1.4978053569793701 + ], + [ + -15.382770538330078, + -0.26340678334236145, + 1.4978053569793701 + ], + [ + -14.364811897277832, + -0.2100578248500824, + 1.4978053569793701 + ], + [ + -14.332931518554688, + -0.8183609247207642, + 1.4978053569793701 + ] + ], + "corners_2d": [ + [ + 556.1716030124509, + 679.2579258802486 + ], + [ + 582.3975841048929, + 683.7317384837651 + ], + [ + 592.0276441352725, + 643.532006160322 + ], + [ + 566.611952276754, + 639.3419242582889 + ], + [ + 551.0943554076184, + 638.0137046383395 + ], + [ + 578.895423959288, + 642.6017498942045 + ], + [ + 589.2106765530554, + 601.4473500168614 + ], + [ + 562.3184214162732, + 597.1670393165934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 342, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 5.578153133392334, + "y": -8.357977867126465, + "z": 0.7509848475456238 + }, + "extent": { + "x": 0.48688629269599915, + "y": 0.36916014552116394, + "z": 0.932584822177887 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 447.5502120666092, + "ymin": 106.88831520813986, + "xmax": 481.8939873020494, + "ymax": 165.61062962976084 + }, + "corners_3d": [ + [ + 5.15501070022583, + -8.798759460449219, + -0.18159997463226318 + ], + [ + 5.039511680603027, + -8.069528579711914, + -0.18159997463226318 + ], + [ + 6.001295566558838, + -7.917196750640869, + -0.18159997463226318 + ], + [ + 6.116794586181641, + -8.646427154541016, + -0.18159997463226318 + ], + [ + 5.15501070022583, + -8.798759460449219, + 1.6835696697235107 + ], + [ + 5.039511680603027, + -8.069528579711914, + 1.6835696697235107 + ], + [ + 6.001295566558838, + -7.917196750640869, + 1.6835696697235107 + ], + [ + 6.116794586181641, + -8.646427154541016, + 1.6835696697235107 + ] + ], + "corners_2d": [ + [ + 454.25215167390604, + 162.68830648683996 + ], + [ + 471.9241974435146, + 165.61062962976084 + ], + [ + 481.8939873020494, + 152.57402493320853 + ], + [ + 464.49823725270375, + 149.755365755142 + ], + [ + 447.5502120666092, + 119.48017946271051 + ], + [ + 465.8345184273909, + 122.32768133716166 + ], + [ + 476.2719063258627, + 109.63125632973578 + ], + [ + 458.2830918651774, + 106.88831520813986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 4852, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 635.00031601513, + "ymin": 635.6468004234022, + "xmax": 761.4749438486207, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 635.2744219890183, + 933.0595243458805 + ], + [ + 745.0534589757655, + 948.451784062209 + ], + [ + 755.9484705991224, + 678.737945421448 + ], + [ + 665.5241108393914, + 668.3347655615119 + ], + [ + 635.00031601513, + 908.281914544787 + ], + [ + 751.2135004549021, + 924.3065697886232 + ], + [ + 761.4749438486207, + 646.2561168039953 + ], + [ + 666.7299836190365, + 635.6468004234022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7323, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 707.3964953123401, + "ymin": 140.91856720435783, + "xmax": 781.6956104525408, + "ymax": 313.83285133421424 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 707.3964953123401, + 308.7524116878709 + ], + [ + 770.0487996350539, + 313.83285133421424 + ], + [ + 774.4466652336481, + 206.8960424540974 + ], + [ + 719.3878838314206, + 202.9784575258116 + ], + [ + 711.5416887987074, + 244.08204442392292 + ], + [ + 778.0969879168069, + 249.07593943728978 + ], + [ + 781.6956104525408, + 144.71215500270858 + ], + [ + 723.6452347377539, + 140.91856720435783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5753, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 275.87212083294537, + "ymin": 629.370362182833, + "xmax": 435.75664627871913, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 435.75664627871913, + 674.5511431101801 + ], + [ + 358.70292020698713, + 665.4457312871344 + ], + [ + 296.4202629190047, + 836.47825670411 + ], + [ + 383.7614371748452, + 848.3091596827262 + ], + [ + 425.0244847358811, + 638.6719368145828 + ], + [ + 344.0402124085722, + 629.370362182833 + ], + [ + 275.87212083294537, + 805.3051347558414 + ], + [ + 368.29635181517403, + 817.5698013142553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150160961632, + "ymin": 197.69665670620645, + "xmax": 671.7791220132008, + "ymax": 227.3806191704796 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150160961632, + 227.20554728514176 + ], + [ + 669.142258669679, + 227.3806191704796 + ], + [ + 671.3048230453082, + 215.2131470773345 + ], + [ + 669.0129996422379, + 215.0434342032031 + ], + [ + 667.2276603084792, + 209.7700254686252 + ], + [ + 669.5908168619937, + 209.9438617324591 + ], + [ + 671.7791220132008, + 197.8650918053327 + ], + [ + 669.4524777072829, + 197.69665670620645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150155109587, + "ymin": 197.69665982156786, + "xmax": 671.7791214485417, + "ymax": 227.38062241003186 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150155109587, + 227.20555052325614 + ], + [ + 669.1422580939028, + 227.38062241003186 + ], + [ + 671.3048224871587, + 215.2131502177123 + ], + [ + 669.0129990749449, + 215.0434373422085 + ], + [ + 667.2276597159898, + 209.77002868387459 + ], + [ + 669.5908162792258, + 209.94386494915827 + ], + [ + 671.7791214485417, + 197.8650949220768 + ], + [ + 669.4524771332003, + 197.69665982156786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.1480442512714, + "ymin": 151.30470338159503, + "xmax": 676.8072690108168, + "ymax": 179.14144834922783 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 672.1480442512714, + 178.9871333797273 + ], + [ + 674.3340706606072, + 179.14144834922783 + ], + [ + 676.2910349278641, + 168.40659687348736 + ], + [ + 674.1362889523924, + 168.25672295061196 + ], + [ + 672.6120705448558, + 161.93709797997195 + ], + [ + 674.8297549393653, + 162.09003582227638 + ], + [ + 676.8072690108168, + 151.45317767039367 + ], + [ + 674.6217709843925, + 151.30470338159503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.7000856160425, + "ymin": 150.39486446071214, + "xmax": 680.3524064898512, + "ymax": 178.1954248903019 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 675.7000856160425, + 178.0415038913347 + ], + [ + 677.8840589054878, + 178.1954248903019 + ], + [ + 679.7871632189281, + 167.48778488286183 + ], + [ + 677.6344123178685, + 167.33828805666138 + ], + [ + 676.2147145964703, + 160.99992751085728 + ], + [ + 678.4302859279712, + 161.15246927288214 + ], + [ + 680.3524064898512, + 150.54295987102387 + ], + [ + 678.1689609389825, + 150.39486446071214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5854889081327, + "ymin": 189.33080785800604, + "xmax": 670.337894677365, + "ymax": 219.69261211986884 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.5854889081327, + 219.66966928360253 + ], + [ + 667.8934347614846, + 219.69261211986884 + ], + [ + 669.8286886718907, + 209.00541146569873 + ], + [ + 669.5249000980723, + 208.98309215587602 + ], + [ + 668.0630326770488, + 199.92505092462073 + ], + [ + 668.3763239374532, + 199.94780092918904 + ], + [ + 670.337894677365, + 189.35292909612676 + ], + [ + 670.0289052728135, + 189.33080785800604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5854866373812, + "ymin": 189.33092740403941, + "xmax": 670.3378928376915, + "ymax": 219.69273611322035 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.5854866373812, + 219.6697932696699 + ], + [ + 667.8934325395513, + 219.69273611322035 + ], + [ + 669.8286867833673, + 209.00553208918575 + ], + [ + 669.52489816204, + 208.98321277237383 + ], + [ + 668.0630304441052, + 199.9251738685384 + ], + [ + 668.3763217550372, + 199.9479238804546 + ], + [ + 670.3378928376915, + 189.35304864920556 + ], + [ + 670.0289033839904, + 189.33092740403941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150160961632, + "ymin": 197.69665670620645, + "xmax": 671.7791220132008, + "ymax": 227.3806191704796 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150160961632, + 227.20554728514176 + ], + [ + 669.142258669679, + 227.3806191704796 + ], + [ + 671.3048230453082, + 215.2131470773345 + ], + [ + 669.0129996422379, + 215.0434342032031 + ], + [ + 667.2276603084792, + 209.7700254686252 + ], + [ + 669.5908168619937, + 209.9438617324591 + ], + [ + 671.7791220132008, + 197.8650918053327 + ], + [ + 669.4524777072829, + 197.69665670620645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150164385243, + "ymin": 197.696656730985, + "xmax": 671.7791222414842, + "ymax": 227.3806191876571 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150164385243, + 227.20554731089666 + ], + [ + 669.142258898021, + 227.3806191876571 + ], + [ + 671.3048232701744, + 215.21314709398612 + ], + [ + 669.0129999793897, + 215.0434342281697 + ], + [ + 667.2276606561225, + 209.7700254941982 + ], + [ + 669.5908170938604, + 209.94386174951546 + ], + [ + 671.7791222414842, + 197.86509182185904 + ], + [ + 669.4524780495561, + 197.696656730985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150157226132, + "ymin": 197.69665931060055, + "xmax": 671.7791215426515, + "ymax": 227.3806218701065 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150157226132, + 227.20554999215543 + ], + [ + 669.1422581898655, + 227.3806218701065 + ], + [ + 671.3048225801837, + 215.21314969431603 + ], + [ + 669.0129992818777, + 215.04343682736322 + ], + [ + 667.2276599306191, + 209.77002815652412 + ], + [ + 669.5908163763538, + 209.94386441304178 + ], + [ + 671.7791215426515, + 197.8650944026195 + ], + [ + 669.4524773429719, + 197.69665931060055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.7448522703261, + "ymin": 163.94973492362638, + "xmax": 651.4937201146595, + "ymax": 192.28954990025017 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 646.7448522703261, + 192.12970712544148 + ], + [ + 648.9643034831358, + 192.28954990025017 + ], + [ + 651.329696972594, + 181.17298158284487 + ], + [ + 649.1424808319854, + 181.0178188048061 + ], + [ + 646.8439613291043, + 174.96568466350146 + ], + [ + 649.0960535761393, + 175.1241822076537 + ], + [ + 651.4937201146595, + 164.1035251876781 + ], + [ + 649.2748109866504, + 163.94973492362638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.585538051391, + "ymin": 189.33065177605866, + "xmax": 670.33794340485, + "ymax": 219.6924502314043 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.585538051391, + 219.66950740464804 + ], + [ + 667.8934838423614, + 219.6924502314043 + ], + [ + 669.8287366856044, + 209.00525397700332 + ], + [ + 669.5249481724952, + 208.98293467630563 + ], + [ + 668.0630825703596, + 199.92489040632103 + ], + [ + 668.376373766198, + 199.94764040129596 + ], + [ + 670.33794340485, + 189.352773004981 + ], + [ + 670.0289540631043, + 189.33065177605866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150155109587, + "ymin": 197.69665982156786, + "xmax": 671.7791214485417, + "ymax": 227.38062241003186 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150155109587, + 227.20555052325614 + ], + [ + 669.1422580939028, + 227.38062241003186 + ], + [ + 671.3048224871587, + 215.2131502177123 + ], + [ + 669.0129990749449, + 215.0434373422085 + ], + [ + 667.2276597159898, + 209.77002868387459 + ], + [ + 669.5908162792258, + 209.94386494915827 + ], + [ + 671.7791214485417, + 197.8650949220768 + ], + [ + 669.4524771332003, + 197.69665982156786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0498749444537, + "ymin": 187.64496122468523, + "xmax": 671.5406498692918, + "ymax": 222.59455736658566 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 668.0498749444537, + 222.5668820251446 + ], + [ + 668.419985543028, + 222.59455736658566 + ], + [ + 670.9851381073709, + 208.32305996030237 + ], + [ + 670.6216757653991, + 208.2963830196918 + ], + [ + 668.5622384075901, + 201.7862438388299 + ], + [ + 668.9391281659082, + 201.8136777222659 + ], + [ + 671.5406498692918, + 187.6713878407216 + ], + [ + 671.1706518864487, + 187.64496122468523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5855806055465, + "ymin": 189.3307456648315, + "xmax": 670.3379864387532, + "ymax": 219.69254761300127 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.5855806055465, + 219.6696047805243 + ], + [ + 667.8935264361598, + 219.69254761300127 + ], + [ + 669.8287789345893, + 209.00534871198468 + ], + [ + 669.5249903829006, + 208.98302940579794 + ], + [ + 668.0631259217541, + 199.92498696371555 + ], + [ + 668.3764171586236, + 199.94773696446128 + ], + [ + 670.3379864387532, + 189.35286689928705 + ], + [ + 670.0289970570959, + 189.3307456648315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150164385243, + "ymin": 197.696656730985, + "xmax": 671.7791222414842, + "ymax": 227.3806191876571 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150164385243, + 227.20554731089666 + ], + [ + 669.142258898021, + 227.3806191876571 + ], + [ + 671.3048232701744, + 215.21314709398612 + ], + [ + 669.0129999793897, + 215.0434342281697 + ], + [ + 667.2276606561225, + 209.7700254941982 + ], + [ + 669.5908170938604, + 209.94386174951546 + ], + [ + 671.7791222414842, + 197.86509182185904 + ], + [ + 669.4524780495561, + 197.696656730985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0497730340609, + "ymin": 187.64495394808495, + "xmax": 671.5405478678503, + "ymax": 222.5945497370177 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 668.0497730340609, + 222.56687440470645 + ], + [ + 668.4198835105383, + 222.5945497370177 + ], + [ + 670.9850379077441, + 208.32305260597934 + ], + [ + 670.6215756855473, + 208.2963756741598 + ], + [ + 668.5621346306145, + 201.7862362848824 + ], + [ + 668.9390242644654, + 201.81367015925844 + ], + [ + 671.5405478678503, + 187.67138055540374 + ], + [ + 671.1705500070626, + 187.64495394808495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0498692205256, + "ymin": 187.6450674391304, + "xmax": 671.5406445287531, + "ymax": 222.5946685991955 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 668.0498692205256, + 222.56699325849257 + ], + [ + 668.4199797565119, + 222.5946685991955 + ], + [ + 670.9851327835112, + 208.32316718007476 + ], + [ + 670.6216705039259, + 208.2964902403135 + ], + [ + 668.5622326531333, + 201.7863541016337 + ], + [ + 668.9391223486925, + 201.81378798448017 + ], + [ + 671.5406445287531, + 187.67149405445747 + ], + [ + 671.1706466084947, + 187.6450674391304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.8150171876081, + "ymin": 197.6966552063424, + "xmax": 671.7791229803805, + "ymax": 227.38061760223604 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 666.8150171876081, + 227.2055457261792 + ], + [ + 669.1422596425934, + 227.38061760223604 + ], + [ + 671.3048239989814, + 215.21314555710075 + ], + [ + 669.0130007125721, + 215.04343269195584 + ], + [ + 667.2276614158916, + 209.77002392067072 + ], + [ + 669.5908178489778, + 209.94386017527862 + ], + [ + 671.7791229803805, + 197.86509029653985 + ], + [ + 669.4524787929616, + 197.6966552063424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0499769426536, + "ymin": 187.64497112086713, + "xmax": 671.5407518558327, + "ymax": 222.5945677311191 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 668.0499769426536, + 222.5668923889463 + ], + [ + 668.4200875497216, + 222.5945677311191 + ], + [ + 670.9852382904568, + 208.323069950924 + ], + [ + 670.6217759402955, + 208.29639300962094 + ], + [ + 668.5623422758024, + 201.7862541122043 + ], + [ + 668.9392320429278, + 201.8136879963789 + ], + [ + 671.5407518558327, + 187.6713977376018 + ], + [ + 671.1707538645032, + 187.64497112086713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.515390094843, + "ymin": 140.73108612562555, + "xmax": 682.1040531192347, + "ymax": 168.1474176898816 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 677.515390094843, + 167.99765018887913 + ], + [ + 679.6700646780732, + 168.1474176898816 + ], + [ + 681.5221716192843, + 157.7266984039229 + ], + [ + 679.397893285602, + 157.58117846236993 + ], + [ + 678.0487371465572, + 151.04805207960806 + ], + [ + 680.2341616570527, + 151.19641944164994 + ], + [ + 682.1040531192347, + 140.87518710589526 + ], + [ + 679.9498923815198, + 140.73108612562555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0498750242251, + "ymin": 187.64496018505614, + "xmax": 671.5406498293063, + "ymax": 222.59455626916295 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 668.0498750242251, + 222.5668809363905 + ], + [ + 668.4199855073867, + 222.59455626916295 + ], + [ + 670.9851380688531, + 208.32305890247028 + ], + [ + 670.6216758402119, + 208.2963819702143 + ], + [ + 668.5622384880942, + 201.78624275957554 + ], + [ + 668.939128128876, + 201.8136766344171 + ], + [ + 671.5406498293063, + 187.6713867928151 + ], + [ + 671.1706519618407, + 187.64496018505614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.1931635908085, + "ymin": 201.7396653435943, + "xmax": 670.1392705323889, + "ymax": 231.31611510405884 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 665.1931635908085, + 231.14082426971777 + ], + [ + 667.5113877212146, + 231.31611510405884 + ], + [ + 669.6910942582189, + 219.13273623477394 + ], + [ + 667.4080172489579, + 218.9627916092692 + ], + [ + 665.5793854142009, + 213.83149216184074 + ], + [ + 667.9332436128605, + 214.00558373828486 + ], + [ + 670.1392705323889, + 201.90836777924454 + ], + [ + 667.8216398678769, + 201.7396653435943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5854889081327, + "ymin": 189.33080785800604, + "xmax": 670.337894677365, + "ymax": 219.69261211986884 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.5854889081327, + 219.66966928360253 + ], + [ + 667.8934347614846, + 219.69261211986884 + ], + [ + 669.8286886718907, + 209.00541146569873 + ], + [ + 669.5249000980723, + 208.98309215587602 + ], + [ + 668.0630326770488, + 199.92505092462073 + ], + [ + 668.3763239374532, + 199.94780092918904 + ], + [ + 670.337894677365, + 189.35292909612676 + ], + [ + 670.0289052728135, + 189.33080785800604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3367954002003, + "ymin": 135.57449801440782, + "xmax": 679.8923245567119, + "ymax": 162.78588171495835 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 675.3367954002003, + 162.6383072440133 + ], + [ + 677.4751908068927, + 162.78588171495835 + ], + [ + 679.3450035975234, + 152.51668942319617 + ], + [ + 677.2365499074539, + 152.37327021179195 + ], + [ + 675.8354265241621, + 145.73938233781953 + ], + [ + 678.0041057455412, + 145.88554662723692 + ], + [ + 679.8923245567119, + 135.71648992038126 + ], + [ + 677.7544350553648, + 135.57449801440782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.5854909850049, + "ymin": 189.33090986498303, + "xmax": 670.3378971348536, + "ymax": 219.6927179216809 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 667.5854909850049, + 219.66977507919913 + ], + [ + 667.8934368801306, + 219.6927179216809 + ], + [ + 669.828691020101, + 209.00551439205205 + ], + [ + 669.5249024056293, + 208.98319507626556 + ], + [ + 668.063034855678, + 199.92515583096537 + ], + [ + 668.3763261593191, + 199.94790584180356 + ], + [ + 670.3378971348536, + 189.35303110911553 + ], + [ + 670.0289076882449, + 189.33090986498303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2679316693615, + "ymin": 155.19026980547744, + "xmax": 677.7456856758013, + "ymax": 212.5740452924312 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 674.2679316693615, + 212.4628227005337 + ], + [ + 675.7756590806275, + 212.5740452924312 + ], + [ + 675.9904431031395, + 211.32937345957575 + ], + [ + 674.4851092127382, + 211.21850828446136 + ], + [ + 675.9417390534089, + 156.40071970010527 + ], + [ + 677.5233744038585, + 156.50892458130306 + ], + [ + 677.7456856758013, + 155.29811002481225 + ], + [ + 676.16668406179, + 155.19026980547744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.0312668970788, + "ymin": 145.4013468390338, + "xmax": 679.5436564996577, + "ymax": 202.46893807430507 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 676.0312668970788, + 202.36060061958972 + ], + [ + 677.5195591681126, + 202.46893807430507 + ], + [ + 677.7287754347941, + 201.25653010601323 + ], + [ + 676.2428154334011, + 201.1485362622826 + ], + [ + 677.76712212165, + 146.57892461430822 + ], + [ + 679.3273836480809, + 146.6841883355332 + ], + [ + 679.5436564996577, + 145.50626065281946 + ], + [ + 677.9859580762289, + 145.4013468390338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.4494548663965, + "ymin": 168.923478565222, + "xmax": 648.6547172273965, + "ymax": 226.72999899713074 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 646.4494548663965, + 226.61467099019566 + ], + [ + 647.9806869344482, + 226.72999899713074 + ], + [ + 648.2449082515949, + 225.43941833820085 + ], + [ + 646.7161446658316, + 225.3244677022683 + ], + [ + 646.7705243953496, + 170.18080992842903 + ], + [ + 648.3780459563236, + 170.29320957685837 + ], + [ + 648.6547172273965, + 169.03549216104918 + ], + [ + 647.0499160315115, + 168.923478565222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.327412159305, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 41.343161348237516 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1255.6028955893105, + 40.79336133802656 + ], + [ + 1265.7114128554167, + 41.343161348237516 + ], + [ + 1238.817671929655, + 5.824722810149467 + ], + [ + 1229.327412159305, + 5.337785364401157 + ], + [ + 1341.4830503416952, + -143.27492172091985 + ], + [ + 1353.0925904405417, + -142.83986627640343 + ], + [ + 1316.8728270773704, + -170.71966749533988 + ], + [ + 1306.0709900927109, + -171.09872143105997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 941.9038539308499, + "ymin": 15.418747640900733, + "xmax": 958.1162944099401, + "ymax": 24.15471389633717 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 957.2595534924508, + 24.15471389633717 + ], + [ + 956.15370826043, + 19.777484716278877 + ], + [ + 941.9038539308499, + 19.008707645874438 + ], + [ + 942.9010254652474, + 23.374319617979268 + ], + [ + 958.1162944099401, + 20.5467348205608 + ], + [ + 957.0010636062485, + 16.18481732445565 + ], + [ + 942.7119435767739, + 15.418747640900733 + ], + [ + 943.7178989226472, + 19.76905748586347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5764893001389, + "ymin": 207.29075823199878, + "xmax": 668.8371681195823, + "ymax": 265.6457362727088 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 665.5764893001389, + 265.51974950259535 + ], + [ + 667.1734534118963, + 265.6457362727088 + ], + [ + 667.4157796702555, + 264.23596520787805 + ], + [ + 665.8215004794916, + 264.1104075534588 + ], + [ + 666.9046875148563, + 208.67124494925824 + ], + [ + 668.5848088310975, + 208.79466413255824 + ], + [ + 668.8371681195823, + 207.4137352718278 + ], + [ + 667.1600183737534, + 207.29075823199878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.1893671447826, + "ymin": 8.80342701146111, + "xmax": 1077.921347700523, + "ymax": 240.63586530694158 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1006.5200936352728, + 240.63586530694158 + ], + [ + 1004.6555124944088, + 233.05205389647685 + ], + [ + 892.1893671447826, + 224.7950546912136 + ], + [ + 892.9720283436561, + 232.22130404325537 + ], + [ + 1077.921347700523, + 22.530368150628817 + ], + [ + 1074.8924288621004, + 15.945418832277028 + ], + [ + 940.1630939588481, + 8.80342701146111 + ], + [ + 941.6366457573952, + 15.22555814411146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 196.9495353704619, + "ymax": 118.05042285052932 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 191.48813764717926, + 118.05042285052932 + ], + [ + 196.9495353704619, + 112.04453456289986 + ], + [ + 66.5369678001174, + 103.27363219260565 + ], + [ + 59.999554042451905, + 109.12341746002485 + ], + [ + 114.4776593006211, + -95.23364773943302 + ], + [ + 121.66349563466781, + -100.05442359693615 + ], + [ + -29.428094555014354, + -107.06841493438151 + ], + [ + -38.058143264110186, + -102.39385338895119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.854411344306, + "ymin": 156.1118419060546, + "xmax": 674.1751985908434, + "ymax": 213.52474706758076 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 670.854411344306, + 213.41325107956982 + ], + [ + 672.3634996627512, + 213.52474706758076 + ], + [ + 672.5840411579829, + 212.2770180380877 + ], + [ + 671.0773506592084, + 212.16588078444326 + ], + [ + 672.363427771631, + 157.32540987186457 + ], + [ + 673.9465609499123, + 157.4338937487105 + ], + [ + 674.1751985908434, + 156.21995971096683 + ], + [ + 672.5947041121092, + 156.1118419060546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.9473158557294, + "ymin": 140.17878436121916, + "xmax": 677.3373782748804, + "ymax": 197.07261878065495 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 673.9473158557294, + 196.96580650948357 + ], + [ + 675.4248006363898, + 197.07261878065495 + ], + [ + 675.6358425864545, + 195.8772670667514 + ], + [ + 674.1606563402903, + 195.77079118173154 + ], + [ + 675.5706693864945, + 141.3390097050518 + ], + [ + 677.119057186121, + 141.44272090795982 + ], + [ + 677.3373782748804, + 140.2821533628635 + ], + [ + 675.7915147337551, + 140.17878436121916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 941.9888833598955, + "ymin": 15.46510535532849, + "xmax": 958.0286352268229, + "ymax": 24.108073411881776 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 957.1812685017815, + 24.108073411881776 + ], + [ + 956.0877303203072, + 19.77761327290432 + ], + [ + 941.9888833598955, + 19.016974892508927 + ], + [ + 942.9760472308154, + 23.336063978838865 + ], + [ + 958.0286352268229, + 20.538566359002118 + ], + [ + 956.9259133841446, + 16.223093615696826 + ], + [ + 942.7886290597978, + 15.46510535532849 + ], + [ + 943.7843938476012, + 19.769216300892765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.5681210605577, + "ymin": 0.0, + "xmax": 1018.566413573642, + "ymax": 30.82647220970449 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 959.8305413461323, + 30.271194420838412 + ], + [ + 969.2927138271157, + 30.82647220970449 + ], + [ + 945.4902291596175, + -64.46597765777415 + ], + [ + 937.5681210605577, + -64.8569946935059 + ], + [ + 1007.6367895569838, + -168.52185204855027 + ], + [ + 1018.566413573642, + -168.09796993258783 + ], + [ + 982.945033709334, + -239.14099503890054 + ], + [ + 974.0194065956568, + -239.42562720031162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.0616317675091, + "ymin": 0.0, + "xmax": 764.8060784191966, + "ymax": 25.087693090370692 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 501.4094215550359, + 6.5153617257150245 + ], + [ + 499.2827583779386, + 10.290090628356552 + ], + [ + 748.3332358908207, + 25.087693090370692 + ], + [ + 748.827852292349, + 21.115701451745508 + ], + [ + 481.644150143073, + -186.54561612995553 + ], + [ + 479.0616317675091, + -183.69607945360588 + ], + [ + 764.3633469035892, + -172.473049493173 + ], + [ + 764.8060784191966, + -175.49376962904898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.664405878891, + "ymin": 203.1286175451479, + "xmax": 668.9412882405032, + "ymax": 261.8826572550633 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 665.664405878891, + 261.7568126366035 + ], + [ + 667.2668736723153, + 261.8826572550633 + ], + [ + 667.5098718140823, + 260.474484358478 + ], + [ + 665.9101074648264, + 260.3490698412493 + ], + [ + 667.001989645735, + 204.50659499791172 + ], + [ + 668.688203832192, + 204.62979071641712 + ], + [ + 668.9412882405032, + 203.25137032877467 + ], + [ + 667.2580671976077, + 203.1286175451479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.4795592624162, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 150.15529376882563 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1208.0997120152197, + 150.15529376882563 + ], + [ + 1383.7254100891505, + 141.58479387733425 + ], + [ + 1277.2879549336053, + 54.641918273653744 + ], + [ + 1122.4795592624162, + 61.213650862119664 + ], + [ + 1366.5786780520934, + -187.40965332870428 + ], + [ + 1588.0121081268917, + -193.15154873242 + ], + [ + 1425.6484113723454, + -249.29738696294976 + ], + [ + 1236.2815055910814, + -245.18272076184337 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00150/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00150/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b21710209141213ef657be5d6fc51877f34446cb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00150/meta.json @@ -0,0 +1,7162 @@ +{ + "frame_id": 150, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 75.0, + "sim_timestamp": 13368.69310218026 + }, + "drone_pose": { + "x": -25.21975198089612, + "y": 2.3019220515508656, + "z": 20.0, + "pitch": -43.833258838545504, + "yaw": -7.077506078979866, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7158619165420532, + 0.08887992799282074, + 0.6925620436668396, + 4.40721321105957 + ], + [ + -0.12321189045906067, + 0.9923803806304932, + 0.0, + 0.8229906558990479 + ], + [ + -0.6872850060462952, + -0.08533187210559845, + 0.7213583588600159, + -31.956748962402344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -24.71736262187733, + "y": 2.225766370817555, + "z": 20.0 + }, + "t1_image_uv": [ + 604.1711246292385, + -561.6772161893956 + ], + "t1_depth": 0.36641009286740645 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -5.167182922363281, + "y": -0.18776321411132812, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.00000000000017 + ], + "depth": 28.011785679519186, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -5.167182445526123, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.19916029274463654, + "y": 0.2943386435508728, + "z": 0.5564599633216858 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9505844769367, + "ymin": 340.5409322530933, + "xmax": 650.9566917154456, + "ymax": 379.1603526419783 + }, + "corners_3d": [ + [ + -5.366342544555664, + -0.4821018576622009, + 0.043641090393066406 + ], + [ + -5.366342544555664, + 0.10657542943954468, + 0.043641090393066406 + ], + [ + -4.968022346496582, + 0.10657542943954468, + 0.043641090393066406 + ], + [ + -4.968022346496582, + -0.4821018576622009, + 0.043641090393066406 + ], + [ + -5.366342544555664, + -0.4821018576622009, + 1.156561017036438 + ], + [ + -5.366342544555664, + 0.10657542943954468, + 1.156561017036438 + ], + [ + -4.968022346496582, + 0.10657542943954468, + 1.156561017036438 + ], + [ + -4.968022346496582, + -0.4821018576622009, + 1.156561017036438 + ] + ], + "corners_2d": [ + [ + 629.2517261367341, + 377.4197304028421 + ], + [ + 649.0991499259225, + 379.1603526419783 + ], + [ + 650.6605154217924, + 369.75176430172405 + ], + [ + 631.0083470082088, + 368.04574966082004 + ], + [ + 628.9505844769367, + 349.8924615579816 + ], + [ + 649.3545727565636, + 351.62949070629145 + ], + [ + 650.9566917154456, + 342.2424715881805 + ], + [ + 630.7590062115958, + 340.5409322530933 + ] + ], + "center_offset_px": [ + 0.0, + 1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 150, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 332524, + "2": 297301, + "3": 1304, + "5": 6630, + "6": 2577, + "9": 3445, + "10": 4403, + "12": 1932, + "14": 19714, + "15": 7519, + "20": 3325, + "24": 22684, + "25": 218242 + }, + "instance_pixel_counts": { + "2118": 4398, + "2188": 368, + "2706": 1719, + "3218": 4287, + "3424": 132554, + "3458": 15, + "5506": 1596, + "6215": 92619, + "6284": 4004, + "6290": 12857, + "6730": 613, + "6992": 3888, + "8286": 3241, + "8332": 12657, + "8338": 33650, + "8798": 4057, + "10846": 5445, + "15184": 2742, + "15510": 1419, + "16022": 235, + "16203": 667, + "18000": 3325, + "19092": 7318, + "19604": 2331, + "21140": 43057, + "23392": 963, + "23700": 128393, + "23904": 209, + "28000": 482, + "28256": 475, + "28768": 471, + "29826": 735, + "31584": 342, + "31840": 126, + "32096": 164, + "34304": 53, + "34560": 178, + "34956": 633, + "35402": 261, + "35468": 527, + "35476": 2647, + "36170": 36, + "37524": 7453, + "38540": 4368, + "38801": 1078, + "40588": 11514, + "41562": 1304, + "42897": 10867, + "44945": 36290, + "45898": 279, + "52038": 69863, + "54859": 132, + "56576": 197, + "56647": 85688, + "56832": 201, + "57088": 559, + "57173": 3445, + "57344": 633, + "57600": 342, + "57856": 3092, + "58368": 7519, + "59541": 969, + "60051": 4065, + "60928": 3879, + "62101": 1049, + "62611": 38016, + "64149": 3386, + "64585": 306, + "64659": 109344 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 197, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -5.167182445526123, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.22740064561367035, + "y": 0.2685253322124481, + "z": 0.5491911768913269 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.7165546921435, + "ymin": 340.14413799683797, + "xmax": 650.1805636335203, + "ymax": 379.58312915767226 + }, + "corners_3d": [ + [ + -5.394583225250244, + -0.45628854632377625, + 0.05090987682342529 + ], + [ + -5.394583225250244, + 0.08076211810112, + 0.05090987682342529 + ], + [ + -4.939781665802002, + 0.08076211810112, + 0.05090987682342529 + ], + [ + -4.939781665802002, + -0.45628854632377625, + 0.05090987682342529 + ], + [ + -5.394583225250244, + -0.45628854632377625, + 1.149292230606079 + ], + [ + -5.394583225250244, + 0.08076211810112, + 1.149292230606079 + ], + [ + -4.939781665802002, + 0.08076211810112, + 1.149292230606079 + ], + [ + -4.939781665802002, + -0.45628854632377625, + 1.149292230606079 + ] + ], + "corners_2d": [ + [ + 629.9934292205709, + 377.9928959555118 + ], + [ + 648.1162388087336, + 379.58312915767226 + ], + [ + 649.9091284153777, + 368.8421694610789 + ], + [ + 631.989782848784, + 367.28799232702005 + ], + [ + 629.7165546921435, + 350.8237923866189 + ], + [ + 648.3411998092338, + 352.41084916356795 + ], + [ + 650.1805636335203, + 341.6942316814414 + ], + [ + 631.7707399473371, + 340.14413799683797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 201, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.8137922286987305, + "y": 3.2670836448669434, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.23055358231067657, + "y": 0.23105284571647644, + "z": 0.5256615877151489 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 750.3612128713279, + "ymin": 320.2437261475727, + "xmax": 770.7538797508491, + "ymax": 356.9666629583985 + }, + "corners_3d": [ + [ + -4.0776519775390625, + 3.074942111968994, + 0.07442969083786011 + ], + [ + -4.005362510681152, + 3.531358480453491, + 0.07442969083786011 + ], + [ + -3.5499324798583984, + 3.4592251777648926, + 0.07442969083786011 + ], + [ + -3.6222219467163086, + 3.0028088092803955, + 0.07442969083786011 + ], + [ + -4.0776519775390625, + 3.074942111968994, + 1.1257529258728027 + ], + [ + -4.005362510681152, + 3.531358480453491, + 1.1257529258728027 + ], + [ + -3.5499324798583984, + 3.4592251777648926, + 1.1257529258728027 + ], + [ + -3.6222219467163086, + 3.0028088092803955, + 1.1257529258728027 + ] + ], + "corners_2d": [ + [ + 752.1466667269849, + 356.9666629583985 + ], + [ + 767.457042218124, + 356.6109051869947 + ], + [ + 765.4980226260329, + 346.1597525768273 + ], + [ + 750.3612128713279, + 346.5074570485563 + ], + [ + 755.048634938973, + 331.01379406112096 + ], + [ + 770.7538797508491, + 330.6591447507761 + ], + [ + 768.7062981527502, + 320.2437261475727 + ], + [ + 753.1836338840851, + 320.59014317937454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -7.423007011413574, + "y": 6.75494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.358328253030777, + "y": 0.3286486864089966, + "z": 0.8890650868415833 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 867.1122979469926, + "ymin": 406.71060324898303, + "xmax": 906.6848510983999, + "ymax": 472.0163548194138 + }, + "corners_3d": [ + [ + -7.798044204711914, + 6.445504188537598, + -0.28896403312683105 + ], + [ + -7.763644218444824, + 7.101901054382324, + -0.28896403312683105 + ], + [ + -7.047969818115234, + 7.064393997192383, + -0.28896403312683105 + ], + [ + -7.082369804382324, + 6.407997131347656, + -0.28896403312683105 + ], + [ + -7.798044204711914, + 6.445504188537598, + 1.4891661405563354 + ], + [ + -7.763644218444824, + 7.101901054382324, + 1.4891661405563354 + ], + [ + -7.047969818115234, + 7.064393997192383, + 1.4891661405563354 + ], + [ + -7.082369804382324, + 6.407997131347656, + 1.4891661405563354 + ] + ], + "corners_2d": [ + [ + 869.7195695082722, + 470.68386229837824 + ], + [ + 894.112041632446, + 472.0163548194138 + ], + [ + 891.0292557213061, + 452.005065551324 + ], + [ + 867.1122979469926, + 450.72363315727875 + ], + [ + 881.0701269708759, + 426.7464519199557 + ], + [ + 906.6848510983999, + 428.08535578314627 + ], + [ + 903.197437369821, + 407.9957414518236 + ], + [ + 878.106558661105, + 406.71060324898303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 633, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -14.578278541564941, + "y": -0.27196481823921204, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4859112501144409, + "y": 0.3006833493709564, + "z": 0.8946993350982666 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 563.4002799118489, + "ymin": 608.4998018981281, + "xmax": 602.7373138239076, + "ymax": 693.4352146415399 + }, + "corners_3d": [ + [ + -15.0477876663208, + -0.5976667404174805, + -0.2945982813835144 + ], + [ + -15.07926082611084, + 0.002875804901123047, + -0.2945982813835144 + ], + [ + -14.108769416809082, + 0.053737103939056396, + -0.2945982813835144 + ], + [ + -14.077296257019043, + -0.5468054413795471, + -0.2945982813835144 + ], + [ + -15.0477876663208, + -0.5976667404174805, + 1.494800329208374 + ], + [ + -15.07926082611084, + 0.002875804901123047, + 1.494800329208374 + ], + [ + -14.108769416809082, + 0.053737103939056396, + 1.494800329208374 + ], + [ + -14.077296257019043, + -0.5468054413795471, + 1.494800329208374 + ] + ], + "corners_2d": [ + [ + 567.7961584516614, + 689.0234234490129 + ], + [ + 593.9558202296462, + 693.4352146415399 + ], + [ + 602.7373138239076, + 654.4285216504652 + ], + [ + 577.3579678263034, + 650.2862382511145 + ], + [ + 563.4002799118489, + 648.1784601780028 + ], + [ + 591.1420886995296, + 652.706969850577 + ], + [ + 600.5351645018957, + 612.7356266757881 + ], + [ + 573.6693028177003, + 608.4998018981281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 342, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 6.078153133392334, + "y": -8.357977867126465, + "z": 0.7509360313415527 + }, + "extent": { + "x": 0.47207364439964294, + "y": 0.34400054812431335, + "z": 0.9140042066574097 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 447.3224094967377, + "ymin": 107.81621005835274, + "xmax": 480.03565513548426, + "ymax": 165.10998246006156 + }, + "corners_3d": [ + [ + 5.66570520401001, + -8.771592140197754, + -0.16306817531585693 + ], + [ + 5.558077812194824, + -8.092061042785645, + -0.16306817531585693 + ], + [ + 6.490601062774658, + -7.944363594055176, + -0.16306817531585693 + ], + [ + 6.598228454589844, + -8.623894691467285, + -0.16306817531585693 + ], + [ + 5.66570520401001, + -8.771592140197754, + 1.6649402379989624 + ], + [ + 5.558077812194824, + -8.092061042785645, + 1.6649402379989624 + ], + [ + 6.490601062774658, + -7.944363594055176, + 1.6649402379989624 + ], + [ + 6.598228454589844, + -8.623894691467285, + 1.6649402379989624 + ] + ], + "corners_2d": [ + [ + 453.90481771838574, + 162.41443685145515 + ], + [ + 470.4015726478452, + 165.10998246006156 + ], + [ + 480.03565513548426, + 152.45181929323059 + ], + [ + 463.79005916270216, + 149.8491823928292 + ], + [ + 447.3224094967377, + 120.05737257950318 + ], + [ + 464.3795494982304, + 122.685350659524 + ], + [ + 474.4580891118129, + 110.35048456426438 + ], + [ + 457.6692184776128, + 107.81621005835274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 3092, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.919960309946, + "ymin": 656.7674967465318, + "xmax": 762.0888694975413, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 634.2602433022143, + 963.9011395134615 + ], + [ + 746.3370099477884, + 979.5434628598297 + ], + [ + 756.4400214247433, + 699.5243802414983 + ], + [ + 664.4726054650268, + 689.0303125188068 + ], + [ + 633.919960309946, + 940.4232807158731 + ], + [ + 752.7097409870883, + 956.7478878248482 + ], + [ + 762.0888694975413, + 667.486828740896 + ], + [ + 665.6494898656674, + 656.7674967465318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7519, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 705.9480222135328, + "ymin": 148.41117101095148, + "xmax": 780.6376584789859, + "ymax": 323.9708398584117 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 705.9480222135328, + 318.8970732819577 + ], + [ + 769.3425723204518, + 323.9708398584117 + ], + [ + 773.3677179717757, + 214.62343221629345 + ], + [ + 717.7406796340865, + 210.72243780659815 + ], + [ + 710.0558244831082, + 254.05356958588933 + ], + [ + 777.4484550671629, + 259.04827299021656 + ], + [ + 780.6376584789859, + 152.1929537440414 + ], + [ + 721.9559132141815, + 148.41117101095148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3879, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 266.89518032655036, + "ymin": 651.3565421855224, + "xmax": 430.7020107862494, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 430.7020107862494, + 696.1473237663107 + ], + [ + 352.26064432299825, + 686.9496087600078 + ], + [ + 288.3768937941063, + 864.5610124433247 + ], + [ + 377.513464566013, + 876.5715762175658 + ], + [ + 419.49949502981974, + 660.7698688092466 + ], + [ + 336.98190817290066, + 651.3565421855224 + ], + [ + 266.89518032655036, + 834.4498313550396 + ], + [ + 361.33107871567955, + 846.9311290280466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092726694513, + "ymin": 206.42072787949223, + "xmax": 669.6685172835925, + "ymax": 236.4604845370976 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092726694513, + 236.2855828170322 + ], + [ + 667.0640897807486, + 236.4604845370976 + ], + [ + 669.2205390083753, + 224.00360289751464 + ], + [ + 666.9020014373996, + 223.8341175272919 + ], + [ + 665.0941029887374, + 218.78579059505205 + ], + [ + 667.4856886212073, + 218.95952144923027 + ], + [ + 669.6685172835925, + 206.58899682888347 + ], + [ + 667.3143440237787, + 206.42072787949223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092720855383, + "ymin": 206.42073106951432, + "xmax": 669.6685167204536, + "ymax": 236.46048785431628 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092720855383, + 236.2855861327972 + ], + [ + 667.0640892064947, + 236.46048785431628 + ], + [ + 669.2205384519067, + 224.00360611199474 + ], + [ + 666.9020008715672, + 223.83412074038534 + ], + [ + 665.0941023973543, + 218.78579388860865 + ], + [ + 667.4856880397873, + 218.9595247442533 + ], + [ + 669.6685167204536, + 206.5890000203034 + ], + [ + 667.314343450986, + 206.42073106951432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.9798230547184, + "ymin": 158.95730816955768, + "xmax": 674.6310886317182, + "ymax": 187.10678592363612 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.9798230547184, + 186.9528438234463 + ], + [ + 672.1901112147119, + 187.10678592363612 + ], + [ + 674.1400390706514, + 176.13225056761445 + ], + [ + 671.9617443750608, + 175.98278744604164 + ], + [ + 670.417450991824, + 169.83060989314404 + ], + [ + 672.6601016822754, + 169.98322733787182 + ], + [ + 674.6310886317182, + 159.10542179299637 + ], + [ + 672.4213682023587, + 158.95730816955768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5681278788024, + "ymin": 158.0213907259617, + "xmax": 678.2123539837698, + "ymax": 186.13363970865691 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.5681278788024, + 185.98009743711006 + ], + [ + 675.7762804887034, + 186.13363970865691 + ], + [ + 677.6712179470956, + 175.18740310116792 + ], + [ + 675.494997710947, + 175.0383224969521 + ], + [ + 674.0574898099402, + 168.86625507248584 + ], + [ + 676.297941917873, + 169.01847035354027 + ], + [ + 678.2123539837698, + 158.16911984463584 + ], + [ + 676.0047683417143, + 158.0213907259617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4742016813439, + "ymin": 198.03444548099208, + "xmax": 668.1952305275023, + "ymax": 228.73050009719432 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4742016813439, + 228.70757675776608 + ], + [ + 665.7858149752398, + 228.73050009719432 + ], + [ + 667.7164126940947, + 217.7875154064209 + ], + [ + 667.4090582641411, + 217.76522239925205 + ], + [ + 665.9205574072262, + 208.8866825712324 + ], + [ + 666.2376440831891, + 208.90942264881238 + ], + [ + 668.1952305275023, + 198.05654953997552 + ], + [ + 667.8825525869539, + 198.03444548099208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4741996968769, + "ymin": 198.03456788162075, + "xmax": 668.1952289750539, + "ymax": 228.73062704194118 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4741996968769, + 228.70770369514977 + ], + [ + 665.7858130407624, + 228.73062704194118 + ], + [ + 667.7164110921738, + 217.78763886046733 + ], + [ + 667.4090566135876, + 217.76534584623687 + ], + [ + 665.9205554609293, + 208.88680849374484 + ], + [ + 666.2376421886535, + 208.9095485787571 + ], + [ + 668.1952289750539, + 198.0566719477269 + ], + [ + 667.8825509841738, + 198.03456788162075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092726694513, + "ymin": 206.42072787949223, + "xmax": 669.6685172835925, + "ymax": 236.4604845370976 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092726694513, + 236.2855828170322 + ], + [ + 667.0640897807486, + 236.4604845370976 + ], + [ + 669.2205390083753, + 224.00360289751464 + ], + [ + 666.9020014373996, + 223.8341175272919 + ], + [ + 665.0941029887374, + 218.78579059505205 + ], + [ + 667.4856886212073, + 218.95952144923027 + ], + [ + 669.6685172835925, + 206.58899682888347 + ], + [ + 667.3143440237787, + 206.42072787949223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092730158699, + "ymin": 206.4207279042464, + "xmax": 669.6685175145763, + "ymax": 236.46048455425841 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092730158699, + 236.28558284276215 + ], + [ + 667.0640900117957, + 236.46048455425841 + ], + [ + 669.2205392358619, + 224.00360291414393 + ], + [ + 666.9020017784824, + 223.8341175522251 + ], + [ + 665.0941033405638, + 218.78579062060967 + ], + [ + 667.4856888558627, + 218.95952146627624 + ], + [ + 669.6685175145763, + 206.5889968453935 + ], + [ + 667.3143443701027, + 206.4207279042464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.70927229833, + "ymin": 206.42073054609537, + "xmax": 669.66851681431, + "ymax": 236.4604873014465 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.70927229833, + 236.28558558874633 + ], + [ + 667.0640893022037, + 236.4604873014465 + ], + [ + 669.2205385446515, + 224.00360557624808 + ], + [ + 666.9020010795668, + 223.83412021318085 + ], + [ + 665.0941026131936, + 218.78579334820176 + ], + [ + 667.4856881366907, + 218.9595241950828 + ], + [ + 669.66851681431, + 206.5889994884001 + ], + [ + 667.3143436618928, + 206.42073054609537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.326710299727, + "ymin": 171.92831871056572, + "xmax": 649.0689842520303, + "ymax": 200.5939369189189 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 644.326710299727, + 200.4343997705257 + ], + [ + 646.5714410993882, + 200.5939369189189 + ], + [ + 648.9381094246029, + 189.223492576757 + ], + [ + 646.7263673897492, + 189.06867893047152 + ], + [ + 644.3910233769985, + 183.19963273779118 + ], + [ + 646.6691410507866, + 183.3578802909193 + ], + [ + 649.0689842520303, + 172.08181286940308 + ], + [ + 646.8248365377652, + 171.92831871056572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4742509921147, + "ymin": 198.03428559034828, + "xmax": 668.1952794244022, + "ymax": 228.730334270617 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4742509921147, + 228.7074109408072 + ], + [ + 665.7858642220646, + 228.730334270617 + ], + [ + 667.7164608596811, + 217.7873541397078 + ], + [ + 667.4091064919379, + 217.76506114176337 + ], + [ + 665.9206074867309, + 208.8865180799901 + ], + [ + 666.2376940964817, + 208.9092581478614 + ], + [ + 668.1952794244022, + 198.05638964002748 + ], + [ + 667.8826015482381, + 198.03428559034828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092720855383, + "ymin": 206.42073106951432, + "xmax": 669.6685167204536, + "ymax": 236.46048785431628 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092720855383, + 236.2855861327972 + ], + [ + 667.0640892064947, + 236.46048785431628 + ], + [ + 669.2205384519067, + 224.00360611199474 + ], + [ + 666.9020008715672, + 223.83412074038534 + ], + [ + 665.0941023973543, + 218.78579388860865 + ], + [ + 667.4856880397873, + 218.9595247442533 + ], + [ + 669.6685167204536, + 206.5890000203034 + ], + [ + 667.314343450986, + 206.42073106951432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.9506806943574, + "ymin": 196.30644328741857, + "xmax": 669.407742002211, + "ymax": 231.6799194151937 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 665.9506806943574, + 231.65226669516073 + ], + [ + 666.3252051568018, + 231.6799194151937 + ], + [ + 668.883714373514, + 217.06717815974926 + ], + [ + 668.5160004569434, + 217.04053470495782 + ], + [ + 666.4304761763876, + 210.79208369216167 + ], + [ + 666.8119424046492, + 210.8195071367168 + ], + [ + 669.407742002211, + 196.33284784801344 + ], + [ + 669.0333387526672, + 196.30644328741857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4742942908239, + "ymin": 198.03438164263764, + "xmax": 668.1953232066041, + "ymax": 228.73043388884358 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4742942908239, + 228.7075105532557 + ], + [ + 665.7859075613035, + 228.73043388884358 + ], + [ + 667.716503838852, + 217.78745101865354 + ], + [ + 667.4091494316798, + 217.76515801516774 + ], + [ + 665.9206516013547, + 208.88661689603094 + ], + [ + 666.2377382530714, + 208.90935696973455 + ], + [ + 668.1953232066041, + 198.05648569790617 + ], + [ + 667.8826452896336, + 198.03438164263764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.7092730158699, + "ymin": 206.4207279042464, + "xmax": 669.6685175145763, + "ymax": 236.46048455425841 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.7092730158699, + 236.28558284276215 + ], + [ + 667.0640900117957, + 236.46048455425841 + ], + [ + 669.2205392358619, + 224.00360291414393 + ], + [ + 666.9020017784824, + 223.8341175522251 + ], + [ + 665.0941033405638, + 218.78579062060967 + ], + [ + 667.4856888558627, + 218.95952146627624 + ], + [ + 669.6685175145763, + 206.5889968453935 + ], + [ + 667.3143443701027, + 206.4207279042464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.950577568556, + "ymin": 196.306436016888, + "xmax": 669.4076387863669, + "ymax": 231.67991179186538 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 665.950577568556, + 231.65225908094797 + ], + [ + 666.3251019075392, + 231.67991179186538 + ], + [ + 668.8836130018544, + 217.06717081466087 + ], + [ + 668.5158992063697, + 217.04052736864287 + ], + [ + 666.4303711392296, + 210.7920761410851 + ], + [ + 666.8118372416063, + 210.81949957659052 + ], + [ + 669.4076387863669, + 196.33284056877906 + ], + [ + 669.0332356602397, + 196.306436016888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.9506751846662, + "ymin": 196.3065520384249, + "xmax": 669.4077368754728, + "ymax": 231.680033306278 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 665.9506751846662, + 231.6523805868899 + ], + [ + 666.325199584416, + 231.680033306278 + ], + [ + 668.8837092642893, + 217.06728789398156 + ], + [ + 668.5159954102296, + 217.04064443995233 + ], + [ + 666.430470634983, + 210.79219663951415 + ], + [ + 666.8119368003994, + 210.81962008357533 + ], + [ + 669.4077368754728, + 196.3329565983994 + ], + [ + 669.0333336886205, + 196.3065520384249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.709273769718, + "ymin": 206.420726342241, + "xmax": 669.6685182581133, + "ymax": 236.46048292997062 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 664.709273769718, + 236.2855812191862 + ], + [ + 667.0640907610167, + 236.46048292997062 + ], + [ + 669.2205399690695, + 224.00360134016253 + ], + [ + 666.9020025161755, + 223.8341159789227 + ], + [ + 665.0941041053575, + 218.78578900790814 + ], + [ + 667.4856896158836, + 218.95951985285666 + ], + [ + 669.6685182581133, + 206.58899528270362 + ], + [ + 667.3143451182644, + 206.420726342241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.9507839159372, + "ymin": 196.30645323968776, + "xmax": 669.4078452097758, + "ymax": 231.67992983863897 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 665.9507839159372, + 231.6522771178794 + ], + [ + 666.3253083869001, + 231.67992983863897 + ], + [ + 668.8838157352262, + 217.0671882027546 + ], + [ + 668.5161018104457, + 217.040544747276 + ], + [ + 666.4305813128248, + 210.79209402845638 + ], + [ + 666.8120475499234, + 210.8195174737454 + ], + [ + 669.4078452097758, + 196.33285780097597 + ], + [ + 669.033441951721, + 196.30645323968776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3764544375138, + "ymin": 148.1422472367435, + "xmax": 679.9564214513655, + "ymax": 175.86163150731713 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 675.3764544375138, + 175.71227799685576 + ], + [ + 677.5546417901282, + 175.86163150731713 + ], + [ + 679.3982473076405, + 165.2119055735124 + ], + [ + 677.2511377686458, + 165.06683369227 + ], + [ + 675.8849940459462, + 158.68924333695583 + ], + [ + 678.0946039466912, + 158.83724677764607 + ], + [ + 679.9564214513655, + 148.28594808941867 + ], + [ + 677.7787859457744, + 148.1422472367435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.9506807723106, + "ymin": 196.30644222292, + "xmax": 669.4077419590301, + "ymax": 231.6799182917132 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 665.9506807723106, + 231.65226558034269 + ], + [ + 666.3252051179596, + 231.6799182917132 + ], + [ + 668.8837143318309, + 217.06717707727412 + ], + [ + 668.5160005299223, + 217.04053363082758 + ], + [ + 666.4304762550953, + 210.79208258658755 + ], + [ + 666.8119423643869, + 210.81950602255066 + ], + [ + 669.4077419590301, + 196.33284677524347 + ], + [ + 669.0333388262436, + 196.30644222292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.0758784622817, + "ymin": 210.4803688692377, + "xmax": 668.0169612522824, + "ymax": 240.41010246762792 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 663.0758784622817, + 240.2349962456264 + ], + [ + 665.421481226484, + 240.41010246762792 + ], + [ + 667.5954871468672, + 227.9379332214735 + ], + [ + 665.2858825873631, + 227.76822976172986 + ], + [ + 663.4338971890114, + 222.86331319244363 + ], + [ + 665.8159790818054, + 223.03728460244778 + ], + [ + 668.0169612522824, + 210.64889120848653 + ], + [ + 665.6719971445373, + 210.4803688692377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4742016813439, + "ymin": 198.03444548099208, + "xmax": 668.1952305275023, + "ymax": 228.73050009719432 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4742016813439, + 228.70757675776608 + ], + [ + 665.7858149752398, + 228.73050009719432 + ], + [ + 667.7164126940947, + 217.7875154064209 + ], + [ + 667.4090582641411, + 217.76522239925205 + ], + [ + 665.9205574072262, + 208.8866825712324 + ], + [ + 666.2376440831891, + 208.90942264881238 + ], + [ + 668.1952305275023, + 198.05654953997552 + ], + [ + 667.8825525869539, + 198.03444548099208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.16038268979, + "ymin": 142.8771077577648, + "xmax": 677.7069737295919, + "ymax": 170.38719215187828 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.16038268979, + 170.24004736771687 + ], + [ + 675.3219567581971, + 170.38719215187828 + ], + [ + 677.1840772116815, + 159.89385164805364 + ], + [ + 675.0531118767683, + 159.7508945377746 + ], + [ + 673.6334780966932, + 153.26707274226547 + ], + [ + 675.825993853136, + 153.41285631026975 + ], + [ + 677.7069737295919, + 143.01868448046602 + ], + [ + 675.5459429244623, + 142.8771077577648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.4742040495552, + "ymin": 198.03454991665535, + "xmax": 668.195233277405, + "ymax": 228.7306084100272 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 665.4742040495552, + 228.70768506431648 + ], + [ + 665.7858173862213, + 228.7306084100272 + ], + [ + 667.7164153325921, + 217.7876207408899 + ], + [ + 667.4090608610292, + 217.76532772769593 + ], + [ + 665.9205598791689, + 208.886790011866 + ], + [ + 666.2376465994179, + 208.9095300957875 + ], + [ + 668.195233277405, + 198.05665398171607 + ], + [ + 667.8825552937935, + 198.03454991665535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.1796514286158, + "ymin": 162.92282509972003, + "xmax": 675.589867173751, + "ymax": 220.55322173677473 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 672.1796514286158, + 220.4423696400114 + ], + [ + 673.7034177664186, + 220.55322173677473 + ], + [ + 673.9172120167109, + 219.28174028106721 + ], + [ + 672.3958918960466, + 219.1712482364648 + ], + [ + 673.7690923347274, + 164.16064276833535 + ], + [ + 675.3683692541988, + 164.26859993047754 + ], + [ + 675.589867173751, + 163.03041433605054 + ], + [ + 673.9932847200561, + 162.92282509972003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.9351638545273, + "ymin": 152.91431078561703, + "xmax": 677.3809519535592, + "ymax": 210.23172725436595 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 673.9351638545273, + 210.12378103223915 + ], + [ + 675.4390696967378, + 210.23172725436595 + ], + [ + 675.6472634065285, + 208.99355214703337 + ], + [ + 674.1457404893099, + 208.88595192378514 + ], + [ + 675.5881235400703, + 154.11814157340206 + ], + [ + 677.1655368492484, + 154.2231318518211 + ], + [ + 677.3809519535592, + 153.01894818808083 + ], + [ + 675.806160013104, + 152.91431078561703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.0997203077314, + "ymin": 177.01481895616172, + "xmax": 646.2091218617765, + "ymax": 235.064012452003 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 644.0997203077314, + 234.94900981939983 + ], + [ + 645.6476991144137, + 235.064012452003 + ], + [ + 645.9119007084921, + 233.74495991006825 + ], + [ + 644.3664462315247, + 233.63033772227732 + ], + [ + 644.3061616955771, + 178.30129359730955 + ], + [ + 645.9321320871618, + 178.41349842701868 + ], + [ + 646.2091218617765, + 177.1266339526666 + ], + [ + 644.5859363467724, + 177.01481895616172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.2907935028825, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 45.33014058873107 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1257.0743581245486, + 44.786050766935375 + ], + [ + 1267.2443529157208, + 45.33014058873107 + ], + [ + 1239.8348357854966, + 9.318582499728961 + ], + [ + 1230.2907935028825, + 8.83710985972857 + ], + [ + 1343.8584348413906, + -140.1711690205649 + ], + [ + 1355.5490003425293, + -139.73977658100944 + ], + [ + 1318.6128888938865, + -168.05933260669258 + ], + [ + 1307.7414527808573, + -168.43478584119555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.748085789075, + "ymin": 22.33285121889014, + "xmax": 959.1988978716449, + "ymax": 31.20443926555663 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 958.3284631497534, + 31.20443926555663 + ], + [ + 957.1696403807005, + 26.716902731808602 + ], + [ + 942.748085789075, + 25.94801608381914 + ], + [ + 943.7955211116928, + 30.42378655394907 + ], + [ + 959.1988978716449, + 27.571220734877386 + ], + [ + 958.0303242548156, + 23.099081197008275 + ], + [ + 943.5685582993942, + 22.33285121889014 + ], + [ + 944.6251203049609, + 26.793233187190708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.5254337663429, + "ymin": 216.15952228385075, + "xmax": 666.7136206889642, + "ymax": 274.73260710739424 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 663.5254337663429, + 274.6068773976198 + ], + [ + 665.140468868532, + 274.73260710739424 + ], + [ + 665.381991689519, + 273.290608347818 + ], + [ + 663.7697043012206, + 273.16531175639125 + ], + [ + 664.7617090954316, + 217.5732353997335 + ], + [ + 666.461824303609, + 217.69654802615048 + ], + [ + 666.7136206889642, + 216.28238785428695 + ], + [ + 665.0165500561526, + 216.15952228385075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.373479510417, + "ymin": 15.652877767693383, + "xmax": 1080.4693244061968, + "ymax": 248.72471126208683 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1007.9019591052866, + 248.72471126208683 + ], + [ + 1005.9655449051771, + 240.98181533395925 + ], + [ + 892.373479510417, + 232.75662136591035 + ], + [ + 893.2054106212136, + 240.34089001749004 + ], + [ + 1080.4693244061968, + 29.546100520960806 + ], + [ + 1077.3267865023004, + 22.795842245551626 + ], + [ + 940.9834786191003, + 15.652877767693383 + ], + [ + 942.5319491863296, + 22.238221284552367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 189.66744443579643, + "ymax": 125.01920470108587 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 184.11858973723747, + 125.01920470108587 + ], + [ + 189.66744443579643, + 118.88445128501414 + ], + [ + 57.77077060110457, + 110.14289098199268 + ], + [ + 51.12028083606981, + 116.12036720632784 + ], + [ + 104.86070729242681, + -89.67549535121668 + ], + [ + 112.19404543529777, + -94.61765591115574 + ], + [ + -40.88901473306987, + -101.63343754577556 + ], + [ + -49.70630271790424, + -96.83939792996415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.7328348274973, + "ymin": 163.87095110907245, + "xmax": 671.9826826946936, + "ymax": 221.53032718715144 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 668.7328348274973, + 221.41919799273757 + ], + [ + 670.2580155099708, + 221.53032718715144 + ], + [ + 670.4776837171282, + 220.25566985101798 + ], + [ + 668.9549537714207, + 220.14490205853258 + ], + [ + 670.1538882091887, + 165.11201299499857 + ], + [ + 671.7547233437754, + 165.22025337432905 + ], + [ + 671.9826826946936, + 163.97882211505603 + ], + [ + 670.38454725183, + 163.87095110907245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.8158722444686, + "ymin": 147.5810579996495, + "xmax": 675.1368682817339, + "ymax": 204.7264154037377 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 671.8158722444686, + 204.62000333830312 + ], + [ + 673.3087579245336, + 204.7264154037377 + ], + [ + 673.5188619254724, + 203.5058248644951 + ], + [ + 672.0283243912955, + 203.39975145388263 + ], + [ + 673.3540170860443, + 148.76697169066932 + ], + [ + 674.9193110589426, + 148.87039794989695 + ], + [ + 675.1368682817339, + 147.6841392320724 + ], + [ + 673.5741555717756, + 147.5810579996495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.8343563511161, + "ymin": 22.37992538101315, + "xmax": 959.1099405090501, + "ymax": 31.157070972652036 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 958.2490327190043, + 31.157070972652036 + ], + [ + 957.1030938222889, + 26.717479776641937 + ], + [ + 942.8343563511161, + 25.956731869792463 + ], + [ + 943.8712645747371, + 30.384806304610777 + ], + [ + 959.1099405090501, + 27.562593105682026 + ], + [ + 957.9544605279109, + 23.138072816266344 + ], + [ + 943.646359938003, + 22.37992538101315 + ], + [ + 944.6922048051126, + 26.79293713496361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.379005125852, + "ymin": 0.0, + "xmax": 1018.5506747141471, + "ymax": 35.02425976670543 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 959.3765644081573, + 34.47332717126079 + ], + [ + 968.9054990406448, + 35.02425976670543 + ], + [ + 944.3469784832284, + -61.60772027105497 + ], + [ + 936.379005125852, + -61.994719332813304 + ], + [ + 1007.5322171163531, + -165.3771779859021 + ], + [ + 1018.5506747141471, + -164.95565668310257 + ], + [ + 981.9272576355361, + -237.1352278609528 + ], + [ + 972.9435959643517, + -237.41737371378815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 474.2493396365552, + "ymin": 0.0, + "xmax": 762.6532894302701, + "ymax": 29.497898450742184 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 497.39405727428186, + 10.95956610940567 + ], + [ + 495.249948107623, + 14.7980727549849 + ], + [ + 746.3415032571922, + 29.497898450742184 + ], + [ + 746.8256527894811, + 25.461821007362857 + ], + [ + 476.862117764283, + -183.25882292019628 + ], + [ + 474.2493396365552, + -180.35418613711192 + ], + [ + 762.2218891522148, + -169.17858941239786 + ], + [ + 762.6532894302701, + -172.25528927967866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.6072207272441, + "ymin": 211.9811136041989, + "xmax": 666.81122721694, + "ymax": 270.9593606407441 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 663.6072207272441, + 270.8337629963375 + ], + [ + 665.2278837391754, + 270.9593606407441 + ], + [ + 665.4700936668966, + 269.51888442595316 + ], + [ + 663.8521975363046, + 269.39372094533064 + ], + [ + 664.8523343783874, + 213.39237873905464 + ], + [ + 666.5586872133662, + 213.51547872637363 + ], + [ + 666.81122721694, + 212.10376567740983 + ], + [ + 665.1079413196155, + 211.9811136041989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.2539120116967, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 155.90708942480234 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1210.2548426233625, + 155.90708942480234 + ], + [ + 1386.936250871523, + 146.8950530002083 + ], + [ + 1278.89904529161, + 58.69361335775318 + ], + [ + 1123.2539120116967, + 65.59078406089145 + ], + [ + 1371.0676328441086, + -183.6254381460127 + ], + [ + 1594.194094516272, + -189.69076875897247 + ], + [ + 1428.9296015656078, + -246.86820155392286 + ], + [ + 1238.2968447802793, + -242.53500788185124 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00151/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00151/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b2afb22d2182c59fc5d637480b26b604101767b4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00151/meta.json @@ -0,0 +1,7163 @@ +{ + "frame_id": 151, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 75.5, + "sim_timestamp": 13380.362556311535 + }, + "drone_pose": { + "x": -24.71736262187733, + "y": 2.225766370817555, + "z": 20.0, + "pitch": -43.84971607377042, + "yaw": -6.863922972940974, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7159906625747681, + 0.086186982691288, + 0.6927691698074341, + 4.033849716186523 + ], + [ + -0.11951170116662979, + 0.9928327798843384, + 0.0, + 0.7442007064819336 + ], + [ + -0.6878039836883545, + -0.08279402554035187, + 0.7211593985557556, + -31.608169555664062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -24.207641798433432, + "y": 2.1357583468554084, + "z": 20.0 + }, + "t1_image_uv": [ + 566.7331549620249, + -562.207273907416 + ], + "t1_depth": 0.3727128785132984 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -4.667182922363281, + "y": -0.18776321411132812, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.003408889386385, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 214, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -4.667182922363281, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2224842607975006, + "y": 0.27738863229751587, + "z": 0.5490588545799255 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.6438554491277, + "ymin": 338.09962929005553, + "xmax": 652.358529684492, + "ymax": 381.696982930904 + }, + "corners_3d": [ + [ + -5.020646572113037, + -0.2265864908695221, + 0.05104219913482666 + ], + [ + -4.628359794616699, + 0.1657002866268158, + 0.05104219913482666 + ], + [ + -4.313719272613525, + -0.14893993735313416, + 0.05104219913482666 + ], + [ + -4.706006050109863, + -0.5412267446517944, + 0.05104219913482666 + ], + [ + -5.020646572113037, + -0.2265864908695221, + 1.1491599082946777 + ], + [ + -4.628359794616699, + 0.1657002866268158, + 1.1491599082946777 + ], + [ + -4.313719272613525, + -0.14893993735313416, + 1.1491599082946777 + ], + [ + -4.706006050109863, + -0.5412267446517944, + 1.1491599082946777 + ] + ], + "corners_2d": [ + [ + 637.2433209081071, + 381.696982930904 + ], + [ + 652.0272652257306, + 373.48009451777796 + ], + [ + 642.7085936734178, + 365.23223325291406 + ], + [ + 627.9749937417098, + 373.3042753631611 + ], + [ + 637.1667089784107, + 354.5268878715216 + ], + [ + 652.358529684492, + 346.3267193637746 + ], + [ + 642.7825203552513, + 338.09962929005553 + ], + [ + 627.6438554491277, + 346.15130131679916 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 151, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 337558, + "2": 296570, + "3": 773, + "5": 6825, + "6": 2702, + "9": 3635, + "10": 4392, + "12": 1860, + "14": 15711, + "15": 7731, + "20": 3370, + "24": 22524, + "25": 217949 + }, + "instance_pixel_counts": { + "2118": 4388, + "2188": 425, + "2706": 1787, + "3218": 4431, + "3424": 129061, + "3458": 12, + "5506": 1627, + "6215": 90260, + "6284": 4128, + "6290": 13224, + "6730": 607, + "6992": 3894, + "8286": 3327, + "8332": 12449, + "8338": 33077, + "8798": 4179, + "10846": 5115, + "15184": 2931, + "15510": 1503, + "16022": 230, + "16203": 671, + "18000": 3370, + "19092": 8423, + "19604": 3232, + "21140": 44354, + "23392": 995, + "23700": 127825, + "23904": 113, + "28000": 502, + "28256": 495, + "28768": 502, + "29826": 784, + "31584": 355, + "31840": 131, + "32096": 166, + "34304": 74, + "34560": 205, + "34956": 652, + "35402": 268, + "35468": 552, + "35476": 2734, + "36170": 1, + "37524": 7367, + "38540": 4499, + "38801": 1342, + "39825": 153, + "40588": 11333, + "41562": 773, + "42897": 11217, + "44945": 35719, + "45898": 204, + "52038": 71322, + "54859": 44, + "56576": 214, + "56647": 88888, + "56832": 171, + "57088": 559, + "57173": 3635, + "57344": 573, + "57600": 343, + "57856": 1242, + "58368": 7731, + "59541": 1022, + "60051": 4824, + "60928": 1848, + "62101": 1083, + "62611": 39176, + "64149": 3266, + "64585": 265, + "64659": 109724 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 214, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -4.667182922363281, + "y": -0.18776321411132812, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.322909951210022, + "y": 0.22039392590522766, + "z": 0.5575329661369324 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.082360991079, + "ymin": 336.86555604563125, + "xmax": 652.9974111910103, + "ymax": 382.96172205828486 + }, + "corners_3d": [ + [ + -5.051356792449951, + -0.11527347564697266, + 0.042568087577819824 + ], + [ + -4.739672660827637, + 0.1964106261730194, + 0.042568087577819824 + ], + [ + -4.283009052276611, + -0.2602529525756836, + 0.042568087577819824 + ], + [ + -4.594693183898926, + -0.571937084197998, + 0.042568087577819824 + ], + [ + -5.051356792449951, + -0.11527347564697266, + 1.1576340198516846 + ], + [ + -4.739672660827637, + 0.1964106261730194, + 1.1576340198516846 + ], + [ + -4.283009052276611, + -0.2602529525756836, + 1.1576340198516846 + ], + [ + -4.594693183898926, + -0.571937084197998, + 1.1576340198516846 + ] + ], + "corners_2d": [ + [ + 640.8899364924595, + 382.96172205828486 + ], + [ + 652.6426889906515, + 376.4067361757988 + ], + [ + 639.1275271924004, + 364.41418116668586 + ], + [ + 627.4328009806242, + 370.8021625731385 + ], + [ + 640.9150851885022, + 355.3702270983072 + ], + [ + 652.9974111910103, + 348.82804762860405 + ], + [ + 639.1033692203949, + 336.86555604563125 + ], + [ + 627.082360991079, + 343.2364564535721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 171, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.7500381469726562, + "y": 3.5819826126098633, + "z": 0.600091278553009 + }, + "extent": { + "x": 0.23227675259113312, + "y": 0.1983080953359604, + "z": 0.5198129415512085 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 758.6331857213947, + "ymin": 329.228188507486, + "xmax": 782.7160995103325, + "ymax": 368.9785847365667 + }, + "corners_3d": [ + [ + -4.047001838684082, + 3.6533358097076416, + 0.08027833700180054 + ], + [ + -3.726132392883301, + 3.886461019515991, + 0.08027833700180054 + ], + [ + -3.4530746936798096, + 3.510629415512085, + 0.08027833700180054 + ], + [ + -3.7739439010620117, + 3.2775042057037354, + 0.08027833700180054 + ], + [ + -4.047001838684082, + 3.6533358097076416, + 1.1199042797088623 + ], + [ + -3.726132392883301, + 3.886461019515991, + 1.1199042797088623 + ], + [ + -3.4530746936798096, + 3.510629415512085, + 1.1199042797088623 + ], + [ + -3.7739439010620117, + 3.2775042057037354, + 1.1199042797088623 + ] + ], + "corners_2d": [ + [ + 771.0616894055158, + 368.9785847365667 + ], + [ + 779.1329398554543, + 362.1731966472242 + ], + [ + 766.7309342516579, + 354.8872963152447 + ], + [ + 758.6331857213947, + 361.58543385878977 + ], + [ + 774.4624802278538, + 343.28063191183986 + ], + [ + 782.7160995103325, + 336.49262642577537 + ], + [ + 769.9683169955183, + 329.228188507486 + ], + [ + 761.6864123900564, + 335.9064856786986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -6.923007011413574, + "y": 6.75494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4115450978279114, + "y": 0.2960275113582611, + "z": 0.8741642832756042 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 862.2355947656886, + "ymin": 403.07442366970395, + "xmax": 912.1925266243397, + "ymax": 474.5600919997865 + }, + "corners_3d": [ + [ + -7.4183759689331055, + 6.862705707550049, + -0.27406322956085205 + ], + [ + -6.978393077850342, + 7.2588677406311035, + -0.27406322956085205 + ], + [ + -6.427638053894043, + 6.647192478179932, + -0.27406322956085205 + ], + [ + -6.867620944976807, + 6.251030445098877, + -0.27406322956085205 + ], + [ + -7.4183759689331055, + 6.862705707550049, + 1.4742653369903564 + ], + [ + -6.978393077850342, + 7.2588677406311035, + 1.4742653369903564 + ], + [ + -6.427638053894043, + 6.647192478179932, + 1.4742653369903564 + ], + [ + -6.867620944976807, + 6.251030445098877, + 1.4742653369903564 + ] + ], + "corners_2d": [ + [ + 886.0206904163862, + 474.5600919997865 + ], + [ + 899.6632086670322, + 463.49280471179145 + ], + [ + 875.8998551598789, + 446.35705463676186 + ], + [ + 862.2355947656886, + 457.0557133526634 + ], + [ + 898.0260657943436, + 431.38432126657386 + ], + [ + 912.1925266243397, + 420.2661450827593 + ], + [ + 887.0833604572432, + 403.07442366970395 + ], + [ + 872.8884249058065, + 413.8047785584078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 573, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -14.167181968688965, + "y": -0.18776321411132812, + "z": 0.6001596450805664 + }, + "extent": { + "x": 0.3598974645137787, + "y": 0.3799857199192047, + "z": 0.8937762379646301 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 563.0934004632874, + "ymin": 613.5660832398797, + "xmax": 612.765632047623, + "ymax": 697.1774764404838 + }, + "corners_3d": [ + [ + -14.688898086547852, + -0.22932912409305573, + -0.2936165928840637 + ], + [ + -14.180377960205078, + 0.33543962240219116, + -0.2936165928840637 + ], + [ + -13.645465850830078, + -0.14619730412960052, + -0.2936165928840637 + ], + [ + -14.153985977172852, + -0.7109660506248474, + -0.2936165928840637 + ], + [ + -14.688898086547852, + -0.22932912409305573, + 1.4939358234405518 + ], + [ + -14.180377960205078, + 0.33543962240219116, + 1.4939358234405518 + ], + [ + -13.645465850830078, + -0.14619730412960052, + 1.4939358234405518 + ], + [ + -14.153985977172852, + -0.7109660506248474, + 1.4939358234405518 + ] + ], + "corners_2d": [ + [ + 584.5508810699547, + 697.1774764404838 + ], + [ + 612.765632047623, + 678.9273013930372 + ], + [ + 595.3652308713804, + 655.1845787131722 + ], + [ + 567.4471087965615, + 672.738248349064 + ], + [ + 581.153643396358, + 656.6082373108859 + ], + [ + 611.1226848381465, + 637.8804663755923 + ], + [ + 592.727137171001, + 613.5660832398797 + ], + [ + 563.0934004632874, + 631.5369916270865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 343, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 6.578153133392334, + "y": -8.357977867126465, + "z": 0.7508921027183533 + }, + "extent": { + "x": 0.432085245847702, + "y": 0.34932494163513184, + "z": 0.9365208148956299 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 446.6158861295613, + "ymin": 107.49209666466601, + "xmax": 478.4526722103692, + "ymax": 165.83119443341477 + }, + "corners_3d": [ + [ + 6.023260593414307, + -8.386614799499512, + -0.1856287121772766 + ], + [ + 6.433917045593262, + -7.821394920349121, + -0.1856287121772766 + ], + [ + 7.133045673370361, + -8.329340934753418, + -0.1856287121772766 + ], + [ + 6.722389221191406, + -8.894560813903809, + -0.1856287121772766 + ], + [ + 6.023260593414307, + -8.386614799499512, + 1.687412977218628 + ], + [ + 6.433917045593262, + -7.821394920349121, + 1.687412977218628 + ], + [ + 7.133045673370361, + -8.329340934753418, + 1.687412977218628 + ], + [ + 6.722389221191406, + -8.894560813903809, + 1.687412977218628 + ] + ], + "corners_2d": [ + [ + 461.50632049339856, + 165.83119443341477 + ], + [ + 478.4526722103692, + 161.0242677904635 + ], + [ + 470.0707697036296, + 150.58109956548319 + ], + [ + 453.3158188780465, + 155.24976028322786 + ], + [ + 455.0024163174694, + 122.34239035418062 + ], + [ + 472.6065265717411, + 117.65903758838621 + ], + [ + 464.0132573154966, + 107.49209666466601 + ], + [ + 446.6158861295613, + 112.03595594484432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 226, + "instance_id": 57856, + "pixel_count": 1242, + "type_id": "vehicle.chevrolet.impala", + "bbox_3d": { + "center_world": { + "x": -17.60232925415039, + "y": 2.5939598083496094, + "z": 0.6946810483932495 + }, + "extent": { + "x": 2.6787397861480713, + "y": 1.0166014432907104, + "z": 0.7053293585777283 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.6027607094069, + "ymin": 678.7508259892231, + "xmax": 763.2306742614251, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -20.28353500366211, + 1.5838818550109863, + -0.010648314841091633 + ], + [ + -20.27858543395996, + 3.6170787811279297, + -0.010648314841091633 + ], + [ + -14.921122550964355, + 3.6040380001068115, + -0.010648314841091633 + ], + [ + -14.926071166992188, + 1.5708410739898682, + -0.010648314841091633 + ], + [ + -20.28353500366211, + 1.5838818550109863, + 1.4000104665756226 + ], + [ + -20.27858543395996, + 3.6170787811279297, + 1.4000104665756226 + ], + [ + -14.921122550964355, + 3.6040380001068115, + 1.4000104665756226 + ], + [ + -14.926071166992188, + 1.5708410739898682, + 1.4000104665756226 + ] + ], + "corners_2d": [ + [ + 633.9685183724307, + 996.2375573149317 + ], + [ + 748.4661997951267, + 1012.050562114299 + ], + [ + 757.4291233495524, + 721.0563332718947 + ], + [ + 663.8486680064548, + 710.5293663484534 + ], + [ + 633.6027607094069, + 974.218415494354 + ], + [ + 755.1145760077277, + 990.7635546258639 + ], + [ + 763.2306742614251, + 689.5220444786739 + ], + [ + 665.0167655496073, + 678.7508259892231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7731, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 704.5246928847738, + "ymin": 156.00380231121304, + "xmax": 779.5030356553345, + "ymax": 334.29295039943327 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 704.5246928847738, + 329.25559981960566 + ], + [ + 768.6868961179762, + 334.29295039943327 + ], + [ + 772.2141460543211, + 222.42892199228694 + ], + [ + 716.0012534780709, + 218.56754105566452 + ], + [ + 708.5967730843134, + 264.248046763964 + ], + [ + 776.8569843006119, + 269.21455243774307 + ], + [ + 779.5030356553345, + 159.7515874474875 + ], + [ + 720.1694083798011, + 156.00380231121304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 1848, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 258.0929991093781, + "ymin": 674.485060586738, + "xmax": 425.8852443623474, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 425.8852443623474, + 718.7638064245643 + ], + [ + 345.9648522668361, + 709.5209534976007 + ], + [ + 280.54689470647736, + 894.2228325714387 + ], + [ + 371.6072976406455, + 906.3557353424491 + ], + [ + 414.202789657046, + 683.963229164196 + ], + [ + 330.0474698902338, + 674.485060586738 + ], + [ + 258.0929991093781, + 865.3214877905158 + ], + [ + 354.6902884153894, + 877.9626889141255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610224187913, + "ymin": 215.3219422583089, + "xmax": 667.5017956851727, + "ymax": 245.73082828479025 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610224187913, + 245.55708234777669 + ], + [ + 664.9445528316643, + 245.73082828479025 + ], + [ + 667.0815048144306, + 232.9698007582976 + ], + [ + 664.7351609580289, + 232.80149938710682 + ], + [ + 662.9167876318985, + 227.993793628627 + ], + [ + 665.3379899257284, + 228.16644261001252 + ], + [ + 667.5017956851727, + 215.48909777272667 + ], + [ + 665.1189552831256, + 215.3219422583089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610218397186, + "ymin": 215.32194552683723, + "xmax": 667.5017951270511, + "ymax": 245.73083168364792 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610218397186, + 245.55708574517269 + ], + [ + 664.9445522624942, + 245.73083168364792 + ], + [ + 667.081504263098, + 232.96980405063613 + ], + [ + 664.7351603971005, + 232.80150267805186 + ], + [ + 662.9167870452143, + 227.99379700456188 + ], + [ + 665.3379893492623, + 228.16644598742278 + ], + [ + 667.5017951270511, + 215.48910104266048 + ], + [ + 665.1189547151071, + 215.32194552683723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.7149474065455, + "ymin": 166.73407947882302, + "xmax": 672.3454342545858, + "ymax": 195.20789657336329 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 667.7149474065455, + 195.0551989436011 + ], + [ + 669.9504672536943, + 195.20789657336329 + ], + [ + 671.8815742170345, + 183.98185561535146 + ], + [ + 669.6787980328494, + 183.8336504192147 + ], + [ + 668.124257596866, + 177.86035313361057 + ], + [ + 670.3928833892936, + 178.0117878921086 + ], + [ + 672.3454342545858, + 166.88099463342277 + ], + [ + 670.1105218301552, + 166.73407947882302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.3396963454923, + "ymin": 165.76953548726902, + "xmax": 675.9630191255343, + "ymax": 194.20498550233555 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 671.3396963454923, + 194.05269193770286 + ], + [ + 673.5729861402701, + 194.20498550233555 + ], + [ + 675.4479527497643, + 183.00843444828453 + ], + [ + 673.2473420442763, + 182.86061562867394 + ], + [ + 671.8019171264045, + 176.86615966553998 + ], + [ + 674.0682462984532, + 177.0171877937894 + ], + [ + 675.9630191255343, + 165.91606206740303 + ], + [ + 673.7303358567, + 165.76953548726902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3193455583416, + "ymin": 206.91601347284114, + "xmax": 665.99575150805, + "ymax": 237.958959989528 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3193455583416, + 237.93618519380135 + ], + [ + 663.6347785213171, + 237.958959989528 + ], + [ + 665.5489007030664, + 226.7470761411637 + ], + [ + 665.2378337273306, + 226.72493510341732 + ], + [ + 663.7330883185186, + 218.0396864315646 + ], + [ + 664.0541299885828, + 218.0622889500468 + ], + [ + 665.99575150805, + 206.9379761058627 + ], + [ + 665.6792313601435, + 206.91601347284114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3193440053997, + "ymin": 206.91613886817893, + "xmax": 665.995750386408, + "ymax": 237.9590900293114 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3193440053997, + 237.9363152261822 + ], + [ + 663.6347770195938, + 237.9590900293114 + ], + [ + 665.5488995291018, + 226.74720256225808 + ], + [ + 665.2378325035553, + 226.725061517416 + ], + [ + 663.7330868064545, + 218.03981548026613 + ], + [ + 664.0541285295749, + 218.06241800622522 + ], + [ + 665.995750386408, + 206.9381015083621 + ], + [ + 665.679230186929, + 206.91613886817893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610224187913, + "ymin": 215.3219422583089, + "xmax": 667.5017956851727, + "ymax": 245.73082828479025 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610224187913, + 245.55708234777669 + ], + [ + 664.9445528316643, + 245.73082828479025 + ], + [ + 667.0815048144306, + 232.9698007582976 + ], + [ + 664.7351609580289, + 232.80149938710682 + ], + [ + 662.9167876318985, + 227.993793628627 + ], + [ + 665.3379899257284, + 228.16644261001252 + ], + [ + 667.5017956851727, + 215.48909777272667 + ], + [ + 665.1189552831256, + 215.3219422583089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610227694353, + "ymin": 215.3219422828994, + "xmax": 667.5017959189684, + "ymax": 245.7308283018376 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610227694353, + 245.55708237333673 + ], + [ + 664.9445530655277, + 245.7308283018376 + ], + [ + 667.0815050446445, + 232.96980077481072 + ], + [ + 664.7351613032037, + 232.80149941186596 + ], + [ + 662.9167879880833, + 227.99379365402558 + ], + [ + 665.3379901632887, + 228.16644262695232 + ], + [ + 667.5017959189684, + 215.48909778912736 + ], + [ + 665.1189556336683, + 215.3219422828994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610220531121, + "ymin": 215.32194499027935, + "xmax": 667.5017952200714, + "ymax": 245.73083111717165 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610220531121, + 245.55708518746005 + ], + [ + 664.9445523573559, + 245.73083111717165 + ], + [ + 667.0815043549868, + 232.96980350191302 + ], + [ + 664.7351606056468, + 232.80150213781405 + ], + [ + 662.9167872617232, + 227.9937964503723 + ], + [ + 665.33798944534, + 228.1664454245211 + ], + [ + 667.5017952200714, + 215.48910049767153 + ], + [ + 665.1189549266244, + 215.32194499027935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.8173465199827, + "ymin": 180.0560952719501, + "xmax": 646.5400239977388, + "ymax": 209.06001733555092 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 641.8173465199827, + 208.90168387881837 + ], + [ + 644.0884343489017, + 209.06001733555092 + ], + [ + 646.4445452924632, + 197.4227551463142 + ], + [ + 644.2072414414951, + 197.2691631941557 + ], + [ + 641.8446842750808, + 191.59599033605605 + ], + [ + 644.149948160782, + 191.75309916890774 + ], + [ + 646.5400239977388, + 180.20843011386035 + ], + [ + 644.2695607399003, + 180.0560952719501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3193948657756, + "ymin": 206.91584956807716, + "xmax": 665.995800405929, + "ymax": 237.9587900139897 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3193948657756, + 237.9360152279388 + ], + [ + 663.6348277631486, + 237.9587900139897 + ], + [ + 665.5489488540137, + 226.74691089562805 + ], + [ + 665.2378819420774, + 226.7247698671564 + ], + [ + 663.7331384113418, + 218.03951775147453 + ], + [ + 664.0541800134496, + 218.0621202601838 + ], + [ + 665.995800405929, + 206.93781219173783 + ], + [ + 665.6792803240785, + 206.91584956807716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610218397186, + "ymin": 215.32194552683723, + "xmax": 667.5017951270511, + "ymax": 245.73083168364792 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610218397186, + 245.55708574517269 + ], + [ + 664.9445522624942, + 245.73083168364792 + ], + [ + 667.081504263098, + 232.96980405063613 + ], + [ + 664.7351603971005, + 232.80150267805186 + ], + [ + 662.9167870452143, + 227.99379700456188 + ], + [ + 665.3379893492623, + 228.16644598742278 + ], + [ + 667.5017951270511, + 215.48910104266048 + ], + [ + 665.1189547151071, + 215.32194552683723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.810401709121, + "ymin": 205.14334439352567, + "xmax": 667.2164819088172, + "ymax": 240.95769145396775 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.810401709121, + 240.93021703872262 + ], + [ + 664.1895230627936, + 240.95769145396775 + ], + [ + 666.7256051071762, + 225.98623735010545 + ], + [ + 666.3534654186109, + 225.9597776490413 + ], + [ + 664.2561811066412, + 219.9912713717405 + ], + [ + 664.6424161695979, + 220.0185304737247 + ], + [ + 667.2164819088172, + 205.16957841949423 + ], + [ + 666.8374904768405, + 205.14334439352567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3194390411389, + "ymin": 206.9159478723333, + "xmax": 665.9958450674634, + "ymax": 237.9588919592806 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3194390411389, + 237.93611716742652 + ], + [ + 663.6348719799571, + 237.9588919592806 + ], + [ + 665.5489926917106, + 226.74701000403155 + ], + [ + 665.2379257394689, + 226.72486896999726 + ], + [ + 663.7331834241318, + 218.03961891980143 + ], + [ + 664.0542250691717, + 218.06222143437216 + ], + [ + 665.9958450674634, + 206.93791050160834 + ], + [ + 665.6793249438821, + 206.9159478723333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610227694353, + "ymin": 215.3219422828994, + "xmax": 667.5017959189684, + "ymax": 245.7308283018376 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610227694353, + 245.55708237333673 + ], + [ + 664.9445530655277, + 245.7308283018376 + ], + [ + 667.0815050446445, + 232.96980077481072 + ], + [ + 664.7351613032037, + 232.80149941186596 + ], + [ + 662.9167879880833, + 227.99379365402558 + ], + [ + 665.3379901632887, + 228.16644262695232 + ], + [ + 667.5017959189684, + 215.48909778912736 + ], + [ + 665.1189556336683, + 215.3219422828994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.810297317492, + "ymin": 205.14333716994742, + "xmax": 667.2163774281661, + "ymax": 240.95768387979953 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.810297317492, + 240.93020947360145 + ], + [ + 664.1894185463234, + 240.95768387979953 + ], + [ + 666.7255025154823, + 225.98623005567907 + ], + [ + 666.3533629493284, + 225.9597703633186 + ], + [ + 664.2560747563098, + 219.991263865911 + ], + [ + 664.6423096919467, + 220.01852295890941 + ], + [ + 667.2163774281661, + 205.16957118727765 + ], + [ + 666.8373861209833, + 205.14333716994742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8103965423927, + "ymin": 205.1434558067974, + "xmax": 667.2164771219876, + "ymax": 240.95780813449932 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.8103965423927, + 240.93033371980033 + ], + [ + 664.1895178332709, + 240.95780813449932 + ], + [ + 666.7256003366987, + 225.9863497211963 + ], + [ + 666.3534607107636, + 225.95989002080148 + ], + [ + 664.256175909157, + 219.99138713833065 + ], + [ + 664.6424109091909, + 220.01864623992122 + ], + [ + 667.2164771219876, + 205.1696898322397 + ], + [ + 666.8374857528023, + 205.1434558067974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.5610235264973, + "ymin": 215.32194068142243, + "xmax": 667.5017966656204, + "ymax": 245.73082663650348 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 662.5610235264973, + 245.5570807087188 + ], + [ + 664.9445538178394, + 245.73082663650348 + ], + [ + 667.0815057807387, + 232.96979916166748 + ], + [ + 664.7351620439009, + 232.80149779940552 + ], + [ + 662.9167887563386, + 227.99379199992296 + ], + [ + 665.3379909266425, + 228.16644097212676 + ], + [ + 667.5017966656204, + 215.48909618696175 + ], + [ + 665.1189563850678, + 215.32194068142243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8105062077676, + "ymin": 205.14335436398915, + "xmax": 667.2165863909582, + "ymax": 240.9577018965657 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.8105062077676, + 240.93022748060616 + ], + [ + 664.1896275699442, + 240.9577018965657 + ], + [ + 666.7257076986127, + 225.98624740702002 + ], + [ + 666.3535680018553, + 225.9597877052807 + ], + [ + 664.2562875676202, + 219.9912817317858 + ], + [ + 664.642522639403, + 220.0185408344921 + ], + [ + 667.2165863909582, + 205.16958839063943 + ], + [ + 666.8375949504853, + 205.14335436398915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.1300028380184, + "ymin": 155.66437006999413, + "xmax": 677.6886311658236, + "ymax": 183.69797253427024 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 673.1300028380184, + 183.54988007300955 + ], + [ + 675.3326263297809, + 183.69797253427024 + ], + [ + 677.156238789822, + 172.80807545154195 + ], + [ + 674.9854095900025, + 172.66427518091928 + ], + [ + 673.611743745893, + 166.45278156063546 + ], + [ + 675.8464989301688, + 166.59958333680126 + ], + [ + 677.6886311658236, + 155.8068565598039 + ], + [ + 675.4865978078976, + 155.66437006999413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.8104017840056, + "ymin": 205.14334330291547, + "xmax": 667.2164818611587, + "ymax": 240.95769030318405 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 663.8104017840056, + 240.93021589654654 + ], + [ + 664.1895230194428, + 240.95769030318405 + ], + [ + 666.7256050610675, + 225.9862362418244 + ], + [ + 666.3534654885505, + 225.95977654904863 + ], + [ + 664.2561811822819, + 219.99127023851625 + ], + [ + 664.6424161247745, + 220.0185293319588 + ], + [ + 667.2164818611587, + 205.16957732066504 + ], + [ + 666.8374905473767, + 205.14334330291547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9156295396776, + "ymin": 219.3987649788514, + "xmax": 665.8381222501539, + "ymax": 249.69498632471743 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 660.9156295396776, + 249.52105178810385 + ], + [ + 663.2897423884323, + 249.69498632471743 + ], + [ + 665.4447343126366, + 236.91934922605714 + ], + [ + 663.1075168876206, + 236.75084492651376 + ], + [ + 661.2441746860877, + 232.0878628512701 + ], + [ + 663.6556599983851, + 232.26073594792996 + ], + [ + 665.8381222501539, + 219.56615821555448 + ], + [ + 663.4646938147359, + 219.3987649788514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3193455583416, + "ymin": 206.91601347284114, + "xmax": 665.99575150805, + "ymax": 237.958959989528 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3193455583416, + 237.93618519380135 + ], + [ + 663.6347785213171, + 237.958959989528 + ], + [ + 665.5489007030664, + 226.7470761411637 + ], + [ + 665.2378337273306, + 226.72493510341732 + ], + [ + 663.7330883185186, + 218.0396864315646 + ], + [ + 664.0541299885828, + 218.0622889500468 + ], + [ + 665.99575150805, + 206.9379761058627 + ], + [ + 665.6792313601435, + 206.91601347284114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.8694702250725, + "ymin": 150.28647425464123, + "xmax": 675.3945733530508, + "ymax": 178.10629826836873 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 670.8694702250725, + 177.9604176160895 + ], + [ + 673.0551362314308, + 178.10629826836873 + ], + [ + 674.8982808341048, + 167.37788712213606 + ], + [ + 672.7439247852552, + 167.23620354973178 + ], + [ + 671.3149280550562, + 160.91265329413298 + ], + [ + 673.5322293962922, + 161.0572310166629 + ], + [ + 675.3945733530508, + 150.4268336729813 + ], + [ + 673.2094882409602, + 150.28647425464123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.3193483434565, + "ymin": 206.9161204547931, + "xmax": 665.9957546745366, + "ymax": 237.9590709339227 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 663.3193483434565, + 237.93629613188062 + ], + [ + 663.6347813502464, + 237.9590709339227 + ], + [ + 665.5489037540345, + 226.7471839982474 + ], + [ + 665.2378367356886, + 226.72504295444736 + ], + [ + 663.7330912114305, + 218.0397965304106 + ], + [ + 664.0541329268813, + 218.06239905527167 + ], + [ + 665.9957546745366, + 206.9380830939246 + ], + [ + 665.6792344825129, + 206.9161204547931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.9936192626872, + "ymin": 170.78266483997828, + "xmax": 673.3292543720738, + "ymax": 228.6610135759989 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.9936192626872, + 228.55116300783268 + ], + [ + 671.5340436902346, + 228.6610135759989 + ], + [ + 671.7455377938719, + 227.361443963752 + ], + [ + 670.207614941654, + 227.2519540910111 + ], + [ + 671.4923036968296, + 172.0492163501786 + ], + [ + 673.1099279910193, + 172.15631520782102 + ], + [ + 673.3292543720738, + 170.88939451031573 + ], + [ + 671.7143884584402, + 170.78266483997828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.7306906105879, + "ymin": 160.54364418406323, + "xmax": 675.1024666052315, + "ymax": 218.11284354402775 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 671.7306906105879, + 218.00590349065814 + ], + [ + 673.2508077889532, + 218.11284354402775 + ], + [ + 673.4567022182274, + 216.8476809284855 + ], + [ + 671.9390211549592, + 216.74108734224643 + ], + [ + 673.2939858413589, + 161.77502859665037 + ], + [ + 674.8892311597367, + 161.87915101928135 + ], + [ + 675.1024666052315, + 160.6474126895353 + ], + [ + 673.5099039471507, + 160.54364418406323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.658054567039, + "ymin": 185.2615769588832, + "xmax": 643.6637035119741, + "ymax": 243.55406918110617 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 641.658054567039, + 243.44004274343826 + ], + [ + 643.2234761660404, + 243.55406918110617 + ], + [ + 643.4863413337397, + 242.20513536398383 + ], + [ + 641.9235029169876, + 242.0914903656123 + ], + [ + 641.7425415984711, + 186.57870456410623 + ], + [ + 643.3877545001837, + 186.6900841919508 + ], + [ + 643.6637035119741, + 185.37256506489362 + ], + [ + 642.0213436001933, + 185.2615769588832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.8845942855964, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 49.100077407291224 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1258.2102450610212, + 48.565107408840504 + ], + [ + 1268.4379794452634, + 49.100077407291224 + ], + [ + 1240.4790624811658, + 12.59514144642202 + ], + [ + 1230.8845942855964, + 12.122131737134225 + ], + [ + 1345.8617461544914, + -137.2802733280514 + ], + [ + 1357.6287156138706, + -136.85526078283607 + ], + [ + 1319.939132375916, + -165.61683367726812 + ], + [ + 1309.0021992764198, + -165.9863372064791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.5803996098465, + "ymin": 29.280126094175728, + "xmax": 960.2816546635488, + "ymax": 38.28811595359571 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 959.3970308083722, + 38.28811595359571 + ], + [ + 958.1771079068362, + 33.68546784772832 + ], + [ + 943.5803996098465, + 32.92094544282918 + ], + [ + 944.686129742279, + 37.51174446170597 + ], + [ + 960.2816546635488, + 34.629236175875235 + ], + [ + 959.0515798913837, + 30.042059720432007 + ], + [ + 944.413680871473, + 29.280126094175728 + ], + [ + 945.5289152229018, + 33.85546077598809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.4286650141911, + "ymin": 225.21239226166915, + "xmax": 664.5393163425401, + "ymax": 284.0010157751963 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 661.4286650141911, + 283.8762562420809 + ], + [ + 663.0624949306613, + 284.0010157751963 + ], + [ + 663.3017385851263, + 282.52520446991 + ], + [ + 661.6707224840446, + 282.40087969369677 + ], + [ + 662.5686791246507, + 226.66104699480698 + ], + [ + 664.2896200333868, + 226.7835592258894 + ], + [ + 664.5393163425401, + 225.3344549153207 + ], + [ + 662.8214970184756, + 225.21239226166915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.5253342930822, + "ymin": 22.534714630800067, + "xmax": 1083.0409192628013, + "ymax": 256.80882359924874 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1009.2723103363677, + 256.80882359924874 + ], + [ + 1007.2542856502489, + 248.90200081710543 + ], + [ + 892.5253342930822, + 240.75774578638953 + ], + [ + 893.4158283387225, + 248.5058233258816 + ], + [ + 1083.0409192628013, + 36.558619281096696 + ], + [ + 1079.7716303742727, + 29.636693178809196 + ], + [ + 941.7901691413783, + 22.534714630800067 + ], + [ + 943.4255798175585, + 29.29056567669778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 181.90617018852066, + "ymax": 132.2460081020294 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 176.26992197956412, + 132.2460081020294 + ], + [ + 181.90617018852066, + 125.97310602257116 + ], + [ + 48.39302713054087, + 117.30575056409899 + ], + [ + 41.62687053235936, + 123.42093627447198 + ], + [ + 94.57412644893327, + -83.93264218868677 + ], + [ + 102.0593586073553, + -89.00585094887742 + ], + [ + -53.203665852528275, + -95.98910641061633 + ], + [ + -62.217024119125654, + -91.06530725769363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.5134251684257, + "ymin": 171.75993963742394, + "xmax": 669.6851620325613, + "ymax": 229.66708977824283 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 666.5134251684257, + 229.55695955892327 + ], + [ + 668.0553252231706, + 229.66708977824283 + ], + [ + 668.2728114844766, + 228.36421437982122 + ], + [ + 666.7334177772063, + 228.25444623301203 + ], + [ + 667.8399848879714, + 173.02987363949202 + ], + [ + 669.4592366328212, + 173.13725879431635 + ], + [ + 669.6851620325613, + 171.86695412487782 + ], + [ + 668.0686741949256, + 171.75993963742394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.5694197522348, + "ymin": 155.09538192293567, + "xmax": 672.813602591888, + "ymax": 212.4945721905506 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 669.5694197522348, + 212.3891664098655 + ], + [ + 671.0782981530296, + 212.4945721905506 + ], + [ + 671.2862095896963, + 211.24754766559974 + ], + [ + 669.7797314322795, + 211.14248092861163 + ], + [ + 671.0152339657411, + 156.30825581509663 + ], + [ + 672.5981067613353, + 156.4108116183572 + ], + [ + 672.813602591888, + 155.19759175978712 + ], + [ + 671.2333710268817, + 155.09538192293567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.667974818005, + "ymin": 29.327921185083824, + "xmax": 960.191334054233, + "ymax": 38.240016033963286 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 959.3163955116445, + 38.240016033963286 + ], + [ + 958.1100201210011, + 33.68654033677291 + ], + [ + 943.667974818005, + 32.93010932210058 + ], + [ + 944.7625735338746, + 37.47198698622532 + ], + [ + 960.191334054233, + 34.62014989854407 + ], + [ + 958.9750251718062, + 30.081818187794738 + ], + [ + 944.4926580079583, + 29.327921185083824 + ], + [ + 945.5965630300863, + 33.85466194511196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.8078296328116, + "ymin": 0.0, + "xmax": 1018.2320469100633, + "ymax": 39.10386913378966 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 958.6489058071706, + 38.560342988993625 + ], + [ + 968.2442974075418, + 39.10386913378966 + ], + [ + 942.8212887445677, + -58.89916976289345 + ], + [ + 934.8078296328116, + -59.280019593903546 + ], + [ + 1007.1248538595821, + -162.36963846421827 + ], + [ + 1018.2320469100633, + -161.9528086947081 + ], + [ + 980.4864437104172, + -235.3010826201322 + ], + [ + 971.4450691384206, + -235.57919193718828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 468.9832070275384, + "ymin": 0.0, + "xmax": 760.168712104912, + "ymax": 33.86441718885936 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 493.00088512727814, + 15.433176349424286 + ], + [ + 490.84214592946614, + 19.339041372368456 + ], + [ + 744.0643998106648, + 33.86441718885936 + ], + [ + 744.533767264852, + 29.76168860482153 + ], + [ + 471.6240353922793, + -180.00015199060067 + ], + [ + 468.9832070275384, + -177.03701970870645 + ], + [ + 759.7532790614484, + -165.9661678396086 + ], + [ + 760.168712104912, + -169.1013921820072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.5040402656463, + "ymin": 221.01782420427227, + "xmax": 664.6300889423472, + "ymax": 280.2179498113999 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 661.5040402656463, + 280.0933111499944 + ], + [ + 663.1436291769107, + 280.2179498113999 + ], + [ + 663.3835710241881, + 278.7435766087244 + ], + [ + 661.7468157830939, + 278.61937380688994 + ], + [ + 662.6523033493654, + 222.4641011225585 + ], + [ + 664.379634927466, + 222.58641316528968 + ], + [ + 664.6300889423472, + 221.13968574555506 + ], + [ + 662.9059021552459, + 221.01782420427227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.7537151025135, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 161.49709552821622 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1212.2214220719686, + 161.49709552821622 + ], + [ + 1389.8665910552427, + 151.96605414141143 + ], + [ + 1280.1697908816013, + 62.52301957300051 + ], + [ + 1123.7537151025135, + 69.8040620000196 + ], + [ + 1375.3622780882774, + -180.0094505539215 + ], + [ + 1600.0495297743842, + -186.45376917090937 + ], + [ + 1431.8097267030585, + -244.66028378868805 + ], + [ + 1239.9990804277838, + -240.07004510946717 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00152/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00152/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0e0cee4cb49a7ba71cca168edc3fd9f3aa33135b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00152/meta.json @@ -0,0 +1,7055 @@ +{ + "frame_id": 152, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 76.0, + "sim_timestamp": 13393.947716306197 + }, + "drone_pose": { + "x": -24.207641798433432, + "y": 2.1357583468554084, + "z": 20.0, + "pitch": -43.788176530117674, + "yaw": -8.019676999056095, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7148429751396179, + 0.10071498155593872, + 0.6919941902160645, + 3.6798810958862305 + ], + [ + -0.13951317965984344, + 0.9902201890945435, + 0.0, + 1.2624139785766602 + ], + [ + -0.6852266788482666, + -0.09654231369495392, + 0.7219030857086182, + -31.231975555419922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -23.693622689750207, + "y": 2.0344967282401636, + "z": 20.0 + }, + "t1_image_uv": [ + 567.4007064889719, + -560.2266926665798 + ], + "t1_depth": 0.3776415169021886 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -4.167182922363281, + "y": -0.6877632141113281, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.03477027469166, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -4.167182922363281, + "y": -0.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20477521419525146, + "y": 0.28443464636802673, + "z": 0.5618645548820496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.1815429606553, + "ymin": 340.2144494770736, + "xmax": 650.7267020249759, + "ymax": 379.48608712218606 + }, + "corners_3d": [ + [ + -4.371958255767822, + -0.9721978902816772, + 0.03823649883270264 + ], + [ + -4.371958255767822, + -0.4033285677433014, + 0.03823649883270264 + ], + [ + -3.9624075889587402, + -0.4033285677433014, + 0.03823649883270264 + ], + [ + -3.9624075889587402, + -0.9721978902816772, + 0.03823649883270264 + ], + [ + -4.371958255767822, + -0.9721978902816772, + 1.1619656085968018 + ], + [ + -4.371958255767822, + -0.4033285677433014, + 1.1619656085968018 + ], + [ + -3.9624075889587402, + -0.4033285677433014, + 1.1619656085968018 + ], + [ + -3.9624075889587402, + -0.9721978902816772, + 1.1619656085968018 + ] + ], + "corners_2d": [ + [ + 629.4787460670843, + 377.584020708764 + ], + [ + 648.6008212989661, + 379.48608712218606 + ], + [ + 650.4344507800513, + 369.8469205162739 + ], + [ + 631.5044551153916, + 367.9836364323952 + ], + [ + 629.1815429606553, + 349.79069720937053 + ], + [ + 648.8442829664118, + 351.6886389772547 + ], + [ + 650.7267020249759, + 342.07261599066146 + ], + [ + 631.2669993496266, + 340.2144494770736 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 152, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 344413, + "2": 284953, + "5": 6475, + "6": 2876, + "9": 1571, + "10": 3603, + "12": 1932, + "14": 13689, + "15": 8001, + "20": 3239, + "24": 23084, + "25": 227764 + }, + "instance_pixel_counts": { + "2118": 3595, + "2188": 494, + "2706": 1934, + "3218": 4565, + "3424": 134336, + "5506": 1689, + "6215": 79945, + "6284": 4217, + "6290": 13842, + "6730": 670, + "6992": 3390, + "8286": 3336, + "8332": 12281, + "8338": 32130, + "8798": 4173, + "10846": 5862, + "15184": 3085, + "15510": 1661, + "16022": 249, + "16203": 733, + "18000": 3239, + "19092": 10567, + "19604": 6037, + "21140": 46134, + "23392": 1038, + "23700": 125998, + "23904": 235, + "28000": 505, + "28256": 495, + "28768": 485, + "29826": 790, + "31584": 358, + "31840": 132, + "32096": 173, + "34304": 104, + "34560": 293, + "34956": 677, + "35402": 275, + "35468": 591, + "35476": 2830, + "36170": 79, + "37524": 7132, + "38540": 4702, + "38801": 1545, + "39825": 537, + "40588": 11027, + "42897": 11622, + "44945": 35318, + "45898": 267, + "52038": 69526, + "54859": 124, + "56576": 204, + "56647": 93428, + "56832": 193, + "57088": 558, + "57173": 1571, + "57344": 636, + "57600": 341, + "58368": 8001, + "59541": 1050, + "60051": 5922, + "60928": 318, + "62101": 1111, + "62611": 40302, + "64149": 3154, + "64585": 328, + "64659": 109453 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 204, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -4.167182922363281, + "y": -0.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.213029146194458, + "y": 0.2760048806667328, + "z": 0.5595750212669373 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.430502697144, + "ymin": 340.1091501129433, + "xmax": 650.4747446738771, + "ymax": 379.59906314907744 + }, + "corners_3d": [ + [ + -4.38021183013916, + -0.9637681245803833, + 0.04052603244781494 + ], + [ + -4.38021183013916, + -0.41175833344459534, + 0.04052603244781494 + ], + [ + -3.9541537761688232, + -0.41175833344459534, + 0.04052603244781494 + ], + [ + -3.9541537761688232, + -0.9637681245803833, + 0.04052603244781494 + ], + [ + -4.38021183013916, + -0.9637681245803833, + 1.1596760749816895 + ], + [ + -4.38021183013916, + -0.41175833344459534, + 1.1596760749816895 + ], + [ + -3.9541537761688232, + -0.41175833344459534, + 1.1596760749816895 + ], + [ + -3.9541537761688232, + -0.9637681245803833, + 1.1596760749816895 + ] + ], + "corners_2d": [ + [ + 629.7197683794193, + 377.7526026125933 + ], + [ + 648.2799582932477, + 379.59906314907744 + ], + [ + 650.1905724013643, + 369.5719883325624 + ], + [ + 631.8243039259194, + 367.7646797962502 + ], + [ + 629.430502697144, + 350.0720831533767 + ], + [ + 648.5134117506115, + 351.9145777637191 + ], + [ + 650.4747446738771, + 341.91149445691565 + ], + [ + 631.5967735768105, + 340.1091501129433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 193, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -3.550380229949951, + "y": 0.8910741806030273, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.22568175196647644, + "y": 0.20850013196468353, + "z": 0.5173598527908325 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 687.8457707423205, + "ymin": 332.61326406533146, + "xmax": 704.2954965333638, + "ymax": 368.81831198207 + }, + "corners_3d": [ + [ + -3.8059000968933105, + 0.7204455137252808, + 0.0827363133430481 + ], + [ + -3.7406668663024902, + 1.1323118209838867, + 0.0827363133430481 + ], + [ + -3.294860363006592, + 1.061702847480774, + 0.0827363133430481 + ], + [ + -3.360093593597412, + 0.6498365998268127, + 0.0827363133430481 + ], + [ + -3.8059000968933105, + 0.7204455137252808, + 1.1174559593200684 + ], + [ + -3.7406668663024902, + 1.1323118209838867, + 1.1174559593200684 + ], + [ + -3.294860363006592, + 1.061702847480774, + 1.1174559593200684 + ], + [ + -3.360093593597412, + 0.6498365998268127, + 1.1174559593200684 + ] + ], + "corners_2d": [ + [ + 688.6525768595243, + 368.81831198207 + ], + [ + 702.6809819130676, + 368.6505032458975 + ], + [ + 701.7158459453119, + 358.15743661500557 + ], + [ + 687.8457707423205, + 358.32147531716345 + ], + [ + 689.905984999489, + 343.2446258698373 + ], + [ + 704.2954965333638, + 343.0772330029236 + ], + [ + 703.2870862010273, + 332.61326406533146 + ], + [ + 689.0641121541854, + 332.7768010409176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 558, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -6.423007011413574, + "y": 6.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.48705536127090454, + "y": 0.3347604274749756, + "z": 0.8881711959838867 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 865.3349012085814, + "ymin": 405.921684909791, + "xmax": 905.8741511651139, + "ymax": 478.79596228669084 + }, + "corners_3d": [ + [ + -6.926914691925049, + 5.94613790512085, + -0.2880701422691345 + ], + [ + -6.89187479019165, + 6.614741325378418, + -0.2880701422691345 + ], + [ + -5.9190993309021, + 6.563760280609131, + -0.2880701422691345 + ], + [ + -5.954139232635498, + 5.8951568603515625, + -0.2880701422691345 + ], + [ + -6.926914691925049, + 5.94613790512085, + 1.4882721900939941 + ], + [ + -6.89187479019165, + 6.614741325378418, + 1.4882721900939941 + ], + [ + -5.9190993309021, + 6.563760280609131, + 1.4882721900939941 + ], + [ + -5.954139232635498, + 5.8951568603515625, + 1.4882721900939941 + ] + ], + "corners_2d": [ + [ + 868.2580845309994, + 477.1064881540666 + ], + [ + 893.2878776278353, + 478.79596228669084 + ], + [ + 889.7025425775042, + 451.5015334525674 + ], + [ + 865.3349012085814, + 449.8995877316864 + ], + [ + 879.5812301592532, + 433.2349643378951 + ], + [ + 905.8741511651139, + 434.93338826100273 + ], + [ + 901.7689513072469, + 407.5279274508275 + ], + [ + 876.2057162423071, + 405.921684909791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 636, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -13.667181968688965, + "y": -0.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4285662770271301, + "y": 0.3126932382583618, + "z": 0.882433295249939 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 559.222232714591, + "ymin": 613.5066307079942, + "xmax": 599.3456786970324, + "ymax": 693.8347841264122 + }, + "corners_3d": [ + [ + -14.078795433044434, + -1.0224573612213135, + -0.28233224153518677 + ], + [ + -14.111526489257812, + -0.3979279696941376, + -0.28233224153518677 + ], + [ + -13.255568504333496, + -0.35306909680366516, + -0.28233224153518677 + ], + [ + -13.222837448120117, + -0.9775984287261963, + -0.28233224153518677 + ], + [ + -14.078795433044434, + -1.0224573612213135, + 1.482534408569336 + ], + [ + -14.111526489257812, + -0.3979279696941376, + 1.482534408569336 + ], + [ + -13.255568504333496, + -0.35306909680366516, + 1.482534408569336 + ], + [ + -13.222837448120117, + -0.9775984287261963, + 1.482534408569336 + ] + ], + "corners_2d": [ + [ + 563.7907545307844, + 688.8230940746355 + ], + [ + 590.8846691132992, + 693.8347841264122 + ], + [ + 599.3456786970324, + 659.393629976712 + ], + [ + 572.9600848741171, + 654.652918840447 + ], + [ + 559.222232714591, + 648.4985352005679 + ], + [ + 587.9278233767848, + 653.6404005388708 + ], + [ + 596.9693491039151, + 618.3544998090283 + ], + [ + 569.0575809775637, + 613.5066307079942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 341, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 7.078153133392334, + "y": -8.857977867126465, + "z": 0.7495932579040527 + }, + "extent": { + "x": 0.4476330578327179, + "y": 0.37464720010757446, + "z": 0.9315723776817322 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 452.62306596899896, + "ymin": 106.526372535098, + "xmax": 486.26216058028047, + "ymax": 164.16903924419242 + }, + "corners_3d": [ + [ + 6.694639205932617, + -9.2980375289917, + -0.18197911977767944 + ], + [ + 6.577423095703125, + -8.557968139648438, + -0.18197911977767944 + ], + [ + 7.461667060852051, + -8.41791820526123, + -0.18197911977767944 + ], + [ + 7.578883171081543, + -9.157987594604492, + -0.18197911977767944 + ], + [ + 6.694639205932617, + -9.2980375289917, + 1.6811656951904297 + ], + [ + 6.577423095703125, + -8.557968139648438, + 1.6811656951904297 + ], + [ + 7.461667060852051, + -8.41791820526123, + 1.6811656951904297 + ], + [ + 7.578883171081543, + -9.157987594604492, + 1.6811656951904297 + ] + ], + "corners_2d": [ + [ + 459.11588066663023, + 161.08656681979465 + ], + [ + 476.9078530782457, + 164.16903924419242 + ], + [ + 486.26216058028047, + 152.28420693461413 + ], + [ + 468.72171673292365, + 149.30184203131253 + ], + [ + 452.62306596899896, + 117.99813876723965 + ], + [ + 471.027759890976, + 121.00097247747152 + ], + [ + 480.8134875808161, + 109.42826576659894 + ], + [ + 462.67769239274935, + 106.526372535098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8001, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 720.5759430568434, + "ymin": 166.44491086855325, + "xmax": 798.9400180181445, + "ymax": 348.61865906778354 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 720.5759430568434, + 342.5509791287655 + ], + [ + 785.6931677673651, + 348.61865906778354 + ], + [ + 790.5358407703985, + 233.90230175585197 + ], + [ + 733.561586397339, + 229.26579476101898 + ], + [ + 725.7291832816614, + 277.3845100902253 + ], + [ + 795.0776448875893, + 283.37682106282205 + ], + [ + 798.9400180181445, + 170.9507372385182 + ], + [ + 738.752792599857, + 166.44491086855325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 318, + "type_id": "vehicle.audi.a2", + "bbox_3d": { + "center_world": { + "x": -17.58913230895996, + "y": -4.414099216461182, + "z": 0.7744287848472595 + }, + "extent": { + "x": 1.852684736251831, + "y": 0.8943392634391785, + "z": 0.7745251059532166 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 259.79514978867223, + "ymin": 693.4048963232386, + "xmax": 432.56073949833484, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -15.733410835266113, + -3.524275779724121, + 0.0019746990874409676 + ], + [ + -15.737765312194824, + -5.312949180603027, + 0.0019746990874409676 + ], + [ + -19.4431209564209, + -5.303926944732666, + -0.00216637272387743 + ], + [ + -19.438766479492188, + -3.5152535438537598, + -0.00216637272387743 + ], + [ + -15.73514175415039, + -3.5242714881896973, + 1.551024079322815 + ], + [ + -15.739497184753418, + -5.3129448890686035, + 1.551024079322815 + ], + [ + -19.444852828979492, + -5.303922653198242, + 1.5468829870224 + ], + [ + -19.44049835205078, + -3.515249490737915, + 1.5468829870224 + ] + ], + "corners_2d": [ + [ + 432.56073949833484, + 739.1643510766219 + ], + [ + 351.94431030273284, + 728.021017916733 + ], + [ + 282.48020964510897, + 917.7922630054428 + ], + [ + 374.3807424851656, + 932.4760911053102 + ], + [ + 421.0697936289372, + 704.8488324325898 + ], + [ + 336.1365269632206, + 693.4048963232386 + ], + [ + 259.79514978867223, + 889.796301174598 + ], + [ + 357.3452008387436, + 905.125165996578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816373723399, + "ymin": 226.4151462159433, + "xmax": 684.6116226306709, + "ymax": 257.2111981674807 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816373723399, + 257.0031562411608 + ], + [ + 681.5944004121513, + 257.2111981674807 + ], + [ + 683.9220207314071, + 244.15811105633082 + ], + [ + 681.5471928143038, + 243.95665941200326 + ], + [ + 679.8067927626349, + 239.38068244777827 + ], + [ + 682.2582238401213, + 239.5874868635883 + ], + [ + 684.6116226306709, + 226.6152975490217 + ], + [ + 682.1993425685964, + 226.4151462159433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816367421733, + "ymin": 226.41514955961642, + "xmax": 684.6116220237571, + "ymax": 257.2112016447413 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816367421733, + 257.0031597166517 + ], + [ + 681.5943997920879, + 257.2112016447413 + ], + [ + 683.9220201309882, + 244.15811442342613 + ], + [ + 681.5471922040969, + 243.95666277741225 + ], + [ + 679.806792125115, + 239.38068590258163 + ], + [ + 682.2582232130309, + 239.58749032017892 + ], + [ + 684.6116220237571, + 226.61530089439654 + ], + [ + 682.1993419515834, + 226.41514955961642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.0452287020131, + "ymin": 176.7057530648084, + "xmax": 690.1305509903109, + "ymax": 205.51832740595273 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.0452287020131, + 205.3357627649469 + ], + [ + 687.3068124066899, + 205.51832740595273 + ], + [ + 689.4039079897138, + 194.05235637626507 + ], + [ + 687.1756879225643, + 193.87521747547655 + ], + [ + 685.71782230695, + 188.07259073930797 + ], + [ + 688.0133458504305, + 188.25370375231967 + ], + [ + 690.1305509903109, + 176.8814049262203 + ], + [ + 687.8693924486237, + 176.7057530648084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7281125905258, + "ymin": 175.75947230440943, + "xmax": 693.8059939164887, + "ymax": 204.53433766193797 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 688.7281125905258, + 204.35224184940813 + ], + [ + 690.9876673825074, + 204.53433766193797 + ], + [ + 693.027062537313, + 193.09759540892156 + ], + [ + 690.8008123602301, + 192.9209046054074 + ], + [ + 689.4547485699728, + 187.09691229336764 + ], + [ + 691.7481817376433, + 187.27755327365472 + ], + [ + 693.8059939164887, + 175.9346733080746 + ], + [ + 691.5468640457246, + 175.75947230440943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0631323005853, + "ymin": 217.9980322911467, + "xmax": 683.2160872684045, + "ymax": 249.37627381562788 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0631323005853, + 249.34900062423682 + ], + [ + 680.382452885157, + 249.37627381562788 + ], + [ + 682.464653396643, + 237.90676001654765 + ], + [ + 682.1497872750623, + 237.8802540885468 + ], + [ + 680.7824160034618, + 229.38185012885396 + ], + [ + 681.1074944549764, + 229.40892825766886 + ], + [ + 683.2160872684045, + 218.02433526224942 + ], + [ + 682.8956242206317, + 217.9980322911467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0631290674463, + "ymin": 217.9981608464378, + "xmax": 683.2160845454138, + "ymax": 249.37640712184884 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0631290674463, + 249.3491339214765 + ], + [ + 680.3824497044873, + 249.37640712184884 + ], + [ + 682.4646505990237, + 237.90688957246755 + ], + [ + 682.1497844264273, + 237.8803836358618 + ], + [ + 680.7824128328326, + 229.38198247264907 + ], + [ + 681.1074913387258, + 229.4090606105411 + ], + [ + 683.2160845454138, + 218.02446382623066 + ], + [ + 682.8956214447954, + 217.9981608464378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816373723399, + "ymin": 226.4151462159433, + "xmax": 684.6116226306709, + "ymax": 257.2111981674807 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816373723399, + 257.0031562411608 + ], + [ + 681.5944004121513, + 257.2111981674807 + ], + [ + 683.9220207314071, + 244.15811105633082 + ], + [ + 681.5471928143038, + 243.95665941200326 + ], + [ + 679.8067927626349, + 239.38068244777827 + ], + [ + 682.2582238401213, + 239.5874868635883 + ], + [ + 684.6116226306709, + 226.6152975490217 + ], + [ + 682.1993425685964, + 226.4151462159433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816377272704, + "ymin": 226.41514624538667, + "xmax": 684.6116228673644, + "ymax": 257.21119818789384 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816377272704, + 257.0031562717649 + ], + [ + 681.5944006488922, + 257.21119818789384 + ], + [ + 683.9220209644247, + 244.15811107609724 + ], + [ + 681.5471931636553, + 243.956659441638 + ], + [ + 679.8067931232523, + 239.3806824782002 + ], + [ + 682.2582240806572, + 239.5874868838801 + ], + [ + 684.6116228673644, + 226.6152975686606 + ], + [ + 682.199342923456, + 226.41514624538667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816369655112, + "ymin": 226.415149012152, + "xmax": 684.6116221249094, + "ymax": 257.2112010651979 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816369655112, + 257.00315914760455 + ], + [ + 681.5943998954318, + 257.2112010651979 + ], + [ + 683.922020231058, + 244.15811386224357 + ], + [ + 681.5471924222486, + 243.956662226389 + ], + [ + 679.806792351574, + 239.3806853369217 + ], + [ + 682.2582233175459, + 239.58748974408047 + ], + [ + 684.6116221249094, + 226.61530033683405 + ], + [ + 682.1993421727054, + 226.415149012152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.6529808191118, + "ymin": 190.04597229188266, + "xmax": 663.8370277523077, + "ymax": 219.39034718087504 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 658.6529808191118, + 219.20110879045058 + ], + [ + 660.9491278251364, + 219.39034718087504 + ], + [ + 663.4853458099368, + 207.50840571806262 + ], + [ + 661.223579178751, + 207.3248909590402 + ], + [ + 658.9366191420806, + 201.83136090366096 + ], + [ + 661.2677600129316, + 202.01919620433318 + ], + [ + 663.8370277523077, + 190.22804199847783 + ], + [ + 661.541315130459, + 190.04597229188266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0631844302119, + "ymin": 217.99786482306934, + "xmax": 683.2161388921583, + "ymax": 249.37610015854727 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0631844302119, + 249.348826978856 + ], + [ + 680.3825049480465, + 249.37610015854727 + ], + [ + 682.4647042816686, + 237.90659124495699 + ], + [ + 682.1498382249766, + 237.88008532816573 + ], + [ + 680.782468911962, + 229.38167772551984 + ], + [ + 681.1075472943111, + 229.40875584251006 + ], + [ + 683.2161388921583, + 218.02416778285144 + ], + [ + 682.8956759116018, + 217.99786482306934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816367421733, + "ymin": 226.41514955961642, + "xmax": 684.6116220237571, + "ymax": 257.2112016447413 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816367421733, + 257.0031597166517 + ], + [ + 681.5943997920879, + 257.2112016447413 + ], + [ + 683.9220201309882, + 244.15811442342613 + ], + [ + 681.5471922040969, + 243.95666277741225 + ], + [ + 679.806792125115, + 239.38068590258163 + ], + [ + 682.2582232130309, + 239.58749032017892 + ], + [ + 684.6116220237571, + 226.61530089439654 + ], + [ + 682.1993419515834, + 226.41514955961642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.5201140246029, + "ymin": 216.1943825010924, + "xmax": 684.4754602881759, + "ymax": 252.43547774785077 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 680.5201140246029, + 252.40257468671507 + ], + [ + 680.9039212957741, + 252.43547774785077 + ], + [ + 683.6640570109575, + 237.1198625144394 + ], + [ + 683.2873731248294, + 237.0881879396946 + ], + [ + 681.2877996021014, + 231.3899923922627 + ], + [ + 681.6789103775232, + 231.42265194226744 + ], + [ + 684.4754602881759, + 216.2258002167376 + ], + [ + 684.0917439875425, + 216.1943825010924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0632278894211, + "ymin": 217.99796614905165, + "xmax": 683.2161829058282, + "ymax": 249.37620522916478 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0632278894211, + 249.34893204239447 + ], + [ + 680.3825484501614, + 249.37620522916478 + ], + [ + 682.4647474338965, + 237.90669335962576 + ], + [ + 682.1498813354883, + 237.8801874360521 + ], + [ + 680.7825132464491, + 229.38178203756203 + ], + [ + 681.1075916732648, + 229.40886016170688 + ], + [ + 683.2161829058282, + 218.02426911568335 + ], + [ + 682.8957198820594, + 217.99796614905165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816377272704, + "ymin": 226.41514624538667, + "xmax": 684.6116228673644, + "ymax": 257.21119818789384 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816377272704, + 257.0031562717649 + ], + [ + 681.5944006488922, + 257.21119818789384 + ], + [ + 683.9220209644247, + 244.15811107609724 + ], + [ + 681.5471931636553, + 243.956659441638 + ], + [ + 679.8067931232523, + 239.3806824782002 + ], + [ + 682.2582240806572, + 239.5874868838801 + ], + [ + 684.6116228673644, + 226.6152975686606 + ], + [ + 682.199342923456, + 226.41514624538667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.5200083433633, + "ymin": 216.19437385023176, + "xmax": 684.4753545043056, + "ymax": 252.43546867705226 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 680.5200083433633, + 252.40256562686514 + ], + [ + 680.9038154868223, + 252.43546867705226 + ], + [ + 683.6639531658776, + 237.1198537823198 + ], + [ + 683.2872694049331, + 237.08817921810143 + ], + [ + 681.2876919099263, + 231.3899833994704 + ], + [ + 681.6788025550402, + 231.42264293859378 + ], + [ + 684.4753545043056, + 216.2257915554231 + ], + [ + 684.091638331349, + 216.19437385023176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.5201073005363, + "ymin": 216.194496673135, + "xmax": 684.4754540304909, + "ymax": 252.43559731710707 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 680.5201073005363, + 252.40269425650328 + ], + [ + 680.9039145087567, + 252.43559731710707 + ], + [ + 683.6640507503027, + 237.11997761930547 + ], + [ + 683.2873669269807, + 237.08830304524838 + ], + [ + 681.287792865739, + 231.39011107704027 + ], + [ + 681.6789035781017, + 231.4227706266991 + ], + [ + 684.4754540304909, + 216.22591438826666 + ], + [ + 684.0917377928067, + 216.194496673135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.1816385155945, + "ymin": 226.41514461280778, + "xmax": 684.6116236442082, + "ymax": 257.21119649008995 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 679.1816385155945, + 257.003154574825 + ], + [ + 681.5944014324057, + 257.21119649008995 + ], + [ + 683.9220217306697, + 244.1581094320823 + ], + [ + 681.5471939345607, + 243.9566577984464 + ], + [ + 679.8067939228355, + 239.38068079136116 + ], + [ + 682.2582248752744, + 239.58748519616847 + ], + [ + 684.6116236442082, + 226.61529593525088 + ], + [ + 682.1993437051086, + 226.41514461280778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.5202197775766, + "ymin": 216.1943939696496, + "xmax": 684.4755660389683, + "ymax": 252.4354897595831 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 680.5202197775766, + 252.4025866974747 + ], + [ + 680.9040270587028, + 252.4354897595831 + ], + [ + 683.664160820682, + 237.11987407768646 + ], + [ + 683.2874769249675, + 237.08819950202286 + ], + [ + 681.2879073702102, + 231.39000431412313 + ], + [ + 681.6790181559686, + 231.4226638651117 + ], + [ + 684.4755660389683, + 216.2258116862231 + ], + [ + 684.091849728388, + 216.1943939696496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.6733285486345, + "ymin": 165.4381425479563, + "xmax": 695.6795081437435, + "ymax": 193.80182499632537 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.6733285486345, + 193.62480373442816 + ], + [ + 692.9016298441684, + 193.80182499632537 + ], + [ + 694.884599702603, + 182.6814986536784 + ], + [ + 692.6886948659431, + 182.509659673322 + ], + [ + 691.4182137709413, + 176.45744355836518 + ], + [ + 693.6794558291516, + 176.63297705377585 + ], + [ + 695.6795081437435, + 165.60846345997814 + ], + [ + 693.4516203594809, + 165.4381425479563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.5201141150549, + "ymin": 216.19438138376674, + "xmax": 684.4754602537579, + "ymax": 252.43547656739133 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 680.5201141150549, + 252.40257351656527 + ], + [ + 680.903921266523, + 252.43547656739133 + ], + [ + 683.6640569783239, + 237.11986137805513 + ], + [ + 683.2873732096672, + 237.08818681323328 + ], + [ + 681.2877996931406, + 231.38999123077392 + ], + [ + 681.6789103465705, + 231.4226507705435 + ], + [ + 684.4754602537579, + 216.22579908956777 + ], + [ + 684.0917440727992, + 216.19438138376674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.4547373472259, + "ymin": 230.48564676362992, + "xmax": 682.8641652145142, + "ymax": 261.1656045202159 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 677.4547373472259, + 260.95736531044986 + ], + [ + 679.8577213824697, + 261.1656045202159 + ], + [ + 682.2040998484968, + 248.09934380059758 + ], + [ + 679.8387462429048, + 247.89767619477698 + ], + [ + 678.0499896167228, + 243.46702902079318 + ], + [ + 680.491326443267, + 243.6740727636433 + ], + [ + 682.8641652145142, + 230.6860552850756 + ], + [ + 680.461659977714, + 230.48564676362992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0631323005853, + "ymin": 217.9980322911467, + "xmax": 683.2160872684045, + "ymax": 249.37627381562788 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0631323005853, + 249.34900062423682 + ], + [ + 680.382452885157, + 249.37627381562788 + ], + [ + 682.464653396643, + 237.90676001654765 + ], + [ + 682.1497872750623, + 237.8802540885468 + ], + [ + 680.7824160034618, + 229.38185012885396 + ], + [ + 681.1074944549764, + 229.40892825766886 + ], + [ + 683.2160872684045, + 218.02433526224942 + ], + [ + 682.8956242206317, + 217.9980322911467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.4553031658451, + "ymin": 159.91092647307335, + "xmax": 693.423878985429, + "ymax": 188.05450427321347 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 688.4553031658451, + 187.88017098119857 + ], + [ + 690.6661031357536, + 188.05450427321347 + ], + [ + 692.6669014007966, + 177.10182233001174 + ], + [ + 690.4879944261594, + 176.9325545854406 + ], + [ + 689.162076951705, + 170.76174896956388 + ], + [ + 691.4052985944395, + 170.93457835483002 + ], + [ + 693.423878985429, + 160.0786623788303 + ], + [ + 691.2134857547076, + 159.91092647307335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.0631337066483, + "ymin": 217.9981420183337, + "xmax": 683.2160891236956, + "ymax": 249.37638759792762 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 680.0631337066483, + 249.34911439887054 + ], + [ + 680.382454336145, + 249.37638759792762 + ], + [ + 682.4646551155636, + 237.90687059781231 + ], + [ + 682.1497889503025, + 237.88036466246672 + ], + [ + 680.782417537669, + 229.3819630896838 + ], + [ + 681.1074960357435, + 229.40904122624653 + ], + [ + 683.2160891236956, + 218.0244449968539 + ], + [ + 682.8956260306758, + 217.9981420183337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.8352912876379, + "ymin": 180.8637873273058, + "xmax": 691.0759981427077, + "ymax": 238.99884889750967 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 686.8352912876379, + 238.86762234906078 + ], + [ + 688.3929856812264, + 238.99884889750967 + ], + [ + 688.6236150686732, + 237.6724513333141 + ], + [ + 687.0684676018108, + 237.5416599558875 + ], + [ + 689.201195427455, + 182.15776882494941 + ], + [ + 690.8379991300667, + 182.28584211621995 + ], + [ + 691.0759981427077, + 180.99141450394538 + ], + [ + 689.4420064207819, + 180.8637873273058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7278268795307, + "ymin": 170.40473873615053, + "xmax": 692.9998475500734, + "ymax": 228.23418433560627 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7278268795307, + 228.1064686453752 + ], + [ + 690.2648474950233, + 228.23418433560627 + ], + [ + 690.4893108759055, + 226.94324744427618 + ], + [ + 688.9547700983223, + 226.81594959244225 + ], + [ + 691.1545340719291, + 171.66242291805722 + ], + [ + 692.768525996443, + 171.786900270215 + ], + [ + 692.9998475500734, + 170.52878861384625 + ], + [ + 691.3885898542073, + 170.40473873615053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.972825695383, + "ymin": 195.34404078730174, + "xmax": 660.8584809462285, + "ymax": 253.87903519748807 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 657.972825695383, + 253.74287720427878 + ], + [ + 659.5546930890903, + 253.87903519748807 + ], + [ + 659.8383588343775, + 252.5028299540972 + ], + [ + 658.2591176998517, + 252.36713187006592 + ], + [ + 658.8985016675063, + 196.68912869811734 + ], + [ + 660.5620190234688, + 196.82226525105094 + ], + [ + 660.8584809462285, + 195.47670453483812 + ], + [ + 659.1978677232935, + 195.34404078730174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.4099424560195, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 61.622038160540285 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1288.3414956692855, + 60.97458625939754 + ], + [ + 1298.8547196780128, + 61.622038160540285 + ], + [ + 1270.2581853664688, + 23.906448955656856 + ], + [ + 1260.4099424560195, + 23.335116197000616 + ], + [ + 1382.0520603881364, + -127.00081805584506 + ], + [ + 1394.1984717848798, + -126.48394303648752 + ], + [ + 1355.1866083069258, + -156.3356556442384 + ], + [ + 1343.9185212695486, + -156.783869355339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.5530285968389, + "ymin": 41.43689824386951, + "xmax": 985.6840022513585, + "ymax": 50.799636893469994 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 984.7125585681138, + 50.799636893469994 + ], + [ + 983.4861646106326, + 46.037490155835314 + ], + [ + 968.5530285968389, + 45.1119971578907 + ], + [ + 969.6604004370158, + 49.859557661855774 + ], + [ + 985.6840022513585, + 47.105938672752586 + ], + [ + 984.4465868758905, + 42.35934450154434 + ], + [ + 969.4702899863619, + 41.43689824386951 + ], + [ + 970.5879918811436, + 46.16891310314526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.4454401645334, + "ymin": 236.43249041005342, + "xmax": 681.474373950455, + "ymax": 295.4473893764672 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 677.4454401645334, + 295.29817033844563 + ], + [ + 679.0982392446288, + 295.4473893764672 + ], + [ + 679.3595488275853, + 293.9392693293604 + ], + [ + 677.7096167992202, + 293.79057577728815 + ], + [ + 679.4607916011385, + 237.91452155150543 + ], + [ + 681.2029327849881, + 238.06122565706931 + ], + [ + 681.474373950455, + 236.57865015555137 + ], + [ + 679.735417876152, + 236.43249041005342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.7665129145566, + "ymin": 34.562903120675, + "xmax": 1111.6943757108247, + "ymax": 272.2468072989191 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1031.871393504914, + 272.2468072989191 + ], + [ + 1029.866013065598, + 264.08394537387505 + ], + [ + 912.7665129145566, + 254.26300854785086 + ], + [ + 913.6021077753387, + 262.2315811342787 + ], + [ + 1111.6943757108247, + 50.370881615951134 + ], + [ + 1108.345051694054, + 43.17841811322637 + ], + [ + 966.8897455524736, + 34.562903120675 + ], + [ + 968.5289076696045, + 41.55025234784529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 198.50567897621573, + "ymax": 135.37650882893038 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 192.76735057829598, + 135.37650882893038 + ], + [ + 198.50567897621573, + 129.08648559640216 + ], + [ + 66.01903351558121, + 118.9362041520312 + ], + [ + 59.174976433897314, + 125.04152707065768 + ], + [ + 113.83265976925816, + -81.02780679280363 + ], + [ + 121.41143160591014, + -86.11764871604737 + ], + [ + -32.481011898269344, + -94.29706436078817 + ], + [ + -41.550977421409016, + -89.38223955602115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.3002860924441, + "ymin": 181.82264498735753, + "xmax": 687.3735194162415, + "ymax": 239.98502117999723 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 683.3002860924441, + 239.85347060596303 + ], + [ + 684.8593214152182, + 239.98502117999723 + ], + [ + 685.0961066117356, + 238.65535100913036 + ], + [ + 683.5396225701116, + 238.52423721754838 + ], + [ + 685.4904530010883, + 183.11998001005438 + ], + [ + 687.1287376652086, + 183.24838554784122 + ], + [ + 687.3735194162415, + 181.95060267496126 + ], + [ + 685.7380517863415, + 181.82264498735753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.612466653064, + "ymin": 164.80468114018586, + "xmax": 690.7506115424428, + "ymax": 222.46470721519788 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 686.612466653064, + 222.33885362024964 + ], + [ + 688.1379001946559, + 222.46470721519788 + ], + [ + 688.3641807413433, + 221.19257854262955 + ], + [ + 686.8411898026472, + 221.06713368866832 + ], + [ + 688.9160033647865, + 166.04314336910386 + ], + [ + 690.517223642705, + 166.16571648922033 + ], + [ + 690.7506115424428, + 164.9268365491187 + ], + [ + 689.1520824094063, + 164.80468114018586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.6428166990212, + "ymin": 41.48655255223679, + "xmax": 985.5913170697512, + "ymax": 50.74961779101716 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 984.6304975961144, + 50.74961779101716 + ], + [ + 983.4177414893288, + 46.03835749658447 + ], + [ + 968.6428166990212, + 45.12265846675382 + ], + [ + 969.739068890925, + 49.81964157503211 + ], + [ + 985.5913170697512, + 47.09530641069114 + ], + [ + 984.3677765698844, + 42.39926930745469 + ], + [ + 969.5506012600874, + 41.48655255223679 + ], + [ + 970.6569683291857, + 46.16831917242558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 958.4667668607215, + "ymin": 0.0, + "xmax": 1045.9658829377636, + "ymax": 48.49676523312877 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 981.8885915101137, + 47.851818732198126 + ], + [ + 991.6562206431378, + 48.49676523312877 + ], + [ + 966.6063149250729, + -51.672649195275994 + ], + [ + 958.4667668607215, + -52.12287829697624 + ], + [ + 1034.6251721717676, + -154.7782542235144 + ], + [ + 1045.9658829377636, + -154.28180949938053 + ], + [ + 1007.7024693829464, + -229.48809470680033 + ], + [ + 998.498804231882, + -229.81770815699986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.9712115495002, + "ymin": 0.0, + "xmax": 783.5136507306045, + "ymax": 41.072774221292775 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 511.4612963587107, + 20.085899164451916 + ], + [ + 509.2350216537237, + 24.025107915729734 + ], + [ + 764.1580758018667, + 41.072774221292775 + ], + [ + 764.6802797475073, + 36.901150607003444 + ], + [ + 492.67178688130116, + -175.99799347292048 + ], + [ + 489.9712115495002, + -173.00559132118144 + ], + [ + 783.0635383651321, + -159.9865837049856 + ], + [ + 783.5136507306045, + -163.18275723697673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.5786175300449, + "ymin": 232.22283146769587, + "xmax": 681.6295880203794, + "ymax": 291.65526113532826 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 677.5786175300449, + 291.50617504170486 + ], + [ + 679.2373192474735, + 291.65526113532826 + ], + [ + 679.499310717045, + 290.1484932365217 + ], + [ + 677.8434965495402, + 289.99993402314783 + ], + [ + 679.6087185384329, + 233.70255769167755 + ], + [ + 681.35741899565, + 233.84903475733392 + ], + [ + 681.6295880203794, + 232.36876298375967 + ], + [ + 679.8840966816656, + 232.22283146769587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.1753865930073, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 176.4122565732181 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1240.4564974889704, + 176.4122565732181 + ], + [ + 1423.5944218527336, + 168.60701844174878 + ], + [ + 1310.7237351834422, + 75.38729799818395 + ], + [ + 1150.1753865930073, + 81.31549254822744 + ], + [ + 1415.5792477740163, + -169.21559069700504 + ], + [ + 1649.0111410088086, + -174.55047731377658 + ], + [ + 1473.020957321198, + -235.81576163374416 + ], + [ + 1275.0574068042533, + -232.04943516365813 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00153/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00153/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5ac3563010514443c41bec9970044ca71036321 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00153/meta.json @@ -0,0 +1,6950 @@ +{ + "frame_id": 153, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 76.5, + "sim_timestamp": 13403.663138679462 + }, + "drone_pose": { + "x": -23.693622689750207, + "y": 2.0344967282401636, + "z": 20.0, + "pitch": -43.82747881189728, + "yaw": -7.740957997833025, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7148538827896118, + 0.09717246890068054, + 0.6924892663955688, + 3.285390853881836 + ], + [ + -0.13469457626342773, + 0.9908871650695801, + 0.0, + 1.175445556640625 + ], + [ + -0.6861786842346191, + -0.0932745486497879, + 0.7214281558990479, + -30.876388549804688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -23.18041427427877, + "y": 1.9248448726932863, + "z": 20.0 + }, + "t1_image_uv": [ + 539.4893921463834, + -561.4911213735861 + ], + "t1_depth": 0.37752419795597325 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -3.6671829223632817, + "y": -0.6877632141113281, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.014729471057546, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 190, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -3.6671829223632812, + "y": -0.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20693250000476837, + "y": 0.31951844692230225, + "z": 0.5591081380844116 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.8002075009082, + "ymin": 337.5761086732603, + "xmax": 653.1799934276493, + "ymax": 382.2186441481814 + }, + "corners_3d": [ + [ + -4.039440155029297, + -0.7673735618591309, + 0.040992915630340576 + ], + [ + -3.5875725746154785, + -0.3155061900615692, + 0.040992915630340576 + ], + [ + -3.2949259281158447, + -0.6081528663635254, + 0.040992915630340576 + ], + [ + -3.746793270111084, + -1.0600202083587646, + 0.040992915630340576 + ], + [ + -4.039440155029297, + -0.7673735618591309, + 1.1592092514038086 + ], + [ + -3.5875725746154785, + -0.3155061900615692, + 1.1592092514038086 + ], + [ + -3.2949259281158447, + -0.6081528663635254, + 1.1592092514038086 + ], + [ + -3.746793270111084, + -1.0600202083587646, + 1.1592092514038086 + ] + ], + "corners_2d": [ + [ + 635.5988161613832, + 382.2186441481814 + ], + [ + 652.8209147576652, + 372.95141720597104 + ], + [ + 644.3218290761872, + 365.20348371256625 + ], + [ + 627.16035108966, + 374.3169143576685 + ], + [ + 635.4742940146625, + 354.5510549694007 + ], + [ + 653.1799934276493, + 345.30358349842857 + ], + [ + 644.441840164786, + 337.5761086732603 + ], + [ + 626.8002075009082, + 346.66584702562744 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 153, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 345776, + "2": 284194, + "5": 6594, + "6": 3054, + "9": 1526, + "10": 3605, + "12": 1858, + "14": 13310, + "15": 8231, + "20": 3283, + "24": 23139, + "25": 227030 + }, + "instance_pixel_counts": { + "2118": 3601, + "2188": 558, + "2706": 2051, + "3218": 4679, + "3424": 130800, + "5506": 1729, + "6215": 77321, + "6284": 4358, + "6290": 14249, + "6730": 650, + "6992": 3447, + "8286": 3430, + "8332": 12052, + "8338": 31532, + "8798": 4306, + "10846": 5574, + "15184": 3147, + "15510": 1761, + "16022": 280, + "16203": 721, + "18000": 3283, + "19092": 11640, + "19604": 6929, + "21140": 47599, + "23392": 1052, + "23700": 123580, + "23904": 131, + "28000": 525, + "28256": 513, + "28768": 509, + "29826": 843, + "31584": 369, + "31840": 134, + "32096": 168, + "34304": 136, + "34560": 346, + "34956": 698, + "35402": 288, + "35468": 621, + "35476": 2913, + "36170": 32, + "37524": 7186, + "38540": 4850, + "38801": 1698, + "39825": 1229, + "40588": 10835, + "42897": 11989, + "44945": 34719, + "45898": 197, + "52038": 70755, + "54859": 25, + "56576": 190, + "56647": 96230, + "56832": 171, + "57088": 511, + "57173": 1526, + "57344": 644, + "57600": 342, + "58368": 8231, + "59541": 1071, + "60051": 6797, + "62101": 1154, + "62611": 41555, + "64149": 3146, + "64585": 314, + "64659": 107676 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 190, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -3.6671829223632812, + "y": -0.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3148307502269745, + "y": 0.22465258836746216, + "z": 0.5546941757202148 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.2035668029408, + "ymin": 337.0270810736513, + "xmax": 652.8732179810065, + "ymax": 382.8009836845099 + }, + "corners_3d": [ + [ + -4.048655033111572, + -0.623997688293457, + 0.045406877994537354 + ], + [ + -3.7309484481811523, + -0.3062908947467804, + 0.045406877994537354 + ], + [ + -3.285710573196411, + -0.7515287399291992, + 0.045406877994537354 + ], + [ + -3.60341739654541, + -1.0692355632781982, + 0.045406877994537354 + ], + [ + -4.048655033111572, + -0.623997688293457, + 1.1547951698303223 + ], + [ + -3.7309484481811523, + -0.3062908947467804, + 1.1547951698303223 + ], + [ + -3.285710573196411, + -0.7515287399291992, + 1.1547951698303223 + ], + [ + -3.60341739654541, + -1.0692355632781982, + 1.1547951698303223 + ] + ], + "corners_2d": [ + [ + 640.4029215073114, + 382.8009836845099 + ], + [ + 652.523958019887, + 376.25669901400613 + ], + [ + 639.6049164509794, + 364.4343617322184 + ], + [ + 627.5487285629719, + 370.81412104136325 + ], + [ + 640.4142385374689, + 355.35065477755194 + ], + [ + 652.8732179810065, + 348.8194133524363 + ], + [ + 639.594041346065, + 337.0270810736513 + ], + [ + 627.2035668029408, + 343.38961879393673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 171, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": -0.9965780377388, + "y": -1.5937591791152954, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2286052703857422, + "y": 0.2553079128265381, + "z": 0.5339229702949524 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 611.4912673854059, + "ymin": 278.4383250262407, + "xmax": 633.7998258287176, + "ymax": 318.75621652839897 + }, + "corners_3d": [ + [ + -1.3374972343444824, + -1.5588798522949219, + 0.0661780834197998 + ], + [ + -0.9244004487991333, + -1.2587473392486572, + 0.0661780834197998 + ], + [ + -0.6556587815284729, + -1.628638505935669, + 0.0661780834197998 + ], + [ + -1.0687556266784668, + -1.9287710189819336, + 0.0661780834197998 + ], + [ + -1.3374972343444824, + -1.5588798522949219, + 1.1340240240097046 + ], + [ + -0.9244004487991333, + -1.2587473392486572, + 1.1340240240097046 + ], + [ + -0.6556587815284729, + -1.628638505935669, + 1.1340240240097046 + ], + [ + -1.0687556266784668, + -1.9287710189819336, + 1.1340240240097046 + ] + ], + "corners_2d": [ + [ + 622.4982315753896, + 318.75621652839897 + ], + [ + 633.7998258287176, + 311.05018195202285 + ], + [ + 623.4926441077984, + 304.55343804162305 + ], + [ + 612.1855899153047, + 312.1446471148719 + ], + [ + 622.057950819395, + 292.5593425705346 + ], + [ + 633.6452515245105, + 284.8962469989461 + ], + [ + 623.0842452120662, + 278.4383250262407 + ], + [ + 611.4912673854059, + 285.9844080543328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 511, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -5.923007011413574, + "y": 6.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4260491728782654, + "y": 0.4182925224304199, + "z": 0.9038794636726379 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 857.5507589226438, + "ymin": 402.5287399757851, + "xmax": 914.6518934100488, + "ymax": 480.71921306477964 + }, + "corners_3d": [ + [ + -6.518941402435303, + 6.291672706604004, + -0.30377840995788574 + ], + [ + -5.897237777709961, + 6.851457595825195, + -0.30377840995788574 + ], + [ + -5.327072620391846, + 6.218225479125977, + -0.30377840995788574 + ], + [ + -5.9487762451171875, + 5.658440589904785, + -0.30377840995788574 + ], + [ + -6.518941402435303, + 6.291672706604004, + 1.5039805173873901 + ], + [ + -5.897237777709961, + 6.851457595825195, + 1.5039805173873901 + ], + [ + -5.327072620391846, + 6.218225479125977, + 1.5039805173873901 + ], + [ + -5.9487762451171875, + 5.658440589904785, + 1.5039805173873901 + ] + ], + "corners_2d": [ + [ + 881.8794604887933, + 480.71921306477964 + ], + [ + 901.5856386690926, + 465.27128770558517 + ], + [ + 877.2660641300647, + 447.28703879226964 + ], + [ + 857.5507589226438, + 462.1946189013231 + ], + [ + 894.152386936621, + 436.09864665220834 + ], + [ + 914.6518934100488, + 420.57350850227175 + ], + [ + 888.8997882776873, + 402.5287399757851 + ], + [ + 868.3832794830544, + 417.4842478008571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 644, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -13.167181968688965, + "y": -0.6877632141113281, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.37237364053726196, + "y": 0.2582201659679413, + "z": 0.8667880892753601 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 561.1913595633317, + "ymin": 615.6722532221613, + "xmax": 602.1179419127886, + "ymax": 693.0470488639996 + }, + "corners_3d": [ + [ + -13.616692543029785, + -0.6304914951324463, + -0.2666919231414795 + ], + [ + -13.271126747131348, + -0.24670159816741943, + -0.2666919231414795 + ], + [ + -12.717671394348145, + -0.74503493309021, + -0.2666919231414795 + ], + [ + -13.063237190246582, + -1.1288248300552368, + -0.2666919231414795 + ], + [ + -13.616692543029785, + -0.6304914951324463, + 1.4668842554092407 + ], + [ + -13.271126747131348, + -0.24670159816741943, + 1.4668842554092407 + ], + [ + -12.717671394348145, + -0.74503493309021, + 1.4668842554092407 + ], + [ + -13.063237190246582, + -1.1288248300552368, + 1.4668842554092407 + ] + ], + "corners_2d": [ + [ + 582.6868256138321, + 693.0470488639996 + ], + [ + 602.1179419127886, + 680.9254035247283 + ], + [ + 584.7075777381797, + 656.018248547286 + ], + [ + 565.5033009631723, + 667.6564755272948 + ], + [ + 579.2969036398767, + 653.5915654690821 + ], + [ + 599.9002356771414, + 641.1638362860236 + ], + [ + 581.5392378617137, + 615.6722532221613 + ], + [ + 561.1913595633317, + 627.5761200029438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 342, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 7.578153133392334, + "y": -8.857977867126465, + "z": 0.7495542168617249 + }, + "extent": { + "x": 0.4906591773033142, + "y": 0.35865265130996704, + "z": 0.9448264241218567 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 451.3473178235043, + "ymin": 105.44613425830451, + "xmax": 484.35059125470764, + "ymax": 165.53468488587976 + }, + "corners_3d": [ + [ + 6.970390796661377, + -8.859731674194336, + -0.19527220726013184 + ], + [ + 7.392012119293213, + -8.279419898986816, + -0.19527220726013184 + ], + [ + 8.185914993286133, + -8.856224060058594, + -0.19527220726013184 + ], + [ + 7.764294147491455, + -9.436535835266113, + -0.19527220726013184 + ], + [ + 6.970390796661377, + -8.859731674194336, + 1.6943806409835815 + ], + [ + 7.392012119293213, + -8.279419898986816, + 1.6943806409835815 + ], + [ + 8.185914993286133, + -8.856224060058594, + 1.6943806409835815 + ], + [ + 7.764294147491455, + -9.436535835266113, + 1.6943806409835815 + ] + ], + "corners_2d": [ + [ + 466.9098999798081, + 165.53468488587976 + ], + [ + 484.35059125470764, + 160.74748238550023 + ], + [ + 475.1265122064823, + 148.84318668509795 + ], + [ + 457.91503865447004, + 153.47336730016133 + ], + [ + 460.5574312953713, + 121.69304355065623 + ], + [ + 478.67718723554964, + 117.03055182754636 + ], + [ + 469.2194939144061, + 105.44613425830451 + ], + [ + 451.3473178235043, + 109.95024464317962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8231, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 719.1491187438905, + "ymin": 174.1917532966658, + "xmax": 797.6764416418367, + "ymax": 359.3402545889741 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 719.1491187438905, + 353.33741968684035 + ], + [ + 785.0959852109369, + 359.3402545889741 + ], + [ + 789.2419748469873, + 241.84097837670558 + ], + [ + 731.6385193439523, + 237.26854032668166 + ], + [ + 724.2833722778132, + 288.0294588487941 + ], + [ + 794.573880818133, + 293.96788435639974 + ], + [ + 797.6764416418367, + 178.64111974510928 + ], + [ + 736.7863711076664, + 174.1917532966658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177326848229, + "ymin": 235.6280854089216, + "xmax": 682.3124248779864, + "ymax": 266.82568906203977 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177326848229, + 266.6197208874056 + ], + [ + 679.3617184331658, + 266.82568906203977 + ], + [ + 681.6497552090533, + 253.43417187695863 + ], + [ + 679.2447123197273, + 253.234808899909 + ], + [ + 677.5147709273965, + 248.93552590090803 + ], + [ + 679.9984420097264, + 249.14035628846682 + ], + [ + 682.3124248779864, + 235.82624345299226 + ], + [ + 679.8689612984816, + 235.6280854089216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177320648073, + "ymin": 235.62808884005162, + "xmax": 682.3124242813619, + "ymax": 266.82569263017695 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177320648073, + 266.6197244537685 + ], + [ + 679.361717823524, + 266.82569263017695 + ], + [ + 681.6497546189644, + 253.43417533065525 + ], + [ + 679.2447117195926, + 253.234812351916 + ], + [ + 677.5147702999668, + 248.93552944755578 + ], + [ + 679.99844139301, + 249.14035983690755 + ], + [ + 682.3124242813619, + 235.82624688582843 + ], + [ + 679.8689606914878, + 235.62808884005162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.5821505538502, + "ymin": 184.6689662715483, + "xmax": 687.6304781192231, + "ymax": 213.83432480008656 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 682.5821505538502, + 213.65386431001232 + ], + [ + 684.8711015284374, + 213.83432480008656 + ], + [ + 686.9315200872204, + 202.08928950267202 + ], + [ + 684.6767630820348, + 201.91425440351986 + ], + [ + 683.2260828448074, + 196.3168964140085 + ], + [ + 685.5498079662053, + 196.4959892466952 + ], + [ + 687.6304781192231, + 184.84259527229312 + ], + [ + 685.3419858911361, + 184.6689662715483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.302771035242, + "ymin": 183.68983433992955, + "xmax": 691.3435500440185, + "ymax": 212.8161957883467 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 686.302771035242, + 212.6362088714762 + ], + [ + 688.5895814106444, + 212.8161957883467 + ], + [ + 690.5910786099682, + 201.10175350978906 + ], + [ + 688.3383991026037, + 200.92717080216966 + ], + [ + 687.0020338463055, + 195.3069770947333 + ], + [ + 689.3235527385613, + 195.48559284936908 + ], + [ + 691.3435500440185, + 183.86300791370354 + ], + [ + 689.0571980415694, + 183.68983433992955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7922893064938, + "ymin": 227.19337298024777, + "xmax": 680.8840589189526, + "ymax": 258.94818092282406 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7922893064938, + 258.9211756654971 + ], + [ + 678.1157651319601, + 258.94818092282406 + ], + [ + 680.1637477219601, + 247.17926940014422 + ], + [ + 679.8448454485834, + 247.1530333353121 + ], + [ + 678.4800904023733, + 238.87993172534408 + ], + [ + 678.8094765784205, + 238.9067567836798 + ], + [ + 680.8840589189526, + 227.21942037677175 + ], + [ + 680.5594137371081, + 227.19337298024777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7922867295212, + "ymin": 227.19350486806735, + "xmax": 680.8840568503457, + "ymax": 258.9483176696721 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7922867295212, + 258.9213124033431 + ], + [ + 678.115762608818, + 258.9483176696721 + ], + [ + 680.163745571463, + 247.1794022519599 + ], + [ + 679.8448432457672, + 247.1531661785076 + ], + [ + 678.4800878952229, + 238.8800675506934 + ], + [ + 678.8094741270858, + 238.90689261813384 + ], + [ + 680.8840568503457, + 227.21955227330304 + ], + [ + 680.5594116142806, + 227.19350486806735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177326848229, + "ymin": 235.6280854089216, + "xmax": 682.3124248779864, + "ymax": 266.82568906203977 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177326848229, + 266.6197208874056 + ], + [ + 679.3617184331658, + 266.82568906203977 + ], + [ + 681.6497552090533, + 253.43417187695863 + ], + [ + 679.2447123197273, + 253.234808899909 + ], + [ + 677.5147709273965, + 248.93552590090803 + ], + [ + 679.9984420097264, + 249.14035628846682 + ], + [ + 682.3124248779864, + 235.82624345299226 + ], + [ + 679.8689612984816, + 235.6280854089216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177330443487, + "ymin": 235.62808543807188, + "xmax": 682.3124251177381, + "ymax": 266.8256890822493 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177330443487, + 266.6197209177048 + ], + [ + 679.3617186729689, + 266.8256890822493 + ], + [ + 681.6497554450343, + 253.43417189651998 + ], + [ + 679.2447126735257, + 253.23480892923664 + ], + [ + 677.5147712927587, + 248.9355259310397 + ], + [ + 679.9984422534243, + 249.14035630856478 + ], + [ + 682.3124251177381, + 235.8262434724355 + ], + [ + 679.8689616579305, + 235.62808543807188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177322879851, + "ymin": 235.62808827791346, + "xmax": 682.3124243807994, + "ymax": 266.8256920354874 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177322879851, + 266.61972386947457 + ], + [ + 679.361717925131, + 266.8256920354874 + ], + [ + 681.6497547173126, + 253.43417475503915 + ], + [ + 679.2447119375479, + 253.23481178635748 + ], + [ + 677.5147705263257, + 248.93552886649178 + ], + [ + 679.9984414957961, + 249.14035924550075 + ], + [ + 682.3124243807994, + 235.82624631368907 + ], + [ + 679.8689609124698, + 235.62808827791346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.9465583671017, + "ymin": 198.40643369517747, + "xmax": 661.0945885909573, + "ymax": 228.11913460126522 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 655.9465583671017, + 227.9319638747375 + ], + [ + 658.2713672715312, + 228.11913460126522 + ], + [ + 660.7794186681348, + 215.94072177364328 + ], + [ + 658.4898723243798, + 215.75927944838733 + ], + [ + 656.1922144083017, + 210.49068462384292 + ], + [ + 658.5529046574742, + 210.67654038765494 + ], + [ + 661.0945885909573, + 198.58651571856717 + ], + [ + 658.7702493191705, + 198.40643369517747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7923411835235, + "ymin": 227.19320103053207, + "xmax": 680.8841102964807, + "ymax": 258.94800263811396 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7923411835235, + 258.9209973925235 + ], + [ + 678.1158169404048, + 258.94800263811396 + ], + [ + 680.1637983485804, + 247.1790961936103 + ], + [ + 679.8448961418636, + 247.15286014001686 + ], + [ + 678.4801430713622, + 238.87975464204604 + ], + [ + 678.809529176295, + 238.90657968851139 + ], + [ + 680.8841102964807, + 227.2192484156981 + ], + [ + 680.5594651837188, + 227.19320103053207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177320648073, + "ymin": 235.62808884005162, + "xmax": 682.3124242813619, + "ymax": 266.82569263017695 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177320648073, + 266.6197244537685 + ], + [ + 679.361717823524, + 266.82569263017695 + ], + [ + 681.6497546189644, + 253.43417533065525 + ], + [ + 679.2447117195926, + 253.234812351916 + ], + [ + 677.5147702999668, + 248.93552944755578 + ], + [ + 679.99844139301, + 249.14035983690755 + ], + [ + 682.3124242813619, + 235.82624688582843 + ], + [ + 679.8689606914878, + 235.62808884005162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.267691838327, + "ymin": 225.33966728495557, + "xmax": 682.149638632057, + "ymax": 262.06148823690154 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.267691838327, + 262.0289073720919 + ], + [ + 678.6564997755522, + 262.06148823690154 + ], + [ + 681.3705050356618, + 246.34651635157786 + ], + [ + 680.9890106947132, + 246.31516701121367 + ], + [ + 679.002649409104, + 240.93934155199082 + ], + [ + 679.3989546091533, + 240.9716977899344 + ], + [ + 682.149638632057, + 225.37077768215045 + ], + [ + 681.7609290608963, + 225.33966728495557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7923857380962, + "ymin": 227.19330484839753, + "xmax": 680.884155407997, + "ymax": 258.9481102808511 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7923857380962, + 258.9211050281745 + ], + [ + 678.1158615388846, + 258.9481102808511 + ], + [ + 680.1638425721543, + 247.17920077030348 + ], + [ + 679.8449403227639, + 247.1529647099245 + ], + [ + 678.480188528686, + 238.87986155940797 + ], + [ + 678.8095746791448, + 238.90668661304028 + ], + [ + 680.884155407997, + 227.21935224042113 + ], + [ + 680.5595102510109, + 227.19330484839753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9177330443487, + "ymin": 235.62808543807188, + "xmax": 682.3124251177381, + "ymax": 266.8256890822493 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.9177330443487, + 266.6197209177048 + ], + [ + 679.3617186729689, + 266.8256890822493 + ], + [ + 681.6497554450343, + 253.43417189651998 + ], + [ + 679.2447126735257, + 253.23480892923664 + ], + [ + 677.5147712927587, + 248.9355259310397 + ], + [ + 679.9984422534243, + 249.14035630856478 + ], + [ + 682.3124251177381, + 235.8262434724355 + ], + [ + 679.8689616579305, + 235.62808543807188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.267584780056, + "ymin": 225.33965871870706, + "xmax": 682.1495314717286, + "ymax": 262.0614792549353 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.267584780056, + 262.0288984009503 + ], + [ + 678.6563925881035, + 262.0614792549353 + ], + [ + 681.3703998645212, + 246.34650770912748 + ], + [ + 680.9889056501618, + 246.31515837916587 + ], + [ + 679.0025402865447, + 240.93933264270703 + ], + [ + 679.3988453547593, + 240.97168886988706 + ], + [ + 682.1495314717286, + 225.37076910556613 + ], + [ + 681.7608220297079, + 225.33965871870706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.267685655079, + "ymin": 225.3397844203452, + "xmax": 682.149632909577, + "ymax": 262.0616109084151 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.267685655079, + 262.02903004401355 + ], + [ + 678.6564935292722, + 262.0616109084151 + ], + [ + 681.370499305121, + 246.3466343861401 + ], + [ + 680.989005027083, + 246.3152850463468 + ], + [ + 679.0026432186847, + 240.93946337806588 + ], + [ + 679.3989483556201, + 240.97181961578934 + ], + [ + 682.149632909577, + 225.3708948171448 + ], + [ + 681.7609234014467, + 225.3397844203452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.917733833724, + "ymin": 235.6280837613739, + "xmax": 682.3124258955538, + "ymax": 266.8256873385997 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 676.917733833724, + 266.6197191749223 + ], + [ + 679.3617194573959, + 266.8256873385997 + ], + [ + 681.6497562120408, + 253.43417020879434 + ], + [ + 679.2447134453242, + 253.23480724233667 + ], + [ + 677.5147720936232, + 248.93552419789148 + ], + [ + 679.9984430491784, + 249.14035457454034 + ], + [ + 682.3124258955538, + 235.82624179490378 + ], + [ + 679.8689624406927, + 235.6280837613739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.2677989846696, + "ymin": 225.3396787413424, + "xmax": 682.1497457739905, + "ymax": 262.06150023573633 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.2677989846696, + 262.0289193699773 + ], + [ + 678.6566069317987, + 262.06150023573633 + ], + [ + 681.370610185948, + 246.34652789685987 + ], + [ + 680.9891158354668, + 246.31517855559963 + ], + [ + 679.0027586241798, + 240.9393534671485 + ], + [ + 679.3990638345178, + 240.97170970605302 + ], + [ + 682.1497457739905, + 225.37078913944322 + ], + [ + 681.761036192934, + 225.3396787413424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.2132205097764, + "ymin": 173.11755479712087, + "xmax": 693.1819998073734, + "ymax": 201.82296260431082 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 688.2132205097764, + 201.6480495698045 + ], + [ + 690.4680016482595, + 201.82296260431082 + ], + [ + 692.4134854353509, + 190.43634502944442 + ], + [ + 690.1918928887785, + 190.26661096710825 + ], + [ + 688.9308459908303, + 184.4049021968735 + ], + [ + 691.2193629595386, + 184.57840831139072 + ], + [ + 693.1819998073734, + 173.28584885354442 + ], + [ + 690.9276645300124, + 173.11755479712087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.2676919237965, + "ymin": 225.33966613855773, + "xmax": 682.1496385911457, + "ymax": 262.0614870261083 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 678.2676919237965, + 262.0289061715084 + ], + [ + 678.6564997397517, + 262.0614870261083 + ], + [ + 681.3705049966304, + 246.34651518655218 + ], + [ + 680.9890107746603, + 246.31516585601014 + ], + [ + 679.002649495123, + 240.93934035968564 + ], + [ + 679.3989545715526, + 240.971696587488 + ], + [ + 682.1496385911457, + 225.37077652600368 + ], + [ + 681.7609291412242, + 225.33966613855773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.1769897329918, + "ymin": 239.71619691211941, + "xmax": 680.5510215016752, + "ymax": 270.7947031924707 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 675.1769897329918, + 270.58855853746377 + ], + [ + 677.6109710423368, + 270.7947031924707 + ], + [ + 679.9183854481216, + 257.3908752907773 + ], + [ + 677.5230311495184, + 257.1913162251858 + ], + [ + 675.7436127061515, + 253.03866288458198 + ], + [ + 678.2169525445885, + 253.24371093231494 + ], + [ + 680.5510215016752, + 239.91459145710314 + ], + [ + 678.1175578428351, + 239.71619691211941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7922893064938, + "ymin": 227.19337298024777, + "xmax": 680.8840589189526, + "ymax": 258.94818092282406 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7922893064938, + 258.9211756654971 + ], + [ + 678.1157651319601, + 258.94818092282406 + ], + [ + 680.1637477219601, + 247.17926940014422 + ], + [ + 679.8448454485834, + 247.1530333353121 + ], + [ + 678.4800904023733, + 238.87993172534408 + ], + [ + 678.8094765784205, + 238.9067567836798 + ], + [ + 680.8840589189526, + 227.21942037677175 + ], + [ + 680.5594137371081, + 227.19337298024777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.939212560796, + "ymin": 167.46617787364272, + "xmax": 690.8703097200181, + "ymax": 195.94665754371 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.939212560796, + 195.77442694369938 + ], + [ + 688.1761182740443, + 195.94665754371 + ], + [ + 690.140776159165, + 184.73339511558922 + ], + [ + 687.9365385097586, + 184.56622567945755 + ], + [ + 686.6176502383258, + 178.5792115588493 + ], + [ + 688.887755140662, + 178.75001766870827 + ], + [ + 690.8703097200181, + 167.63189221095467 + ], + [ + 688.6338425418782, + 167.46617787364272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 677.7922913249719, + "ymin": 227.19348553968024, + "xmax": 680.8840613854894, + "ymax": 258.9482976291861 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 677.7922913249719, + 258.9212923641762 + ], + [ + 678.1157671965186, + 258.9482976291861 + ], + [ + 680.1637500440471, + 247.17938278229764 + ], + [ + 679.8448477258838, + 247.15314671010853 + ], + [ + 678.4800925572029, + 238.88004764525448 + ], + [ + 678.8094787810297, + 238.90687271136073 + ], + [ + 680.8840613854894, + 227.2195329436393 + ], + [ + 680.5594161572308, + 227.19348553968024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.4445276018536, + "ymin": 188.918496410669, + "xmax": 688.6085449295273, + "ymax": 247.30609297360454 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.4445276018536, + 247.17651615479315 + ], + [ + 686.0202394766233, + 247.30609297360454 + ], + [ + 686.2465932629087, + 245.94863299946888 + ], + [ + 684.6734893876124, + 245.81949073629295 + ], + [ + 686.7180708581371, + 190.2444011391127 + ], + [ + 688.374784203451, + 190.37101827621484 + ], + [ + 688.6085449295273, + 189.0446672517275 + ], + [ + 686.954714384161, + 188.918496410669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.3026121990114, + "ymin": 178.20344333747832, + "xmax": 690.4977815240328, + "ymax": 236.29080762593435 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 686.3026121990114, + 236.16473599915008 + ], + [ + 687.85715759109, + 236.29080762593435 + ], + [ + 688.0773925848991, + 234.97004109242982 + ], + [ + 686.5253856661889, + 234.84438652256955 + ], + [ + 688.6373251840101, + 179.49172087424577 + ], + [ + 690.2706559273444, + 179.6147414063601 + ], + [ + 690.4977815240328, + 178.32603643748965 + ], + [ + 688.8672528636689, + 178.20344333747832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.3279859051672, + "ymin": 203.83714725406196, + "xmax": 658.1055551632943, + "ymax": 262.61824750067456 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 655.3279859051672, + 262.4837183942675 + ], + [ + 656.9287748074138, + 262.61824750067456 + ], + [ + 657.2091555995138, + 261.20894688142204 + ], + [ + 655.6110580515315, + 261.07487745774336 + ], + [ + 656.1276997940529, + 205.21634424822844 + ], + [ + 657.8121591031787, + 205.34805554837112 + ], + [ + 658.1055551632943, + 203.9683850802969 + ], + [ + 656.4240756526985, + 203.83714725406196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6972314890716852059, + "instance_id": 23343, + "pixel_count": null, + "type_id": "BP_StreetLight_simple7_SM_2", + "bbox_3d": { + "center_world": { + "x": 21.1507568359375, + "y": 25.21114730834961, + "z": 4.030282020568848 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.4817739378132, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 64.96575066907576 + }, + "corners_3d": [ + [ + 19.234037399291992, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 25.43075180053711, + 0.1535632610321045 + ], + [ + 23.067476272583008, + 24.99154281616211, + 0.1535632610321045 + ], + [ + 19.234037399291992, + 24.99154281616211, + 7.907000541687012 + ], + [ + 19.234037399291992, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 25.43075180053711, + 7.907000541687012 + ], + [ + 23.067476272583008, + 24.99154281616211, + 7.907000541687012 + ] + ], + "corners_2d": [ + [ + 1289.0281404328248, + 64.33217773607714 + ], + [ + 1299.5957420391317, + 64.96575066907576 + ], + [ + 1270.377236530589, + 26.72939116824307 + ], + [ + 1260.4817739378132, + 26.17076484037409 + ], + [ + 1383.6438787204127, + -124.56833250011255 + ], + [ + 1395.8635868374931, + -124.0614408171785 + ], + [ + 1356.0023724719954, + -154.38691115830318 + ], + [ + 1344.6718925043433, + -154.82599226334196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.4738562857029, + "ymin": 48.47253557185718, + "xmax": 986.8865134895921, + "ymax": 57.982790890671595 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 985.8981568857289, + 57.982790890671595 + ], + [ + 984.5952578105416, + 53.091705235085726 + ], + [ + 969.4738562857029, + 52.17466549207563 + ], + [ + 970.6546172721294, + 57.05110674517306 + ], + [ + 986.8865134895921, + 54.262117448349954 + ], + [ + 985.5720952984138, + 49.38662687238161 + ], + [ + 970.4064309964825, + 48.47253557185718 + ], + [ + 971.5979925228485, + 53.33338698873388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.2213346079203, + "ymin": 245.81260716766383, + "xmax": 679.1742983820187, + "ymax": 305.03802817485195 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 675.2213346079203, + 304.8904782771561 + ], + [ + 676.8945110045443, + 305.03802817485195 + ], + [ + 677.151343278343, + 303.4924278692781 + ], + [ + 675.4811071110187, + 303.34540381756125 + ], + [ + 677.1424662591374, + 247.33356536536087 + ], + [ + 678.9072667197322, + 247.47882771156333 + ], + [ + 679.1742983820187, + 245.9573236601274 + ], + [ + 677.4127686895147, + 245.81260716766383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 912.8851158830628, + "ymin": 41.52862068540924, + "xmax": 1114.4962165116294, + "ymax": 280.40134859547095 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1033.2859339723068, + 280.40134859547095 + ], + [ + 1031.181210925647, + 272.0589613834604 + ], + [ + 912.8851158830628, + 262.37335179531993 + ], + [ + 913.7950809098135, + 270.52204429821836 + ], + [ + 1114.4962165116294, + 57.448785784256415 + ], + [ + 1110.9931654856077, + 50.06432442126754 + ], + [ + 967.7842507953969, + 41.52862068540924 + ], + [ + 969.5330003608979, + 48.70717442837906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 189.8938558581131, + "ymax": 142.86081755622308 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 184.06734748558188, + 142.86081755622308 + ], + [ + 189.8938558581131, + 136.41641598026254 + ], + [ + 55.59426341817539, + 126.38052525673129 + ], + [ + 48.63018980499203, + 132.64008763902274 + ], + [ + 102.39827365484064, + -75.18076994698015 + ], + [ + 110.13684454242525, + -80.41864548840857 + ], + [ + -46.21158177007305, + -88.54156440969172 + ], + [ + -55.49134535270832, + -83.48000933742458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.8751155301072, + "ymin": 189.91080387396156, + "xmax": 684.8678027057183, + "ymax": 248.32545929478584 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 680.8751155301072, + 248.19555566362524 + ], + [ + 682.4522407930993, + 248.32545929478584 + ], + [ + 682.6848753369344, + 246.96457829789836 + ], + [ + 681.1103627233322, + 246.83511086603372 + ], + [ + 682.9688367118847, + 191.2402206589794 + ], + [ + 684.627112846922, + 191.36717351317878 + ], + [ + 684.8678027057183, + 190.0373086575393 + ], + [ + 683.2124147764083, + 189.91080387396156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.1344324915824, + "ymin": 172.47669588348455, + "xmax": 688.1921931296807, + "ymax": 230.39755152629053 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 684.1344324915824, + 230.27333546165366 + ], + [ + 685.6771543271196, + 230.39755152629053 + ], + [ + 685.8993475911851, + 229.09621014607734 + ], + [ + 684.359125777191, + 228.9724019722294 + ], + [ + 686.3425607041296, + 173.74508573458627 + ], + [ + 687.962844271466, + 173.86620536582947 + ], + [ + 688.1921931296807, + 172.59739794278178 + ], + [ + 686.5746670776214, + 172.47669588348455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.5651119181879, + "ymin": 48.52296976673716, + "xmax": 986.7922951537716, + "ymax": 57.931980743582244 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 985.814751297845, + 57.931980743582244 + ], + [ + 984.5263189534387, + 53.093155603784055 + ], + [ + 969.5651119181879, + 52.18581888736969 + ], + [ + 970.7339902605208, + 57.010309894309785 + ], + [ + 986.7922951537716, + 54.25098076028769 + ], + [ + 985.4925914005942, + 49.427420433444354 + ], + [ + 970.4880551371971, + 48.52296976673716 + ], + [ + 971.6675090197052, + 53.33220103852142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.2823220960287, + "ymin": 0.0, + "xmax": 1045.238694532032, + "ymax": 52.28575966557702 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 980.7373772068556, + 51.65215442127737 + ], + [ + 990.5731385827082, + 52.28575966557702 + ], + [ + 964.4680623584879, + -49.36399779992354 + ], + [ + 956.2823220960287, + -49.805189691182306 + ], + [ + 1033.8058329305034, + -152.1360844205451 + ], + [ + 1045.238694532032, + -151.64710655232216 + ], + [ + 1005.6210430836089, + -228.1316442608512 + ], + [ + 996.3581505199635, + -228.45521879005548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.92943697832993, + "ymin": 0.0, + "xmax": 780.5012596063743, + "ymax": 45.24747175371357 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 506.40267725639853, + 24.4496005949718 + ], + [ + 504.16577340885516, + 28.463433051582683 + ], + [ + 761.3958967932484, + 45.24747175371357 + ], + [ + 761.8964494621241, + 41.00282706356154 + ], + [ + 486.6550200103961, + -172.98193666651912 + ], + [ + 483.92943697832993, + -169.9240693877622 + ], + [ + 780.0749287999405, + -157.07000538198167 + ], + [ + 780.5012596063743, + -160.33109480003645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 675.3482044421186, + "ymin": 241.58702472810592, + "xmax": 679.3228788263368, + "ymax": 301.23690248967847 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 675.3482044421186, + 301.08947068173364 + ], + [ + 677.0274304576534, + 301.23690248967847 + ], + [ + 677.2849484251637, + 299.6925481629794 + ], + [ + 675.6086839213959, + 299.5456436678604 + ], + [ + 677.283581384708, + 243.10577025935888 + ], + [ + 679.0551134888873, + 243.25082241542594 + ], + [ + 679.3228788263368, + 241.73152975508583 + ], + [ + 677.5546424679603, + 241.58702472810592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.2912389545065, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 181.7449252054672 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1242.2263200826699, + 181.7449252054672 + ], + [ + 1426.2328275879304, + 173.2972415732587 + ], + [ + 1311.540722207183, + 78.78620753753592 + ], + [ + 1150.2912389545065, + 85.19104813397678 + ], + [ + 1419.9154220741975, + -165.9384522895972 + ], + [ + 1654.8104561945775, + -171.7414039958469 + ], + [ + 1475.5305821103493, + -234.11432042336912 + ], + [ + 1276.4587979286453, + -230.02980741374574 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00154/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00154/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..410a5446a161f4aa78583f280b93754b0c963ee6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00154/meta.json @@ -0,0 +1,6951 @@ +{ + "frame_id": 154, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 77.0, + "sim_timestamp": 13413.599678597646 + }, + "drone_pose": { + "x": -23.18041427427877, + "y": 1.9248448726932863, + "z": 20.0, + "pitch": -43.76633888848502, + "yaw": -8.84024575873999, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7135878801345825, + 0.11098255217075348, + 0.6917189955711365, + 2.9205074310302734 + ], + [ + -0.1536799520254135, + 0.9881206750869751, + 0.0, + 1.660386323928833 + ], + [ + -0.6835018992424011, + -0.10630334913730621, + 0.7221667766571045, + -30.49180793762207 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -22.67582161038434, + "y": 1.8106242690619692, + "z": 20.0 + }, + "t1_image_uv": [ + 549.0396925481467, + -559.5248528989318 + ], + "t1_depth": 0.37274770495684256 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -3.1671829223632812, + "y": -1.187763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.045923707971657, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -3.1671829223632812, + "y": -1.1877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20030194520950317, + "y": 0.280502587556839, + "z": 0.5604860782623291 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2677661533681, + "ymin": 340.28800843575425, + "xmax": 650.6458179141309, + "ymax": 379.41395881970317 + }, + "corners_3d": [ + [ + -3.3674848079681396, + -1.4682657718658447, + 0.039614975452423096 + ], + [ + -3.3674848079681396, + -0.9072606563568115, + 0.039614975452423096 + ], + [ + -2.966881036758423, + -0.9072606563568115, + 0.039614975452423096 + ], + [ + -2.966881036758423, + -1.4682657718658447, + 0.039614975452423096 + ], + [ + -3.3674848079681396, + -1.4682657718658447, + 1.1605870723724365 + ], + [ + -3.3674848079681396, + -0.9072606563568115, + 1.1605870723724365 + ], + [ + -2.966881036758423, + -0.9072606563568115, + 1.1605870723724365 + ], + [ + -2.966881036758423, + -1.4682657718658447, + 1.1605870723724365 + ] + ], + "corners_2d": [ + [ + 629.5615943586756, + 377.3498259962358 + ], + [ + 648.3699988393782, + 379.41395881970317 + ], + [ + 650.3566387180878, + 370.0110270853829 + ], + [ + 631.7318559216513, + 367.987984918841 + ], + [ + 629.2677661533681, + 349.6259142400689 + ], + [ + 648.6061376846793, + 351.68547657176447 + ], + [ + 650.6458179141309, + 342.30543348565106 + ], + [ + 631.5015083514364, + 340.28800843575425 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 154, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 349544, + "2": 271777, + "5": 5900, + "6": 3290, + "7": 8, + "9": 311, + "10": 2453, + "12": 1829, + "14": 13961, + "15": 8540, + "20": 3388, + "24": 23995, + "25": 236604 + }, + "instance_pixel_counts": { + "2118": 2446, + "2188": 633, + "2706": 2198, + "3218": 4681, + "3424": 135719, + "5506": 1812, + "6215": 66711, + "6284": 4465, + "6290": 14940, + "6730": 729, + "6992": 2757, + "8286": 3438, + "8332": 11863, + "8338": 30471, + "8798": 4334, + "10846": 6189, + "15184": 3143, + "15510": 1933, + "16022": 364, + "16203": 792, + "18000": 3388, + "19092": 13981, + "19604": 9263, + "21140": 49548, + "23392": 1089, + "23700": 120109, + "23904": 245, + "28000": 534, + "28256": 515, + "28768": 505, + "29826": 851, + "31584": 372, + "31840": 140, + "32096": 174, + "34304": 171, + "34560": 464, + "34956": 725, + "35402": 289, + "35468": 658, + "35476": 3057, + "36170": 110, + "37524": 6951, + "38540": 5083, + "38801": 1814, + "39825": 1976, + "40588": 10505, + "42897": 12499, + "44945": 34267, + "45898": 278, + "52038": 68288, + "54859": 100, + "56576": 193, + "56647": 100885, + "56832": 156, + "57088": 547, + "57173": 311, + "57344": 602, + "57600": 331, + "58368": 8540, + "59541": 1126, + "60051": 8110, + "62101": 1194, + "62611": 42700, + "64149": 3157, + "64585": 341, + "64659": 105833 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 193, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -3.1671829223632812, + "y": -1.1877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.27250516414642334, + "y": 0.2590125799179077, + "z": 0.5509427785873413 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6032396686369, + "ymin": 338.9444499838087, + "xmax": 650.2729500482246, + "ymax": 380.81979617567697 + }, + "corners_3d": [ + [ + -3.439688205718994, + -1.4467757940292358, + 0.04915827512741089 + ], + [ + -3.439688205718994, + -0.9287506341934204, + 0.04915827512741089 + ], + [ + -2.8946776390075684, + -0.9287506341934204, + 0.04915827512741089 + ], + [ + -2.8946776390075684, + -1.4467757940292358, + 0.04915827512741089 + ], + [ + -3.439688205718994, + -1.4467757940292358, + 1.1510438919067383 + ], + [ + -3.439688205718994, + -0.9287506341934204, + 1.1510438919067383 + ], + [ + -2.8946776390075684, + -0.9287506341934204, + 1.1510438919067383 + ], + [ + -2.8946776390075684, + -1.4467757940292358, + 1.1510438919067383 + ] + ], + "corners_2d": [ + [ + 629.8836357666099, + 378.90686077595353 + ], + [ + 647.2860630681068, + 380.81979617567697 + ], + [ + 649.9991044546308, + 368.0294059327435 + ], + [ + 632.8274624931232, + 366.1681038916579 + ], + [ + 629.6032396686369, + 351.6512708839134 + ], + [ + 647.4884345696514, + 353.5602363521336 + ], + [ + 650.2729500482246, + 340.8004894597898 + ], + [ + 632.631433075973, + 338.9444499838087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 156, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 2.6990950107574463, + "y": -1.3132659196853638, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.18196746706962585, + "y": 0.22867892682552338, + "z": 0.5221534371376038 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 656.0790905023563, + "ymin": 224.2802133182249, + "xmax": 670.4352274766186, + "ymax": 255.9584281598984 + }, + "corners_3d": [ + [ + 2.4835946559906006, + -1.510663390159607, + 0.07794761657714844 + ], + [ + 2.5551412105560303, + -1.058936357498169, + 0.07794761657714844 + ], + [ + 2.914595365524292, + -1.1158684492111206, + 0.07794761657714844 + ], + [ + 2.8430488109588623, + -1.5675954818725586, + 0.07794761657714844 + ], + [ + 2.4835946559906006, + -1.510663390159607, + 1.122254490852356 + ], + [ + 2.5551412105560303, + -1.058936357498169, + 1.122254490852356 + ], + [ + 2.914595365524292, + -1.1158684492111206, + 1.122254490852356 + ], + [ + 2.8430488109588623, + -1.5675954818725586, + 1.122254490852356 + ] + ], + "corners_2d": [ + [ + 656.2392185366646, + 255.9584281598984 + ], + [ + 669.7582576325132, + 255.9353032533401 + ], + [ + 669.4896066366526, + 249.3889929970136 + ], + [ + 656.0790905023563, + 249.41174810673436 + ], + [ + 656.6086548196271, + 230.79054568342167 + ], + [ + 670.4352274766186, + 230.76762463801504 + ], + [ + 670.1549579548129, + 224.2802133182249 + ], + [ + 656.4418810925803, + 224.30275959086788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 547, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -5.423007011413574, + "y": 5.75494909286499, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.41313856840133667, + "y": 0.33261778950691223, + "z": 0.8910451531410217 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 864.6234968997612, + "ymin": 410.2771993272742, + "xmax": 904.0851741655142, + "ymax": 479.4817959149599 + }, + "corners_3d": [ + [ + -5.852987289428711, + 5.444409370422363, + -0.2909489870071411 + ], + [ + -5.818171501159668, + 6.108733177185059, + -0.2909489870071411 + ], + [ + -4.9930267333984375, + 6.065488815307617, + -0.2909489870071411 + ], + [ + -5.0278425216674805, + 5.401165008544922, + -0.2909489870071411 + ], + [ + -5.852987289428711, + 5.444409370422363, + 1.4911413192749023 + ], + [ + -5.818171501159668, + 6.108733177185059, + 1.4911413192749023 + ], + [ + -4.9930267333984375, + 6.065488815307617, + 1.4911413192749023 + ], + [ + -5.0278425216674805, + 5.401165008544922, + 1.4911413192749023 + ] + ], + "corners_2d": [ + [ + 866.646779186265, + 477.52902066627314 + ], + [ + 891.545517027485, + 479.4817959149599 + ], + [ + 888.9619089372, + 456.2552262137392 + ], + [ + 864.6234968997612, + 454.3887036755638 + ], + [ + 877.9229315452695, + 433.5119610673566 + ], + [ + 904.0851741655142, + 435.4750669812889 + ], + [ + 901.0818259975999, + 412.14942908389787 + ], + [ + 875.5375061425071, + 410.2771993272742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 602, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -12.667181968688965, + "y": -1.1877632141113281, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5707013010978699, + "y": 0.3090258836746216, + "z": 0.8853662014007568 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 551.1029666059517, + "ymin": 606.7219523197862, + "xmax": 595.0838572169337, + "ymax": 698.7926924816857 + }, + "corners_3d": [ + [ + -13.220928192138672, + -1.5262337923049927, + -0.2852700352668762 + ], + [ + -13.253273963928223, + -0.9090290665626526, + -0.2852700352668762 + ], + [ + -12.113435745239258, + -0.8492926359176636, + -0.2852700352668762 + ], + [ + -12.081089973449707, + -1.4664974212646484, + -0.2852700352668762 + ], + [ + -13.220928192138672, + -1.5262337923049927, + 1.4854624271392822 + ], + [ + -13.253273963928223, + -0.9090290665626526, + 1.4854624271392822 + ], + [ + -12.113435745239258, + -0.8492926359176636, + 1.4854624271392822 + ], + [ + -12.081089973449707, + -1.4664974212646484, + 1.4854624271392822 + ] + ], + "corners_2d": [ + [ + 556.1623042122154, + 693.4382161063363 + ], + [ + 582.9016920423112, + 698.7926924816857 + ], + [ + 595.0838572169337, + 653.1413772429495 + ], + [ + 569.2606181424304, + 648.167602046705 + ], + [ + 551.1029666059517, + 653.0771496414302 + ], + [ + 579.4403735569811, + 658.5732792604466 + ], + [ + 592.4655673796312, + 611.8050227463639 + ], + [ + 565.1549128410023, + 606.7219523197862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 331, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 8.078153610229492, + "y": -9.357977867126465, + "z": 0.7483237385749817 + }, + "extent": { + "x": 0.4675363004207611, + "y": 0.3991769254207611, + "z": 0.9260503649711609 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 456.85338953383496, + "ymin": 105.2761154268016, + "xmax": 491.9435102351171, + "ymax": 163.35705659756687 + }, + "corners_3d": [ + [ + 7.678818702697754, + -9.825379371643066, + -0.1777266263961792 + ], + [ + 7.553928375244141, + -9.03685474395752, + -0.1777266263961792 + ], + [ + 8.47748851776123, + -8.890576362609863, + -0.1777266263961792 + ], + [ + 8.602378845214844, + -9.67910099029541, + -0.1777266263961792 + ], + [ + 7.678818702697754, + -9.825379371643066, + 1.6743741035461426 + ], + [ + 7.553928375244141, + -9.03685474395752, + 1.6743741035461426 + ], + [ + 8.47748851776123, + -8.890576362609863, + 1.6743741035461426 + ], + [ + 8.602378845214844, + -9.67910099029541, + 1.6743741035461426 + ] + ], + "corners_2d": [ + [ + 463.14688783043925, + 159.93223961197447 + ], + [ + 481.9669329294983, + 163.35705659756687 + ], + [ + 491.9435102351171, + 151.04728128079722 + ], + [ + 473.3959891986485, + 147.73784487972688 + ], + [ + 456.85338953383496, + 117.14629578814768 + ], + [ + 476.3154370568912, + 120.48263257832917 + ], + [ + 486.7421214493337, + 108.49614818999737 + ], + [ + 467.57121830120263, + 105.2761154268016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8540, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 734.8318129416579, + "ymin": 185.30586096465677, + "xmax": 816.7642850993989, + "ymax": 374.63324165789396 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 734.8318129416579, + 367.56144802866714 + ], + [ + 801.8152053939934, + 374.63324165789396 + ], + [ + 807.1895942353095, + 254.00498406643976 + ], + [ + 748.7632513937268, + 248.63639035458652 + ], + [ + 741.07062448306, + 302.12226257684216 + ], + [ + 812.547321366558, + 309.1308056381334 + ], + [ + 816.7642850993989, + 190.53710973672742 + ], + [ + 754.9485138721984, + 185.30586096465677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972752897967, + "ymin": 247.50246133019584, + "xmax": 698.9805199127793, + "ymax": 279.11681879538287 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972752897967, + 278.87544010016114 + ], + [ + 695.5733492997681, + 279.11681879538287 + ], + [ + 698.0455522204458, + 265.40225361566763 + ], + [ + 695.6092588273426, + 265.16870394917976 + ], + [ + 693.9667360915599, + 261.13521546419145 + ], + [ + 696.4836217689189, + 261.3753567217211 + ], + [ + 698.9805199127793, + 247.73468930406796 + ], + [ + 696.5047262902308, + 247.50246133019584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972746203613, + "ymin": 247.50246484451836, + "xmax": 698.980519269119, + "ymax": 279.11682245028703 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972746203613, + 278.87544375296164 + ], + [ + 695.5733486409309, + 279.11682245028703 + ], + [ + 698.0455515829808, + 265.40225715200967 + ], + [ + 695.609258179617, + 265.16870748351965 + ], + [ + 693.9667354150127, + 261.1352190982486 + ], + [ + 696.4836211033222, + 261.37536035790544 + ], + [ + 698.980519269119, + 247.73469282041327 + ], + [ + 696.5047256359744, + 247.50246484451836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.4407942211383, + "ymin": 195.3076067022627, + "xmax": 704.9421207644092, + "ymax": 224.83684013391613 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 699.4407942211383, + 224.62569217962255 + ], + [ + 701.7583156026226, + 224.83684013391613 + ], + [ + 703.9782599328846, + 212.82742555987684 + ], + [ + 701.695624415816, + 212.62269306360662 + ], + [ + 700.3501848754324, + 207.22096071769795 + ], + [ + 702.70342056024, + 207.43058164275925 + ], + [ + 704.9421207644092, + 195.5107633774761 + ], + [ + 702.6248462398767, + 195.3076067022627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.2226732976346, + "ymin": 194.3453198131025, + "xmax": 708.7162023653567, + "ymax": 223.83616356631563 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 703.2226732976346, + 223.62555394430987 + ], + [ + 705.538255180729, + 223.83616356631563 + ], + [ + 707.6976084473066, + 211.8571383039655 + ], + [ + 705.4168550044124, + 211.65291980740443 + ], + [ + 704.1886707775578, + 206.22807898089945 + ], + [ + 706.539906517327, + 206.43715730508188 + ], + [ + 708.7162023653567, + 194.54795877639373 + ], + [ + 706.400867676319, + 194.3453198131025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0963584034012, + "ymin": 239.0596586214584, + "xmax": 697.6627950671616, + "ymax": 271.1749255596165 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.0963584034012, + 271.1432738447518 + ], + [ + 694.4241035384168, + 271.1749255596165 + ], + [ + 696.634429889427, + 259.12087760315467 + ], + [ + 696.3113573952994, + 259.09013778472604 + ], + [ + 695.0933287266237, + 251.0345678748759 + ], + [ + 695.4271529726229, + 251.06602259629776 + ], + [ + 697.6627950671616, + 239.09019078952863 + ], + [ + 697.3338171471011, + 239.0596586214584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.096354235453, + "ymin": 239.0597939891478, + "xmax": 697.6627914895189, + "ymax": 271.17506590165095 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.096354235453, + 271.1434141760917 + ], + [ + 694.4240994256805, + 271.17506590165095 + ], + [ + 696.6344262043731, + 259.1210139018128 + ], + [ + 696.3113536565966, + 259.0902740731484 + ], + [ + 695.0933246533923, + 251.0347073327264 + ], + [ + 695.4271489566706, + 251.06616206497208 + ], + [ + 697.6627914895189, + 239.09032616756923 + ], + [ + 697.3338135138303, + 239.0597939891478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972752897967, + "ymin": 247.50246133019584, + "xmax": 698.9805199127793, + "ymax": 279.11681879538287 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972752897967, + 278.87544010016114 + ], + [ + 695.5733492997681, + 279.11681879538287 + ], + [ + 698.0455522204458, + 265.40225361566763 + ], + [ + 695.6092588273426, + 265.16870394917976 + ], + [ + 693.9667360915599, + 261.13521546419145 + ], + [ + 696.4836217689189, + 261.3753567217211 + ], + [ + 698.9805199127793, + 247.73468930406796 + ], + [ + 696.5047262902308, + 247.50246133019584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972756540285, + "ymin": 247.5024613643567, + "xmax": 698.9805201557128, + "ymax": 279.1168188190678 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972756540285, + 278.87544013566804 + ], + [ + 695.5733495427291, + 279.1168188190678 + ], + [ + 698.0455524595023, + 265.4022536385844 + ], + [ + 695.6092591857243, + 265.1687039835352 + ], + [ + 693.9667364617934, + 261.13521549951616 + ], + [ + 696.4836220158857, + 261.3753567452847 + ], + [ + 698.9805201557128, + 247.73468932685506 + ], + [ + 696.5047266544213, + 247.5024613643567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972748533444, + "ymin": 247.5024642701849, + "xmax": 698.9805193763957, + "ymax": 279.11682184113636 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972748533444, + 278.8754431559973 + ], + [ + 695.5733487507372, + 279.11682184113636 + ], + [ + 698.045551689225, + 265.40225656261936 + ], + [ + 695.6092584070318, + 265.16870690591486 + ], + [ + 693.9667356511818, + 261.1352185043474 + ], + [ + 696.483621214255, + 261.3753597518747 + ], + [ + 698.9805193763957, + 247.73469223435575 + ], + [ + 696.504725866414, + 247.5024642701849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.2927808552818, + "ymin": 209.08803560204672, + "xmax": 677.90029648566, + "ymax": 239.16723958543602 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 672.2927808552818, + 238.94830673506465 + ], + [ + 674.6452009106777, + 239.16723958543602 + ], + [ + 677.3276692368954, + 226.71846909360147 + ], + [ + 675.0111813086224, + 226.5063069195529 + ], + [ + 672.795995855143, + 221.44390952030338 + ], + [ + 675.1852237589163, + 221.6613805973801 + ], + [ + 677.90029648566, + 209.29867887357108 + ], + [ + 675.548125188691, + 209.08803560204672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0964130408125, + "ymin": 239.05948270349722, + "xmax": 697.6628491058708, + "ymax": 271.1747431772126 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.0964130408125, + 271.14309147624607 + ], + [ + 694.4241581059528, + 271.1747431772126 + ], + [ + 696.6344831869078, + 259.120700475346 + ], + [ + 696.3114107606784, + 259.0899606702191 + ], + [ + 695.0933841480635, + 251.03438664152048 + ], + [ + 695.4272083215707, + 251.06584134887603 + ], + [ + 697.6628491058708, + 239.09001485811564 + ], + [ + 697.3338712562139, + 239.05948270349722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972746203613, + "ymin": 247.50246484451836, + "xmax": 698.980519269119, + "ymax": 279.11682245028703 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972746203613, + 278.87544375296164 + ], + [ + 695.5733486409309, + 279.11682245028703 + ], + [ + 698.0455515829808, + 265.40225715200967 + ], + [ + 695.609258179617, + 265.16870748351965 + ], + [ + 693.9667354150127, + 261.1352190982486 + ], + [ + 696.4836211033222, + 261.37536035790544 + ], + [ + 698.980519269119, + 247.73469282041327 + ], + [ + 696.5047256359744, + 247.50246484451836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5394784005338, + "ymin": 237.17077695922063, + "xmax": 698.9671331873072, + "ymax": 274.3536800753384 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 694.5394784005338, + 274.315491039566 + ], + [ + 694.9334316782, + 274.3536800753384 + ], + [ + 697.863809405769, + 258.25784881413585 + ], + [ + 697.4773284063076, + 258.2211197951001 + ], + [ + 695.6002320965852, + 253.15581448591024 + ], + [ + 696.0018973667429, + 253.1937583651065 + ], + [ + 698.9671331873072, + 237.20724280935656 + ], + [ + 698.5732327629707, + 237.17077695922063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0964570018025, + "ymin": 239.05958980659355, + "xmax": 697.6628936956297, + "ymax": 271.17485421601754 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.0964570018025, + 271.14320250658943 + ], + [ + 694.4242021124272, + 271.17485421601754 + ], + [ + 696.6345268459817, + 259.12080831502675 + ], + [ + 696.3114543755564, + 259.0900685018015 + ], + [ + 695.0934290549486, + 251.03449698075684 + ], + [ + 695.4272532756428, + 251.0659516966763 + ], + [ + 697.6628936956297, + 239.0901219694017 + ], + [ + 697.3339158001469, + 239.05958980659355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972756540285, + "ymin": 247.5024613643567, + "xmax": 698.9805201557128, + "ymax": 279.1168188190678 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972756540285, + 278.87544013566804 + ], + [ + 695.5733495427291, + 279.1168188190678 + ], + [ + 698.0455524595023, + 265.4022536385844 + ], + [ + 695.6092591857243, + 265.1687039835352 + ], + [ + 693.9667364617934, + 261.13521549951616 + ], + [ + 696.4836220158857, + 261.3753567452847 + ], + [ + 698.9805201557128, + 247.73468932685506 + ], + [ + 696.5047266544213, + 247.5024613643567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5393699261699, + "ymin": 237.17076691841066, + "xmax": 698.9670245952761, + "ymax": 274.3536695472333 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 694.5393699261699, + 274.3154805242801 + ], + [ + 694.9333230715952, + 274.3536695472333 + ], + [ + 697.8637028592456, + 258.25783868854296 + ], + [ + 697.4772219893287, + 258.22110968181835 + ], + [ + 695.6001214988357, + 253.15580403813706 + ], + [ + 696.0017866339667, + 253.19374790457778 + ], + [ + 698.9670245952761, + 237.20723275630644 + ], + [ + 698.5731243031569, + 237.17076691841066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5394707353108, + "ymin": 237.17089713562675, + "xmax": 698.9671260719797, + "ymax": 274.3538059303227 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 694.5394707353108, + 274.31561689487796 + ], + [ + 694.9334239497852, + 274.3538059303227 + ], + [ + 697.8638022602678, + 258.2579698574124 + ], + [ + 697.4773213238993, + 258.22124083890566 + ], + [ + 695.6002244454974, + 253.1559395331762 + ], + [ + 696.001889652406, + 253.1938834122697 + ], + [ + 698.9671260719797, + 237.20736298544318 + ], + [ + 698.5732257108342, + 237.17089713562675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.0972764743887, + "ymin": 247.50245965274325, + "xmax": 698.98052096341, + "ymax": 279.1168170389856 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 693.0972764743887, + 278.8754383566104 + ], + [ + 695.5733503580698, + 279.1168170389856 + ], + [ + 698.0455532563478, + 265.4022519162464 + ], + [ + 695.6092599874295, + 265.1687022621725 + ], + [ + 693.9667372937117, + 261.1352137295873 + ], + [ + 696.4836228426175, + 261.37535497431986 + ], + [ + 698.98052096341, + 247.7346876142563 + ], + [ + 696.5047274671371, + 247.50245965274325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.5395869298163, + "ymin": 237.1707899680041, + "xmax": 698.9672417284335, + "ymax": 274.35369370009664 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 694.5395869298163, + 274.31550466307635 + ], + [ + 694.9335402188899, + 274.35369370009664 + ], + [ + 697.8639158983217, + 258.25786191799017 + ], + [ + 697.4774348878849, + 258.2211328977773 + ], + [ + 695.6003427543524, + 253.15582802195163 + ], + [ + 696.0020080363672, + 253.19377190241192 + ], + [ + 698.9672417284335, + 237.2072558193309 + ], + [ + 698.5733412926973, + 237.1707899680041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.2819377437485, + "ymin": 183.53482561950025, + "xmax": 710.6962487277862, + "ymax": 212.59452384447056 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 705.2819377437485, + 212.38991478680643 + ], + [ + 707.5648355483405, + 212.59452384447056 + ], + [ + 709.6631160240124, + 200.95428778894674 + ], + [ + 707.4140778503297, + 200.75580068288355 + ], + [ + 706.2648735512876, + 195.07662208544602 + ], + [ + 708.582418163186, + 195.27965442790907 + ], + [ + 710.6962487277862, + 183.73169380077297 + ], + [ + 708.4135915778544, + 183.53482561950025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.539478500861, + "ymin": 237.17077578335142, + "xmax": 698.9671331587551, + "ymax": 274.353678831935 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 694.539478500861, + 274.3154898081313 + ], + [ + 694.9334316556453, + 274.353678831935 + ], + [ + 697.8638093793645, + 258.2578476182705 + ], + [ + 697.4773285004435, + 258.22111861074376 + ], + [ + 695.6002321972667, + 253.15581326238188 + ], + [ + 696.0018973421254, + 253.19375712968406 + ], + [ + 698.9671331587551, + 237.2072416220587 + ], + [ + 698.573232857284, + 237.17077578335142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.2725121189156, + "ymin": 251.58302670666538, + "xmax": 697.1327035632481, + "ymax": 283.07451721737243 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 691.2725121189156, + 282.83296651320336 + ], + [ + 693.7381860781801, + 283.07451721737243 + ], + [ + 696.2305816314116, + 269.34929867414945 + ], + [ + 693.8043571846741, + 269.1155520925042 + ], + [ + 692.1086899234122, + 265.2291827188335 + ], + [ + 694.6148307374708, + 265.46954357078516 + ], + [ + 697.1327035632481, + 251.81549834850122 + ], + [ + 694.6673072328501, + 251.58302670666538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0963584034012, + "ymin": 239.0596586214584, + "xmax": 697.6627950671616, + "ymax": 271.1749255596165 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.0963584034012, + 271.1432738447518 + ], + [ + 694.4241035384168, + 271.1749255596165 + ], + [ + 696.634429889427, + 259.12087760315467 + ], + [ + 696.3113573952994, + 259.09013778472604 + ], + [ + 695.0933287266237, + 251.0345678748759 + ], + [ + 695.4271529726229, + 251.06602259629776 + ], + [ + 697.6627950671616, + 239.09019078952863 + ], + [ + 697.3338171471011, + 239.0596586214584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.0437655980202, + "ymin": 177.72200199975256, + "xmax": 708.4161630915256, + "ymax": 206.54997172308447 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 703.0437655980202, + 206.34855328022974 + ], + [ + 705.308203070111, + 206.54997172308447 + ], + [ + 707.4240608029155, + 195.089921413413 + ], + [ + 705.1929412868088, + 194.8944833416589 + ], + [ + 703.9854616076549, + 189.08254552124873 + ], + [ + 706.283983774611, + 189.28236472652236 + ], + [ + 708.4161630915256, + 177.9158016975193 + ], + [ + 706.1519619696376, + 177.72200199975256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.0963591237123, + "ymin": 239.0597742002156, + "xmax": 697.662796306126, + "ymax": 271.1750453855366 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 694.0963591237123, + 271.1433936615407 + ], + [ + 694.4241043060317, + 271.1750453855366 + ], + [ + 696.6344309601096, + 259.12099397678554 + ], + [ + 696.3113584200175, + 259.0902541496175 + ], + [ + 695.0933296066645, + 251.03468694586766 + ], + [ + 695.4271539017386, + 251.06614167653112 + ], + [ + 697.662796306126, + 239.09030637712385 + ], + [ + 697.3338183384053, + 239.0597742002156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.4327873689645, + "ymin": 0.0, + "xmax": 1028.0697407719456, + "ymax": 2.077826974042978 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1021.5440107275894, + -0.6277251896892153 + ], + [ + 1012.4327873689645, + -1.1980413161662682 + ], + [ + 1013.2340479262518, + 1.501978667031608 + ], + [ + 1022.3902000236967, + 2.077826974042978 + ], + [ + 1027.1832787824678, + -20.771327827700077 + ], + [ + 1017.9316904021975, + -21.32920591303207 + ], + [ + 1018.7718262610999, + -18.68792198684497 + ], + [ + 1028.0697407719456, + -18.12455184149735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.8095443412732, + "ymin": 199.6755626163929, + "xmax": 705.8858670703, + "ymax": 258.32003455841414 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 700.8095443412732, + 258.16856165561154 + ], + [ + 702.4041372561982, + 258.32003455841414 + ], + [ + 702.6489214880742, + 256.9330981670927 + ], + [ + 701.0569869925513, + 256.7821385297307 + ], + [ + 703.9564533240006, + 201.03172388787564 + ], + [ + 705.6341960148583, + 201.1799049695452 + ], + [ + 705.8858670703, + 199.82321566953257 + ], + [ + 704.2110670540427, + 199.6755626163929 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.8173470409396, + "ymin": 188.71792501828537, + "xmax": 707.919485822256, + "ymax": 247.06696200553463 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.8173470409396, + 246.91962840920553 + ], + [ + 704.3903660958455, + 247.06696200553463 + ], + [ + 704.6284658084217, + 245.71789844317053 + ], + [ + 703.0580338046707, + 245.57105723486308 + ], + [ + 706.0211583027407, + 190.03518753584603 + ], + [ + 707.6750350830006, + 190.17911422555832 + ], + [ + 707.919485822256, + 188.86134623606418 + ], + [ + 706.2684686868041, + 188.71792501828537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.1479003379468, + "ymin": 214.62228443038916, + "xmax": 674.8095054761969, + "ymax": 273.6449780867574 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 671.1479003379468, + 273.4877759379358 + ], + [ + 672.7667749012082, + 273.6449780867574 + ], + [ + 673.067338495109, + 272.2056230611205 + ], + [ + 671.4512035038194, + 272.04896354592324 + ], + [ + 672.7916041329779, + 216.03241965564985 + ], + [ + 674.4962517561291, + 216.1865041644832 + ], + [ + 674.8095054761969, + 214.77580907349662 + ], + [ + 673.1078951702486, + 214.62228443038916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.4555737841417, + "ymin": 61.4262692027624, + "xmax": 1012.3431627278035, + "ymax": 71.31795536586856 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1011.2629014134209, + 71.31795536586856 + ], + [ + 1009.9412653678471, + 66.25019845836442 + ], + [ + 994.4555737841417, + 65.16348685601406 + ], + [ + 995.6496888017481, + 70.21358556592156 + ], + [ + 1012.3431627278035, + 67.56171889623909 + ], + [ + 1011.0090089849482, + 62.50959727764297 + ], + [ + 995.4768400684184, + 61.4262692027624 + ], + [ + 996.6827035851077, + 66.46073622520078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.7869128536274, + "ymin": 257.8264562041069, + "xmax": 695.6674664312868, + "ymax": 317.2704129418966 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 690.7869128536274, + 317.097704623569 + ], + [ + 692.4808607134448, + 317.2704129418966 + ], + [ + 692.7590676407475, + 315.6891897938053 + ], + [ + 691.0681193647566, + 315.51710378117394 + ], + [ + 693.5913489810445, + 259.38437554538575 + ], + [ + 695.3794385483488, + 259.55462431353726 + ], + [ + 695.6674664312868, + 257.9960577478515 + ], + [ + 693.8827188294835, + 257.8264562041069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.9118306020746, + "ymin": 54.34632202044975, + "xmax": 1143.4720956938156, + "ymax": 296.7075494069426 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1055.8427116081666, + 296.7075494069426 + ], + [ + 1053.7373689127828, + 288.086404739948 + ], + [ + 932.9118306020746, + 276.65777807958534 + ], + [ + 933.7762933321734, + 285.04685459513286 + ], + [ + 1143.4720956938156, + 72.16731231919158 + ], + [ + 1139.8625173244977, + 64.48300742653538 + ], + [ + 992.89498886761, + 54.34632202044975 + ], + [ + 994.6651365843859, + 61.78151092557562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 205.50788664093227, + "ymax": 146.51559969301678 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 199.57699936950473, + 146.51559969301678 + ], + [ + 205.50788664093227, + 140.04521184784585 + ], + [ + 72.09075710112245, + 128.54069623694892 + ], + [ + 65.04478148480314, + 134.7990693881043 + ], + [ + 120.47137128339239, + -71.84712876403307 + ], + [ + 128.30978026880524, + -77.11043774574995 + ], + [ + -26.86365850637651, + -86.4261380990722 + ], + [ + -36.20903779702542, + -81.36520775966329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.1825613366556, + "ymin": 200.65089644222238, + "xmax": 702.0835377151425, + "ymax": 259.32091983451085 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 697.1825613366556, + 259.16907598134515 + ], + [ + 698.7784331367963, + 259.32091983451085 + ], + [ + 699.0296725652868, + 257.93058956319294 + ], + [ + 697.4364634078546, + 257.7792608604474 + ], + [ + 700.1455815067204, + 202.01054755377191 + ], + [ + 701.8247405231983, + 202.1591103414434 + ], + [ + 702.0835377151425, + 200.79892916163615 + ], + [ + 700.4073262949548, + 200.65089644222238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.6889478515866, + "ymin": 182.82697447287015, + "xmax": 705.6466874542692, + "ymax": 241.0108211961723 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 700.6889478515866, + 240.86569153742877 + ], + [ + 702.2497703705392, + 241.0108211961723 + ], + [ + 702.489638736678, + 239.68192326536297 + ], + [ + 700.9313633174252, + 239.5372749967896 + ], + [ + 703.7597947871274, + 184.123558930345 + ], + [ + 705.4001946122074, + 184.26522412620895 + ], + [ + 705.6466874542692, + 182.96814605321651 + ], + [ + 704.0091008739298, + 182.82697447287015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.5492752101156, + "ymin": 61.478701705804724, + "xmax": 1012.2463309853297, + "ymax": 71.26508088048462 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1011.1778774404903, + 71.26508088048462 + ], + [ + 1009.8709314315239, + 66.25148272956 + ], + [ + 994.5492752101156, + 65.17626785270375 + ], + [ + 995.7313980814538, + 70.17258192492255 + ], + [ + 1012.2463309853297, + 67.54889864017866 + ], + [ + 1010.9271364016616, + 62.55060466892746 + ], + [ + 995.5599830306003, + 61.478701705804724 + ], + [ + 996.7536095856765, + 66.45971508608977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.409581934091, + "ymin": 0.0, + "xmax": 1072.7154670155726, + "ymax": 62.05918305696656 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1003.5889268580349, + 61.32210183754597 + ], + [ + 1013.6061883836824, + 62.05918305696656 + ], + [ + 987.7276628977437, + -41.89380866403508 + ], + [ + 979.409581934091, + -42.40506935901783 + ], + [ + 1061.0343561063312, + -144.2197734886788 + ], + [ + 1072.7154670155726, + -143.64870737439122 + ], + [ + 1032.3610204977956, + -222.1266780959578 + ], + [ + 1022.9267072349196, + -222.50265085440583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 504.0623601946877, + "ymin": 0.0, + "xmax": 803.2864219188007, + "ymax": 52.81164878214372 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 524.0813840103197, + 29.443692179725872 + ], + [ + 521.7782391059352, + 33.49548726930209 + ], + [ + 780.9183970747654, + 52.81164878214372 + ], + [ + 781.4681937610346, + 48.49256143429318 + ], + [ + 506.8469690178337, + -168.71475998730693 + ], + [ + 504.0623601946877, + -165.6233013138268 + ], + [ + 802.8302221604129, + -150.79790707778324 + ], + [ + 803.2864219188007, + -154.12547073507233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.972004663777, + "ymin": 253.58637859555603, + "xmax": 695.8812269036492, + "ymax": 313.4612296488395 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 690.972004663777, + 313.28864495399637 + ], + [ + 692.6721638997087, + 313.4612296488395 + ], + [ + 692.9510368573392, + 311.88114758253477 + ], + [ + 691.2538992261481, + 311.70918700837467 + ], + [ + 693.7974880741637, + 255.14217755030268 + ], + [ + 695.592499982933, + 255.31219598360298 + ], + [ + 695.8812269036492, + 253.75574820078106 + ], + [ + 694.0895828649666, + 253.58637859555603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1176.5178516437327, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 197.33324029818505 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1270.5297535426419, + 197.33324029818505 + ], + [ + 1460.286000523141, + 190.66459608340773 + ], + [ + 1342.0688161214975, + 92.12592438234691 + ], + [ + 1176.5178516437327, + 97.15189125329391 + ], + [ + 1460.9874629550272, + -154.54335869914928 + ], + [ + 1705.2264172619286, + -159.17713319918312 + ], + [ + 1517.2996088922891, + -224.88863056460082 + ], + [ + 1311.721518304002, + -221.65728996743735 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00155/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00155/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..74115dfa631e338f33006220229ad29dbb0dd206 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00155/meta.json @@ -0,0 +1,6953 @@ +{ + "frame_id": 155, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 77.5, + "sim_timestamp": 13423.194120140048 + }, + "drone_pose": { + "x": -22.67582161038434, + "y": 1.8106242690619692, + "z": 20.0, + "pitch": -43.79713507097219, + "yaw": -8.522620569864813, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7138243913650513, + 0.1069699078798294, + 0.692107081413269, + 2.5380916595458984 + ], + [ + -0.1481998711824417, + 0.988957405090332, + 0.0, + 1.5699235200881958 + ], + [ + -0.6844644546508789, + -0.10257018357515335, + 0.721794843673706, + -30.142404556274414 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -22.18036974151188, + "y": 1.6934711632335093, + "z": 20.0 + }, + "t1_image_uv": [ + 528.758947098713, + -560.5147594841205 + ], + "t1_depth": 0.3661974722426013 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -2.6671829223632812, + "y": -1.187763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.030198501492194, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 194, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -2.6671829223632812, + "y": -1.1877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2486790269613266, + "y": 0.32655298709869385, + "z": 0.5488082766532898 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.7527066103128, + "ymin": 337.01328795781376, + "xmax": 654.2516255845352, + "ymax": 382.83081346649476 + }, + "corners_3d": [ + [ + -3.0739333629608154, + -1.2428284883499146, + 0.0512927770614624 + ], + [ + -2.6121177673339844, + -0.781012773513794, + 0.0512927770614624 + ], + [ + -2.260432481765747, + -1.1326979398727417, + 0.0512927770614624 + ], + [ + -2.722248077392578, + -1.5945136547088623, + 0.0512927770614624 + ], + [ + -3.0739333629608154, + -1.2428284883499146, + 1.148909330368042 + ], + [ + -2.6121177673339844, + -0.781012773513794, + 1.148909330368042 + ], + [ + -2.260432481765747, + -1.1326979398727417, + 1.148909330368042 + ], + [ + -2.722248077392578, + -1.5945136547088623, + 1.148909330368042 + ] + ], + "corners_2d": [ + [ + 636.0837041768926, + 382.83081346649476 + ], + [ + 653.8704887948029, + 373.5236686729641 + ], + [ + 643.8386487317838, + 364.12741536759785 + ], + [ + 626.1336148166716, + 373.24733156126035 + ], + [ + 635.9749891457169, + 355.6722041771144 + ], + [ + 654.2516255845352, + 346.38462774174144 + ], + [ + 643.9430381311483, + 337.01328795781376 + ], + [ + 625.7527066103128, + 346.10894937580866 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 155, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 350804, + "2": 271655, + "5": 5997, + "6": 3435, + "7": 26, + "9": 293, + "10": 2461, + "12": 1832, + "14": 13965, + "15": 8806, + "20": 3179, + "24": 23829, + "25": 235318 + }, + "instance_pixel_counts": { + "2118": 2455, + "2188": 677, + "2706": 2253, + "3218": 4777, + "3424": 132009, + "3724": 123, + "5506": 1839, + "6215": 64458, + "6284": 4607, + "6290": 15377, + "6730": 711, + "6992": 2800, + "8286": 3552, + "8332": 11622, + "8338": 29838, + "8798": 4466, + "10846": 5947, + "15184": 3197, + "15510": 2024, + "16022": 411, + "16203": 777, + "18000": 3179, + "19092": 15153, + "19604": 10109, + "21140": 51116, + "23392": 1084, + "23700": 117508, + "23904": 135, + "28000": 553, + "28256": 539, + "28768": 519, + "29826": 905, + "31584": 388, + "31840": 141, + "32096": 175, + "34304": 209, + "34560": 508, + "34956": 752, + "35402": 301, + "35468": 680, + "35476": 3131, + "36170": 64, + "37524": 6743, + "38540": 5238, + "38801": 1857, + "39825": 3017, + "40588": 10289, + "42897": 12908, + "44945": 33606, + "45898": 189, + "52038": 69576, + "54859": 3, + "56576": 194, + "56647": 103309, + "56832": 165, + "57088": 513, + "57173": 293, + "57344": 614, + "57600": 346, + "58368": 8806, + "59541": 1195, + "60051": 9181, + "60563": 6, + "62101": 1231, + "62611": 44087, + "64149": 3164, + "64585": 351, + "64659": 103644 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 194, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -2.6671829223632812, + "y": -1.1877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3306157886981964, + "y": 0.22349759936332703, + "z": 0.5639558434486389 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 626.9766160210397, + "ymin": 336.52171203259365, + "xmax": 653.1141476884661, + "ymax": 383.30716060725297 + }, + "corners_3d": [ + [ + -3.059000253677368, + -1.1120193004608154, + 0.03614521026611328 + ], + [ + -2.742927074432373, + -0.7959458827972412, + 0.03614521026611328 + ], + [ + -2.2753655910491943, + -1.2635071277618408, + 0.03614521026611328 + ], + [ + -2.5914387702941895, + -1.579580545425415, + 0.03614521026611328 + ], + [ + -3.059000253677368, + -1.1120193004608154, + 1.1640568971633911 + ], + [ + -2.742927074432373, + -0.7959458827972412, + 1.1640568971633911 + ], + [ + -2.2753655910491943, + -1.2635071277618408, + 1.1640568971633911 + ], + [ + -2.5914387702941895, + -1.579580545425415, + 1.1640568971633911 + ] + ], + "corners_2d": [ + [ + 640.5746553417094, + 383.30716060725297 + ], + [ + 652.7527164700275, + 376.91571052339907 + ], + [ + 639.4368661093653, + 364.3841692308108 + ], + [ + 627.3331295871412, + 370.60531305560073 + ], + [ + 640.5910561528688, + 355.39844840103893 + ], + [ + 653.1141476884661, + 349.02020585949737 + ], + [ + 639.4211253628912, + 336.52171203259365 + ], + [ + 626.9766160210397, + 342.7252662766166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 165, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 3.9824719429016113, + "y": -0.2340531051158905, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21729934215545654, + "y": 0.21018323302268982, + "z": 0.5193336606025696 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 687.2602620186304, + "ymin": 211.34903526104847, + "xmax": 706.2793441166947, + "ymax": 246.79897894701423 + }, + "corners_3d": [ + [ + 3.6847047805786133, + -0.1817968785762787, + 0.08076739311218262 + ], + [ + 4.0247883796691895, + 0.06528836488723755, + 0.08076739311218262 + ], + [ + 4.280239105224609, + -0.2863093316555023, + 0.08076739311218262 + ], + [ + 3.940155506134033, + -0.5333945751190186, + 0.08076739311218262 + ], + [ + 3.6847047805786133, + -0.1817968785762787, + 1.1194347143173218 + ], + [ + 4.0247883796691895, + 0.06528836488723755, + 1.1194347143173218 + ], + [ + 4.280239105224609, + -0.2863093316555023, + 1.1194347143173218 + ], + [ + 3.940155506134033, + -0.5333945751190186, + 1.1194347143173218 + ] + ], + "corners_2d": [ + [ + 696.6415657189077, + 246.79897894701423 + ], + [ + 704.8369408435323, + 241.51189293413864 + ], + [ + 695.4624582321215, + 236.20666976660846 + ], + [ + 687.2602620186304, + 241.4238138868268 + ], + [ + 697.9101422460742, + 221.8406951286952 + ], + [ + 706.2793441166947, + 216.6030769661314 + ], + [ + 696.6879688871102, + 211.34903526104847 + ], + [ + 688.3115254330305, + 216.51583502696644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 513, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -4.923007011413574, + "y": 5.75494909286499, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.41753050684928894, + "y": 0.30808165669441223, + "z": 0.8767485022544861 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 859.4224901830172, + "ymin": 407.71617621951754, + "xmax": 910.3682008253302, + "ymax": 480.3274914540733 + }, + "corners_3d": [ + [ + -5.431338787078857, + 5.859087944030762, + -0.27665233612060547 + ], + [ + -4.973440170288086, + 6.271381378173828, + -0.27665233612060547 + ], + [ + -4.414675235748291, + 5.650810241699219, + -0.27665233612060547 + ], + [ + -4.8725738525390625, + 5.238516807556152, + -0.27665233612060547 + ], + [ + -5.431338787078857, + 5.859087944030762, + 1.4768446683883667 + ], + [ + -4.973440170288086, + 6.271381378173828, + 1.4768446683883667 + ], + [ + -4.414675235748291, + 5.650810241699219, + 1.4768446683883667 + ], + [ + -4.8725738525390625, + 5.238516807556152, + 1.4768446683883667 + ] + ], + "corners_2d": [ + [ + 883.0332916152602, + 480.3274914540733 + ], + [ + 897.8410773909952, + 469.0914203653879 + ], + [ + 874.2222817577414, + 451.1225164135677 + ], + [ + 859.4224901830172, + 461.9677556848475 + ], + [ + 894.9761729353918, + 437.04163396725505 + ], + [ + 910.3682008253302, + 425.74964291803155 + ], + [ + 885.3938219745431, + 407.71617621951754 + ], + [ + 870.0057431125288, + 418.59672523846575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 614, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -12.167181968688965, + "y": -1.1877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.38567015528678894, + "y": 0.2669391632080078, + "z": 0.8666709661483765 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 554.8223938033507, + "ymin": 613.9704307287147, + "xmax": 597.0218668336113, + "ymax": 692.6056953563093 + }, + "corners_3d": [ + [ + -12.632408142089844, + -1.1280739307403564, + -0.26656991243362427 + ], + [ + -12.27517318725586, + -0.7313250303268433, + -0.26656991243362427 + ], + [ + -11.701955795288086, + -1.2474524974822998, + -0.26656991243362427 + ], + [ + -12.05919075012207, + -1.644201397895813, + -0.26656991243362427 + ], + [ + -12.632408142089844, + -1.1280739307403564, + 1.4667720794677734 + ], + [ + -12.27517318725586, + -0.7313250303268433, + 1.4667720794677734 + ], + [ + -11.701955795288086, + -1.2474524974822998, + 1.4667720794677734 + ], + [ + -12.05919075012207, + -1.644201397895813, + 1.4667720794677734 + ] + ], + "corners_2d": [ + [ + 576.7230015097634, + 692.6056953563093 + ], + [ + 597.0218668336113, + 680.3436016176578 + ], + [ + 579.5117580488313, + 654.3719247506244 + ], + [ + 559.4724888714683, + 666.1236582947663 + ], + [ + 572.9854994287049, + 653.1159283204177 + ], + [ + 594.5096242413574, + 640.5460712569461 + ], + [ + 576.0542155235922, + 613.9704307287147 + ], + [ + 554.8223938033507, + 625.98739756952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 346, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 8.578153610229492, + "y": -9.357977867126465, + "z": 0.7482504844665527 + }, + "extent": { + "x": 0.3589123487472534, + "y": 0.45128050446510315, + "z": 0.9322633147239685 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 455.23293740741565, + "ymin": 105.86265888405893, + "xmax": 489.8826402078476, + "ymax": 163.19131676761126 + }, + "corners_3d": [ + [ + 8.022531509399414, + -9.512107849121094, + -0.18401283025741577 + ], + [ + 8.553043365478516, + -8.78192138671875, + -0.18401283025741577 + ], + [ + 9.13377571105957, + -9.203847885131836, + -0.18401283025741577 + ], + [ + 8.603263854980469, + -9.93403434753418, + -0.18401283025741577 + ], + [ + 8.022531509399414, + -9.512107849121094, + 1.680513858795166 + ], + [ + 8.553043365478516, + -8.78192138671875, + 1.680513858795166 + ], + [ + 9.13377571105957, + -9.203847885131836, + 1.680513858795166 + ], + [ + 8.603263854980469, + -9.93403434753418, + 1.680513858795166 + ] + ], + "corners_2d": [ + [ + 467.94270544459397, + 163.19131676761126 + ], + [ + 489.8826402078476, + 157.37402654304415 + ], + [ + 483.30609645150525, + 148.65649411933896 + ], + [ + 461.58207759804776, + 154.3328015079182 + ], + [ + 461.7413036978793, + 120.01266155253967 + ], + [ + 484.51705815285413, + 114.34693026411134 + ], + [ + 477.7758623016407, + 105.86265888405893 + ], + [ + 455.23293740741565, + 111.38624502041262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8806, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 733.4698784007825, + "ymin": 193.43425873478571, + "xmax": 815.4551844567989, + "ymax": 385.8622182920359 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 733.4698784007825, + 378.87314090669844 + ], + [ + 801.3133215270782, + 385.8622182920359 + ], + [ + 805.842639602641, + 262.2876489775595 + ], + [ + 746.7719093775831, + 256.99952504821374 + ], + [ + 739.7064334958914, + 313.33112457979195 + ], + [ + 812.1620332584648, + 320.2698049396075 + ], + [ + 815.4551844567989, + 198.59388516341636 + ], + [ + 752.918541621775, + 193.43425873478571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314648934393, + "ymin": 257.1871810016364, + "xmax": 696.6676191732995, + "ymax": 289.21631687447325 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314648934393, + 288.97759334269483 + ], + [ + 693.3399020107872, + 289.21631687447325 + ], + [ + 695.7575899835774, + 275.14224448273495 + ], + [ + 693.2900205834455, + 274.9113623296489 + ], + [ + 691.6750574527059, + 271.18347530816385 + ], + [ + 694.2253771689991, + 271.4210783000563 + ], + [ + 696.6676191732995, + 257.41685314021504 + ], + [ + 694.159531925637, + 257.1871810016364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314642381025, + "ymin": 257.18718460887936, + "xmax": 696.6676185438673, + "ymax": 289.21632062598496 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314642381025, + 288.977597092099 + ], + [ + 693.3399013663409, + 289.21632062598496 + ], + [ + 695.7575893603022, + 275.1422481110034 + ], + [ + 693.2900199496318, + 274.91136595591274 + ], + [ + 691.6750567902784, + 271.1834790399513 + ], + [ + 694.2253765178287, + 271.42108203397635 + ], + [ + 696.6676185438673, + 257.4168567494846 + ], + [ + 694.1595312853174, + 257.18718460887936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.9156504434903, + "ymin": 203.6690091792264, + "xmax": 702.3684161716591, + "ymax": 233.56061961825486 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 696.9156504434903, + 233.3521399730322 + ], + [ + 699.2613875837175, + 233.56061961825486 + ], + [ + 701.4314224149088, + 221.25646910241701 + ], + [ + 699.1214620327668, + 221.0543993398872 + ], + [ + 697.7974062786009, + 215.8794788922609 + ], + [ + 700.1797291845619, + 216.08652958210047 + ], + [ + 702.3684161716591, + 203.8695976052835 + ], + [ + 700.0229860671941, + 203.6690091792264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.7351026953152, + "ymin": 202.67136593309573, + "xmax": 706.179923719658, + "ymax": 232.5231852077702 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 700.7351026953152, + 232.31524986933093 + ], + [ + 703.0787770457719, + 232.5231852077702 + ], + [ + 705.1869465284694, + 220.25091522324325 + ], + [ + 702.8789869868118, + 220.04936487430237 + ], + [ + 701.6747827466397, + 214.84972083859213 + ], + [ + 704.0549778283253, + 215.0562225930292 + ], + [ + 706.179923719658, + 202.87143090519825 + ], + [ + 703.8365565598896, + 202.67136593309573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.823814032776, + "ymin": 248.73165353628923, + "xmax": 695.3182916784731, + "ymax": 281.2340154262322 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.823814032776, + 281.2027072610753 + ], + [ + 692.1558667333446, + 281.2340154262322 + ], + [ + 694.3187611656654, + 268.8618059760006 + ], + [ + 693.9915096054607, + 268.83141137913935 + ], + [ + 692.7918892000176, + 261.02861932600155 + ], + [ + 693.1301816013345, + 261.0597479490134 + ], + [ + 695.3182916784731, + 248.76185724200096 + ], + [ + 694.9849812165179, + 248.73165353628923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.8238106820097, + "ymin": 248.73179244304225, + "xmax": 695.318288915928, + "ymax": 281.2341594231206 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.8238106820097, + 281.2028512472523 + ], + [ + 692.1558634392576, + 281.2341594231206 + ], + [ + 694.3187582845608, + 268.8619457710013 + ], + [ + 693.991506669304, + 268.831551163894 + ], + [ + 692.7918859553533, + 261.0287624863656 + ], + [ + 693.1301784154996, + 261.05989112022644 + ], + [ + 695.318288915928, + 248.761996159123 + ], + [ + 694.9849783968633, + 248.73179244304225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314648934393, + "ymin": 257.1871810016364, + "xmax": 696.6676191732995, + "ymax": 289.21631687447325 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314648934393, + 288.97759334269483 + ], + [ + 693.3399020107872, + 289.21631687447325 + ], + [ + 695.7575899835774, + 275.14224448273495 + ], + [ + 693.2900205834455, + 274.9113623296489 + ], + [ + 691.6750574527059, + 271.18347530816385 + ], + [ + 694.2253771689991, + 271.4210783000563 + ], + [ + 696.6676191732995, + 257.41685314021504 + ], + [ + 694.159531925637, + 257.1871810016364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314652624343, + "ymin": 257.18718103542153, + "xmax": 696.6676194194001, + "ymax": 289.21631689789746 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314652624343, + 288.97759337781144 + ], + [ + 693.3399022569222, + 289.21631689789746 + ], + [ + 695.7575902257012, + 275.14224450538967 + ], + [ + 693.2900209464306, + 274.91136236361217 + ], + [ + 691.6750578278602, + 271.18347534311545 + ], + [ + 694.2253774192449, + 271.42107832337075 + ], + [ + 696.6676194194001, + 257.4168531627511 + ], + [ + 694.1595322945807, + 257.18718103542153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314644703236, + "ymin": 257.187184018934, + "xmax": 696.6676186487728, + "ymax": 289.216320000733 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314644703236, + 288.9775964789038 + ], + [ + 693.3399014737486, + 289.216320000733 + ], + [ + 695.7575894641814, + 275.14224750629205 + ], + [ + 693.2900201762624, + 274.9113653628566 + ], + [ + 691.6750570257344, + 271.18347842963726 + ], + [ + 694.2253766263572, + 271.42108141165636 + ], + [ + 696.6676186487728, + 257.4168561479397 + ], + [ + 694.1595315150184, + 257.187184018934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.5326599539886, + "ymin": 217.87381381847928, + "xmax": 675.0928391864815, + "ymax": 248.33220559583717 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 669.5326599539886, + 248.11589839962397 + ], + [ + 671.9147091133741, + 248.33220559583717 + ], + [ + 674.5559681769192, + 235.56970410142083 + ], + [ + 672.2107994095827, + 235.3601682328904 + ], + [ + 669.9988326758539, + 230.54621002755158 + ], + [ + 672.418619341942, + 230.76115849198888 + ], + [ + 675.0928391864815, + 218.08192980685376 + ], + [ + 672.7111014686395, + 217.87381381847928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.823868225719, + "ymin": 248.73147285039602, + "xmax": 695.3183452791923, + "ymax": 281.23382811923733 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.823868225719, + 281.2025199680137 + ], + [ + 692.1559208544146, + 281.23382811923733 + ], + [ + 694.3188140170362, + 268.86162413469896 + ], + [ + 693.9915625266422, + 268.8312295511656 + ], + [ + 692.791944185858, + 261.0284331071349 + ], + [ + 693.1302365125748, + 261.0595617160346 + ], + [ + 695.3183452791923, + 248.7616765426198 + ], + [ + 694.9850348896571, + 248.73147285039602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314642381025, + "ymin": 257.18718460887936, + "xmax": 696.6676185438673, + "ymax": 289.21632062598496 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314642381025, + 288.977597092099 + ], + [ + 693.3399013663409, + 289.21632062598496 + ], + [ + 695.7575893603022, + 275.1422481110034 + ], + [ + 693.2900199496318, + 274.91136595591274 + ], + [ + 691.6750567902784, + 271.1834790399513 + ], + [ + 694.2253765178287, + 271.42108203397635 + ], + [ + 696.6676185438673, + 257.4168567494846 + ], + [ + 694.1595312853174, + 257.18718460887936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.2878699735699, + "ymin": 246.7894143341471, + "xmax": 696.6270319719953, + "ymax": 284.46945393602886 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.2878699735699, + 284.43167811168627 + ], + [ + 692.687007982, + 284.46945393602886 + ], + [ + 695.5536053506343, + 267.9492602224846 + ], + [ + 695.1621448550509, + 267.9129470290733 + ], + [ + 693.3186917264611, + 263.2042976430051 + ], + [ + 693.7257458374713, + 263.24185048428 + ], + [ + 696.6270319719953, + 246.82548536677308 + ], + [ + 696.2279599152631, + 246.7894143341471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.8239134261527, + "ymin": 248.7315825916097, + "xmax": 695.318391110365, + "ymax": 281.23394188183715 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.8239134261527, + 281.20263372215106 + ], + [ + 692.1559661014066, + 281.23394188183715 + ], + [ + 694.3188588869972, + 268.8617345776606 + ], + [ + 693.9916073513823, + 268.8313399860324 + ], + [ + 692.7919903639162, + 261.02854620885 + ], + [ + 693.130282738957, + 261.0596748263209 + ], + [ + 695.318391110365, + 248.76178629202553 + ], + [ + 694.9850806739194, + 248.7315825916097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.8314652624343, + "ymin": 257.18718103542153, + "xmax": 696.6676194194001, + "ymax": 289.21631689789746 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.8314652624343, + 288.97759337781144 + ], + [ + 693.3399022569222, + 289.21631689789746 + ], + [ + 695.7575902257012, + 275.14224450538967 + ], + [ + 693.2900209464306, + 274.91136236361217 + ], + [ + 691.6750578278602, + 271.18347534311545 + ], + [ + 694.2253774192449, + 271.42107832337075 + ], + [ + 696.6676194194001, + 257.4168531627511 + ], + [ + 694.1595322945807, + 257.18718103542153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.2877600714792, + "ymin": 246.7894044020386, + "xmax": 696.6269219543481, + "ymax": 284.46944352185085 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.2877600714792, + 284.43166771016604 + ], + [ + 692.686897946168, + 284.46944352185085 + ], + [ + 695.5534974314614, + 267.94925021153887 + ], + [ + 695.1620370668584, + 267.91293703027765 + ], + [ + 693.3185796447816, + 263.204287302892 + ], + [ + 693.7256336192002, + 263.2418401315657 + ], + [ + 696.6269219543481, + 246.82547542257862 + ], + [ + 696.2278500313292, + 246.7894044020386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.2878629920848, + "ymin": 246.78953765751032, + "xmax": 696.6270255334152, + "ymax": 284.4695830877269 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.2878629920848, + 284.43180726356354 + ], + [ + 692.6870009373005, + 284.4695830877269 + ], + [ + 695.5535988732441, + 267.9493843734876 + ], + [ + 695.1621384408041, + 267.9130711804655 + ], + [ + 693.3186847680101, + 263.2044260324121 + ], + [ + 693.7257388157798, + 263.2419788737352 + ], + [ + 696.6270255334152, + 246.82560868995853 + ], + [ + 696.227953539897, + 246.78953765751032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.831466082096, + "ymin": 257.18717927684685, + "xmax": 696.6676202263174, + "ymax": 289.21631506899007 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 690.831466082096, + 288.9775915499315 + ], + [ + 693.3399030714153, + 289.21631506899007 + ], + [ + 695.7575910215863, + 275.14224273656475 + ], + [ + 693.2900217473174, + 274.91136059576456 + ], + [ + 691.6750586592796, + 271.18347352382386 + ], + [ + 694.2253782453215, + 271.4210765030395 + ], + [ + 696.6676202263174, + 257.41685140318845 + ], + [ + 694.1595331066652, + 257.18717927684685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.2879799505329, + "ymin": 246.78942731111707, + "xmax": 696.6271419569457, + "ymax": 284.4694675275322 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.2879799505329, + 284.4316917019744 + ], + [ + 692.6871179703, + 284.4694675275322 + ], + [ + 695.5537132337727, + 267.9492732877311 + ], + [ + 695.1622527272873, + 267.91296009317443 + ], + [ + 693.3188038884562, + 263.20431115306053 + ], + [ + 693.7258580112563, + 263.2418639955673 + ], + [ + 696.6271419569457, + 246.82549834490274 + ], + [ + 696.2280698888848, + 246.78942731111707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.7471906082885, + "ymin": 191.59600789214275, + "xmax": 708.1125478889855, + "ymax": 221.0062194795798 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 702.7471906082885, + 220.8042790471029 + ], + [ + 705.0573486674847, + 221.0062194795798 + ], + [ + 707.1051885363172, + 209.08513240735027 + ], + [ + 704.829738889717, + 208.88930489427423 + ], + [ + 703.7036913343605, + 203.42072466303313 + ], + [ + 706.0493250287975, + 203.62118275017463 + ], + [ + 708.1125478889855, + 191.7903075626009 + ], + [ + 705.8026886461716, + 191.59600789214275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.2878700675252, + "ymin": 246.7894131274001, + "xmax": 696.6270319355177, + "ymax": 284.46945266040774 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 692.2878700675252, + 284.4316768479059 + ], + [ + 692.6870079514483, + 284.46945266040774 + ], + [ + 695.553605316437, + 267.949258996255 + ], + [ + 695.1621449429545, + 267.9129458142238 + ], + [ + 693.3186918206966, + 263.20429638668566 + ], + [ + 693.7257458047183, + 263.2418492161875 + ], + [ + 696.6270319355177, + 246.8254841487198 + ], + [ + 696.227960003272, + 246.7894131274001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.9916051442455, + "ymin": 261.2840079879705, + "xmax": 694.8046485545569, + "ymax": 293.18715435812527 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 688.9916051442455, + 292.94828264688226 + ], + [ + 691.4894067304557, + 293.18715435812527 + ], + [ + 693.9280293813819, + 279.1034201018813 + ], + [ + 691.4707522238114, + 278.8723637657979 + ], + [ + 689.8013298568741, + 275.2927523314279 + ], + [ + 692.3406567947962, + 275.5305499776957 + ], + [ + 694.8046485545569, + 261.51390001611526 + ], + [ + 692.3071935003461, + 261.2840079879705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.823814032776, + "ymin": 248.73165353628923, + "xmax": 695.3182916784731, + "ymax": 281.2340154262322 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.823814032776, + 281.2027072610753 + ], + [ + 692.1558667333446, + 281.2340154262322 + ], + [ + 694.3187611656654, + 268.8618059760006 + ], + [ + 693.9915096054607, + 268.83141137913935 + ], + [ + 692.7918892000176, + 261.02861932600155 + ], + [ + 693.1301816013345, + 261.0597479490134 + ], + [ + 695.3182916784731, + 248.76185724200096 + ], + [ + 694.9849812165179, + 248.73165353628923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.4455699639207, + "ymin": 185.65288429495953, + "xmax": 705.7690054041033, + "ymax": 214.8262277991274 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 700.4455699639207, + 214.62746808014725 + ], + [ + 702.7368699348066, + 214.8262277991274 + ], + [ + 704.8038815242927, + 203.09151532597727 + ], + [ + 702.5467295426884, + 202.89872574911192 + ], + [ + 701.3595909152787, + 197.29001760108864 + ], + [ + 703.6857854575304, + 197.48727076520765 + ], + [ + 705.7690054041033, + 185.84412502395912 + ], + [ + 703.477998987637, + 185.65288429495953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.8238155044902, + "ymin": 248.73177212207906, + "xmax": 695.3182936673886, + "ymax": 281.23413835751086 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 691.8238155044902, + 281.20283018320947 + ], + [ + 692.1558682536074, + 281.23413835751086 + ], + [ + 694.3187629748152, + 268.8619253200946 + ], + [ + 693.9915113674557, + 268.8315307144862 + ], + [ + 692.7918908432397, + 261.0287415431327 + ], + [ + 693.1301832949468, + 261.05987017540645 + ], + [ + 695.3182936673886, + 248.76197583664296 + ], + [ + 694.9849831565164, + 248.73177212207906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1010.9322605731033, + "ymin": 0.0, + "xmax": 1026.6945124120784, + "ymax": 5.727920567227727 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1020.1057743093347, + 2.97808924077367 + ], + [ + 1010.9322605731033, + 2.4195873764456337 + ], + [ + 1011.7689647159063, + 5.163957179508316 + ], + [ + 1020.9880791418852, + 5.727920567227727 + ], + [ + 1025.7709325196352, + -17.264757028357565 + ], + [ + 1016.4551341915972, + -17.811212241689645 + ], + [ + 1017.3316853215035, + -15.125882091102085 + ], + [ + 1026.6945124120784, + -14.574002961886094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.3483679630083, + "ymin": 208.1330695915331, + "xmax": 703.349846990501, + "ymax": 267.0120925745124 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 698.3483679630083, + 266.8626953728518 + ], + [ + 699.9615070459236, + 267.0120925745124 + ], + [ + 700.2005679832039, + 265.59241259871806 + ], + [ + 698.5901527692889, + 265.4435275138606 + ], + [ + 701.4056921270324, + 209.52296773416307 + ], + [ + 703.1039531415053, + 209.66929821862905 + ], + [ + 703.349846990501, + 208.27887225725868 + ], + [ + 701.6546046590765, + 208.1330695915331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.3099907401988, + "ymin": 196.90507356371154, + "xmax": 705.336393544643, + "ymax": 255.49496951666413 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 700.3099907401988, + 255.3497014897938 + ], + [ + 701.9010281996686, + 255.49496951666413 + ], + [ + 702.1334864766646, + 254.11449844595114 + ], + [ + 700.5450988375671, + 253.96972146932927 + ], + [ + 703.423856129689, + 198.25462685716727 + ], + [ + 705.0976389009692, + 198.39670562968504 + ], + [ + 705.336393544643, + 197.04664733365766 + ], + [ + 703.6655431580875, + 196.90507356371154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.441427736089, + "ymin": 223.54857931129214, + "xmax": 671.9966115356547, + "ymax": 282.7983316459015 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 668.441427736089, + 282.64318074080074 + ], + [ + 670.0798359297736, + 282.7983316459015 + ], + [ + 670.3756896319724, + 281.32401849887316 + ], + [ + 668.7400909065644, + 281.1694095516915 + ], + [ + 669.9616380061868, + 224.99483876178974 + ], + [ + 671.6879317046008, + 225.1471090976527 + ], + [ + 671.9966115356547, + 223.7002893969803 + ], + [ + 670.2734365278751, + 223.54857931129214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.4363648398787, + "ymin": 68.86808605816083, + "xmax": 1013.6236559820909, + "ymax": 78.91173044687889 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1012.5248800465552, + 78.91173044687889 + ], + [ + 1011.1148275959035, + 73.70664247027696 + ], + [ + 995.4363648398787, + 72.63126638622896 + ], + [ + 996.7155345701026, + 77.81864454284806 + ], + [ + 1013.6236559820909, + 75.12963577667631 + ], + [ + 1012.2005080128706, + 69.94019778170713 + ], + [ + 996.4744103491453, + 68.86808605816083 + ], + [ + 997.7658763388876, + 74.03981575021879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.548838666769, + "ymin": 267.68615957681305, + "xmax": 693.3589341896603, + "ymax": 327.31700705886436 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 688.548838666769, + 327.146413157492 + ], + [ + 690.2638723976128, + 327.31700705886436 + ], + [ + 690.5359900641781, + 325.6960608243919 + ], + [ + 688.8240347401967, + 325.5260892135331 + ], + [ + 691.2654670228885, + 269.2854593877089 + ], + [ + 693.0770390120543, + 269.45385879768406 + ], + [ + 693.3589341896603, + 267.8539104238556 + ], + [ + 691.5507966137409, + 267.68615957681305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.0230480484834, + "ymin": 61.7184786265621, + "xmax": 1146.391454149763, + "ymax": 305.1587841793682 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1057.278041916684, + 305.1587841793682 + ], + [ + 1055.0598018616483, + 296.34905230950966 + ], + [ + 933.0230480484834, + 285.0936697134535 + ], + [ + 933.9737832648693, + 293.6723202170177 + ], + [ + 1146.391454149763, + 79.63634859629775 + ], + [ + 1142.6071570843474, + 71.7475831898555 + ], + [ + 993.849155954206, + 61.7184786265621 + ], + [ + 995.7464127008815, + 69.35744864729605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 196.55047378203562, + "ymax": 154.43685760773243 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 190.53161103242184, + 154.43685760773243 + ], + [ + 196.55047378203562, + 147.8040843397243 + ], + [ + 61.24143838717839, + 136.4377026733027 + ], + [ + 54.073521380069224, + 142.85834709325516 + ], + [ + 108.59221807059134, + -65.55573120859782 + ], + [ + 116.59355685098137, + -70.97552319758938 + ], + [ + -41.14180185161831, + -80.22082409813947 + ], + [ + -50.70337122271758, + -75.0049029619961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 694.6872176879846, + "ymin": 209.1444139400849, + "xmax": 699.5094233877711, + "ymax": 268.0486884339748 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 694.6872176879846, + 267.8989167387772 + ], + [ + 696.3017156570843, + 268.0486884339748 + ], + [ + 696.5473620165386, + 266.6254525842171 + ], + [ + 694.9355924674136, + 266.4761949309377 + ], + [ + 697.5564828319228, + 210.53797530679606 + ], + [ + 699.2562504814889, + 210.68469185661314 + ], + [ + 699.5094233877711, + 209.29060058286834 + ], + [ + 697.8126797337834, + 209.1444139400849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.1217823878947, + "ymin": 190.88107974586748, + "xmax": 702.999755095608, + "ymax": 249.3092044462266 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 698.1217823878947, + 249.16613027856675 + ], + [ + 699.7003724231427, + 249.3092044462266 + ], + [ + 699.9347662568044, + 247.94956594493425 + ], + [ + 698.3587847561469, + 247.80697175496994 + ], + [ + 701.0987592228261, + 192.20923275604287 + ], + [ + 702.7587720861911, + 192.34905636109016 + ], + [ + 702.999755095608, + 191.02041031364058 + ], + [ + 701.3426265851947, + 190.88107974586748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.53162719555, + "ymin": 68.92132166953445, + "xmax": 1013.5251925180478, + "ymax": 78.85804080555943 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1012.4384306669239, + 78.85804080555943 + ], + [ + 1011.0440249049893, + 73.7085748829972 + ], + [ + 995.53162719555, + 72.64457380456605 + ], + [ + 996.7979192039022, + 77.77670510723385 + ], + [ + 1013.5251925180478, + 75.11627483879084 + ], + [ + 1012.1179727541917, + 69.98212748850523 + ], + [ + 996.5589446772435, + 68.92132166953445 + ], + [ + 997.8372766856727, + 74.0381358691609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.7736327851289, + "ymin": 0.0, + "xmax": 1071.6278927831438, + "ymax": 65.97979867824472 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1002.1153716385544, + 65.25697019895398 + ], + [ + 1012.1986688756576, + 65.97979867824472 + ], + [ + 985.135374728932, + -39.471115969734115 + ], + [ + 976.7736327851289, + -39.97118873406788 + ], + [ + 1059.8572411222528, + -141.38699925630618 + ], + [ + 1071.6278927831438, + -140.8255630334907 + ], + [ + 1029.7681281170767, + -220.60256043313746 + ], + [ + 1020.277851338067, + -220.97093428972119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.66184534998945, + "ymin": 0.0, + "xmax": 799.9481353624251, + "ymax": 57.18537366236461 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 518.7012319580306, + 34.06621067322436 + ], + [ + 516.3906969420641, + 38.19531134770045 + ], + [ + 777.8658895011886, + 57.18537366236461 + ], + [ + 778.3890873242702, + 52.79114372190975 + ], + [ + 500.4682694133105, + -165.41806482466632 + ], + [ + 497.66184534998945, + -162.25856717734416 + ], + [ + 799.5214851086442, + -147.64235898124457 + ], + [ + 799.9481353624251, + -151.03703453294736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.7280183174837, + "ymin": 263.43193476475574, + "xmax": 693.5665689006073, + "ymax": 323.50058714652334 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 688.7280183174837, + 323.3300996514024 + ], + [ + 690.449417522735, + 323.50058714652334 + ], + [ + 690.7221978449409, + 321.8806617297363 + ], + [ + 689.0038999219291, + 321.71079842615654 + ], + [ + 691.4653015513958, + 265.0292215443817 + ], + [ + 693.2839772607275, + 265.1974103874064 + ], + [ + 693.5665689006073, + 263.599473337923 + ], + [ + 691.7513545689782, + 263.43193476475574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1176.2870642122512, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 202.76472476548327 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1272.07414503086, + 202.76472476548327 + ], + [ + 1462.5751370957696, + 195.36977200346905 + ], + [ + 1342.4361496694896, + 95.548417587178 + ], + [ + 1176.2870642122512, + 101.11201820223522 + ], + [ + 1465.1244450778333, + -151.0422066568213 + ], + [ + 1710.6408235479335, + -156.20571438435672 + ], + [ + 1519.2546864934652, + -223.0384588672374 + ], + [ + 1312.7182766663732, + -219.44850003011697 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00156/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00156/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..680ae3a3085ead9f3870dda4b0bc234f4d29e18e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00156/meta.json @@ -0,0 +1,6954 @@ +{ + "frame_id": 156, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 78.0, + "sim_timestamp": 13434.411586092087 + }, + "drone_pose": { + "x": -22.18036974151188, + "y": 1.6934711632335093, + "z": 20.0, + "pitch": -43.70567773325138, + "yaw": -9.589582420263847, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7127971649169922, + 0.12042729556560516, + 0.6909539699554443, + 2.1949634552001953 + ], + [ + -0.16658945381641388, + 0.9860263466835022, + 0.0, + 2.0252089500427246 + ], + [ + -0.6812988519668579, + -0.11510565876960754, + 0.7228987216949463, + -29.764362335205078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -21.59570936894108, + "y": 1.691021030263768, + "z": 20.0 + }, + "t1_image_uv": [ + 858.6438298050001, + -557.5779500312857 + ], + "t1_depth": 0.41703930492179386 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -2.1671829223632812, + "y": -1.687763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.076974034940335, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 194, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -2.1671829223632812, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2723710238933563, + "y": 0.28923094272613525, + "z": 0.5458703637123108 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.4772945674474, + "ymin": 338.91320359673074, + "xmax": 651.3909188890648, + "ymax": 380.86536716617314 + }, + "corners_3d": [ + [ + -2.43955397605896, + -1.9769941568374634, + 0.054230690002441406 + ], + [ + -2.43955397605896, + -1.3985322713851929, + 0.054230690002441406 + ], + [ + -1.8948118686676025, + -1.3985322713851929, + 0.054230690002441406 + ], + [ + -1.8948118686676025, + -1.9769941568374634, + 0.054230690002441406 + ], + [ + -2.43955397605896, + -1.9769941568374634, + 1.145971417427063 + ], + [ + -2.43955397605896, + -1.3985322713851929, + 1.145971417427063 + ], + [ + -1.8948118686676025, + -1.3985322713851929, + 1.145971417427063 + ], + [ + -1.8948118686676025, + -1.9769941568374634, + 1.145971417427063 + ] + ], + "corners_2d": [ + [ + 628.784490901276, + 378.5548954306666 + ], + [ + 648.1566411211054, + 380.86536716617314 + ], + [ + 651.0906176869204, + 368.1304954612657 + ], + [ + 631.9735873839276, + 365.8822303035597 + ], + [ + 628.4772945674474, + 351.5527433904351 + ], + [ + 648.380620643237, + 353.85818604981705 + ], + [ + 651.3909188890648, + 341.1549082321887 + ], + [ + 631.7567979026171, + 338.91320359673074 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 156, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 354207, + "2": 258917, + "5": 5235, + "6": 3674, + "7": 96, + "9": 7, + "10": 1220, + "12": 1844, + "14": 14536, + "15": 9161, + "20": 3308, + "24": 24525, + "25": 244870 + }, + "instance_pixel_counts": { + "2118": 1214, + "2188": 693, + "2706": 2339, + "3218": 4506, + "3424": 136427, + "3724": 289, + "5506": 1935, + "6215": 54552, + "6284": 4716, + "6290": 16127, + "6730": 775, + "6992": 2092, + "8286": 3562, + "8332": 11411, + "8338": 28658, + "8798": 4487, + "10846": 6487, + "15184": 3143, + "15510": 2235, + "16022": 377, + "16203": 846, + "18000": 3308, + "19092": 17720, + "19604": 11675, + "21140": 53221, + "23392": 1180, + "23700": 113604, + "23904": 245, + "28000": 561, + "28256": 544, + "28768": 523, + "29826": 916, + "31584": 395, + "31840": 147, + "32096": 181, + "34304": 242, + "34560": 677, + "34956": 786, + "35402": 304, + "35468": 663, + "35476": 3256, + "36170": 142, + "37524": 6513, + "38540": 5491, + "38801": 1890, + "39825": 3748, + "40588": 9920, + "42897": 13250, + "44945": 33077, + "45898": 242, + "52038": 66801, + "54859": 64, + "56576": 194, + "56647": 108443, + "56832": 155, + "57088": 552, + "57173": 7, + "57344": 626, + "57600": 317, + "58368": 9161, + "59541": 1310, + "60051": 10830, + "60563": 215, + "60565": 23, + "62101": 1251, + "62611": 45462, + "64149": 3056, + "64585": 355, + "64659": 101480 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 194, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -2.1671829223632812, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2397514134645462, + "y": 0.26549482345581055, + "z": 0.55257648229599 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.4885565635576, + "ymin": 339.5819035294752, + "xmax": 650.4065178812808, + "ymax": 380.1594886792896 + }, + "corners_3d": [ + [ + -2.4069342613220215, + -1.9532580375671387, + 0.04752457141876221 + ], + [ + -2.4069342613220215, + -1.4222683906555176, + 0.04752457141876221 + ], + [ + -1.9274314641952515, + -1.4222683906555176, + 0.04752457141876221 + ], + [ + -1.9274314641952515, + -1.9532580375671387, + 0.04752457141876221 + ], + [ + -2.4069342613220215, + -1.9532580375671387, + 1.1526775360107422 + ], + [ + -2.4069342613220215, + -1.4222683906555176, + 1.1526775360107422 + ], + [ + -1.9274314641952515, + -1.4222683906555176, + 1.1526775360107422 + ], + [ + -1.9274314641952515, + -1.9532580375671387, + 1.1526775360107422 + ] + ], + "corners_2d": [ + [ + 629.7719846272421, + 378.0420969300809 + ], + [ + 647.5372207785194, + 380.1594886792896 + ], + [ + 650.1286451795349, + 368.9520276260779 + ], + [ + 632.5694766829004, + 366.88489007311955 + ], + [ + 629.4885565635576, + 350.7096402839531 + ], + [ + 647.7465701626639, + 352.82226959244167 + ], + [ + 650.4065178812808, + 341.64302613548824 + ], + [ + 632.3660924274964, + 339.5819035294752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 155, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 3.870372772216797, + "y": -0.36702272295951843, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.20110580325126648, + "y": 0.2315891981124878, + "z": 0.5212960839271545 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 700.9686329480587, + "ymin": 225.67135262610802, + "xmax": 716.813643161644, + "ymax": 258.06677664921915 + }, + "corners_3d": [ + [ + 3.635514259338379, + -0.5643007755279541, + 0.07880496978759766 + ], + [ + 3.7079715728759766, + -0.10682487487792969, + 0.07880496978759766 + ], + [ + 4.105231285095215, + -0.16974470019340515, + 0.07880496978759766 + ], + [ + 4.032773971557617, + -0.6272205710411072, + 0.07880496978759766 + ], + [ + 3.635514259338379, + -0.5643007755279541, + 1.1213971376419067 + ], + [ + 3.7079715728759766, + -0.10682487487792969, + 1.1213971376419067 + ], + [ + 4.105231285095215, + -0.16974470019340515, + 1.1213971376419067 + ], + [ + 4.032773971557617, + -0.6272205710411072, + 1.1213971376419067 + ] + ], + "corners_2d": [ + [ + 701.3926118262364, + 257.9801474451564 + ], + [ + 715.1075850017161, + 258.06677664921915 + ], + [ + 714.5617121186378, + 250.82031061806862 + ], + [ + 700.9686329480587, + 250.73521387138226 + ], + [ + 702.786984836491, + 232.8510855775897 + ], + [ + 716.813643161644, + 232.93695269247286 + ], + [ + 716.2399851247836, + 225.755666734783 + ], + [ + 702.3407982935456, + 225.67135262610802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 552, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -4.423007011413574, + "y": 5.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.34912246465682983, + "y": 0.3090522587299347, + "z": 0.8731707334518433 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 864.6039229145026, + "ymin": 414.65333561728187, + "xmax": 901.2735479144606, + "ymax": 479.497100746373 + }, + "corners_3d": [ + [ + -4.787825584411621, + 4.964591979980469, + -0.27306967973709106 + ], + [ + -4.755476474761963, + 5.581849575042725, + -0.27306967973709106 + ], + [ + -4.058188438415527, + 5.545306205749512, + -0.27306967973709106 + ], + [ + -4.0905375480651855, + 4.928048610687256, + -0.27306967973709106 + ], + [ + -4.787825584411621, + 4.964591979980469, + 1.4732718467712402 + ], + [ + -4.755476474761963, + 5.581849575042725, + 1.4732718467712402 + ], + [ + -4.058188438415527, + 5.545306205749512, + 1.4732718467712402 + ], + [ + -4.0905375480651855, + 4.928048610687256, + 1.4732718467712402 + ] + ], + "corners_2d": [ + [ + 865.9763785043308, + 477.4526958824179 + ], + [ + 889.1292989334388, + 479.497100746373 + ], + [ + 887.3154504286447, + 459.84517569991965 + ], + [ + 864.6039229145026, + 457.8774436211013 + ], + [ + 876.9692257149233, + 434.3070669105905 + ], + [ + 901.2735479144606, + 436.36175386498485 + ], + [ + 899.1319145863383, + 416.62732295424865 + ], + [ + 875.3135105000306, + 414.65333561728187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 626, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -11.667181968688965, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.4709332287311554, + "y": 0.3112489879131317, + "z": 0.8903771042823792 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 546.4314316490922, + "ymin": 608.9464601590627, + "xmax": 589.1466158393923, + "ymax": 693.40047619987 + }, + "corners_3d": [ + [ + -12.121180534362793, + -2.0232324600219727, + -0.29027605056762695 + ], + [ + -12.153759002685547, + -1.4015874862670898, + -0.29027605056762695 + ], + [ + -11.213183403015137, + -1.3522939682006836, + -0.29027605056762695 + ], + [ + -11.180604934692383, + -1.9739389419555664, + -0.29027605056762695 + ], + [ + -12.121180534362793, + -2.0232324600219727, + 1.4904781579971313 + ], + [ + -12.153759002685547, + -1.4015874862670898, + 1.4904781579971313 + ], + [ + -11.213183403015137, + -1.3522939682006836, + 1.4904781579971313 + ], + [ + -11.180604934692383, + -1.9739389419555664, + 1.4904781579971313 + ] + ], + "corners_2d": [ + [ + 551.7522448258031, + 687.7296450370266 + ], + [ + 578.427838334731, + 693.40047619987 + ], + [ + 589.1466158393923, + 655.9619057546647 + ], + [ + 563.2187015031782, + 650.6246982516237 + ], + [ + 546.4314316490922, + 646.9314643537255 + ], + [ + 574.6974745509248, + 652.7488232137771 + ], + [ + 586.1632663250573, + 614.4018649304751 + ], + [ + 558.7352401722158, + 608.9464601590627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 317, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 9.078153610229492, + "y": -9.857977867126465, + "z": 0.75579434633255 + }, + "extent": { + "x": 0.4152010977268219, + "y": 0.3792996108531952, + "z": 0.9359115958213806 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 462.62853643261286, + "ymin": 105.01138327769758, + "xmax": 495.5197859154935, + "ymax": 161.97756263184158 + }, + "corners_3d": [ + [ + 8.727399826049805, + -10.29755973815918, + -0.18011724948883057 + ], + [ + 8.608728408813477, + -9.548299789428711, + -0.18011724948883057 + ], + [ + 9.42890739440918, + -9.41839599609375, + -0.18011724948883057 + ], + [ + 9.547578811645508, + -10.167655944824219, + -0.18011724948883057 + ], + [ + 8.727399826049805, + -10.29755973815918, + 1.6917059421539307 + ], + [ + 8.608728408813477, + -9.548299789428711, + 1.6917059421539307 + ], + [ + 9.42890739440918, + -9.41839599609375, + 1.6917059421539307 + ], + [ + 9.547578811645508, + -10.167655944824219, + 1.6917059421539307 + ] + ], + "corners_2d": [ + [ + 468.75924643534404, + 158.6157890032388 + ], + [ + 486.4890357047414, + 161.97756263184158 + ], + [ + 495.5197859154935, + 151.1502310171698 + ], + [ + 478.01399361830556, + 147.88863781931926 + ], + [ + 462.62853643261286, + 115.44726170580779 + ], + [ + 480.96635649692996, + 118.72005734929309 + ], + [ + 490.4029775126743, + 108.18323119929462 + ], + [ + 472.30454395633427, + 105.01138327769758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 9161, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 748.7967398371476, + "ymin": 205.40025851123266, + "xmax": 834.222481263649, + "ymax": 402.1850748577127 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 748.7967398371476, + 394.073790725771 + ], + [ + 817.7270197398416, + 402.1850748577127 + ], + [ + 823.4528222180402, + 275.309471044881 + ], + [ + 763.5258158128923, + 269.1941443017582 + ], + [ + 756.1560305971228, + 328.4395625168134 + ], + [ + 829.8583930876891, + 336.50689984132754 + ], + [ + 834.222481263649, + 211.37502713725 + ], + [ + 770.7210948253474, + 205.40025851123266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278977103622, + "ymin": 269.94985238908635, + "xmax": 712.9564211495147, + "ymax": 302.4065227489551 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278977103622, + 302.1308313090037 + ], + [ + 709.1698799793946, + 302.4065227489551 + ], + [ + 711.7710752823339, + 287.99238033817625 + ], + [ + 709.270865667261, + 287.725851708119 + ], + [ + 707.7470091156603, + 284.2887721848514 + ], + [ + 710.3320664626497, + 284.56327804329226 + ], + [ + 712.9564211495147, + 270.21508548052634 + ], + [ + 710.4145523847193, + 269.94985238908635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278970057282, + "ymin": 269.94985608386787, + "xmax": 712.9564204732877, + "ymax": 302.40652659188777 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278970057282, + 302.1308351494728 + ], + [ + 709.1698792858939, + 302.40652659188777 + ], + [ + 711.7710746118858, + 287.99238405336615 + ], + [ + 709.2708649860425, + 287.72585542096715 + ], + [ + 707.7470084042742, + 284.2887760087843 + ], + [ + 710.3320657627773, + 284.5632818697193 + ], + [ + 712.9564204732877, + 270.21508917767676 + ], + [ + 710.41455169736, + 269.94985608386787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.3855425118343, + "ymin": 215.13642379573625, + "xmax": 719.2934823731374, + "ymax": 245.39840351436794 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 713.3855425118343, + 245.15804651038368 + ], + [ + 715.7610407922255, + 245.39840351436794 + ], + [ + 718.0892397109546, + 232.81796139912598 + ], + [ + 715.7502620316685, + 232.5850757772174 + ], + [ + 714.5351933299311, + 227.62437131317358 + ], + [ + 716.9482668796057, + 227.8631626291372 + ], + [ + 719.2934823731374, + 215.36767886447842 + ], + [ + 716.9180849638301, + 215.13642379573625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.2679315060338, + "ymin": 214.15610650463606, + "xmax": 723.1676441687223, + "ymax": 244.37889297876467 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 717.2679315060338, + 244.13914582993112 + ], + [ + 719.6415748147409, + 244.37889297876467 + ], + [ + 721.9061425923987, + 231.83012684149367 + ], + [ + 719.5689639625112, + 231.59782287845695 + ], + [ + 718.4768429826147, + 226.61213263843615 + ], + [ + 720.8880020736061, + 226.85030859688356 + ], + [ + 723.1676441687223, + 214.3867750979363 + ], + [ + 720.7941026042445, + 214.15610650463606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7462168648015, + "ymin": 261.4915881869578, + "xmax": 711.7185143893785, + "ymax": 294.36091703897523 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7462168648015, + 294.3247565522938 + ], + [ + 708.082733186188, + 294.36091703897523 + ], + [ + 710.4073829963534, + 281.68849742785176 + ], + [ + 710.075774876413, + 281.653404678117 + ], + [ + 709.0271456443592, + 274.09235258672413 + ], + [ + 709.3700804079613, + 274.12832177843126 + ], + [ + 711.7185143893785, + 261.52647566331177 + ], + [ + 711.3806754579954, + 261.4915881869578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7462119411308, + "ymin": 261.49173075456406, + "xmax": 711.718510139861, + "ymax": 294.3610648213024 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7462119411308, + 294.324904322076 + ], + [ + 708.0827283206823, + 294.3610648213024 + ], + [ + 710.4073786004705, + 281.68864084641194 + ], + [ + 710.0757704240492, + 281.6535480846837 + ], + [ + 709.027140853982, + 274.09249957466216 + ], + [ + 709.3700756779892, + 274.1284687790839 + ], + [ + 711.718510139861, + 261.52661824306335 + ], + [ + 711.3806711498544, + 261.49173075456406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278977103622, + "ymin": 269.94985238908635, + "xmax": 712.9564211495147, + "ymax": 302.4065227489551 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278977103622, + 302.1308313090037 + ], + [ + 709.1698799793946, + 302.4065227489551 + ], + [ + 711.7710752823339, + 287.99238033817625 + ], + [ + 709.270865667261, + 287.725851708119 + ], + [ + 707.7470091156603, + 284.2887721848514 + ], + [ + 710.3320664626497, + 284.56327804329226 + ], + [ + 712.9564211495147, + 270.21508548052634 + ], + [ + 710.4145523847193, + 269.94985238908635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278980842768, + "ymin": 269.949852428101, + "xmax": 712.9564213989398, + "ymax": 302.4065227760078 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278980842768, + 302.1308313495568 + ], + [ + 709.1698802288311, + 302.4065227760078 + ], + [ + 711.77107552767, + 287.9923803643297 + ], + [ + 709.2708660350331, + 287.7258517473245 + ], + [ + 707.7470094959091, + 284.2887722252298 + ], + [ + 710.3320667163142, + 284.5632780702287 + ], + [ + 712.9564213989398, + 270.2150855065528 + ], + [ + 710.4145527586174, + 269.949852428101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278972478054, + "ymin": 269.94985548107593, + "xmax": 712.9564205859922, + "ymax": 302.406525951399 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278972478054, + 302.1308345229124 + ], + [ + 709.1698794014774, + 302.406525951399 + ], + [ + 711.7710747236272, + 287.9923834341679 + ], + [ + 709.2708652221696, + 287.7258548152277 + ], + [ + 707.7470086495882, + 284.2887753849217 + ], + [ + 710.3320658794228, + 284.5632812319815 + ], + [ + 712.9564205859922, + 270.21508856148506 + ], + [ + 710.4145519365526, + 269.94985548107593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.4792203834259, + "ymin": 229.38811783147196, + "xmax": 691.5015088419378, + "ymax": 260.22011516525583 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 685.4792203834259, + 259.97080430461574 + ], + [ + 687.8900576557972, + 260.22011516525583 + ], + [ + 690.7051400833255, + 247.17472578089308 + ], + [ + 688.3319040707952, + 246.9333042434904 + ], + [ + 686.2050504293601, + 242.34482501383286 + ], + [ + 688.6546004893822, + 242.59265516953064 + ], + [ + 691.5015088419378, + 229.6279833716257 + ], + [ + 689.0907677734506, + 229.38811783147196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7462738231169, + "ymin": 261.4914033213019, + "xmax": 711.7185706511872, + "ymax": 294.3607254114548 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7462738231169, + 294.32456494104025 + ], + [ + 708.082790071228, + 294.3607254114548 + ], + [ + 710.407438520132, + 281.688311458773 + ], + [ + 710.0758304713464, + 281.65321872459 + ], + [ + 709.0272033860722, + 274.09216198927965 + ], + [ + 709.3701380735763, + 274.1281311645 + ], + [ + 711.7185706511872, + 261.52629078190716 + ], + [ + 711.3807317936586, + 261.4914033213019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278970057282, + "ymin": 269.94985608386787, + "xmax": 712.9564204732877, + "ymax": 302.40652659188777 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278970057282, + 302.1308351494728 + ], + [ + 709.1698792858939, + 302.40652659188777 + ], + [ + 711.7710746118858, + 287.99238405336615 + ], + [ + 709.2708649860425, + 287.72585542096715 + ], + [ + 707.7470084042742, + 284.2887760087843 + ], + [ + 710.3320657627773, + 284.5632818697193 + ], + [ + 712.9564204732877, + 270.21508917767676 + ], + [ + 710.41455169736, + 269.94985608386787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.178407197914, + "ymin": 259.51222548430604, + "xmax": 713.0664277942825, + "ymax": 297.66455406767494 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 708.178407197914, + 297.62092061053704 + ], + [ + 708.5829253773842, + 297.66455406767494 + ], + [ + 711.6650900246466, + 280.74336359886274 + ], + [ + 711.2684208026561, + 280.7014396169094 + ], + [ + 709.5389419567877, + 276.33313461564705 + ], + [ + 709.9516037238798, + 276.3765310374624 + ], + [ + 713.0664277942825, + 259.55388881156813 + ], + [ + 712.6619310551623, + 259.51222548430604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7463184716058, + "ymin": 261.49151651367737, + "xmax": 711.7186160055005, + "ymax": 294.3608427440883 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7463184716058, + 294.3246822637136 + ], + [ + 708.0828347679586, + 294.3608427440883 + ], + [ + 710.407482867406, + 281.6884253267693 + ], + [ + 710.0758747717767, + 281.653332583064 + ], + [ + 709.0272490585068, + 274.09227869120224 + ], + [ + 709.3701837961097, + 274.1282478765174 + ], + [ + 711.7186160055005, + 261.52640398392555 + ], + [ + 711.3807770993521, + 261.49151651367737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278980842768, + "ymin": 269.949852428101, + "xmax": 712.9564213989398, + "ymax": 302.4065227760078 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278980842768, + 302.1308313495568 + ], + [ + 709.1698802288311, + 302.4065227760078 + ], + [ + 711.77107552767, + 287.9923803643297 + ], + [ + 709.2708660350331, + 287.7258517473245 + ], + [ + 707.7470094959091, + 284.2887722252298 + ], + [ + 710.3320667163142, + 284.5632780702287 + ], + [ + 712.9564213989398, + 270.2150855065528 + ], + [ + 710.4145527586174, + 269.949852428101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.1782958151042, + "ymin": 259.5122140124394, + "xmax": 713.0663162804356, + "ymax": 297.6645420385672 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 708.1782958151042, + 297.62090859620173 + ], + [ + 708.582813857623, + 297.6645420385672 + ], + [ + 711.6649806688388, + 280.7433520410441 + ], + [ + 711.2683115809218, + 280.70142807326107 + ], + [ + 709.5388283317823, + 276.33312266659084 + ], + [ + 709.9514899589344, + 276.3765190736898 + ], + [ + 713.0663162804356, + 259.5538773255969 + ], + [ + 712.6618196782525, + 259.5122140124394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.1783987481335, + "ymin": 259.5123520065247, + "xmax": 713.0664199806394, + "ymax": 297.664686572709 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 708.1783987481335, + 297.6210531155958 + ], + [ + 708.5829168642668, + 297.664686572709 + ], + [ + 711.6650821480434, + 280.7434909124747 + ], + [ + 711.2684129893449, + 280.70156693080224 + ], + [ + 709.5389335533963, + 276.33326640074876 + ], + [ + 709.9515952571548, + 276.37666282280793 + ], + [ + 713.0664199806394, + 259.5540153337551 + ], + [ + 712.6619233048555, + 259.5123520065247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6278989351467, + "ymin": 269.94985063272975, + "xmax": 712.9564222359037, + "ymax": 302.40652090864694 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 706.6278989351467, + 302.130829483393 + ], + [ + 709.1698810744541, + 302.40652090864694 + ], + [ + 711.7710763535661, + 287.9923785590416 + ], + [ + 709.2708668660052, + 287.7258499431743 + ], + [ + 707.7470103586004, + 284.2887703671012 + ], + [ + 710.3320675735795, + 284.56327621088815 + ], + [ + 712.9564222359037, + 270.2150837100305 + ], + [ + 710.4145536008278, + 269.94985063272975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.1785186229232, + "ymin": 259.51224008288386, + "xmax": 713.066539243432, + "ymax": 297.66456935813403 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 708.1785186229232, + 297.62093589943595 + ], + [ + 708.5830368153107, + 297.66456935813403 + ], + [ + 711.6651993117596, + 280.74337829025615 + ], + [ + 711.2685300773525, + 280.70145430683345 + ], + [ + 709.539055630148, + 276.33314982147476 + ], + [ + 709.9517174106808, + 276.3765462448728 + ], + [ + 713.066539243432, + 259.5539034116348 + ], + [ + 712.6620424914023, + 259.51224008288386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.4275210375044, + "ymin": 202.8321235301325, + "xmax": 725.2402390588899, + "ymax": 232.60232279134965 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 719.4275210375044, + 232.36956420675415 + ], + [ + 721.7669440955526, + 232.60232279134965 + ], + [ + 723.9659937382455, + 220.41660259239856 + ], + [ + 721.661999722655, + 220.19096657455586 + ], + [ + 720.6516962309785, + 214.92242300590155 + ], + [ + 723.0275526563692, + 215.1535499825117 + ], + [ + 725.2402390588899, + 203.05607139806347 + ], + [ + 722.9009153780324, + 202.8321235301325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.178407306608, + "ymin": 259.5122242465551, + "xmax": 713.0664277699315, + "ymax": 297.664552757716 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 708.178407306608, + 297.6209193142567 + ], + [ + 708.5829253598854, + 297.664552757716 + ], + [ + 711.6650900028665, + 280.7433623402268 + ], + [ + 711.2684209046088, + 280.7014383714136 + ], + [ + 709.5389420655474, + 276.33313332641 + ], + [ + 709.9516037038935, + 276.37652973461854 + ], + [ + 713.0664277699315, + 259.55388756075627 + ], + [ + 712.6619311569975, + 259.5122242465551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.7024018395169, + "ymin": 274.0363140604378, + "xmax": 711.0053388854029, + "ymax": 306.3631388576891 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 704.7024018395169, + 306.08731591794185 + ], + [ + 707.2333311798554, + 306.3631388576891 + ], + [ + 709.8563510814315, + 291.9411468655478 + ], + [ + 707.366834481822, + 291.6744544096026 + ], + [ + 705.7846358984634, + 288.38590203099864 + ], + [ + 708.3582635657943, + 288.6605922070806 + ], + [ + 711.0053388854029, + 274.30176299302957 + ], + [ + 708.4745214832725, + 274.0363140604378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7462168648015, + "ymin": 261.4915881869578, + "xmax": 711.7185143893785, + "ymax": 294.36091703897523 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7462168648015, + 294.3247565522938 + ], + [ + 708.082733186188, + 294.36091703897523 + ], + [ + 710.4073829963534, + 281.68849742785176 + ], + [ + 710.075774876413, + 281.653404678117 + ], + [ + 709.0271456443592, + 274.09235258672413 + ], + [ + 709.3700804079613, + 274.12832177843126 + ], + [ + 711.7185143893785, + 261.52647566331177 + ], + [ + 711.3806754579954, + 261.4915881869578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.1593793214311, + "ymin": 196.72092218432917, + "xmax": 722.9257852806809, + "ymax": 226.24698709127276 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 717.1593793214311, + 226.01795701232012 + ], + [ + 719.4793237148167, + 226.24698709127276 + ], + [ + 721.6959562385922, + 214.25500811649812 + ], + [ + 719.410857392556, + 214.03293143932336 + ], + [ + 718.3388886976231, + 208.61614991313493 + ], + [ + 720.6946578411666, + 208.84351814719776 + ], + [ + 722.9257852806809, + 196.9412843834852 + ], + [ + 720.6059380357433, + 196.72092218432917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.7462170562536, + "ymin": 261.49170994865705, + "xmax": 711.7185151720444, + "ymax": 294.36104325437395 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 707.7462170562536, + 294.3248827569784 + ], + [ + 708.0827334275033, + 294.36104325437395 + ], + [ + 710.407383573355, + 281.68861991631917 + ], + [ + 710.0757754049953, + 281.6535271563412 + ], + [ + 709.0271460327817, + 274.09247812366453 + ], + [ + 709.3700808481673, + 274.12844732623074 + ], + [ + 711.7185151720444, + 261.52659743538385 + ], + [ + 711.3806761904052, + 261.49170994865705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1034.5518801274864, + "ymin": 0.0, + "xmax": 1050.9276533002749, + "ymax": 15.761860786645116 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1043.9012416904075, + 12.942590598726156 + ], + [ + 1034.5518801274864, + 12.297149686493867 + ], + [ + 1035.3919441683827, + 15.11002876766554 + ], + [ + 1044.7884624638652, + 15.761860786645116 + ], + [ + 1049.9964000745504, + -7.451616012210366 + ], + [ + 1040.4991124762537, + -8.083365765141991 + ], + [ + 1041.3817025594858, + -5.329995913702646 + ], + [ + 1050.9276533002749, + -4.691895566348535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.3205611722574, + "ymin": 219.72391643418393, + "xmax": 720.2419603749026, + "ymax": 278.84024895863325 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 714.3205611722574, + 278.66816462867365 + ], + [ + 715.9533464270559, + 278.84024895863325 + ], + [ + 716.2107084519786, + 277.3897968824736 + ], + [ + 714.5807012084374, + 277.2183088046472 + ], + [ + 718.2581694270074, + 221.14544220877121 + ], + [ + 719.9783339228376, + 221.31418136480104 + ], + [ + 720.2419603749026, + 219.89204003397998 + ], + [ + 718.5248789569785, + 219.72391643418393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.4308143399247, + "ymin": 208.24256378913964, + "xmax": 722.3713599461029, + "ymax": 267.0750448036208 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 716.4308143399247, + 266.9077670777817 + ], + [ + 718.0410606964554, + 267.0750448036208 + ], + [ + 718.2912392958505, + 265.6650759757231 + ], + [ + 716.683694875357, + 265.49836971669635 + ], + [ + 720.4203060508368, + 209.6223683532039 + ], + [ + 722.1154727401142, + 209.78615013342295 + ], + [ + 722.3713599461029, + 208.40575691562725 + ], + [ + 720.6791874857387, + 208.24256378913964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.857194055199, + "ymin": 235.171188783741, + "xmax": 688.3028768991975, + "ymax": 294.6429146298756 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 683.857194055199, + 294.4642671612321 + ], + [ + 685.5144401309561, + 294.6429146298756 + ], + [ + 685.830436296231, + 293.13718660627273 + ], + [ + 684.1760515532529, + 292.9591697928571 + ], + [ + 686.2270733219659, + 236.64982949495578 + ], + [ + 687.9744143365585, + 236.82535543312304 + ], + [ + 688.3028768991975, + 235.34606169319173 + ], + [ + 686.5587165287186, + 235.171188783741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1020.335576205206, + "ymin": 82.89208934827957, + "xmax": 1039.0300676066386, + "ymax": 93.33808490751818 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1037.835655284782, + 93.33808490751818 + ], + [ + 1036.3982268702491, + 87.94457850364864 + ], + [ + 1020.335576205206, + 86.68877840033576 + ], + [ + 1021.636221900274, + 92.06123135071067 + ], + [ + 1039.0300676066386, + 89.52205664024018 + ], + [ + 1037.5784331044874, + 84.14420586346603 + ], + [ + 1021.4657492287718, + 82.89208934827957 + ], + [ + 1022.7797447364728, + 88.24888520778882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.724190731044, + "ymin": 280.59301681390923, + "xmax": 709.4712143960165, + "ymax": 340.41972707718156 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 703.724190731044, + 340.22295299201926 + ], + [ + 705.460908889894, + 340.41972707718156 + ], + [ + 705.7543651725714, + 338.7613367040066 + ], + [ + 704.0207894369405, + 338.56528865925543 + ], + [ + 707.3324881046045, + 282.23123637833754 + ], + [ + 709.1684040223535, + 282.4257250047146 + ], + [ + 709.4712143960165, + 280.78674731316477 + ], + [ + 707.6388098338725, + 280.59301681390923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 952.8119346065013, + "ymin": 75.60346452756767, + "xmax": 1175.5225066095873, + "ymax": 322.52807129462826 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1079.7248657265452, + 322.52807129462826 + ], + [ + 1077.496806624093, + 313.42289058495663 + ], + [ + 952.8119346065013, + 300.33502955332546 + ], + [ + 953.7225232308749, + 309.16724397939925 + ], + [ + 1175.5225066095873, + 95.55142289603691 + ], + [ + 1171.610869036447, + 87.34088221490339 + ], + [ + 1018.8791567207624, + 75.60346452756767 + ], + [ + 1020.8100792878316, + 83.51602896827865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 211.65205544061797, + "ymax": 158.74427290161628 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 205.5277363463269, + 158.74427290161628 + ], + [ + 211.65205544061797, + 152.08558196483372 + ], + [ + 77.20670449058468, + 139.2476649328488 + ], + [ + 69.95574124160578, + 145.66653203991444 + ], + [ + 126.15566571995475, + -61.509300585034 + ], + [ + 134.2576593724665, + -66.9537609567493 + ], + [ + -22.31462388300895, + -77.39871327565311 + ], + [ + -31.942353133129245, + -72.18483251850569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.6003367588117, + "ymin": 220.71780521236732, + "xmax": 716.338267470856, + "ymax": 279.85791868433654 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 710.6003367588117, + 279.6854153811583 + ], + [ + 712.234342247971, + 279.85791868433654 + ], + [ + 712.4984739054978, + 278.40393799970036 + ], + [ + 710.8672505271512, + 278.2320331256068 + ], + [ + 714.3456337875665, + 222.1429718812755 + ], + [ + 716.0671534951089, + 222.31214367591406 + ], + [ + 716.338267470856, + 220.88635908406127 + ], + [ + 714.6198356391978, + 220.71780521236732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.2803232883447, + "ymin": 202.04751995311793, + "xmax": 720.0650205954905, + "ymax": 260.71984957461245 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 714.2803232883447, + 260.55513989978533 + ], + [ + 715.8777274317667, + 260.71984957461245 + ], + [ + 716.1296516494833, + 259.3315105882312 + ], + [ + 714.5349065243843, + 259.16735928211006 + ], + [ + 718.1261442146397, + 203.40507138606563 + ], + [ + 719.8070849000359, + 203.56620911973926 + ], + [ + 720.0650205954905, + 202.2080832174235 + ], + [ + 718.387024106127, + 202.04751995311793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1020.4334488997475, + "ymin": 82.94743118744714, + "xmax": 1038.928811396976, + "ymax": 93.28221592754386 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1037.747449500915, + 93.28221592754386 + ], + [ + 1036.3259853175036, + 87.94635654924173 + ], + [ + 1020.4334488997475, + 86.70383788305037 + ], + [ + 1021.7210240587524, + 92.01908983964404 + ], + [ + 1038.928811396976, + 89.50687952257368 + ], + [ + 1037.493446463708, + 84.1863442585452 + ], + [ + 1021.5519318681468, + 82.94743118744714 + ], + [ + 1022.85257856108, + 88.24735761237196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.4803950052438, + "ymin": 0.0, + "xmax": 1098.8354438016017, + "ymax": 76.51916568242314 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1024.631995478771, + 75.68966857528443 + ], + [ + 1034.902379041002, + 76.51916568242314 + ], + [ + 1007.9774411148491, + -31.27905744379933 + ], + [ + 999.4803950052438, + -31.85062139009193 + ], + [ + 1086.8077004453812, + -132.62747100513633 + ], + [ + 1098.8354438016017, + -131.98072593650403 + ], + [ + 1056.0992791421634, + -213.795244588105 + ], + [ + 1046.4333191625142, + -214.21735929980537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 517.3071363068616, + "ymin": 0.0, + "xmax": 822.3164631881676, + "ymax": 65.45742318244947 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 535.8996007180563, + 39.73132741395432 + ], + [ + 533.5233888861796, + 43.898197834554594 + ], + [ + 796.96437540989, + 65.45742318244947 + ], + [ + 797.5351452061657, + 60.98759534206488 + ], + [ + 520.1716713748607, + -160.40270949991395 + ], + [ + 517.3071363068616, + -157.21001043465094 + ], + [ + 821.8626337208798, + -140.5829140092435 + ], + [ + 822.3164631881676, + -144.0451558960529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.9620415223615, + "ymin": 276.32617718598954, + "xmax": 709.7447832860928, + "ymax": 336.5969381125627 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 703.9620415223615, + 336.4002703640613 + ], + [ + 705.7052957397796, + 336.5969381125627 + ], + [ + 705.9993925525313, + 334.93945400478873 + ], + [ + 704.259304437965, + 334.74351460559996 + ], + [ + 707.5980936059171, + 277.9624865031134 + ], + [ + 709.4413150720766, + 278.1567500181591 + ], + [ + 709.7447832860928, + 276.51968047272476 + ], + [ + 707.9051011540649, + 276.32617718598954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.312579117958, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 219.3558964904912 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1300.3842341235586, + 219.3558964904912 + ], + [ + 1496.8798135048442, + 213.84119608383153 + ], + [ + 1372.9058178635823, + 109.78735121960838 + ], + [ + 1202.312579117958, + 113.91070844381292 + ], + [ + 1506.7794456272936, + -138.50876438856625 + ], + [ + 1762.197884200536, + -142.40435350773657 + ], + [ + 1561.3568186180546, + -212.80507825748418 + ], + [ + 1348.0240166361527, + -210.1228816074248 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00157/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00157/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41e21585e0a2bb817b4492d572a639fad0d0b06a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00157/meta.json @@ -0,0 +1,7056 @@ +{ + "frame_id": 157, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 78.5, + "sim_timestamp": 13444.357184949564 + }, + "drone_pose": { + "x": -21.59570936894108, + "y": 1.691021030263768, + "z": 20.0, + "pitch": -43.82420803043323, + "yaw": -9.622712308620498, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7113165855407715, + 0.12060025334358215, + 0.692448079586029, + 1.7163619995117188 + ], + [ + -0.16715958714485168, + 0.9859298467636108, + 0.0, + 1.9427016973495483 + ], + [ + -0.6827052235603333, + -0.11574933677911758, + 0.7214677333831787, + -29.368593215942383 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -20.975280363240977, + "y": 1.728192084504128, + "z": 20.0 + }, + "t1_image_uv": [ + 948.4534245308992, + -561.385830650647 + ], + "t1_depth": 0.4368385929987605 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -1.6671829223632812, + "y": -1.687763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.01639569409349, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 209, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -1.6671829223632812, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.21491795778274536, + "y": 0.24882298707962036, + "z": 0.5570686459541321 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 628.6372548506358, + "ymin": 338.5334157827936, + "xmax": 651.3812643311019, + "ymax": 381.2297871314592 + }, + "corners_3d": [ + [ + -1.995097279548645, + -1.7117377519607544, + 0.04303240776062012 + ], + [ + -1.6432085037231445, + -1.3598488569259644, + 0.04303240776062012 + ], + [ + -1.3392685651779175, + -1.6637886762619019, + 0.04303240776062012 + ], + [ + -1.691157341003418, + -2.0156774520874023, + 0.04303240776062012 + ], + [ + -1.995097279548645, + -1.7117377519607544, + 1.1571696996688843 + ], + [ + -1.6432085037231445, + -1.3598488569259644, + 1.1571696996688843 + ], + [ + -1.3392685651779175, + -1.6637886762619019, + 1.1571696996688843 + ], + [ + -1.691157341003418, + -2.0156774520874023, + 1.1571696996688843 + ] + ], + "corners_2d": [ + [ + 637.3266439393633, + 381.2297871314592 + ], + [ + 651.0718720406725, + 374.32560804632675 + ], + [ + 642.6303396801429, + 366.0623679197659 + ], + [ + 628.945654845649, + 372.8447027687965 + ], + [ + 637.2513729746192, + 353.66500612390894 + ], + [ + 651.3812643311019, + 346.77543653219715 + ], + [ + 642.7031747986003, + 338.5334157827936 + ], + [ + 628.6372548506358, + 345.29803493831326 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 157, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 356373, + "2": 258235, + "5": 5327, + "6": 3847, + "7": 123, + "10": 980, + "12": 1734, + "14": 14672, + "15": 9529, + "20": 3265, + "24": 24421, + "25": 243094 + }, + "instance_pixel_counts": { + "2118": 974, + "2188": 714, + "2706": 2424, + "3218": 4536, + "3424": 132364, + "3724": 392, + "5506": 1988, + "6215": 51965, + "6284": 4890, + "6290": 16763, + "6730": 762, + "6992": 1991, + "8286": 3651, + "8332": 11205, + "8338": 27897, + "8798": 4635, + "10846": 6385, + "15184": 3336, + "15510": 2339, + "16022": 392, + "16203": 844, + "18000": 3265, + "19092": 18976, + "19604": 12358, + "21140": 55204, + "23392": 1103, + "23700": 110700, + "23904": 141, + "28000": 582, + "28256": 566, + "28768": 545, + "29826": 964, + "31584": 405, + "31840": 144, + "32096": 183, + "34304": 272, + "34560": 746, + "34956": 811, + "35402": 319, + "35468": 682, + "35476": 3384, + "36170": 103, + "37524": 6418, + "38540": 5707, + "38801": 1953, + "39825": 4387, + "40588": 9655, + "42897": 13742, + "44945": 32510, + "45898": 162, + "52038": 68002, + "56576": 209, + "56647": 110730, + "56832": 148, + "57088": 477, + "57344": 586, + "57600": 314, + "58368": 9529, + "59541": 1394, + "60051": 11791, + "60563": 443, + "60565": 60, + "62101": 1287, + "62208": 1, + "62611": 47305, + "64149": 2922, + "64585": 366, + "64659": 99596 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 209, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -1.6671829223632812, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2240920066833496, + "y": 0.2875935137271881, + "z": 0.5482891798019409 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.3532710141001, + "ymin": 338.05942224772184, + "xmax": 652.6574331737863, + "ymax": 381.74145805272707 + }, + "corners_3d": [ + [ + -2.0289993286132812, + -1.7326655387878418, + 0.05181187391281128 + ], + [ + -1.6222805976867676, + -1.3259469270706177, + 0.05181187391281128 + ], + [ + -1.3053666353225708, + -1.6428608894348145, + 0.05181187391281128 + ], + [ + -1.712085247039795, + -2.049579620361328, + 0.05181187391281128 + ], + [ + -2.0289993286132812, + -1.7326655387878418, + 1.148390293121338 + ], + [ + -1.6222805976867676, + -1.3259469270706177, + 1.148390293121338 + ], + [ + -1.3053666353225708, + -1.6428608894348145, + 1.148390293121338 + ], + [ + -1.712085247039795, + -2.049579620361328, + 1.148390293121338 + ] + ], + "corners_2d": [ + [ + 636.426905305216, + 381.74145805272707 + ], + [ + 652.3188281450515, + 373.7584908973996 + ], + [ + 643.5102454119641, + 365.1524087868599 + ], + [ + 627.6913111207514, + 372.9884995507189 + ], + [ + 636.3278307526293, + 354.6099194878381 + ], + [ + 652.6574331737863, + 346.6434896293551 + ], + [ + 643.605818660809, + 338.05942224772184 + ], + [ + 627.3532710141001, + 345.8752910616071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 148, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 4.257444381713867, + "y": 0.14483775198459625, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.19927000999450684, + "y": 0.2263459712266922, + "z": 0.5266384482383728 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 714.0411961561342, + "ymin": 226.80010809149212, + "xmax": 733.9583419201531, + "ymax": 263.1425633124547 + }, + "corners_3d": [ + [ + 3.9571986198425293, + 0.17300772666931152, + 0.0734626054763794 + ], + [ + 4.323434352874756, + 0.4390934109687805, + 0.0734626054763794 + ], + [ + 4.557690143585205, + 0.11666777729988098, + 0.0734626054763794 + ], + [ + 4.1914544105529785, + -0.1494179219007492, + 0.0734626054763794 + ], + [ + 3.9571986198425293, + 0.17300772666931152, + 1.126739501953125 + ], + [ + 4.323434352874756, + 0.4390934109687805, + 1.126739501953125 + ], + [ + 4.557690143585205, + 0.11666777729988098, + 1.126739501953125 + ], + [ + 4.1914544105529785, + -0.1494179219007492, + 1.126739501953125 + ] + ], + "corners_2d": [ + [ + 722.835393736256, + 263.1425633124547 + ], + [ + 731.8423666235338, + 257.32709939709355 + ], + [ + 723.0530082509882, + 252.16444988491642 + ], + [ + 714.0411961561342, + 257.9065453607111 + ], + [ + 724.7577262571268, + 237.68277543418702 + ], + [ + 733.9583419201531, + 231.91703488553097 + ], + [ + 724.9541414865254, + 226.80010809149212 + ], + [ + 715.748281756806, + 232.49144182139702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 477, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -3.923006772994995, + "y": 5.25494909286499, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.40480804443359375, + "y": 0.4258480668067932, + "z": 0.8852728009223938 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 855.3411138373001, + "ymin": 409.25216921455296, + "xmax": 911.6728655306531, + "ymax": 486.1178871891268 + }, + "corners_3d": [ + [ + -4.510343074798584, + 5.270832061767578, + -0.2851717472076416 + ], + [ + -3.8774094581604004, + 5.840727806091309, + -0.2851717472076416 + ], + [ + -3.3356704711914062, + 5.239066123962402, + -0.2851717472076416 + ], + [ + -3.96860408782959, + 4.669170379638672, + -0.2851717472076416 + ], + [ + -4.510343074798584, + 5.270832061767578, + 1.485373854637146 + ], + [ + -3.8774094581604004, + 5.840727806091309, + 1.485373854637146 + ], + [ + -3.3356704711914062, + 5.239066123962402, + 1.485373854637146 + ], + [ + -3.96860408782959, + 4.669170379638672, + 1.485373854637146 + ] + ], + "corners_2d": [ + [ + 877.8940737094315, + 486.1178871891268 + ], + [ + 898.9354697982903, + 470.83607287856165 + ], + [ + 876.3437466836717, + 453.07159071483323 + ], + [ + 855.3411138373001, + 467.8281730394816 + ], + [ + 889.7783193547566, + 442.45058628885846 + ], + [ + 911.6728655306531, + 427.0854290083881 + ], + [ + 887.7600751473374, + 409.25216921455296 + ], + [ + 865.9016609563909, + 424.06376052023296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 586, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -11.167181968688965, + "y": -1.6877632141113281, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3268420398235321, + "y": 0.3509471118450165, + "z": 0.8910748362541199 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 544.5154169858641, + "ymin": 612.6952448203417, + "xmax": 590.856217785202, + "ymax": 692.008524840938 + }, + "corners_3d": [ + [ + -11.644902229309082, + -1.729867696762085, + -0.2909737825393677 + ], + [ + -11.175243377685547, + -1.2082586288452148, + -0.2909737825393677 + ], + [ + -10.689461708068848, + -1.6456587314605713, + -0.2909737825393677 + ], + [ + -11.159120559692383, + -2.1672677993774414, + -0.2909737825393677 + ], + [ + -11.644902229309082, + -1.729867696762085, + 1.491175889968872 + ], + [ + -11.175243377685547, + -1.2082586288452148, + 1.491175889968872 + ], + [ + -10.689461708068848, + -1.6456587314605713, + 1.491175889968872 + ], + [ + -11.159120559692383, + -2.1672677993774414, + 1.491175889968872 + ] + ], + "corners_2d": [ + [ + 563.8199484956073, + 692.008524840938 + ], + [ + 590.856217785202, + 676.4263944839488 + ], + [ + 576.6077651608472, + 654.2291747649726 + ], + [ + 549.8862099628977, + 669.2540672985998 + ], + [ + 559.1905558256907, + 651.4011631261 + ], + [ + 587.9091481863151, + 635.4197009569878 + ], + [ + 572.8784217418141, + 612.6952448203417 + ], + [ + 544.5154169858641, + 628.0716710859308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 314, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 9.578153610229492, + "y": -9.857977867126465, + "z": 0.7552915215492249 + }, + "extent": { + "x": 0.3947918713092804, + "y": 0.35785552859306335, + "z": 0.9399670362472534 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 463.9657072983624, + "ymin": 103.87412168842843, + "xmax": 494.2304222748974, + "ymax": 161.107437053129 + }, + "corners_3d": [ + [ + 9.048418045043945, + -9.915435791015625, + -0.18467551469802856 + ], + [ + 9.46910285949707, + -9.336414337158203, + -0.18467551469802856 + ], + [ + 10.107889175415039, + -9.800519943237305, + -0.18467551469802856 + ], + [ + 9.687204360961914, + -10.379541397094727, + -0.18467551469802856 + ], + [ + 9.048418045043945, + -9.915435791015625, + 1.695258617401123 + ], + [ + 9.46910285949707, + -9.336414337158203, + 1.695258617401123 + ], + [ + 10.107889175415039, + -9.800519943237305, + 1.695258617401123 + ], + [ + 9.687204360961914, + -10.379541397094727, + 1.695258617401123 + ] + ], + "corners_2d": [ + [ + 476.7723949855225, + 161.107437053129 + ], + [ + 494.2304222748974, + 156.67612968361172 + ], + [ + 487.31026715741245, + 147.0104878366546 + ], + [ + 470.04654098473145, + 151.3229425803538 + ], + [ + 470.8491212433313, + 117.59307158454445 + ], + [ + 488.9742867229983, + 113.27849333221351 + ], + [ + 481.88135104117447, + 103.87412168842843 + ], + [ + 463.9657072983624, + 108.06887964870722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 9529, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 747.5073245767445, + "ymin": 214.03411326067393, + "xmax": 834.4106868077218, + "ymax": 414.94369584700183 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 747.5073245767445, + 406.55531958770973 + ], + [ + 817.4721818216833, + 414.94369584700183 + ], + [ + 823.4615778140841, + 284.40890255867413 + ], + [ + 762.736653943933, + 278.10638340191065 + ], + [ + 754.9138587281955, + 340.8533573343645 + ], + [ + 829.8121518326845, + 349.2160157827077 + ], + [ + 834.4106868077218, + 220.20303810163642 + ], + [ + 770.0038442870878, + 214.03411326067393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 243, + "instance_id": 62208, + "pixel_count": 1, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 28.08228874206543, + "y": 12.446331024169922, + "z": 0.6455088257789612 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 968.852361068102, + "ymin": 0.0, + "xmax": 1079.6309544890303, + "ymax": 5.607046663580093 + }, + "corners_3d": [ + [ + 29.008596420288086, + 10.079200744628906, + -0.0049611469730734825 + ], + [ + 27.113845825195312, + 10.096124649047852, + -0.0049611469730734825 + ], + [ + 27.155981063842773, + 14.813461303710938, + -0.0049611469730734825 + ], + [ + 29.050731658935547, + 14.796538352966309, + -0.0049611469730734825 + ], + [ + 29.008596420288086, + 10.079200744628906, + 1.2959787845611572 + ], + [ + 27.113845825195312, + 10.096124649047852, + 1.2959787845611572 + ], + [ + 27.155981063842773, + 14.813461303710938, + 1.2959787845611572 + ], + [ + 29.050731658935547, + 14.796538352966309, + 1.2959787845611572 + ] + ], + "corners_2d": [ + [ + 968.852361068102, + -16.321389571417797 + ], + [ + 972.1343226941055, + -0.8279280559899007 + ], + [ + 1071.195309799227, + 5.607046663580093 + ], + [ + 1065.1082105048822, + -10.239144630249825 + ], + [ + 975.0323399805718, + -42.19036502069821 + ], + [ + 978.5568279542756, + -27.146850229582924 + ], + [ + 1079.6309544890303, + -20.89402667488139 + ], + [ + 1073.1879238622632, + -36.286671626678526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005530076613, + "ymin": 280.24396797482564, + "xmax": 711.242324386076, + "ymax": 313.2020743396514 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005530076613, + 312.917097603396 + ], + [ + 707.3797687413706, + 313.2020743396514 + ], + [ + 710.0652160853333, + 298.35785451711246 + ], + [ + 707.5289027018933, + 298.08246787831945 + ], + [ + 705.9079648969207, + 295.0189561360934 + ], + [ + 708.5316399921268, + 295.3028710263236 + ], + [ + 711.242324386076, + 280.5181694086321 + ], + [ + 708.6630309822315, + 280.24396797482564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005522801075, + "ymin": 280.24397178111894, + "xmax": 711.2423236877606, + "ymax": 313.2020782980993 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005522801075, + 312.91710155926467 + ], + [ + 707.3797680252533, + 313.2020782980993 + ], + [ + 710.0652153933188, + 298.3578583423287 + ], + [ + 707.5289019988194, + 298.0824717010856 + ], + [ + 705.9079641620294, + 295.0189600772002 + ], + [ + 708.5316392690698, + 295.30287497004394 + ], + [ + 711.2423236877606, + 280.518173217406 + ], + [ + 708.6630302724786, + 280.24397178111894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 711.8368085900237, + "ymin": 223.8232268729586, + "xmax": 717.8457420737094, + "ymax": 254.5290258116508 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 711.8368085900237, + 254.28099728781274 + ], + [ + 714.2451332180183, + 254.5290258116508 + ], + [ + 716.6444479061495, + 241.59496451532598 + ], + [ + 714.2735713420684, + 241.35473611119963 + ], + [ + 712.9808214193697, + 236.66854112581402 + ], + [ + 715.4278642697251, + 236.91507984142885 + ], + [ + 717.8457420737094, + 224.0618918037406 + ], + [ + 715.4373516145232, + 223.8232268729586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.7771645558335, + "ymin": 222.81634261943722, + "xmax": 721.7779059153941, + "ymax": 253.48200291031236 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.7771645558335, + 253.23461043470652 + ], + [ + 718.1835954673509, + 253.48200291031236 + ], + [ + 720.5175254621386, + 240.58085314863314 + ], + [ + 718.1484848979713, + 240.34123104406666 + ], + [ + 716.9823554617808, + 235.62846578558853 + ], + [ + 719.4274428671042, + 235.8743622230659 + ], + [ + 721.7779059153941, + 223.05439577498512 + ], + [ + 719.3714103609245, + 222.81634261943722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9271129067233, + "ymin": 271.7761847400832, + "xmax": 709.9698559101732, + "ymax": 305.10324864957676 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9271129067233, + 305.06586290928277 + ], + [ + 706.268591630258, + 305.10324864957676 + ], + [ + 708.6688646145952, + 292.0499094272286 + ], + [ + 708.3324279211276, + 292.0136415837725 + ], + [ + 707.195575361117, + 284.7640609570958 + ], + [ + 707.5436803375483, + 284.801273205641 + ], + [ + 709.9698559101732, + 271.8122633617219 + ], + [ + 709.6269890725686, + 271.7761847400832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9271074299224, + "ymin": 271.7763316661783, + "xmax": 709.9698511264003, + "ymax": 305.10340091192666 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9271074299224, + 305.0660151584939 + ], + [ + 706.2685862132266, + 305.10340091192666 + ], + [ + 708.6688596945994, + 292.0500571365804 + ], + [ + 708.3324229431141, + 292.01378928057045 + ], + [ + 707.1955700061177, + 284.7642124996561 + ], + [ + 707.5436750446606, + 284.8014247615306 + ], + [ + 709.9698511264003, + 271.812410300542 + ], + [ + 709.6269842285391, + 271.7763316661783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005530076613, + "ymin": 280.24396797482564, + "xmax": 711.242324386076, + "ymax": 313.2020743396514 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005530076613, + 312.917097603396 + ], + [ + 707.3797687413706, + 313.2020743396514 + ], + [ + 710.0652160853333, + 298.35785451711246 + ], + [ + 707.5289027018933, + 298.08246787831945 + ], + [ + 705.9079648969207, + 295.0189561360934 + ], + [ + 708.5316399921268, + 295.3028710263236 + ], + [ + 711.242324386076, + 280.5181694086321 + ], + [ + 708.6630309822315, + 280.24396797482564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.800553387051, + "ymin": 280.24396801515934, + "xmax": 711.2423246391749, + "ymax": 313.2020743676154 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.800553387051, + 312.91709764531464 + ], + [ + 707.379768994462, + 313.2020743676154 + ], + [ + 710.0652163342133, + 298.35785454413525 + ], + [ + 707.5289030749743, + 298.08246791882766 + ], + [ + 705.9079652828478, + 295.0189561778556 + ], + [ + 708.5316402495822, + 295.3028710541835 + ], + [ + 711.2423246391749, + 280.51816943553877 + ], + [ + 708.6630313616325, + 280.24396801515934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005525278296, + "ymin": 280.2439711601813, + "xmax": 711.2423238041465, + "ymax": 313.20207763835805 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005525278296, + 312.9171009139261 + ], + [ + 707.3797681446063, + 313.20207763835805 + ], + [ + 710.0652155086545, + 298.35785770479265 + ], + [ + 707.5289022403587, + 298.08247107746064 + ], + [ + 705.9079644131536, + 295.01895943426985 + ], + [ + 708.5316393895794, + 295.30287431275724 + ], + [ + 711.2423238041465, + 280.5181725826103 + ], + [ + 708.6630305172379, + 280.2439711601813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.4841956641709, + "ymin": 238.47431144244405, + "xmax": 689.6088413368293, + "ymax": 269.76438918109864 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 683.4841956641709, + 269.50701279417603 + ], + [ + 685.9287087947794, + 269.76438918109864 + ], + [ + 688.829227143336, + 256.34675887544756 + ], + [ + 686.4232811726536, + 256.09762405260597 + ], + [ + 684.1898250319314, + 251.8075271833111 + ], + [ + 686.674240523541, + 252.06350983169824 + ], + [ + 689.6088413368293, + 238.72196738477132 + ], + [ + 687.1642522775647, + 238.47431144244405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9271713456305, + "ymin": 271.77599424148264, + "xmax": 709.9699136373528, + "ymax": 305.1030512321977 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9271713456305, + 305.06566550893893 + ], + [ + 706.2686499938857, + 305.1030512321977 + ], + [ + 708.6689215603664, + 292.0497179130867 + ], + [ + 708.3324849399733, + 292.01345008590755 + ], + [ + 707.1956346298614, + 284.7638644729693 + ], + [ + 707.5437395280624, + 284.80107670423195 + ], + [ + 709.9699136373528, + 271.81207284662264 + ], + [ + 709.6270468756433, + 271.77599424148264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005522801075, + "ymin": 280.24397178111894, + "xmax": 711.2423236877606, + "ymax": 313.2020782980993 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005522801075, + 312.91710155926467 + ], + [ + 707.3797680252533, + 313.2020782980993 + ], + [ + 710.0652153933188, + 298.3578583423287 + ], + [ + 707.5289019988194, + 298.0824717010856 + ], + [ + 705.9079641620294, + 295.0189600772002 + ], + [ + 708.5316392690698, + 295.30287497004394 + ], + [ + 711.2423236877606, + 280.518173217406 + ], + [ + 708.6630302724786, + 280.24397178111894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.3602035163013, + "ymin": 269.73684497933186, + "xmax": 711.344738797591, + "ymax": 308.4789045421585 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 706.3602035163013, + 308.43379100771654 + ], + [ + 706.7706943258635, + 308.4789045421585 + ], + [ + 709.9531356924128, + 291.0495708499438 + ], + [ + 709.5507076571872, + 291.0062470231758 + ], + [ + 707.7077999785963, + 287.07460181189276 + ], + [ + 708.1266985017363, + 287.11950122846497 + ], + [ + 711.344738797591, + 269.7799281148387 + ], + [ + 710.9342333972666, + 269.73684497933186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9272162878815, + "ymin": 271.7761109122142, + "xmax": 709.9699593092989, + "ymax": 305.10317214033034 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9272162878815, + 305.06578640663844 + ], + [ + 706.2686949857251, + 305.10317214033034 + ], + [ + 708.6689662043038, + 292.04983520578605 + ], + [ + 708.332529535777, + 292.0135673686382 + ], + [ + 707.1956806172147, + 284.76398480953196 + ], + [ + 707.5437855669466, + 284.8011970513792 + ], + [ + 709.9699593092989, + 271.8121895274588 + ], + [ + 709.6270924975989, + 271.7761109122142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.800553387051, + "ymin": 280.24396801515934, + "xmax": 711.2423246391749, + "ymax": 313.2020743676154 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.800553387051, + 312.91709764531464 + ], + [ + 707.379768994462, + 313.2020743676154 + ], + [ + 710.0652163342133, + 298.35785454413525 + ], + [ + 707.5289030749743, + 298.08246791882766 + ], + [ + 705.9079652828478, + 295.0189561778556 + ], + [ + 708.5316402495822, + 295.3028710541835 + ], + [ + 711.2423246391749, + 280.51816943553877 + ], + [ + 708.6630313616325, + 280.24396801515934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.360090489042, + "ymin": 269.73683311653554, + "xmax": 711.344625627148, + "ymax": 308.4788921050046 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 706.360090489042, + 308.43377858585706 + ], + [ + 706.7705811594399, + 308.4788921050046 + ], + [ + 709.9530247488956, + 291.0495589061991 + ], + [ + 709.5505968498704, + 291.0062350940939 + ], + [ + 707.707684636423, + 287.07458944900293 + ], + [ + 708.126583017305, + 287.1194888503273 + ], + [ + 711.344625627148, + 269.779916237437 + ], + [ + 710.9341203659865, + 269.73683311653554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.3601945111257, + "ymin": 269.7369753598676, + "xmax": 711.3447304513642, + "ymax": 308.47904106735086 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 706.3601945111257, + 308.43392753275253 + ], + [ + 706.7706852572142, + 308.47904106735086 + ], + [ + 709.9531272949463, + 291.04970195888245 + ], + [ + 709.5506993231788, + 291.0063781322367 + ], + [ + 707.7077910063609, + 287.07473768881084 + ], + [ + 708.1266894660642, + 287.11963710582495 + ], + [ + 711.3447304513642, + 269.78005849551647 + ], + [ + 710.9342251145129, + 269.7369753598676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.8005542566807, + "ymin": 280.24396616579094, + "xmax": 711.2423254945303, + "ymax": 313.2020724443194 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 704.8005542566807, + 312.91709572327187 + ], + [ + 707.3797698587032, + 313.2020724443194 + ], + [ + 710.0652171779808, + 298.35785268557265 + ], + [ + 707.5289039239526, + 298.08246606145565 + ], + [ + 705.9079661648631, + 295.0189542629852 + ], + [ + 708.5316411260214, + 295.3028691380432 + ], + [ + 711.2423254945303, + 280.5181675849651 + ], + [ + 708.6630322223771, + 280.24396616579094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.3603165758283, + "ymin": 269.73686006428085, + "xmax": 711.344851892167, + "ymax": 308.47892033966104 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 706.3603165758283, + 308.4338068035805 + ], + [ + 706.7708073987092, + 308.47892033966104 + ], + [ + 709.9532465562746, + 291.0495860207248 + ], + [ + 709.5508185082529, + 291.00626219241474 + ], + [ + 707.707915359026, + 287.0746175327698 + ], + [ + 708.1268138960338, + 287.11951695100595 + ], + [ + 711.344851892167, + 269.77994320135167 + ], + [ + 710.9343464785295, + 269.73686006428085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.0027445330394, + "ymin": 211.17294569101642, + "xmax": 723.9140938414874, + "ymax": 241.3745936362177 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.0027445330394, + 241.1344970513478 + ], + [ + 720.3740861186188, + 241.3745936362177 + ], + [ + 722.6397062437661, + 228.85102358925687 + ], + [ + 720.3046811405994, + 228.6183588011192 + ], + [ + 719.2246160243027, + 223.60442315683767 + ], + [ + 721.6334859867943, + 223.8429550748142 + ], + [ + 723.9140938414874, + 211.40398131069531 + ], + [ + 721.54269006713, + 211.17294569101642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.3602036308223, + "ymin": 269.73684370384495, + "xmax": 711.3447387769617, + "ymax": 308.47890319241685 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 706.3602036308223, + 308.43378967211925 + ], + [ + 706.7706943123203, + 308.47890319241685 + ], + [ + 709.9531356743018, + 291.04956955374934 + ], + [ + 709.5507077646128, + 291.0062457405619 + ], + [ + 707.7078000933316, + 287.07460048263584 + ], + [ + 708.1266984857713, + 287.11949988512805 + ], + [ + 711.3447387769617, + 269.77992682584414 + ], + [ + 710.9342335047057, + 269.73684370384495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.8535871239732, + "ymin": 284.3404391860564, + "xmax": 709.2687240908712, + "ymax": 317.16410012224287 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 702.8535871239732, + 316.87902753742907 + ], + [ + 705.42139940623, + 317.16410012224287 + ], + [ + 708.1289238811154, + 302.31385448241065 + ], + [ + 705.6036381291996, + 302.0383361758715 + ], + [ + 703.9231653700259, + 299.1243031566088 + ], + [ + 706.5350415676638, + 299.4083673800395 + ], + [ + 709.2687240908712, + 284.6148250542666 + ], + [ + 706.7008342132468, + 284.3404391860564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9271129067233, + "ymin": 271.7761847400832, + "xmax": 709.9698559101732, + "ymax": 305.10324864957676 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9271129067233, + 305.06586290928277 + ], + [ + 706.268591630258, + 305.10324864957676 + ], + [ + 708.6688646145952, + 292.0499094272286 + ], + [ + 708.3324279211276, + 292.0136415837725 + ], + [ + 707.195575361117, + 284.7640609570958 + ], + [ + 707.5436803375483, + 284.801273205641 + ], + [ + 709.9698559101732, + 271.8122633617219 + ], + [ + 709.6269890725686, + 271.7761847400832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.722362403395, + "ymin": 204.88991637355704, + "xmax": 721.5858959288851, + "ymax": 234.84128229250825 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 715.722362403395, + 234.60507730902384 + ], + [ + 718.0737280025276, + 234.84128229250825 + ], + [ + 720.35679409467, + 222.51916580878557 + ], + [ + 718.041139927156, + 222.29021404628364 + ], + [ + 716.898712308402, + 217.11841151775852 + ], + [ + 719.2869719719686, + 217.3530173731969 + ], + [ + 721.5858959288851, + 205.1172088104879 + ], + [ + 719.2344685789425, + 204.88991637355704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9271126921287, + "ymin": 271.7763102258274, + "xmax": 709.9698563037172, + "ymax": 305.1033786928771 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 705.9271126921287, + 305.06599294136157 + ], + [ + 706.2685914669036, + 305.1033786928771 + ], + [ + 708.6688648085095, + 292.0500355819321 + ], + [ + 708.3324280653038, + 292.01376772775404 + ], + [ + 707.1955753364198, + 284.76419038564245 + ], + [ + 707.543680366099, + 284.80140264557195 + ], + [ + 709.9698563037172, + 271.8123888583343 + ], + [ + 709.626989414455, + 271.7763102258274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.2844604159363, + "ymin": 0.0, + "xmax": 1053.9142113538642, + "ymax": 19.641258943896844 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1046.742892385586, + 16.757746332899615 + ], + [ + 1037.2844604159363, + 16.09531367196763 + ], + [ + 1038.1397790805959, + 18.97220581292021 + ], + [ + 1047.646371367281, + 19.641258943896844 + ], + [ + 1052.9653289562343, + -3.795006372805801 + ], + [ + 1043.3551297061094, + -4.443652241846962 + ], + [ + 1044.254291384992, + -1.6264699596388823 + ], + [ + 1053.9142113538642, + -0.9712415393286733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.8551687500459, + "ymin": 228.5370459283923, + "xmax": 718.7946056269092, + "ymax": 287.9321023665068 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 712.8551687500459, + 287.75476659979927 + ], + [ + 714.5094097064896, + 287.9321023665068 + ], + [ + 714.7743773452296, + 286.44265568310584 + ], + [ + 713.1229815945716, + 286.2659412928626 + ], + [ + 716.7785997208765, + 229.99919205555338 + ], + [ + 718.5228087598379, + 230.1733684362947 + ], + [ + 718.7946056269092, + 228.71057922397912 + ], + [ + 717.0535594551844, + 228.5370459283923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.0273585464772, + "ymin": 216.72998685179178, + "xmax": 720.9895560406939, + "ymax": 275.8522816644783 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.0273585464772, + 275.67995399367817 + ], + [ + 716.6585184799857, + 275.8522816644783 + ], + [ + 716.9160086335338, + 274.40486627543885 + ], + [ + 715.2876151590029, + 274.2331338678763 + ], + [ + 719.0072647878516, + 218.14871069442816 + ], + [ + 720.7258329182789, + 218.31770921560812 + ], + [ + 720.9895560406939, + 216.89837072426923 + ], + [ + 719.2740585830762, + 216.72998685179178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.9305476131761, + "ymin": 244.41887622229567, + "xmax": 686.3447018039351, + "ymax": 304.1528640455446 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 681.9305476131761, + 303.96869067124135 + ], + [ + 683.609799952271, + 304.1528640455446 + ], + [ + 683.9350406926629, + 302.6060332699957 + ], + [ + 682.258719676953, + 302.4225175214701 + ], + [ + 684.2340966039076, + 245.9404645143468 + ], + [ + 686.006140366405, + 246.1217293583233 + ], + [ + 686.3447018039351, + 244.5994583648686 + ], + [ + 684.5759220019772, + 244.41887622229567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.8130590302264, + "ymin": 91.54615502195549, + "xmax": 1042.8727329664544, + "ymax": 102.26602692208763 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1041.6430040456107, + 102.26602692208763 + ], + [ + 1040.1619479586884, + 96.68283183966423 + ], + [ + 1023.8130590302264, + 95.37850359877802 + ], + [ + 1025.152705457333, + 100.93949316858095 + ], + [ + 1042.8727329664544, + 98.41445309341657 + ], + [ + 1041.3768036092465, + 92.84680896876301 + ], + [ + 1024.9759643943528, + 91.54615502195549 + ], + [ + 1026.329580956089, + 97.09158817665741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 701.947576231545, + "ymin": 291.08891959900745, + "xmax": 707.691593506856, + "ymax": 351.11818485364336 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 701.947576231545, + 350.9151136893076 + ], + [ + 703.7083100998361, + 351.11818485364336 + ], + [ + 704.0108782301946, + 349.4127595221466 + ], + [ + 702.2533671478134, + 349.2104466244702 + ], + [ + 705.5158628013407, + 292.776705560576 + ], + [ + 707.378881870034, + 292.9777899552699 + ], + [ + 707.691593506856, + 291.28921001857805 + ], + [ + 705.8321822234388, + 291.08891959900745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.6042329778611, + "ymin": 84.14615391763232, + "xmax": 1181.9158730986214, + "ymax": 333.1418393207855 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1083.3684528284239, + 333.1418393207855 + ], + [ + 1081.088141860256, + 323.7751205233568 + ], + [ + 954.6042329778611, + 310.268823999652 + ], + [ + 955.5315620684487, + 319.35040994520017 + ], + [ + 1181.9158730986214, + 104.85060954435949 + ], + [ + 1177.8768541965314, + 96.34354828587402 + ], + [ + 1022.3581512256113, + 84.14615391763232 + ], + [ + 1024.347597126175, + 92.33865244333913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 204.6616832463625, + "ymax": 164.76989184894762 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 198.40051660210452, + 164.76989184894762 + ], + [ + 204.6616832463625, + 157.9554677924559 + ], + [ + 68.83823651972057, + 144.77534317944762 + ], + [ + 61.42997586805586, + 151.341200835218 + ], + [ + 116.39596083859408, + -57.22623607836982 + ], + [ + 124.71777325909636, + -62.82620604050169 + ], + [ + -33.78073363235899, + -73.60229304402583 + ], + [ + -43.66209786771287, + -68.24308839968978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.0819594994946, + "ymin": 229.55803213973067, + "xmax": 714.8320988037121, + "ymax": 288.97584134947704 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 709.0819594994946, + 288.79806948750826 + ], + [ + 710.7374445183812, + 288.97584134947704 + ], + [ + 711.0093602084487, + 287.4827348297665 + ], + [ + 709.3567246189493, + 287.3055866357211 + ], + [ + 712.8070111890967, + 231.0239639047627 + ], + [ + 714.5526041961576, + 231.1985917244882 + ], + [ + 714.8320988037121, + 229.732014374851 + ], + [ + 713.0896736193449, + 229.55803213973067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.8666254574475, + "ymin": 210.35978069056145, + "xmax": 718.66994166758, + "ymax": 269.32753482457684 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 712.8666254574475, + 269.15788236490374 + ], + [ + 714.4846322134212, + 269.32753482457684 + ], + [ + 714.7438481137182, + 267.90257226613414 + ], + [ + 713.1285633890635, + 267.7335012740785 + ], + [ + 716.700212106428, + 211.75534943530855 + ], + [ + 718.4041864141947, + 211.92158695338284 + ], + [ + 718.66994166758, + 210.52541854751775 + ], + [ + 716.9689861150899, + 210.35978069056145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.9128212084663, + "ymin": 91.60293878543365, + "xmax": 1042.7694758184493, + "ymax": 102.20868300419687 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1041.5531869983952, + 102.20868300419687 + ], + [ + 1040.0885810617483, + 96.68516122345852 + ], + [ + 1023.9128212084663, + 95.39462514563621 + ], + [ + 1025.2390089823261, + 100.89641183392342 + ], + [ + 1042.7694758184493, + 98.39817848389242 + ], + [ + 1041.2903163253075, + 92.88987838580351 + ], + [ + 1025.0637015723803, + 91.60293878543365 + ], + [ + 1026.4035683070347, + 97.08949850631473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.5680811192902, + "ymin": 0.0, + "xmax": 1102.8219947733344, + "ymax": 80.85417020139448 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1027.1090623747932, + 80.00385942006255 + ], + [ + 1037.4936516695477, + 80.85417020139448 + ], + [ + 1010.1464240577172, + -29.11848193389659 + ], + [ + 1001.5680811192902, + -29.7026544272897 + ], + [ + 1090.6326353414404, + -130.0782640023985 + ], + [ + 1102.8219947733344, + -129.4124903853924 + ], + [ + 1059.1834670119601, + -213.17986018437705 + ], + [ + 1049.4091364075623, + -213.61258812433357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.0252059683206, + "ymin": 0.0, + "xmax": 822.7157017156859, + "ymax": 69.4891059955649 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 533.3033359133057, + 43.15758800403768 + ], + [ + 530.8808308384678, + 47.408918559593985 + ], + [ + 796.9800594803962, + 69.4891059955649 + ], + [ + 797.5646549079845, + 64.9249583357228 + ], + [ + 516.9546432505203, + -158.65239543397433 + ], + [ + 514.0252059683206, + -155.38277251115062 + ], + [ + 822.2497901637179, + -138.2871976069763 + ], + [ + 822.7157017156859, + -141.83676234951452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.1825864072018, + "ymin": 286.80685732713073, + "xmax": 707.9627713125276, + "ymax": 347.28905832519587 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 702.1825864072018, + 347.0860721480833 + ], + [ + 703.950053964225, + 347.28905832519587 + ], + [ + 704.2533145295732, + 345.584357380382 + ], + [ + 702.4890944371846, + 345.38213202024735 + ], + [ + 705.7787841630625, + 288.4929046004928 + ], + [ + 707.6493436154747, + 288.69378362892616 + ], + [ + 707.9627713125276, + 287.00694001737446 + ], + [ + 706.0958488853049, + 286.80685732713073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.8440384656933, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 226.99800782606127 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1306.586531280871, + 226.99800782606127 + ], + [ + 1505.6151346230995, + 221.41175632977595 + ], + [ + 1379.3873114815306, + 114.84130264436826 + ], + [ + 1206.8440384656933, + 119.00602636032968 + ], + [ + 1519.018719761207, + -134.14860968049442 + ], + [ + 1778.9032923858183, + -138.13164227040295 + ], + [ + 1572.7329603086794, + -210.82151881031336 + ], + [ + 1356.2240522140619, + -208.09350463175986 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00158/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00158/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..410d151ceb69aa0d910f240e27e0772daa1f1569 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00158/meta.json @@ -0,0 +1,7059 @@ +{ + "frame_id": 158, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 79.0, + "sim_timestamp": 13454.532941780286 + }, + "drone_pose": { + "x": -20.975280363240977, + "y": 1.728192084504128, + "z": 20.0, + "pitch": -43.854616213846896, + "yaw": -11.182870923328053, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7074086666107178, + 0.1398509442806244, + 0.6928308606147766, + 1.2231693267822266 + ], + [ + -0.19394108653068542, + 0.9810131788253784, + 0.0, + 2.372589111328125 + ], + [ + -0.6796762347221375, + -0.13436837494373322, + 0.7211000919342041, + -28.91061782836914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -20.32699105135198, + "y": 1.8028033171541367, + "z": 20.0 + }, + "t1_image_uv": [ + 1066.1041443225904, + -562.3651550526798 + ], + "t1_depth": 0.4481710668967875 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -1.1671829223632812, + "y": -2.187763214111328, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.00092316275036, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -1.1671829223632812, + "y": -2.187763214111328, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2990013360977173, + "y": 0.2613794505596161, + "z": 0.5426791906356812 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.0043933589951, + "ymin": 338.31291337743636, + "xmax": 650.8572023159861, + "ymax": 381.4898472718951 + }, + "corners_3d": [ + [ + -1.4661842584609985, + -2.4491426944732666, + 0.05741697549819946 + ], + [ + -1.4661842584609985, + -1.9263837337493896, + 0.05741697549819946 + ], + [ + -0.868181586265564, + -1.9263837337493896, + 0.05741697549819946 + ], + [ + -0.868181586265564, + -2.4491426944732666, + 0.05741697549819946 + ], + [ + -1.4661842584609985, + -2.4491426944732666, + 1.142775297164917 + ], + [ + -1.4661842584609985, + -1.9263837337493896, + 1.142775297164917 + ], + [ + -0.868181586265564, + -1.9263837337493896, + 1.142775297164917 + ], + [ + -0.868181586265564, + -2.4491426944732666, + 1.142775297164917 + ] + ], + "corners_2d": [ + [ + 629.2975775064172, + 379.04307773030644 + ], + [ + 646.7720875127088, + 381.4898472718951 + ], + [ + 650.5712565045557, + 367.50543361231433 + ], + [ + 633.3452892686078, + 365.13053974751244 + ], + [ + 629.0043933589951, + 352.1932868592244 + ], + [ + 646.9580987436499, + 354.635561851046 + ], + [ + 650.8572023159861, + 340.6815214809548 + ], + [ + 633.1657556849713, + 338.31291337743636 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 158, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 359324, + "2": 244965, + "5": 3912, + "6": 4132, + "7": 156, + "10": 43, + "12": 1876, + "14": 15784, + "15": 10027, + "20": 3214, + "24": 25524, + "25": 252643 + }, + "instance_pixel_counts": { + "2118": 37, + "2188": 734, + "2706": 2561, + "3218": 4093, + "3424": 136310, + "3724": 460, + "5506": 2116, + "6215": 42599, + "6284": 5051, + "6290": 17879, + "6730": 841, + "6992": 517, + "8286": 3664, + "8332": 11051, + "8338": 26458, + "8798": 4682, + "10846": 6845, + "15184": 3395, + "15510": 2546, + "16022": 543, + "16203": 934, + "18000": 3214, + "19092": 21580, + "19604": 12562, + "21140": 58371, + "23392": 1208, + "23700": 106132, + "23904": 252, + "28000": 591, + "28256": 571, + "28768": 553, + "29024": 4, + "29280": 44, + "29826": 955, + "31584": 413, + "31840": 147, + "32096": 181, + "34304": 309, + "34560": 908, + "34956": 850, + "35402": 324, + "35468": 619, + "35476": 3553, + "36170": 206, + "37524": 6288, + "38540": 6058, + "38801": 2007, + "39825": 4517, + "40588": 9200, + "42897": 14155, + "44945": 32118, + "45898": 226, + "52038": 64555, + "54859": 3, + "56576": 198, + "56647": 116333, + "56832": 169, + "57088": 570, + "57344": 631, + "57600": 308, + "58368": 10027, + "59541": 1485, + "60051": 13339, + "60563": 732, + "60565": 93, + "62101": 1354, + "62208": 593, + "62611": 49017, + "64149": 2800, + "64585": 364, + "64659": 97591 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 198, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -1.1671829223632812, + "y": -2.187763214111328, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.27101820707321167, + "y": 0.2765674293041229, + "z": 0.55824875831604 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.6777047282945, + "ymin": 338.4890390585221, + "xmax": 651.1974863073228, + "ymax": 381.27203740010685 + }, + "corners_3d": [ + [ + -1.4382011890411377, + -2.4643306732177734, + 0.041847407817840576 + ], + [ + -1.4382011890411377, + -1.9111957550048828, + 0.041847407817840576 + ], + [ + -0.8961647152900696, + -1.9111957550048828, + 0.041847407817840576 + ], + [ + -0.8961647152900696, + -2.4643306732177734, + 0.041847407817840576 + ], + [ + -1.4382011890411377, + -2.4643306732177734, + 1.1583449840545654 + ], + [ + -1.4382011890411377, + -1.9111957550048828, + 1.1583449840545654 + ], + [ + -0.8961647152900696, + -1.9111957550048828, + 1.1583449840545654 + ], + [ + -0.8961647152900696, + -2.4643306732177734, + 1.1583449840545654 + ] + ], + "corners_2d": [ + [ + 628.9879013317782, + 378.68668915143786 + ], + [ + 647.4582643185519, + 381.27203740010685 + ], + [ + 650.8939991211428, + 368.5943866738787 + ], + [ + 632.6618254559155, + 366.07794683156817 + ], + [ + 628.6777047282945, + 351.0677275726835 + ], + [ + 647.6689474791037, + 353.6480865909329 + ], + [ + 651.1974863073228, + 340.99872263009695 + ], + [ + 632.4579650686617, + 338.4890390585221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 169, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 4.133347034454346, + "y": -0.036678943783044815, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.2978131175041199, + "y": 0.22836604714393616, + "z": 0.5371527075767517 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 727.5243256588406, + "ymin": 239.97373488356646, + "xmax": 744.382045286045, + "ymax": 277.5502476134734 + }, + "corners_3d": [ + [ + 3.803476095199585, + -0.21564511954784393, + 0.06294834613800049 + ], + [ + 3.874924898147583, + 0.23546382784843445, + 0.06294834613800049 + ], + [ + 4.463217735290527, + 0.1422872394323349, + 0.06294834613800049 + ], + [ + 4.3917694091796875, + -0.3088217079639435, + 0.06294834613800049 + ], + [ + 3.803476095199585, + -0.21564511954784393, + 1.137253761291504 + ], + [ + 3.874924898147583, + 0.23546382784843445, + 1.137253761291504 + ], + [ + 4.463217735290527, + 0.1422872394323349, + 1.137253761291504 + ], + [ + 4.3917694091796875, + -0.3088217079639435, + 1.137253761291504 + ] + ], + "corners_2d": [ + [ + 728.0236577771466, + 277.21696279046563 + ], + [ + 741.9234913279172, + 277.5502476134734 + ], + [ + 741.2377085857968, + 266.295656589179 + ], + [ + 727.5243256588406, + 265.971233294234 + ], + [ + 730.1460631751619, + 251.12915908577025 + ], + [ + 744.382045286045, + 251.45987750976133 + ], + [ + 743.646219752969, + 240.29545209381888 + ], + [ + 729.6057518969144, + 239.97373488356646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 570, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -3.423006772994995, + "y": 4.754949569702148, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.5933390855789185, + "y": 0.35881757736206055, + "z": 0.8921107053756714 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 860.9733120940701, + "ymin": 412.43235382096526, + "xmax": 901.8821979490351, + "ymax": 493.2303542477057 + }, + "corners_3d": [ + [ + -4.034311771392822, + 4.427676677703857, + -0.2920096516609192 + ], + [ + -3.996753692626953, + 5.1443281173706055, + -0.2920096516609192 + ], + [ + -2.811701774597168, + 5.0822224617004395, + -0.2920096516609192 + ], + [ + -2.849259853363037, + 4.365571022033691, + -0.2920096516609192 + ], + [ + -4.034311771392822, + 4.427676677703857, + 1.4922118186950684 + ], + [ + -3.996753692626953, + 5.1443281173706055, + 1.4922118186950684 + ], + [ + -2.811701774597168, + 5.0822224617004395, + 1.4922118186950684 + ], + [ + -2.849259853363037, + 4.365571022033691, + 1.4922118186950684 + ] + ], + "corners_2d": [ + [ + 861.9480458870236, + 490.2009923000918 + ], + [ + 889.2325401296779, + 493.2303542477057 + ], + [ + 887.3810009669406, + 459.41314832730507 + ], + [ + 860.9733120940701, + 456.5745144538836 + ], + [ + 873.178930646095, + 446.22991017644716 + ], + [ + 901.8821979490351, + 449.2800506432781 + ], + [ + 899.5147201592059, + 415.2812129546416 + ], + [ + 871.7801849552989, + 412.43235382096526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 631, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -10.667181968688965, + "y": -2.187763214111328, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.312356561422348, + "y": 0.3161933720111847, + "z": 0.8828983306884766 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 535.8123020760356, + "ymin": 614.7142855133719, + "xmax": 576.4772701953506, + "ymax": 686.7085751081031 + }, + "corners_3d": [ + [ + -10.962562561035156, + -2.5198707580566406, + -0.28279727697372437 + ], + [ + -10.995658874511719, + -1.8883507251739502, + -0.28279727697372437 + ], + [ + -10.371801376342773, + -1.8556556701660156, + -0.28279727697372437 + ], + [ + -10.338705062866211, + -2.487175703048706, + -0.28279727697372437 + ], + [ + -10.962562561035156, + -2.5198707580566406, + 1.482999324798584 + ], + [ + -10.995658874511719, + -1.8883507251739502, + 1.482999324798584 + ], + [ + -10.371801376342773, + -1.8556556701660156, + 1.482999324798584 + ], + [ + -10.338705062866211, + -2.487175703048706, + 1.482999324798584 + ] + ], + "corners_2d": [ + [ + 541.678140085988, + 680.2860087352456 + ], + [ + 568.39665170025, + 686.7085751081031 + ], + [ + 576.4772701953506, + 661.9731867311514 + ], + [ + 550.244467098427, + 655.8018452754004 + ], + [ + 535.8123020760356, + 639.7840682851943 + ], + [ + 564.1014250173832, + 646.370012400405 + ], + [ + 572.7466615704678, + 621.0276841822704 + ], + [ + 545.001361510115, + 614.7142855133719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 308, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 10.078153610229492, + "y": -10.357976913452148, + "z": 0.7549057602882385 + }, + "extent": { + "x": 0.5854324102401733, + "y": 0.345907598733902, + "z": 0.9060772657394409 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 470.62968209818047, + "ymin": 100.25248621885555, + "xmax": 505.66566511305257, + "ymax": 160.02456899752625 + }, + "corners_3d": [ + [ + 9.554040908813477, + -10.791208267211914, + -0.1511715054512024 + ], + [ + 9.445816993713379, + -10.10791015625, + -0.1511715054512024 + ], + [ + 10.602266311645508, + -9.924745559692383, + -0.1511715054512024 + ], + [ + 10.710490226745605, + -10.608043670654297, + -0.1511715054512024 + ], + [ + 9.554040908813477, + -10.791208267211914, + 1.6609830856323242 + ], + [ + 9.445816993713379, + -10.10791015625, + 1.6609830856323242 + ], + [ + 10.602266311645508, + -9.924745559692383, + 1.6609830856323242 + ], + [ + 10.710490226745605, + -10.608043670654297, + 1.6609830856323242 + ] + ], + "corners_2d": [ + [ + 476.3293190247488, + 156.69194487062651 + ], + [ + 492.3563149293391, + 160.02456899752625 + ], + [ + 505.66566511305257, + 144.93147912274998 + ], + [ + 489.9118896288633, + 141.73635112732526 + ], + [ + 470.62968209818047, + 114.81706045694128 + ], + [ + 487.19013581609806, + 118.0654268792741 + ], + [ + 501.0667620138667, + 103.36230519617186 + ], + [ + 484.79766214025074, + 100.25248621885555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 10027, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 762.1900120341877, + "ymin": 227.22287068127457, + "xmax": 854.8190683640113, + "ymax": 434.0751090282947 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 762.1900120341877, + 423.943178600873 + ], + [ + 833.5180940287067, + 434.0751090282947 + ], + [ + 842.4947943381299, + 299.17626913594256 + ], + [ + 780.6591220416389, + 291.59153716496814 + ], + [ + 770.7794460895965, + 358.20071098648606 + ], + [ + 847.2712608532225, + 368.329368239155 + ], + [ + 854.8190683640113, + 234.66271608651726 + ], + [ + 789.140031574836, + 227.22287068127457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 243, + "instance_id": 62208, + "pixel_count": 593, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 28.08228874206543, + "y": 12.446331024169922, + "z": 0.6455088257789612 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 997.3464428603896, + "ymin": 0.0, + "xmax": 1111.135601820914, + "ymax": 15.617287820792342 + }, + "corners_3d": [ + [ + 29.008596420288086, + 10.079200744628906, + -0.0049611469730734825 + ], + [ + 27.113845825195312, + 10.096124649047852, + -0.0049611469730734825 + ], + [ + 27.155981063842773, + 14.813461303710938, + -0.0049611469730734825 + ], + [ + 29.050731658935547, + 14.796538352966309, + -0.0049611469730734825 + ], + [ + 29.008596420288086, + 10.079200744628906, + 1.2959787845611572 + ], + [ + 27.113845825195312, + 10.096124649047852, + 1.2959787845611572 + ], + [ + 27.155981063842773, + 14.813461303710938, + 1.2959787845611572 + ], + [ + 29.050731658935547, + 14.796538352966309, + 1.2959787845611572 + ] + ], + "corners_2d": [ + [ + 997.3464428603896, + -8.11064446810309 + ], + [ + 1000.4077098301717, + 7.822532062170467 + ], + [ + 1101.919830975887, + 15.617287820792342 + ], + [ + 1095.943611624072, + -0.7482423073833502 + ], + [ + 1004.177588580222, + -34.248014884872646 + ], + [ + 1007.4993302907686, + -18.767483158742834 + ], + [ + 1111.135601820914, + -11.18796529915545 + ], + [ + 1104.7775925568303, + -27.0968859208848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347025159069, + "ymin": 294.3237331385295, + "xmax": 727.7211393629991, + "ymax": 327.83647431996087 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347025159069, + 327.4942982348742 + ], + [ + 723.1551287564207, + 327.83647431996087 + ], + [ + 726.2461134744851, + 312.5528343327656 + ], + [ + 723.6694919302134, + 312.22230466888 + ], + [ + 721.9359798682106, + 309.54347243525194 + ], + [ + 724.6025667114078, + 309.8845818516719 + ], + [ + 727.7211393629991, + 294.6530356631684 + ], + [ + 725.0999012621508, + 294.3237331385295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347016798042, + "ymin": 294.3237370585872, + "xmax": 727.7211385597724, + "ymax": 327.83647839639957 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347016798042, + 327.4943023081797 + ], + [ + 723.155127931996, + 327.83647839639957 + ], + [ + 726.2461126781261, + 312.5528382704313 + ], + [ + 723.6694911225633, + 312.2223086035711 + ], + [ + 721.9359790240858, + 309.5434764958325 + ], + [ + 724.6025658793764, + 309.8845859154303 + ], + [ + 727.7211385597724, + 294.6530395862403 + ], + [ + 725.0999004472383, + 294.3237370585872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.1029355154601, + "ymin": 236.20033246781685, + "xmax": 735.8018184761768, + "ymax": 267.39743605476394 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 729.1029355154601, + 267.1001381156955 + ], + [ + 731.5485223692245, + 267.39743605476394 + ], + [ + 734.2985341545105, + 254.10317318471758 + ], + [ + 731.8911465808893, + 253.81532375435742 + ], + [ + 730.5463707396191, + 249.40899544684277 + ], + [ + 733.0321153847722, + 249.7046676210034 + ], + [ + 735.8018184761768, + 236.4864592554243 + ], + [ + 733.3555282253701, + 236.20033246781685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.1389422525309, + "ymin": 235.22720192578868, + "xmax": 739.829751379398, + "ymax": 266.3855879511823 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 733.1389422525309, + 266.0890145016246 + ], + [ + 735.5829917989468, + 266.3855879511823 + ], + [ + 738.2651419996794, + 253.12346939069295 + ], + [ + 735.8592452171206, + 252.83631020791523 + ], + [ + 734.6458903050858, + 248.40342682828668 + ], + [ + 737.130046102745, + 248.69836682183006 + ], + [ + 739.829751379398, + 235.51263168043664 + ], + [ + 737.3850011165372, + 235.22720192578868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8094470834357, + "ymin": 285.85735355681703, + "xmax": 726.553325446816, + "ymax": 319.65342946826837 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8094470834357, + 319.6085313911044 + ], + [ + 722.1564211771787, + 319.65342946826837 + ], + [ + 724.9153657551628, + 306.2115568889752 + ], + [ + 724.5735409453744, + 306.16801683441855 + ], + [ + 723.4123125066716, + 299.2407388949558 + ], + [ + 723.7661682966827, + 299.28545952488287 + ], + [ + 726.553325446816, + 285.9006956444079 + ], + [ + 726.2048237142278, + 285.85735355681703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8094378386029, + "ymin": 285.8575053289004, + "xmax": 726.5533170156558, + "ymax": 319.65358670503724 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8094378386029, + 319.6086886118658 + ], + [ + 722.1564119937302, + 319.65358670503724 + ], + [ + 724.9153571960086, + 306.2117093697183 + ], + [ + 724.573532326644, + 306.16816929987476 + ], + [ + 723.4123033720332, + 299.2408954941899 + ], + [ + 723.7661592258878, + 299.28561614037363 + ], + [ + 726.5533170156558, + 285.9008474320021 + ], + [ + 726.2048152211412, + 285.8575053289004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347025159069, + "ymin": 294.3237331385295, + "xmax": 727.7211393629991, + "ymax": 327.83647431996087 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347025159069, + 327.4942982348742 + ], + [ + 723.1551287564207, + 327.83647431996087 + ], + [ + 726.2461134744851, + 312.5528343327656 + ], + [ + 723.6694919302134, + 312.22230466888 + ], + [ + 721.9359798682106, + 309.54347243525194 + ], + [ + 724.6025667114078, + 309.8845818516719 + ], + [ + 727.7211393629991, + 294.6530356631684 + ], + [ + 725.0999012621508, + 294.3237331385295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347029013358, + "ymin": 294.32373318696546, + "xmax": 727.721139620229, + "ymax": 327.83647435353964 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347029013358, + 327.4942982852036 + ], + [ + 723.155129013571, + 327.83647435353964 + ], + [ + 726.246113727335, + 312.55283436520125 + ], + [ + 723.6694923092018, + 312.22230471749674 + ], + [ + 721.9359802604264, + 309.5434724854241 + ], + [ + 724.6025669730897, + 309.8845818851462 + ], + [ + 727.721139620229, + 294.6530356954838 + ], + [ + 725.0999016476991, + 294.32373318696546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.534701947631, + "ymin": 294.3237364213895, + "xmax": 727.7211386936435, + "ymax": 327.83647771699316 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.534701947631, + 327.49430164607196 + ], + [ + 723.1551280694002, + 327.83647771699316 + ], + [ + 726.2461128108525, + 312.5528376141537 + ], + [ + 723.669491383501, + 312.22230796399487 + ], + [ + 721.9359792955119, + 309.5434758357932 + ], + [ + 724.6025660180483, + 309.8845852381373 + ], + [ + 727.7211386936435, + 294.653038932395 + ], + [ + 725.0999007115731, + 294.3237364213895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.8898893829812, + "ymin": 250.83554052954554, + "xmax": 706.7109077489785, + "ymax": 282.61513857205523 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 699.8898893829812, + 282.3068377563258 + ], + [ + 702.3696662466543, + 282.61513857205523 + ], + [ + 705.645221502781, + 268.83282259622104 + ], + [ + 703.2047016623399, + 268.5344952581386 + ], + [ + 700.8781640744912, + 264.5369427438023 + ], + [ + 703.3992428974937, + 264.8437398965585 + ], + [ + 706.7109077489785, + 251.13225310306322 + ], + [ + 704.2303942010088, + 250.83554052954554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8095113689128, + "ymin": 285.85715768455697, + "xmax": 726.5533888814829, + "ymax": 319.65322654345744 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8095113689128, + 319.60832848695225 + ], + [ + 722.1564853861006, + 319.65322654345744 + ], + [ + 724.9154283604744, + 306.21136010213996 + ], + [ + 724.5736036249884, + 306.1678200673119 + ], + [ + 723.4123776756975, + 299.2405367929287 + ], + [ + 723.7662333860849, + 299.28525740187547 + ], + [ + 726.5533888814829, + 285.90049975213014 + ], + [ + 726.2048872261298, + 285.85715768455697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347016798042, + "ymin": 294.3237370585872, + "xmax": 727.7211385597724, + "ymax": 327.83647839639957 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347016798042, + 327.4943023081797 + ], + [ + 723.155127931996, + 327.83647839639957 + ], + [ + 726.2461126781261, + 312.5528382704313 + ], + [ + 723.6694911225633, + 312.2223086035711 + ], + [ + 721.9359790240858, + 309.5434764958325 + ], + [ + 724.6025658793764, + 309.8845859154303 + ], + [ + 727.7211385597724, + 294.6530395862403 + ], + [ + 725.0999004472383, + 294.3237370585872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.1787977265809, + "ymin": 283.77268438793624, + "xmax": 728.0034881832736, + "ymax": 323.1202296137561 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 722.1787977265809, + 323.06604724477063 + ], + [ + 722.5959087207017, + 323.1202296137561 + ], + [ + 726.2564653432584, + 305.17193523579465 + ], + [ + 725.8475890016271, + 305.11992703420225 + ], + [ + 723.8782733872375, + 301.6391798516513 + ], + [ + 724.3041170146287, + 301.6931444982161 + ], + [ + 728.0034881832736, + 283.8244402048259 + ], + [ + 727.5862241868981, + 283.77268438793624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8095542418273, + "ymin": 285.85727907658, + "xmax": 726.5534325965427, + "ymax": 319.65335230630575 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8095542418273, + 319.60845423699726 + ], + [ + 722.156528310671, + 319.65335230630575 + ], + [ + 724.9154710182684, + 306.2114820609721 + ], + [ + 724.57364623265, + 306.1679420139172 + ], + [ + 723.4124216216179, + 299.24066204585574 + ], + [ + 723.7662773857295, + 299.28538266780504 + ], + [ + 726.5534325965427, + 285.90062115655917 + ], + [ + 726.2049308890809, + 285.85727907658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347029013358, + "ymin": 294.32373318696546, + "xmax": 727.721139620229, + "ymax": 327.83647435353964 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347029013358, + 327.4942982852036 + ], + [ + 723.155129013571, + 327.83647435353964 + ], + [ + 726.246113727335, + 312.55283436520125 + ], + [ + 723.6694923092018, + 312.22230471749674 + ], + [ + 721.9359802604264, + 309.5434724854241 + ], + [ + 724.6025669730897, + 309.8845818851462 + ], + [ + 727.721139620229, + 294.6530356954838 + ], + [ + 725.0999016476991, + 294.32373318696546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.1786828775477, + "ymin": 283.7726701372793, + "xmax": 728.0033731485098, + "ymax": 323.12021467631547 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 722.1786828775477, + 323.0660323259774 + ], + [ + 722.5957937281158, + 323.12021467631547 + ], + [ + 726.256352621009, + 305.17192089776415 + ], + [ + 725.8474764198168, + 305.11991271403525 + ], + [ + 723.878156133874, + 301.63916499282544 + ], + [ + 724.3039996144103, + 301.69312962078016 + ], + [ + 728.0033731485098, + 283.8244259363575 + ], + [ + 727.5861092957335, + 283.7726701372793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.1787852677348, + "ymin": 283.7728189924719, + "xmax": 728.0034765260859, + "ymax": 323.1203705295965 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 722.1787852677348, + 323.06618816018596 + ], + [ + 722.5958961979838, + 323.1203705295965 + ], + [ + 726.256453645101, + 305.1720704969591 + ], + [ + 725.8475773673496, + 305.12006229529413 + ], + [ + 723.8782609468028, + 301.6393202006454 + ], + [ + 724.3041045103879, + 301.6932848479888 + ], + [ + 728.0034765260859, + 283.82457480976075 + ], + [ + 727.5862125935804, + 283.7728189924719 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.5347038332924, + "ymin": 294.32373129151784, + "xmax": 727.7211405363021, + "ymax": 327.8364723824778 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 720.5347038332924, + 327.49429631565675 + ], + [ + 723.1551299400838, + 327.8364723824778 + ], + [ + 726.2461146312143, + 312.5528324612397 + ], + [ + 723.6694932183445, + 312.2223028149735 + ], + [ + 721.9359812054432, + 309.5434705220301 + ], + [ + 724.6025679124691, + 309.88457992021563 + ], + [ + 727.7211405363021, + 294.6530337985788 + ], + [ + 725.0999025692197, + 294.32373129151784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.1789125273111, + "ymin": 283.77270196962, + "xmax": 728.00360306314, + "ymax": 323.1202480220028 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 722.1789125273111, + 323.06606565076464 + ], + [ + 722.5960235371282, + 323.1202480220028 + ], + [ + 726.2565779069763, + 305.1719529053546 + ], + [ + 725.8477015502697, + 305.1199447016437 + ], + [ + 723.8783905981309, + 301.6391981836608 + ], + [ + 724.3042342418787, + 301.69316283251567 + ], + [ + 728.00360306314, + 283.82445778866065 + ], + [ + 727.5863390510679, + 283.77270196962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.6920634967045, + "ymin": 223.25701575676368, + "xmax": 742.2824795751487, + "ymax": 253.93928850048692 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 735.6920634967045, + 253.65155459467195 + ], + [ + 738.1003080833506, + 253.93928850048692 + ], + [ + 740.7031244157395, + 241.06943060472508 + ], + [ + 738.3319320564576, + 240.79069645576203 + ], + [ + 737.2167058705166, + 236.0375448245828 + ], + [ + 739.6638804477755, + 236.32355494924968 + ], + [ + 742.2824795751487, + 223.5339408975639 + ], + [ + 739.8735557361543, + 223.25701575676368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.1787978753841, + "ymin": 283.77268307159187, + "xmax": 728.0034881934167, + "ymax": 323.1202282187054 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 722.1787978753841, + 323.06604586671 + ], + [ + 722.5959087393686, + 323.1202282187054 + ], + [ + 726.2564653558968, + 305.17193389672457 + ], + [ + 725.84758914182, + 305.1199257114372 + ], + [ + 723.8782735364183, + 301.6391784791299 + ], + [ + 724.3041170309348, + 301.6931431087694 + ], + [ + 728.0034881934167, + 283.8244388722525 + ], + [ + 727.5862243272255, + 283.77268307159187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4930353763857, + "ymin": 298.3993321602994, + "xmax": 725.6486386113714, + "ymax": 331.771487091947 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 718.4930353763857, + 331.42927064727866 + ], + [ + 721.1014510692744, + 331.771487091947 + ], + [ + 724.2145277036659, + 316.48494421145955 + ], + [ + 721.649518708434, + 316.15432693545733 + ], + [ + 719.852836698564, + 313.62484000622413 + ], + [ + 722.5069874511757, + 313.9660521542143 + ], + [ + 725.6486386113714, + 298.7287839979121 + ], + [ + 723.0394174421266, + 298.3993321602994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8094470834357, + "ymin": 285.85735355681703, + "xmax": 726.553325446816, + "ymax": 319.65342946826837 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8094470834357, + 319.6085313911044 + ], + [ + 722.1564211771787, + 319.65342946826837 + ], + [ + 724.9153657551628, + 306.2115568889752 + ], + [ + 724.5735409453744, + 306.16801683441855 + ], + [ + 723.4123125066716, + 299.2407388949558 + ], + [ + 723.7661682966827, + 299.28545952488287 + ], + [ + 726.553325446816, + 285.9006956444079 + ], + [ + 726.2048237142278, + 285.85735355681703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.5261946930045, + "ymin": 216.74291237635111, + "xmax": 740.0618979128623, + "ymax": 247.16619593713116 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 733.5261946930045, + 246.8832162024981 + ], + [ + 735.9137000754961, + 247.16619593713116 + ], + [ + 738.5294503619477, + 234.5073652493316 + ], + [ + 736.1783660435663, + 234.2331648611261 + ], + [ + 735.0037737380313, + 229.31068154705 + ], + [ + 737.4295365106157, + 229.5918916258299 + ], + [ + 740.0618979128623, + 217.0152634279453 + ], + [ + 737.6737239975682, + 216.74291237635111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.8094437342145, + "ymin": 285.857483260456, + "xmax": 726.5533228102802, + "ymax": 319.65356384199936 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 721.8094437342145, + 319.60866575115546 + ], + [ + 722.1564178806478, + 319.65356384199936 + ], + [ + 724.9153629227848, + 306.2116871982312 + ], + [ + 724.5735380618581, + 306.16814713061046 + ], + [ + 723.4123093407952, + 299.2408727238528 + ], + [ + 723.7661651856076, + 299.28559336767273 + ], + [ + 726.5533228102802, + 285.90082536130234 + ], + [ + 726.2048210245365, + 285.857483260456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1067.0065119384078, + "ymin": 6.0735643322000215, + "xmax": 1084.4706588921008, + "ymax": 30.637900096591864 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1076.723021871692, + 27.65253174372498 + ], + [ + 1067.0065119384078, + 26.85305606433377 + ], + [ + 1067.8342811739326, + 29.830319120631827 + ], + [ + 1077.6010834869958, + 30.637900096591864 + ], + [ + 1083.5437599324478, + 6.856891402488259 + ], + [ + 1073.6663201609813, + 6.0735643322000215 + ], + [ + 1074.5412448676996, + 8.990857825402543 + ], + [ + 1084.4706588921008, + 9.782251375262376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.6633783938954, + "ymin": 241.08335329161662, + "xmax": 736.6585773859736, + "ymax": 300.78703921611014 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 729.6633783938954, + 300.5747586607125 + ], + [ + 731.3420074649376, + 300.78703921611014 + ], + [ + 731.646443813635, + 299.25793346140193 + ], + [ + 729.9707130260925, + 299.04640427320703 + ], + [ + 734.5749632010114, + 242.58695393914007 + ], + [ + 736.3468425910878, + 242.79581940337937 + ], + [ + 736.6585773859736, + 241.29143908828894 + ], + [ + 734.8899270412254, + 241.08335329161662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.1557886491931, + "ymin": 228.94379218666222, + "xmax": 739.1755668010635, + "ymax": 288.3871507926836 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 732.1557886491931, + 288.18092486708554 + ], + [ + 733.8109071555673, + 288.3871507926836 + ], + [ + 734.1066666397928, + 286.9016253739146 + ], + [ + 732.4543659204941, + 286.6961189277329 + ], + [ + 737.1274886680607, + 230.40225808531952 + ], + [ + 738.8731922568401, + 230.60484734846932 + ], + [ + 739.1755668010635, + 229.14563662768293 + ], + [ + 737.4329976998962, + 228.94379218666222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.8383609996664, + "ymin": 256.916304146111, + "xmax": 703.248860183802, + "ymax": 316.9314373256503 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 697.8383609996664, + 316.7111426038451 + ], + [ + 699.5404112801866, + 316.9314373256503 + ], + [ + 699.9079210624411, + 315.344648420986 + ], + [ + 698.2088496455948, + 315.12514797538154 + ], + [ + 701.069187384262, + 258.4798069930624 + ], + [ + 702.8671935071925, + 258.69700253219514 + ], + [ + 703.248860183802, + 257.1326729586317 + ], + [ + 701.4541780395788, + 256.916304146111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1052.0368116798734, + "ymin": 108.0825399534969, + "xmax": 1071.7223527989274, + "ymax": 119.4132178547404 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1070.3685118705441, + 119.4132178547404 + ], + [ + 1068.9325450151875, + 113.5572653805147 + ], + [ + 1052.0368116798734, + 111.96296211944474 + ], + [ + 1053.3233121424369, + 117.79120124160866 + ], + [ + 1071.7223527989274, + 115.5132251147707 + ], + [ + 1070.2702429218612, + 109.67261228354803 + ], + [ + 1053.3187770325096, + 108.0825399534969 + ], + [ + 1054.6204297118738, + 113.89542576343734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.1093907414793, + "ymin": 305.3493871728553, + "xmax": 723.8831080001198, + "ymax": 365.60343423237805 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 717.1093907414793, + 365.36003241561167 + ], + [ + 718.8964124344226, + 365.60343423237805 + ], + [ + 719.244577955541, + 363.85033280608314 + ], + [ + 717.4608402380188, + 363.6078496610519 + ], + [ + 721.6307272910756, + 307.08760558555866 + ], + [ + 723.5238165514187, + 307.32909802240465 + ], + [ + 723.8831080001198, + 305.58991485329085 + ], + [ + 721.9937038553979, + 305.3493871728553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.3711066771423, + "ymin": 100.47482923050256, + "xmax": 1216.1006403780448, + "ymax": 354.5984507072131 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1108.7044808147716, + 354.5984507072131 + ], + [ + 1106.5121842001574, + 344.81697854925494 + ], + [ + 976.3711066771423, + 328.42112038413296 + ], + [ + 977.1457601555046, + 337.85037933339197 + ], + [ + 1216.1006403780448, + 124.41679398016589 + ], + [ + 1212.0078960502897, + 115.43402916967631 + ], + [ + 1050.7582972218102, + 100.47482923050256 + ], + [ + 1052.6702836969364, + 109.06295187615979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 222.00763070476586, + "ymax": 166.53805860467494 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 215.5691367489854, + 166.53805860467494 + ], + [ + 222.00763070476586, + 159.71302745455824 + ], + [ + 87.76603770323834, + 144.36629663222482 + ], + [ + 80.22402525212851, + 150.90298520997158 + ], + [ + 136.39489726194813, + -55.93813280351344 + ], + [ + 144.89922100874531, + -61.55477683123888 + ], + [ + -11.551806974898, + -74.1130756955373 + ], + [ + -21.550681690948295, + -68.77608625541797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.8009697880346, + "ymin": 242.0701950548267, + "xmax": 732.5994927480364, + "ymax": 301.794221225269 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 725.8009697880346, + 301.5814450219197 + ], + [ + 727.4806064577608, + 301.794221225269 + ], + [ + 727.7922459938598, + 300.261548037123 + ], + [ + 726.1155109988958, + 300.0495258316691 + ], + [ + 730.5067630322192, + 243.57749505333638 + ], + [ + 732.2797666138425, + 243.7868749575809 + ], + [ + 732.5994927480364, + 242.27879241194972 + ], + [ + 730.8297222086453, + 242.0701950548267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.1110337049429, + "ymin": 222.3387163982976, + "xmax": 736.9661991870489, + "ymax": 281.63256466123204 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 730.1110337049429, + 281.4296000114249 + ], + [ + 731.7525195945167, + 281.63256466123204 + ], + [ + 732.0495006792022, + 280.17051412273213 + ], + [ + 730.4107863456018, + 279.96825196770044 + ], + [ + 734.9317692280523, + 223.77291414460404 + ], + [ + 736.6623147555805, + 223.97212894552214 + ], + [ + 736.9661991870489, + 222.53720489202595 + ], + [ + 735.2387339479159, + 222.3387163982976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1052.1397797961715, + "ymin": 108.14251996944591, + "xmax": 1071.615633868138, + "ymax": 119.35256419073133 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1070.2765807249095, + 119.35256419073133 + ], + [ + 1068.8566205096909, + 113.55921882934487 + ], + [ + 1052.1397797961715, + 111.98177046146347 + ], + [ + 1053.41343539081, + 117.7479895539418 + ], + [ + 1071.615633868138, + 115.49415752586248 + ], + [ + 1070.1798777011145, + 109.71582705120593 + ], + [ + 1053.4084794628723, + 108.14251996944591 + ], + [ + 1054.6969715149742, + 113.89371093808018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.1011452535827, + "ymin": 0.0, + "xmax": 1137.5557400083426, + "ymax": 92.6453621226832 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1055.269057570662, + 91.62774580996654 + ], + [ + 1065.925071897822, + 92.6453621226832 + ], + [ + 1039.8810209926496, + -20.76697535366469 + ], + [ + 1031.1011452535827, + -21.46289443642746 + ], + [ + 1124.980918002999, + -121.15661156906987 + ], + [ + 1137.5557400083426, + -120.35463168505106 + ], + [ + 1093.9141199649507, + -207.228175443419 + ], + [ + 1083.870814826506, + -207.74607429610728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 537.703285676269, + "ymin": 0.0, + "xmax": 850.2520322911049, + "ymax": 77.72954273023868 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 554.0582757396089, + 47.42534911861475 + ], + [ + 551.5103702604589, + 51.7238375141273 + ], + [ + 820.1928819234, + 77.72954273023868 + ], + [ + 820.8881114135863, + 73.06066048327875 + ], + [ + 540.7571332522351, + -155.5925510060856 + ], + [ + 537.703285676269, + -152.27776036441537 + ], + [ + 849.6940589596327, + -132.06795003527122 + ], + [ + 850.2520322911049, + -135.7160555760545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.4068979256027, + "ymin": 301.05274634493804, + "xmax": 724.2252115273934, + "ymax": 361.7689962687266 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 717.4068979256027, + 361.5256649828684 + ], + [ + 719.2008945645224, + 361.7689962687266 + ], + [ + 719.5498237624621, + 360.0164138449795 + ], + [ + 717.7591367688552, + 359.7740044984782 + ], + [ + 721.964221661565, + 302.7894238223993 + ], + [ + 723.865140117603, + 303.03070442000586 + ], + [ + 724.2252115273934, + 301.2930591057735 + ], + [ + 722.3280087109331, + 301.05274634493804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.9723657749992, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 247.9459120626094 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1341.964684983492, + 247.9459120626094 + ], + [ + 1550.2150992435227, + 245.51150015142014 + ], + [ + 1419.3570375171362, + 132.5087263559287 + ], + [ + 1239.9723657749992, + 134.30898882072293 + ], + [ + 1573.9628459388605, + -119.31194713539941 + ], + [ + 1849.83841044836, + -121.08116579920204 + ], + [ + 1630.3067261122455, + -199.51356195101448 + ], + [ + 1402.9027324434226, + -198.31820724504814 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00159/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00159/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34978ec80a366514463e198ac2f1ebb861aee5b9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00159/meta.json @@ -0,0 +1,7057 @@ +{ + "frame_id": 159, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 79.5, + "sim_timestamp": 13465.327769796597 + }, + "drone_pose": { + "x": -20.32699105135198, + "y": 1.8028033171541367, + "z": 20.0, + "pitch": -44.040595330881395, + "yaw": -11.47406471823253, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7044811844825745, + 0.14299625158309937, + 0.6951678395271301, + 0.6744203567504883 + ], + [ + -0.19892433285713196, + 0.9800148606300354, + 7.450580596923828e-09, + 2.276759147644043 + ], + [ + -0.6812748312950134, + -0.1382858157157898, + 0.7188474535942078, + -28.474517822265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -19.240472604309748, + "y": 2.362587481456116, + "z": 20.0 + }, + "t1_image_uv": [ + 1711.139243846295, + -568.3766116768215 + ], + "t1_depth": 0.6853847412147541 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -0.6671829223632812, + "y": -2.187763214111328, + "z": 0.6000961899758477 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.906790298192586, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -0.6671829223632812, + "y": -2.187763214111328, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.23945185542106628, + "y": 0.26556676626205444, + "z": 0.5525926351547241 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.2093570206213, + "ymin": 339.3286263047948, + "xmax": 650.688630502511, + "ymax": 380.4101090614545 + }, + "corners_3d": [ + [ + -0.9066348075866699, + -2.4533300399780273, + 0.047503530979156494 + ], + [ + -0.9066348075866699, + -1.922196388244629, + 0.047503530979156494 + ], + [ + -0.42773106694221497, + -1.922196388244629, + 0.047503530979156494 + ], + [ + -0.42773106694221497, + -2.4533300399780273, + 0.047503530979156494 + ], + [ + -0.9066348075866699, + -2.4533300399780273, + 1.15268874168396 + ], + [ + -0.9066348075866699, + -1.922196388244629, + 1.15268874168396 + ], + [ + -0.42773106694221497, + -1.922196388244629, + 1.15268874168396 + ], + [ + -0.42773106694221497, + -2.4533300399780273, + 1.15268874168396 + ] + ], + "corners_2d": [ + [ + 629.5037558116196, + 377.85116360425513 + ], + [ + 647.268180886608, + 380.4101090614545 + ], + [ + 650.3996972400566, + 369.1475537218755 + ], + [ + 632.8372365092221, + 366.6489195229077 + ], + [ + 629.2093570206213, + 350.50857475383384 + ], + [ + 647.4726057295146, + 353.0634690024663 + ], + [ + 650.688630502511, + 341.82164433731816 + ], + [ + 632.6387795653826, + 339.3286263047948 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 159, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 361422, + "2": 243511, + "5": 3706, + "6": 4323, + "7": 160, + "10": 14, + "12": 1879, + "14": 16374, + "15": 10487, + "20": 3290, + "24": 25515, + "25": 250919 + }, + "instance_pixel_counts": { + "2118": 9, + "2188": 768, + "2706": 2660, + "3218": 4087, + "3424": 132006, + "3724": 519, + "5506": 2194, + "6215": 39834, + "6284": 5262, + "6290": 18742, + "6730": 845, + "6992": 157, + "8286": 3781, + "8332": 10868, + "8338": 25511, + "8798": 4834, + "10846": 6880, + "15184": 3549, + "15510": 2655, + "16022": 601, + "16203": 935, + "18000": 3290, + "19092": 22902, + "19604": 12844, + "21140": 60919, + "23392": 1090, + "23700": 102808, + "23904": 147, + "28000": 611, + "28256": 593, + "28768": 571, + "29280": 7, + "29826": 996, + "31584": 427, + "31840": 148, + "32096": 187, + "34304": 329, + "34560": 964, + "34956": 896, + "35402": 340, + "35468": 627, + "35476": 3708, + "36170": 182, + "37524": 6079, + "38540": 6347, + "38801": 2071, + "39825": 4810, + "40588": 8869, + "42897": 14714, + "44945": 31602, + "45898": 103, + "52038": 65324, + "56576": 193, + "56647": 118913, + "56832": 179, + "57088": 566, + "57344": 624, + "57600": 317, + "58368": 10487, + "59541": 1561, + "60051": 14249, + "60563": 945, + "60565": 115, + "62101": 1410, + "62208": 879, + "62611": 51130, + "64149": 2824, + "64585": 376, + "64659": 95625 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 193, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -0.6671829223632812, + "y": -2.187763214111328, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.2725427448749542, + "y": 0.254484623670578, + "z": 0.5569438338279724 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.3484341072314, + "ymin": 338.50740728274207, + "xmax": 650.5317839465807, + "ymax": 381.24940920934307 + }, + "corners_3d": [ + [ + -0.9397256374359131, + -2.4422478675842285, + 0.0431523323059082 + ], + [ + -0.9397256374359131, + -1.9332785606384277, + 0.0431523323059082 + ], + [ + -0.394640177488327, + -1.9332785606384277, + 0.0431523323059082 + ], + [ + -0.394640177488327, + -2.4422478675842285, + 0.0431523323059082 + ], + [ + -0.9397256374359131, + -2.4422478675842285, + 1.157039999961853 + ], + [ + -0.9397256374359131, + -1.9332785606384277, + 1.157039999961853 + ], + [ + -0.394640177488327, + -1.9332785606384277, + 1.157039999961853 + ], + [ + -0.394640177488327, + -2.4422478675842285, + 1.157039999961853 + ] + ], + "corners_2d": [ + [ + 629.6415544306261, + 378.7931722842976 + ], + [ + 646.6763666600044, + 381.24940920934307 + ], + [ + 650.2451304074983, + 368.4316864654624 + ], + [ + 633.430555010421, + 366.04122545946547 + ], + [ + 629.3484341072314, + 351.23381966525466 + ], + [ + 646.8657964006845, + 353.68625209708085 + ], + [ + 650.5317839465807, + 340.89234335810573 + ], + [ + 633.2472273976999, + 338.50740728274207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 179, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 4.342864513397217, + "y": 0.2821473181247711, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.18918365240097046, + "y": 0.21471019089221954, + "z": 0.5166268944740295 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 737.5911570403053, + "ymin": 248.62851141082962, + "xmax": 753.7479399714975, + "ymax": 281.4062658766125 + }, + "corners_3d": [ + [ + 4.122421741485596, + 0.09967544674873352, + 0.08347415924072266 + ], + [ + 4.189598083496094, + 0.5238089561462402, + 0.08347415924072266 + ], + [ + 4.563307285308838, + 0.4646191895008087, + 0.08347415924072266 + ], + [ + 4.49613094329834, + 0.04048570990562439, + 0.08347415924072266 + ], + [ + 4.122421741485596, + 0.09967544674873352, + 1.1167279481887817 + ], + [ + 4.189598083496094, + 0.5238089561462402, + 1.1167279481887817 + ], + [ + 4.563307285308838, + 0.4646191895008087, + 1.1167279481887817 + ], + [ + 4.49613094329834, + 0.04048570990562439, + 1.1167279481887817 + ] + ], + "corners_2d": [ + [ + 737.9373139302418, + 281.04464673228256 + ], + [ + 751.1375816711836, + 281.4062658766125 + ], + [ + 750.677663199002, + 274.09219253100343 + ], + [ + 737.5911570403053, + 273.7367703149031 + ], + [ + 740.2366273728092, + 255.8849523100939 + ], + [ + 753.7479399714975, + 256.2441023631172 + ], + [ + 753.2543238591757, + 248.98136423032906 + ], + [ + 739.8621730075225, + 248.62851141082962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 566, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -3.1823930740356445, + "y": 4.919894695281982, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.5327221751213074, + "y": 0.3320406973361969, + "z": 0.9009013772010803 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 868.097804668301, + "ymin": 423.5418258723152, + "xmax": 907.7341174974906, + "ymax": 501.90515097412316 + }, + "corners_3d": [ + [ + -3.7317628860473633, + 4.616189479827881, + -0.3008052110671997 + ], + [ + -3.697007417678833, + 5.279360771179199, + -0.3008052110671997 + ], + [ + -2.633023262023926, + 5.223599910736084, + -0.3008052110671997 + ], + [ + -2.667778730392456, + 4.560428619384766, + -0.3008052110671997 + ], + [ + -3.7317628860473633, + 4.616189479827881, + 1.500997543334961 + ], + [ + -3.697007417678833, + 5.279360771179199, + 1.500997543334961 + ], + [ + -2.633023262023926, + 5.223599910736084, + 1.500997543334961 + ], + [ + -2.667778730392456, + 4.560428619384766, + 1.500997543334961 + ] + ], + "corners_2d": [ + [ + 868.9664795143792, + 498.9410964346307 + ], + [ + 894.4952447086373, + 501.90515097412316 + ], + [ + 892.882946508781, + 470.82728528055213 + ], + [ + 868.097804668301, + 468.0326418825968 + ], + [ + 880.8426458433338, + 454.6578037792168 + ], + [ + 907.7341174974906, + 457.64667198092974 + ], + [ + 905.6366997304885, + 426.351394292294 + ], + [ + 879.5690664076972, + 423.5418258723152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 624, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -10.167181968688965, + "y": -2.187763214111328, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.409624308347702, + "y": 0.3159143626689911, + "z": 0.8811057209968567 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 531.7149600946224, + "ymin": 612.4780175267949, + "xmax": 575.5136988052491, + "ymax": 692.2643493229107 + }, + "corners_3d": [ + [ + -10.559711456298828, + -2.5246827602386475, + -0.2810046672821045 + ], + [ + -10.592778205871582, + -1.8937199115753174, + -0.2810046672821045 + ], + [ + -9.774652481079102, + -1.8508436679840088, + -0.2810046672821045 + ], + [ + -9.741585731506348, + -2.481806516647339, + -0.2810046672821045 + ], + [ + -10.559711456298828, + -2.5246827602386475, + 1.4812067747116089 + ], + [ + -10.592778205871582, + -1.8937199115753174, + 1.4812067747116089 + ], + [ + -9.774652481079102, + -1.8508436679840088, + 1.4812067747116089 + ], + [ + -9.741585731506348, + -2.481806516647339, + 1.4812067747116089 + ] + ], + "corners_2d": [ + [ + 537.8567500118044, + 685.6384709723031 + ], + [ + 564.6527734919724, + 692.2643493229107 + ], + [ + 575.5136988052491, + 659.67111651828 + ], + [ + 549.351309017758, + 653.382571965865 + ], + [ + 531.7149600946224, + 645.528573058557 + ], + [ + 560.0968207552081, + 652.3303479297547 + ], + [ + 571.7212054610125, + 618.9134738040128 + ], + [ + 544.0490798781053, + 612.4780175267949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 317, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 10.578152656555176, + "y": -10.357976913452148, + "z": 0.7543979287147522 + }, + "extent": { + "x": 0.3146737515926361, + "y": 0.36358368396759033, + "z": 0.902218759059906 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 474.76918286322905, + "ymin": 101.56242528240011, + "xmax": 504.32454575478977, + "ymax": 154.65669999188054 + }, + "corners_3d": [ + [ + 10.324230194091797, + -10.76630973815918, + -0.1478208303451538 + ], + [ + 10.21047592163086, + -10.048095703125, + -0.1478208303451538 + ], + [ + 10.832075119018555, + -9.949644088745117, + -0.1478208303451538 + ], + [ + 10.945829391479492, + -10.667858123779297, + -0.1478208303451538 + ], + [ + 10.324230194091797, + -10.76630973815918, + 1.6566166877746582 + ], + [ + 10.21047592163086, + -10.048095703125, + 1.6566166877746582 + ], + [ + 10.832075119018555, + -9.949644088745117, + 1.6566166877746582 + ], + [ + 10.945829391479492, + -10.667858123779297, + 1.6566166877746582 + ] + ], + "corners_2d": [ + [ + 480.31147929935076, + 151.1216474211941 + ], + [ + 497.10054364768, + 154.65669999188054 + ], + [ + 504.32454575478977, + 146.51483027612696 + ], + [ + 487.68870047170515, + 143.0587535868427 + ], + [ + 474.76918286322905, + 109.41854564946178 + ], + [ + 492.11572627108774, + 112.86486887679956 + ], + [ + 499.6468584256861, + 104.92912249255173 + ], + [ + 482.4637160535157, + 101.56242528240011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 10487, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 760.3176539065112, + "ymin": 236.71890728891952, + "xmax": 855.6915576981625, + "ymax": 448.65873199524066 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 760.3176539065112, + 437.9009315079741 + ], + [ + 832.8300505000734, + 448.65873199524066 + ], + [ + 843.0811298269076, + 309.3933267255546 + ], + [ + 780.3135543138978, + 301.368377417726 + ], + [ + 768.961218483766, + 372.18214816937507 + ], + [ + 846.8417294705162, + 382.96801571887465 + ], + [ + 855.6915576981625, + 244.6086228765537 + ], + [ + 788.9418422366765, + 236.71890728891952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 243, + "instance_id": 62208, + "pixel_count": 879, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 28.08228874206543, + "y": 12.446331024169922, + "z": 0.6455088257789612 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 1002.4324399505196, + "ymin": 0.0, + "xmax": 1117.841758958012, + "ymax": 18.82554059287901 + }, + "corners_3d": [ + [ + 29.008596420288086, + 10.079200744628906, + -0.0049611469730734825 + ], + [ + 27.113845825195312, + 10.096124649047852, + -0.0049611469730734825 + ], + [ + 27.155981063842773, + 14.813461303710938, + -0.0049611469730734825 + ], + [ + 29.050731658935547, + 14.796538352966309, + -0.0049611469730734825 + ], + [ + 29.008596420288086, + 10.079200744628906, + 1.2959787845611572 + ], + [ + 27.113845825195312, + 10.096124649047852, + 1.2959787845611572 + ], + [ + 27.155981063842773, + 14.813461303710938, + 1.2959787845611572 + ], + [ + 29.050731658935547, + 14.796538352966309, + 1.2959787845611572 + ] + ], + "corners_2d": [ + [ + 1002.4324399505196, + -5.688333720033938 + ], + [ + 1005.4393375585471, + 10.61884845595506 + ], + [ + 1108.3434464236698, + 18.82554059287901 + ], + [ + 1102.3570051752831, + 2.0595004282363902 + ], + [ + 1009.4699942412874, + -32.06493434384089 + ], + [ + 1012.7450360276703, + -16.21144439165687 + ], + [ + 1117.841758958012, + -8.22632080048993 + ], + [ + 1111.46090377969, + -24.534882901534615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459505072439, + "ymin": 305.58629931559017, + "xmax": 725.8829260178338, + "ymax": 339.6741921524053 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459505072439, + 339.3112921308729 + ], + [ + 721.1077614337092, + 339.6741921524053 + ], + [ + 724.4098226013806, + 323.89022755307394 + ], + [ + 721.7929650337684, + 323.5398314864917 + ], + [ + 719.8390546553767, + 321.31473768581066 + ], + [ + 722.5487221916045, + 321.6767620119685 + ], + [ + 725.8829260178338, + 305.9356341540509 + ], + [ + 723.2198292360277, + 305.58629931559017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459496143434, + "ymin": 305.5863033657516, + "xmax": 725.8829251592638, + "ymax": 339.67419636320494 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459496143434, + 339.31129633830756 + ], + [ + 721.1077605527951, + 339.67419636320494 + ], + [ + 724.4098217508248, + 323.89023161875957 + ], + [ + 721.7929641716274, + 323.5398355489847 + ], + [ + 719.8390537531915, + 321.31474188306277 + ], + [ + 722.5487213018407, + 321.6767662126371 + ], + [ + 725.8829251592638, + 305.93563820745067 + ], + [ + 723.2198283654593, + 305.5863033657516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.7825488171218, + "ymin": 245.57375881253895, + "xmax": 734.7101008732002, + "ymax": 277.2841371370212 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 727.7825488171218, + 276.9693833599569 + ], + [ + 730.2649491581905, + 277.2841371370212 + ], + [ + 733.1953970734586, + 263.5782504909269 + ], + [ + 730.752141996616, + 263.27361482226695 + ], + [ + 729.2326216077693, + 259.19946715270305 + ], + [ + 731.7565928772094, + 259.51269655140516 + ], + [ + 734.7101008732002, + 245.8767568412889 + ], + [ + 732.2265867264049, + 245.57375881253895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.8946879498192, + "ymin": 244.5821308166329, + "xmax": 738.8144318416843, + "ymax": 276.2532694645304 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 731.8946879498192, + 275.9392824369758 + ], + [ + 734.3755915813841, + 276.2532694645304 + ], + [ + 737.2359825216623, + 262.58050750669315 + ], + [ + 734.7941786277102, + 262.27660193564594 + ], + [ + 733.4108085461579, + 258.17438203221735 + ], + [ + 735.9332318591606, + 258.4868358110934 + ], + [ + 738.8144318416843, + 244.88439089361913 + ], + [ + 736.3324177816195, + 244.5821308166329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.7388773328526, + "ymin": 297.1199625555383, + "xmax": 724.67331896837, + "ymax": 331.43035499937747 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.7388773328526, + 331.382726100568 + ], + [ + 720.091374204428, + 331.43035499937747 + ], + [ + 723.0385486512616, + 317.5449481454519 + ], + [ + 722.6913374719724, + 317.49877784142234 + ], + [ + 721.333697684304, + 310.9558207855377 + ], + [ + 721.6933311738378, + 311.0032994101785 + ], + [ + 724.67331896837, + 297.1659587905395 + ], + [ + 724.3191857717877, + 297.1199625555383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.7388662767114, + "ymin": 297.1201195043559, + "xmax": 724.6733087628098, + "ymax": 331.4305175364274 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.7388662767114, + 331.38288862041145 + ], + [ + 720.0913632113751, + 331.4305175364274 + ], + [ + 723.0385383519974, + 317.54510570481284 + ], + [ + 722.6913271114975, + 317.4989353843612 + ], + [ + 721.3336867008614, + 310.955982792443 + ], + [ + 721.6933202560641, + 311.0034614345791 + ], + [ + 724.6733087628098, + 297.1661157560394 + ], + [ + 724.3191755025514, + 297.1201195043559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459505072439, + "ymin": 305.58629931559017, + "xmax": 725.8829260178338, + "ymax": 339.6741921524053 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459505072439, + 339.3112921308729 + ], + [ + 721.1077614337092, + 339.6741921524053 + ], + [ + 724.4098226013806, + 323.89022755307394 + ], + [ + 721.7929650337684, + 323.5398314864917 + ], + [ + 719.8390546553767, + 321.31473768581066 + ], + [ + 722.5487221916045, + 321.6767620119685 + ], + [ + 725.8829260178338, + 305.9356341540509 + ], + [ + 723.2198292360277, + 305.58629931559017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459508987538, + "ymin": 305.5862993669718, + "xmax": 725.8829262791754, + "ymax": 339.6741921880183 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459508987538, + 339.31129218424974 + ], + [ + 721.1077616949246, + 339.6741921880183 + ], + [ + 724.4098228581828, + 323.89022758745966 + ], + [ + 721.7929654186692, + 323.5398315380297 + ], + [ + 719.8390550539227, + 321.3147377390583 + ], + [ + 722.5487224575182, + 321.6767620474958 + ], + [ + 725.8829262791754, + 305.9356341883327 + ], + [ + 723.2198296277269, + 305.5862993669718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459498936635, + "ymin": 305.5863027078519, + "xmax": 725.8829253023588, + "ymax": 339.674195661405 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459498936635, + 339.31129565486077 + ], + [ + 721.1077606996141, + 339.674195661405 + ], + [ + 724.4098218925842, + 323.8902309411453 + ], + [ + 721.7929644436178, + 323.53983488908193 + ], + [ + 719.8390540364044, + 321.31474120127 + ], + [ + 722.5487214501347, + 321.67676551252566 + ], + [ + 725.8829253023588, + 305.935637531884 + ], + [ + 723.2198286411204, + 305.5863027078519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.9339660885798, + "ymin": 260.5879738766419, + "xmax": 704.9846573327857, + "ymax": 292.8926631924468 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 697.9339660885798, + 292.56618535937133 + ], + [ + 700.4508666997469, + 292.8926631924468 + ], + [ + 703.926488093367, + 278.68041195113096 + ], + [ + 701.4498089241883, + 278.3646180030414 + ], + [ + 698.9089266726968, + 274.7253690384712 + ], + [ + 701.4685760352421, + 275.05046392059546 + ], + [ + 704.9846573327857, + 260.90225555228307 + ], + [ + 702.4665964324488, + 260.5879738766419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.73894486033, + "ymin": 297.11976017841175, + "xmax": 724.6733856124034, + "ymax": 331.4301454165232 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.73894486033, + 331.3825165399006 + ], + [ + 720.0914416533766, + 331.4301454165232 + ], + [ + 723.0386143835071, + 317.5447449810607 + ], + [ + 722.6914032804125, + 317.49857469820665 + ], + [ + 721.3337661834923, + 310.9556118862783 + ], + [ + 721.6933995912834, + 311.00309048835993 + ], + [ + 724.6733856124034, + 297.165756391902 + ], + [ + 724.3192524950856, + 297.11976017841175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459496143434, + "ymin": 305.5863033657516, + "xmax": 725.8829251592638, + "ymax": 339.67419636320494 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459496143434, + 339.31129633830756 + ], + [ + 721.1077605527951, + 339.67419636320494 + ], + [ + 724.4098217508248, + 323.89023161875957 + ], + [ + 721.7929641716274, + 323.5398355489847 + ], + [ + 719.8390537531915, + 321.31474188306277 + ], + [ + 722.5487213018407, + 321.6767662126371 + ], + [ + 725.8829251592638, + 305.93563820745067 + ], + [ + 723.2198283654593, + 305.5863033657516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.0912140259904, + "ymin": 294.9685117719868, + "xmax": 726.17105301181, + "ymax": 334.9835836605695 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 720.0912140259904, + 334.9261036968928 + ], + [ + 720.5149713686072, + 334.9835836605695 + ], + [ + 724.425911344734, + 316.44357896616737 + ], + [ + 724.0106066505901, + 316.38843408568243 + ], + [ + 721.7820662707663, + 313.4392742452901 + ], + [ + 722.2148802484513, + 313.4965716397566 + ], + [ + 726.17105301181, + 295.0234338962051 + ], + [ + 725.7470532190338, + 294.9685117719868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.7389871528327, + "ymin": 297.11988587998997, + "xmax": 724.6734287909729, + "ymax": 331.430275593762 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.7389871528327, + 331.38264670335866 + ], + [ + 720.0914839991146, + 331.430275593762 + ], + [ + 723.0386564955803, + 317.54487117162915 + ], + [ + 722.6914453408368, + 317.49870087562255 + ], + [ + 721.3338095571966, + 310.95574163891877 + ], + [ + 721.6934430203994, + 311.0032202550124 + ], + [ + 724.6734287909729, + 297.16588210684114 + ], + [ + 724.3192956199275, + 297.11988587998997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459508987538, + "ymin": 305.5862993669718, + "xmax": 725.8829262791754, + "ymax": 339.6741921880183 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459508987538, + 339.31129218424974 + ], + [ + 721.1077616949246, + 339.6741921880183 + ], + [ + 724.4098228581828, + 323.89022758745966 + ], + [ + 721.7929654186692, + 323.5398315380297 + ], + [ + 719.8390550539227, + 321.3147377390583 + ], + [ + 722.5487224575182, + 321.6767620474958 + ], + [ + 725.8829262791754, + 305.9356341883327 + ], + [ + 723.2198296277269, + 305.5862993669718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.0910973472094, + "ymin": 294.968496649543, + "xmax": 726.1709361197805, + "ymax": 334.9835678139822 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 720.0910973472094, + 334.9260878701651 + ], + [ + 720.5148545434165, + 334.9835678139822 + ], + [ + 724.425796849994, + 316.44356376335634 + ], + [ + 724.0104922990405, + 316.38841890188456 + ], + [ + 721.7819470984609, + 313.43925846885276 + ], + [ + 722.2147609262868, + 313.4965558434804 + ], + [ + 726.1709361197805, + 295.023418754786 + ], + [ + 725.7469364734935, + 294.968496649543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.0911998741475, + "ymin": 294.9686509456079, + "xmax": 726.1710397114998, + "ymax": 334.98372931649004 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 720.0911998741475, + 334.92624935212115 + ], + [ + 720.514957152638, + 334.98372931649004 + ], + [ + 724.4258980381744, + 316.4437187047354 + ], + [ + 724.010593408195, + 316.38857382395133 + ], + [ + 721.7820520985572, + 313.4394194376903 + ], + [ + 722.2148660122175, + 313.496716833237 + ], + [ + 726.1710397114998, + 295.0235730704827 + ], + [ + 725.7470399828464, + 294.9686509456079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4459518672174, + "ymin": 305.58629741039994, + "xmax": 725.8829272311436, + "ymax": 339.6741901538445 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 718.4459518672174, + 339.31129015170154 + ], + [ + 721.1077626578126, + 339.6741901538445 + ], + [ + 724.409823797065, + 323.89022562338823 + ], + [ + 721.7929663629407, + 323.5398295755007 + ], + [ + 719.8390560364102, + 321.31473571142914 + ], + [ + 722.5487234342274, + 321.67676001821616 + ], + [ + 725.8829272311436, + 305.93563223019635 + ], + [ + 723.2198305852768, + 305.58629741039994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.091330619069, + "ymin": 294.96853033939624, + "xmax": 726.1711697107818, + "ymax": 334.9836030951751 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 720.091330619069, + 334.92612312902537 + ], + [ + 720.5150879782216, + 334.9836030951751 + ], + [ + 724.4260256435367, + 316.4435976112314 + ], + [ + 724.0107209335187, + 316.3884527284226 + ], + [ + 721.7821853624515, + 313.4392936156758 + ], + [ + 722.2149993573827, + 313.4965910126596 + ], + [ + 726.1711697107818, + 295.0234524659769 + ], + [ + 725.7471699014634, + 294.96853033939624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.6160081553119, + "ymin": 232.23862126287108, + "xmax": 741.4310615468619, + "ymax": 263.42143918051215 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 734.6160081553119, + 263.11691831873867 + ], + [ + 737.0602177919258, + 263.42143918051215 + ], + [ + 739.8350372037613, + 250.15769963185363 + ], + [ + 737.4287888960021, + 249.86281131507474 + ], + [ + 736.1529345496748, + 245.41790607214978 + ], + [ + 738.6374343108946, + 245.72078805613847 + ], + [ + 741.4310615468619, + 232.5317706577128 + ], + [ + 738.985775374227, + 232.23862126287108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.0912141918163, + "ymin": 294.96851041104986, + "xmax": 726.1710530363808, + "ymax": 334.98358221822434 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 720.0912141918163, + 334.9261022725742 + ], + [ + 720.5149714022156, + 334.98358221822434 + ], + [ + 724.4259113715364, + 316.4435775824182 + ], + [ + 724.0106068069597, + 316.388432719224 + ], + [ + 721.7820664373708, + 313.4392728254973 + ], + [ + 722.2148802799978, + 313.4965702019907 + ], + [ + 726.1710530363808, + 295.0234325180439 + ], + [ + 725.7470533758982, + 294.96851041104986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.3793905449762, + "ymin": 309.66305373905595, + "xmax": 723.7834837462616, + "ymax": 343.6043287572355 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 716.3793905449762, + 343.24145256651605 + ], + [ + 719.0287292430246, + 343.6043287572355 + ], + [ + 722.3525718000166, + 327.82022672822643 + ], + [ + 719.747768906506, + 327.46980037785727 + ], + [ + 717.7297559841109, + 325.3945084247326 + ], + [ + 720.4265002252477, + 325.75657300489587 + ], + [ + 723.7834837462616, + 310.01248244564636 + ], + [ + 721.1328700422223, + 309.66305373905595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.7388773328526, + "ymin": 297.1199625555383, + "xmax": 724.67331896837, + "ymax": 331.43035499937747 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.7388773328526, + 331.382726100568 + ], + [ + 720.091374204428, + 331.43035499937747 + ], + [ + 723.0385486512616, + 317.5449481454519 + ], + [ + 722.6913374719724, + 317.49877784142234 + ], + [ + 721.333697684304, + 310.9558207855377 + ], + [ + 721.6933311738378, + 311.0032994101785 + ], + [ + 724.67331896837, + 297.1659587905395 + ], + [ + 724.3191857717877, + 297.1199625555383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.4842776071605, + "ymin": 225.51229855648603, + "xmax": 739.241732664123, + "ymax": 256.42911356853597 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 732.4842776071605, + 256.1296900401645 + ], + [ + 734.907166389748, + 256.42911356853597 + ], + [ + 737.6930769975158, + 243.38568568234297 + ], + [ + 735.307494580011, + 243.09565574007922 + ], + [ + 733.9737490604148, + 238.4692716649829 + ], + [ + 736.4362228079513, + 238.76700243223445 + ], + [ + 739.241732664123, + 225.8005420008811 + ], + [ + 736.8177850304673, + 225.51229855648603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.738872514318, + "ymin": 297.1200966984933, + "xmax": 724.6733148953665, + "ymax": 331.4304939185519 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 719.738872514318, + 331.38286500503625 + ], + [ + 720.0913694400597, + 331.4304939185519 + ], + [ + 723.038544408401, + 317.54508281023374 + ], + [ + 722.6913331765577, + 317.4989124921683 + ], + [ + 721.3336930205281, + 310.9559592516016 + ], + [ + 721.6933265664437, + 311.00343789119546 + ], + [ + 724.6733148953665, + 297.16609294775276 + ], + [ + 724.3191816441135, + 297.1200966984933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1072.865914903459, + "ymin": 10.182847131251208, + "xmax": 1090.7021723401404, + "ymax": 35.07886234011903 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1082.7343248473123, + 32.009895078604075 + ], + [ + 1072.865914903459, + 31.16614156339051 + ], + [ + 1073.691788951573, + 34.22646695206129 + ], + [ + 1083.6118109961058, + 35.07886234011903 + ], + [ + 1089.774101058925, + 11.010016961592271 + ], + [ + 1079.7389502813662, + 10.182847131251208 + ], + [ + 1080.6136484217652, + 13.183199010143937 + ], + [ + 1090.7021723401404, + 14.01897652388385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.4611743091864, + "ymin": 250.6124685633348, + "xmax": 735.5334655174249, + "ymax": 310.60377566542695 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 728.4611743091864, + 310.3793925267903 + ], + [ + 730.1637306326957, + 310.60377566542695 + ], + [ + 730.4877267069103, + 309.0296012995067 + ], + [ + 728.7881361702604, + 308.806021038787 + ], + [ + 733.4019216440993, + 252.16350669079767 + ], + [ + 735.2009271070708, + 252.38473007806903 + ], + [ + 735.5334655174249, + 250.83285628716663 + ], + [ + 733.7377711901054, + 250.6124685633348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.1123839633859, + "ymin": 238.09245503139044, + "xmax": 738.2178727056829, + "ymax": 297.8401764861378 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 731.1123839633859, + 297.62226172378473 + ], + [ + 732.7908847463389, + 297.8401764861378 + ], + [ + 733.105547609682, + 296.31134733961335 + ], + [ + 731.4299295321157, + 296.0942010192625 + ], + [ + 736.1232683708143, + 239.59639016833535 + ], + [ + 737.8954360106338, + 239.81088819615744 + ], + [ + 738.2178727056829, + 238.30615517722725 + ], + [ + 736.4489183046708, + 238.09245503139044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.9835094514334, + "ymin": 266.8511148150277, + "xmax": 701.4028545546175, + "ymax": 327.128819375254 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 695.9835094514334, + 326.89592121130624 + ], + [ + 697.7096248424376, + 327.128819375254 + ], + [ + 698.098914096372, + 325.49495391329054 + ], + [ + 696.3758461562434, + 325.2629047175667 + ], + [ + 699.1724260745956, + 268.46433023757777 + ], + [ + 700.9977678296665, + 268.69443171940316 + ], + [ + 701.4028545546175, + 267.0803298767811 + ], + [ + 699.580920452701, + 266.8511148150277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.1069403988452, + "ymin": 118.43345511157722, + "xmax": 1077.2240353094223, + "ymax": 130.1630026609211 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1075.818898630425, + 130.1630026609211 + ], + [ + 1074.3797722910033, + 124.06104310382727 + ], + [ + 1057.1069403988452, + 122.35577021207007 + ], + [ + 1058.3906362963658, + 128.42757829214128 + ], + [ + 1077.2240353094223, + 126.22138288386927 + ], + [ + 1075.7679961701183, + 120.13446352658872 + ], + [ + 1058.4366691375512, + 118.43345511157722 + ], + [ + 1059.7362199505064, + 124.49020112561257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.1161898098575, + "ymin": 316.8376901637857, + "xmax": 721.9178572901623, + "ymax": 377.2703121653545 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 715.1161898098575, + 377.01267332802365 + ], + [ + 716.9296588790272, + 377.2703121653545 + ], + [ + 717.3007046473674, + 375.46301702693376 + ], + [ + 715.4905995921546, + 375.20636189984333 + ], + [ + 719.6106691732923, + 318.6336585167219 + ], + [ + 721.533974291908, + 318.8898555572075 + ], + [ + 721.9178572901623, + 317.092850638725 + ], + [ + 719.9983357499611, + 316.8376901637857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.0283614240705, + "ymin": 110.67626999787157, + "xmax": 1225.0537067244645, + "ymax": 367.6470956883592 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1113.694918286721, + 367.6470956883592 + ], + [ + 1111.5048725623437, + 357.5300933944519 + ], + [ + 979.0283614240705, + 340.13351998487593 + ], + [ + 979.7567736797378, + 349.8719218778292 + ], + [ + 1225.0537067244645, + 136.0753430258848 + ], + [ + 1220.8728623654551, + 126.69516068747572 + ], + [ + 1055.8553871331656, + 110.67626999787157 + ], + [ + 1057.7636319525684, + 119.62629031698506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 216.1242914053255, + "ymax": 171.23247192783907 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 209.50750611661016, + 171.23247192783907 + ], + [ + 216.1242914053255, + 164.2569019882166 + ], + [ + 80.92284368350238, + 148.16505030020704 + ], + [ + 73.19399913804159, + 154.8361620369393 + ], + [ + 127.77595746452141, + -53.07624297708122 + ], + [ + 136.55046163789729, + -58.8486285486718 + ], + [ + -21.30544135726427, + -72.08648383038872 + ], + [ + -31.590821021290253, + -66.61175369162663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.5291987818689, + "ymin": 251.61821705519827, + "xmax": 731.3970392083198, + "ymax": 311.6282305121814 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 724.5291987818689, + 311.4033240815843 + ], + [ + 726.2327343893488, + 311.6282305121814 + ], + [ + 726.5641556542993, + 310.050387889426 + ], + [ + 724.8635891443473, + 309.8262871444647 + ], + [ + 729.2561455283924, + 253.17307060077798 + ], + [ + 731.0562460392262, + 253.3948387826982 + ], + [ + 731.3970392083198, + 251.8391464878203 + ], + [ + 729.6002537483371, + 251.61821705519827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.1019571388886, + "ymin": 231.27121500158694, + "xmax": 736.0410577127401, + "ymax": 290.8778616654664 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 729.1019571388886, + 290.6634354057204 + ], + [ + 730.7664650710747, + 290.8778616654664 + ], + [ + 731.0821475552611, + 289.3734886829499 + ], + [ + 729.4204744582937, + 289.1598125026999 + ], + [ + 733.9607503370429, + 232.74979337712767 + ], + [ + 735.7173279281905, + 232.96067112281213 + ], + [ + 736.0410577127401, + 231.48131496132876 + ], + [ + 734.2876370692927, + 231.27121500158694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.212130097095, + "ymin": 118.49553074835686, + "xmax": 1077.1149401655393, + "ymax": 130.10019630567814 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1075.7251561142364, + 130.10019630567814 + ], + [ + 1074.3020979608568, + 124.06347592376449 + ], + [ + 1057.212130097095, + 122.37622725373907 + ], + [ + 1058.4830456144182, + 128.3834348594594 + ], + [ + 1077.1149401655393, + 126.20060389236465 + ], + [ + 1075.6753329389362, + 120.17860533870783 + ], + [ + 1058.528103119079, + 118.49553074835686 + ], + [ + 1059.8145432556396, + 124.48799535074491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1036.7191544873504, + "ymin": 0.0, + "xmax": 1145.448478887577, + "ymax": 97.6859605157307 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1060.6223060113102, + 96.61466999929212 + ], + [ + 1071.4360714883423, + 97.6859605157307 + ], + [ + 1045.614161328706, + -18.54001332533022 + ], + [ + 1036.7191544873504, + -19.270254629935266 + ], + [ + 1132.6436938899565, + -118.45963579165425 + ], + [ + 1145.448478887577, + -117.61048634711722 + ], + [ + 1101.3853719755784, + -207.0831048069142 + ], + [ + 1091.1849259879773, + -207.62881783064267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 536.4825990225689, + "ymin": 0.0, + "xmax": 853.3023213339883, + "ymax": 81.77077377477747 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 553.2849780921282, + 50.10278966599532 + ], + [ + 550.6575912443633, + 54.492598203859586 + ], + [ + 822.2952061335055, + 81.77077377477747 + ], + [ + 823.0391552861404, + 76.98952306223879 + ], + [ + 539.6390670292224, + -154.88053610346628 + ], + [ + 536.4825990225689, + -151.4799996615037 + ], + [ + 852.6959040272391, + -130.17749340240977 + ], + [ + 853.3023213339883, + -133.93286377061634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 715.4116173619902, + "ymin": 312.52770513126165, + "xmax": 722.2587971346727, + "ymax": 373.43295276356423 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 715.4116173619902, + 373.17535023740305 + ], + [ + 717.2323014766523, + 373.43295276356423 + ], + [ + 717.6042234711886, + 371.6259239916757 + ], + [ + 715.7869301759356, + 371.3693088948414 + ], + [ + 719.9425855299489, + 314.32238053889637 + ], + [ + 721.8740079717816, + 314.57839560864886 + ], + [ + 722.2587971346727, + 312.7826800656338 + ], + [ + 720.331190255518, + 312.52770513126165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.126782272826, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 258.0410943394601 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1351.7450194278854, + 258.0410943394601 + ], + [ + 1564.2098031595397, + 256.19596976992386 + ], + [ + 1430.704415516053, + 139.4337058353733 + ], + [ + 1248.126782272826, + 140.7928579885253 + ], + [ + 1593.3149003485041, + -113.49190435411401 + ], + [ + 1876.9539709295857, + -114.85118891309543 + ], + [ + 1649.8808235161687, + -196.87335151927823 + ], + [ + 1417.1078835274795, + -195.96175847611153 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00160/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00160/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6699e59cd3345886ceb8969ce0a2117471d6264 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00160/meta.json @@ -0,0 +1,7054 @@ +{ + "frame_id": 160, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 80.0, + "sim_timestamp": 13475.568089313107 + }, + "drone_pose": { + "x": -19.240472604309748, + "y": 2.362587481456116, + "z": 20.0, + "pitch": -44.69350411550933, + "yaw": -13.41833977688658, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6914733648300171, + 0.16496610641479492, + 0.7033141255378723, + -0.37226104736328125 + ], + [ + -0.2320592701435089, + 0.9727016687393188, + 0.0, + 2.166837215423584 + ], + [ + -0.6841147541999817, + -0.16321055591106415, + 0.7108792066574097, + -27.76587677001953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -18.03965598966765, + "y": 3.05393036150602, + "z": 20.0 + }, + "t1_image_uv": [ + 1914.7527489381675, + -589.7837771592742 + ], + "t1_depth": 0.7162845844237655 + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": -0.16718292236328125, + "y": -2.187763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.583548523170993, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -0.16718292236328125, + "y": -2.187763214111328, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.3273284435272217, + "y": 0.2211218774318695, + "z": 0.5607741475105286 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 627.35008003373, + "ymin": 336.3681454436607, + "xmax": 652.7582370632462, + "ymax": 383.4375804114639 + }, + "corners_3d": [ + [ + -0.5549958944320679, + -2.112663745880127, + 0.03932690620422363 + ], + [ + -0.24228233098983765, + -1.7999502420425415, + 0.03932690620422363 + ], + [ + 0.22063001990318298, + -2.2628626823425293, + 0.03932690620422363 + ], + [ + -0.09208351373672485, + -2.575576066970825, + 0.03932690620422363 + ], + [ + -0.5549958944320679, + -2.112663745880127, + 1.1608752012252808 + ], + [ + -0.24228233098983765, + -1.7999502420425415, + 1.1608752012252808 + ], + [ + 0.22063001990318298, + -2.2628626823425293, + 1.1608752012252808 + ], + [ + -0.09208351373672485, + -2.575576066970825, + 1.1608752012252808 + ] + ], + "corners_2d": [ + [ + 639.4126390876501, + 383.4375804114639 + ], + [ + 652.3970393351581, + 377.6864954454423 + ], + [ + 640.5756980051826, + 364.11324089227145 + ], + [ + 627.7052561594713, + 369.70362034341156 + ], + [ + 639.3954211433309, + 355.6804149695274 + ], + [ + 652.7582370632462, + 349.9305727621626 + ], + [ + 640.5922293478881, + 336.3681454436607 + ], + [ + 627.35008003373, + 341.95272293454354 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 160, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 365869, + "2": 238361, + "5": 3516, + "6": 4550, + "7": 177, + "10": 5, + "12": 1888, + "14": 17174, + "15": 11279, + "20": 3144, + "24": 25775, + "25": 249862 + }, + "instance_pixel_counts": { + "2188": 824, + "2706": 2918, + "3218": 3686, + "3424": 127949, + "3724": 334, + "5506": 2346, + "6215": 35758, + "6284": 5601, + "6290": 20702, + "6730": 882, + "8286": 3890, + "8332": 10955, + "8338": 23985, + "8798": 5043, + "10846": 7047, + "15184": 3516, + "15510": 2893, + "16022": 591, + "16203": 979, + "18000": 3144, + "19092": 24725, + "19604": 11798, + "21140": 66467, + "23392": 939, + "23700": 98919, + "23904": 66, + "28000": 629, + "28256": 647, + "28768": 581, + "29280": 30, + "29826": 979, + "31584": 444, + "31840": 130, + "32096": 191, + "34304": 317, + "34560": 1085, + "34956": 987, + "35402": 350, + "35468": 588, + "35476": 4019, + "36170": 218, + "37524": 5793, + "38540": 6945, + "38801": 2179, + "39825": 3559, + "40588": 8342, + "42897": 15552, + "44945": 31726, + "52038": 63720, + "56576": 211, + "56647": 121913, + "56832": 162, + "57088": 563, + "57344": 602, + "57600": 350, + "58368": 11279, + "59541": 1578, + "60051": 14277, + "60563": 300, + "60565": 41, + "62101": 1497, + "62208": 1194, + "62611": 54586, + "64149": 2896, + "64585": 381, + "64659": 94797 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": -0.16718292236328125, + "y": -2.187763214111328, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.24873673915863037, + "y": 0.3456948399543762, + "z": 0.5515807271003723 + }, + "yaw": -44.999996185302734 + }, + "bbox_2d": { + "xmin": 625.0180507825784, + "ymin": 336.64306924758347, + "xmax": 655.0061296141622, + "ymax": 383.17373465322544 + }, + "corners_3d": [ + [ + -0.5875095129013062, + -2.2563228607177734, + 0.04852032661437988 + ], + [ + -0.09862323105335236, + -1.7674366235733032, + 0.04852032661437988 + ], + [ + 0.25314366817474365, + -2.119203567504883, + 0.04852032661437988 + ], + [ + -0.23574261367321014, + -2.6080899238586426, + 0.04852032661437988 + ], + [ + -0.5875095129013062, + -2.2563228607177734, + 1.1516817808151245 + ], + [ + -0.09862323105335236, + -1.7674366235733032, + 1.1516817808151245 + ], + [ + 0.25314366817474365, + -2.119203567504883, + 1.1516817808151245 + ], + [ + -0.23574261367321014, + -2.6080899238586426, + 1.1516817808151245 + ] + ], + "corners_2d": [ + [ + 634.3067035132304, + 383.17373465322544 + ], + [ + 654.589565097056, + 374.2132544095779 + ], + [ + 645.5807096654364, + 363.9331780088015 + ], + [ + 625.4332923677988, + 372.70269796097483 + ], + [ + 634.1425927053871, + 355.87181173304134 + ], + [ + 655.0061296141622, + 346.91410681406927 + ], + [ + 645.7383041265848, + 336.64306924758347 + ], + [ + 625.0180507825784, + 345.40448654304197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 162, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 4.486039638519287, + "y": 0.5413121581077576, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.23634277284145355, + "y": 0.25500616431236267, + "z": 0.5550015568733215 + }, + "yaw": -53.999996185302734 + }, + "bbox_2d": { + "xmin": 745.7366150949495, + "ymin": 252.72489276724235, + "xmax": 770.832325407188, + "ymax": 293.87760034837294 + }, + "corners_3d": [ + [ + 4.140816688537598, + 0.582628607749939, + 0.045099496841430664 + ], + [ + 4.553425312042236, + 0.8824063539505005, + 0.045099496841430664 + ], + [ + 4.831262588500977, + 0.49999570846557617, + 0.045099496841430664 + ], + [ + 4.418653964996338, + 0.20021796226501465, + 0.045099496841430664 + ], + [ + 4.140816688537598, + 0.582628607749939, + 1.1551026105880737 + ], + [ + 4.553425312042236, + 0.8824063539505005, + 1.1551026105880737 + ], + [ + 4.831262588500977, + 0.49999570846557617, + 1.1551026105880737 + ], + [ + 4.418653964996338, + 0.20021796226501465, + 1.1551026105880737 + ] + ], + "corners_2d": [ + [ + 756.3014058880075, + 293.87760034837294 + ], + [ + 767.5087651374075, + 287.0957937186967 + ], + [ + 756.9320859425029, + 279.87396466181445 + ], + [ + 745.7366150949495, + 286.54409885053633 + ], + [ + 759.3569036019741, + 266.6477828351734 + ], + [ + 770.832325407188, + 259.90363296588174 + ], + [ + 759.954210858165, + 252.72489276724235 + ], + [ + 748.490897545227, + 259.35512104063145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 563, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -3.0006120204925537, + "y": 5.184077262878418, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.428303986787796, + "y": 0.47947996854782104, + "z": 0.8849891424179077 + }, + "yaw": -47.99998474121094 + }, + "bbox_2d": { + "xmin": 864.8183337698389, + "ymin": 442.1339824306052, + "xmax": 929.3096481407069, + "ymax": 524.3862943886336 + }, + "corners_3d": [ + [ + -3.643526315689087, + 5.181534290313721, + -0.2848880887031555 + ], + [ + -2.930880546569824, + 5.823204040527344, + -0.2848880887031555 + ], + [ + -2.3576977252960205, + 5.186620235443115, + -0.2848880887031555 + ], + [ + -3.070343494415283, + 4.544950485229492, + -0.2848880887031555 + ], + [ + -3.643526315689087, + 5.181534290313721, + 1.4850902557373047 + ], + [ + -2.930880546569824, + 5.823204040527344, + 1.4850902557373047 + ], + [ + -2.3576977252960205, + 5.186620235443115, + 1.4850902557373047 + ], + [ + -3.070343494415283, + 4.544950485229492, + 1.4850902557373047 + ] + ], + "corners_2d": [ + [ + 888.3865558952268, + 524.3862943886336 + ], + [ + 914.888417858524, + 507.12406748191984 + ], + [ + 891.1565909947755, + 485.53640488999514 + ], + [ + 864.8183337698389, + 502.1207239085726 + ], + [ + 901.6334482066341, + 481.40410504011135 + ], + [ + 929.3096481407069, + 463.937139675657 + ], + [ + 904.0601625823847, + 442.1339824306052 + ], + [ + 876.5561740621444, + 458.87984397253945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 602, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -9.667181968688965, + "y": -2.187763214111328, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.46836334466934204, + "y": 0.3851890563964844, + "z": 0.8867011070251465 + }, + "yaw": -42.0000114440918 + }, + "bbox_2d": { + "xmin": 510.7586759379077, + "ymin": 611.3602824320591, + "xmax": 566.5926972320356, + "ymax": 701.5711083754998 + }, + "corners_3d": [ + [ + -10.272985458374023, + -2.1606180667877197, + -0.2866000533103943 + ], + [ + -9.757501602172852, + -1.5881156921386719, + -0.2866000533103943 + ], + [ + -9.061378479003906, + -2.2149083614349365, + -0.2866000533103943 + ], + [ + -9.576862335205078, + -2.7874107360839844, + -0.2866000533103943 + ], + [ + -10.272985458374023, + -2.1606180667877197, + 1.486802101135254 + ], + [ + -9.757501602172852, + -1.5881156921386719, + 1.486802101135254 + ], + [ + -9.061378479003906, + -2.2149083614349365, + 1.486802101135254 + ], + [ + -9.576862335205078, + -2.7874107360839844, + 1.486802101135254 + ] + ], + "corners_2d": [ + [ + 535.073689792411, + 701.5711083754998 + ], + [ + 566.5926972320356, + 685.8176105167107 + ], + [ + 549.0377304303729, + 652.0072980657114 + ], + [ + 518.1532012873276, + 666.9318727273546 + ], + [ + 528.5195419359442, + 662.2963711532796 + ], + [ + 562.0667481791263, + 646.0802474320105 + ], + [ + 543.5869826171371, + 611.3602824320591 + ], + [ + 510.7586759379077, + 626.6724192753373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 350, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 11.078152656555176, + "y": -10.357976913452148, + "z": 0.7538998126983643 + }, + "extent": { + "x": 0.4087866246700287, + "y": 0.3405419886112213, + "z": 0.9359195232391357 + }, + "yaw": -36.0 + }, + "bbox_2d": { + "xmin": 485.59141183115673, + "ymin": 91.35661163830179, + "xmax": 514.0210938831196, + "ymax": 148.9036377107224 + }, + "corners_3d": [ + [ + 10.547271728515625, + -10.393202781677246, + -0.18201971054077148 + ], + [ + 10.947603225708008, + -9.842193603515625, + -0.18201971054077148 + ], + [ + 11.609033584594727, + -10.32275104522705, + -0.18201971054077148 + ], + [ + 11.208702087402344, + -10.873760223388672, + -0.18201971054077148 + ], + [ + 10.547271728515625, + -10.393202781677246, + 1.6898193359375 + ], + [ + 10.947603225708008, + -9.842193603515625, + 1.6898193359375 + ], + [ + 11.609033584594727, + -10.32275104522705, + 1.6898193359375 + ], + [ + 11.208702087402344, + -10.873760223388672, + 1.6898193359375 + ] + ], + "corners_2d": [ + [ + 497.0237106344084, + 148.9036377107224 + ], + [ + 514.0210938831196, + 145.20001916209722 + ], + [ + 507.8064734743923, + 134.7153114959402 + ], + [ + 491.0218991705642, + 138.313759162464 + ], + [ + 491.73339182734105, + 105.18938575991211 + ], + [ + 509.3839330511359, + 101.5766819751451 + ], + [ + 503.01248914774055, + 91.35661163830179 + ], + [ + 485.59141183115673, + 94.86302408129143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 11279, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 756.1943644715724, + "ymin": 248.10215359486986, + "xmax": 861.7128377982801, + "ymax": 469.58660866303074 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 756.1943644715724, + 456.2732473981258 + ], + [ + 830.5005817129025, + 469.58660866303074 + ], + [ + 848.2245880945916, + 323.1306134771223 + ], + [ + 783.8873402981176, + 313.22668797262264 + ], + [ + 764.9011209941834, + 390.7781133006266 + ], + [ + 844.9707801154104, + 404.2058561306248 + ], + [ + 861.7128377982801, + 257.88709678855844 + ], + [ + 793.1003983490803, + 248.10215359486986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 243, + "instance_id": 62208, + "pixel_count": 1194, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 28.08228874206543, + "y": 12.446331024169922, + "z": 0.6455088257789612 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 1028.964543790868, + "ymin": 0.0, + "xmax": 1148.596782465364, + "ymax": 22.844543877295678 + }, + "corners_3d": [ + [ + 29.008596420288086, + 10.079200744628906, + -0.0049611469730734825 + ], + [ + 27.113845825195312, + 10.096124649047852, + -0.0049611469730734825 + ], + [ + 27.155981063842773, + 14.813461303710938, + -0.0049611469730734825 + ], + [ + 29.050731658935547, + 14.796538352966309, + -0.0049611469730734825 + ], + [ + 29.008596420288086, + 10.079200744628906, + 1.2959787845611572 + ], + [ + 27.113845825195312, + 10.096124649047852, + 1.2959787845611572 + ], + [ + 27.155981063842773, + 14.813461303710938, + 1.2959787845611572 + ], + [ + 29.050731658935547, + 14.796538352966309, + 1.2959787845611572 + ] + ], + "corners_2d": [ + [ + 1028.964543790868, + -4.5225084854833995 + ], + [ + 1031.2922972072683, + 12.611955685520797 + ], + [ + 1138.0440694915653, + 22.844543877295678 + ], + [ + 1132.5914199935823, + 5.131587236428743 + ], + [ + 1036.830439981015, + -31.516693040689574 + ], + [ + 1039.441756547549, + -14.832126444241055 + ], + [ + 1148.596782465364, + -4.85878310739912 + ], + [ + 1142.7206244089573, + -22.11851434776605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051479013653, + "ymin": 318.82918403417153, + "xmax": 724.6987822745934, + "ymax": 353.8296407804856 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051479013653, + 353.38259513561616 + ], + [ + 718.9242619771898, + 353.8296407804856 + ], + [ + 723.1885601890889, + 337.28780350852736 + ], + [ + 720.5151059915663, + 336.856290596398 + ], + [ + 717.6130532515446, + 335.3333682461883 + ], + [ + 720.3831074143944, + 335.7799639610945 + ], + [ + 724.6987822745934, + 319.2599835504251 + ], + [ + 721.9761009447049, + 318.82918403417153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051467514036, + "ymin": 318.82918828339285, + "xmax": 724.6987811634752, + "ymax": 353.8296451941333 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051467514036, + 353.3825995450829 + ], + [ + 718.9242608394014, + 353.8296451941333 + ], + [ + 723.1885590908424, + 337.2878077687863 + ], + [ + 720.5151048815512, + 336.8562948526919 + ], + [ + 717.613052087041, + 335.3333726511785 + ], + [ + 720.3831062625247, + 335.77996837033874 + ], + [ + 724.6987811634752, + 319.2599878036767 + ], + [ + 721.9760998213803, + 318.82918828339285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.2289481947023, + "ymin": 255.82162592691486, + "xmax": 737.1427844748448, + "ymax": 288.3847269693638 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 729.2289481947023, + 287.9975285146112 + ], + [ + 731.7652211793469, + 288.3847269693638 + ], + [ + 735.5288485254928, + 274.04041935399516 + ], + [ + 733.0323535825102, + 273.6657641587567 + ], + [ + 730.7612243946792, + 270.0982333444144 + ], + [ + 733.3417583594323, + 270.48405270187016 + ], + [ + 737.1427844748448, + 256.19473735408405 + ], + [ + 734.6034186653511, + 255.82162592691486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.5153289595195, + "ymin": 254.8675461291557, + "xmax": 741.4233394134369, + "ymax": 287.39375175204646 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 733.5153289595195, + 287.0074264665279 + ], + [ + 736.0506286274713, + 287.39375175204646 + ], + [ + 739.7401565563844, + 273.0815359218833 + ], + [ + 737.2446070222933, + 272.7077118346858 + ], + [ + 735.1193702108279, + 269.1116843574008 + ], + [ + 737.6988955159245, + 269.4966187366449 + ], + [ + 741.4233394134369, + 255.23981591579886 + ], + [ + 738.88495282425, + 254.8675461291557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5741959341547, + "ymin": 310.3765611170128, + "xmax": 723.410840269141, + "ymax": 345.465929945005 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5741959341547, + 345.40722808228685 + ], + [ + 717.9343754910939, + 345.465929945005 + ], + [ + 721.7363985020916, + 330.90729453818597 + ], + [ + 721.3815904379202, + 330.85040596933516 + ], + [ + 719.1889201654068, + 324.90592131417185 + ], + [ + 719.5567008867362, + 324.96453149412974 + ], + [ + 723.410840269141, + 310.43332404432516 + ], + [ + 723.0486585276562, + 310.3765611170128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5741755523438, + "ymin": 310.37672645641356, + "xmax": 723.4108208644093, + "ymax": 345.4661009536642 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5741755523438, + 345.4073990694797 + ], + [ + 717.9343551738618, + 345.4661009536642 + ], + [ + 721.7363791855003, + 330.9074602642447 + ], + [ + 721.3815710586603, + 330.85057167491453 + ], + [ + 719.1888996607199, + 324.90609203408815 + ], + [ + 719.5566804493833, + 324.96470223592496 + ], + [ + 723.4108208644093, + 310.4334894045787 + ], + [ + 723.0486390576235, + 310.37672645641356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051479013653, + "ymin": 318.82918403417153, + "xmax": 724.6987822745934, + "ymax": 353.8296407804856 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051479013653, + 353.38259513561616 + ], + [ + 718.9242619771898, + 353.8296407804856 + ], + [ + 723.1885601890889, + 337.28780350852736 + ], + [ + 720.5151059915663, + 336.856290596398 + ], + [ + 717.6130532515446, + 335.3333682461883 + ], + [ + 720.3831074143944, + 335.7799639610945 + ], + [ + 724.6987822745934, + 319.2599835504251 + ], + [ + 721.9761009447049, + 318.82918403417153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.205148301274, + "ymin": 318.82918409753063, + "xmax": 724.6987825418022, + "ymax": 353.82964082435944 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.205148301274, + 353.3825952013646 + ], + [ + 718.9242622440484, + 353.82964082435944 + ], + [ + 723.1885604514641, + 337.28780355087645 + ], + [ + 720.5151063847629, + 336.8562906598625 + ], + [ + 717.6130536589417, + 335.33336831186995 + ], + [ + 720.3831076862548, + 335.7799640049246 + ], + [ + 724.6987825418022, + 319.25998359270454 + ], + [ + 721.9761013451382, + 318.82918409753063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051470763668, + "ymin": 318.82918759630894, + "xmax": 724.6987813486617, + "ymax": 353.8296444585254 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051470763668, + 353.3825988320879 + ], + [ + 718.9242610290328, + 353.8296444585254 + ], + [ + 723.1885592738835, + 337.2878070587431 + ], + [ + 720.5151051976193, + 336.8562941644644 + ], + [ + 717.6130524169239, + 335.33337193890736 + ], + [ + 720.383106454503, + 335.77996763546474 + ], + [ + 724.6987813486617, + 319.25998709480143 + ], + [ + 721.9761001420788, + 318.82918759630894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.6910431017086, + "ymin": 270.96532578944993, + "xmax": 705.7233750848228, + "ymax": 304.1141020557265 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 697.6910431017086, + 303.7129117262705 + ], + [ + 700.2585848424816, + 304.1141020557265 + ], + [ + 704.6122099416638, + 289.25567897906274 + ], + [ + 702.0854057083452, + 288.8677121277655 + ], + [ + 698.6997844822451, + 285.7623398258715 + ], + [ + 701.3127016612415, + 286.1623472572819 + ], + [ + 705.7233750848228, + 271.35192397509735 + ], + [ + 703.1526369283312, + 270.96532578944993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5742770457953, + "ymin": 310.37634916466163, + "xmax": 723.4109203846559, + "ymax": 345.46571072510153 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5742770457953, + 345.40700888990165 + ], + [ + 717.9344565234009, + 345.46571072510153 + ], + [ + 721.7364773956924, + 330.90708209016725 + ], + [ + 721.3816694085126, + 330.8501935475695 + ], + [ + 719.1890025790631, + 324.90570246441655 + ], + [ + 719.5567832176719, + 324.9643126163273 + ], + [ + 723.4109203846559, + 310.4331120652423 + ], + [ + 723.0487387233991, + 310.37634916466163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051467514036, + "ymin": 318.82918828339285, + "xmax": 724.6987811634752, + "ymax": 353.8296451941333 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051467514036, + 353.3825995450829 + ], + [ + 718.9242608394014, + 353.8296451941333 + ], + [ + 723.1885590908424, + 337.2878077687863 + ], + [ + 720.5151048815512, + 336.8562948526919 + ], + [ + 717.613052087041, + 335.3333726511785 + ], + [ + 720.3831062625247, + 335.77996837033874 + ], + [ + 724.6987811634752, + 319.2599878036767 + ], + [ + 721.9760998213803, + 318.82918828339285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.800402308017, + "ymin": 308.14006800248694, + "xmax": 725.0749793201946, + "ymax": 349.16876311717596 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.800402308017, + 349.09791865852355 + ], + [ + 718.2333940687015, + 349.16876311717596 + ], + [ + 723.2835765260754, + 329.73033794934844 + ], + [ + 722.8591748532835, + 329.66239630047056 + ], + [ + 719.5098861435314, + 327.5376993512985 + ], + [ + 719.952524455698, + 327.6084379714477 + ], + [ + 725.0749793201946, + 308.2078464727341 + ], + [ + 724.6413143824881, + 308.14006800248694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5743133663439, + "ymin": 310.3764827807159, + "xmax": 723.4109577410059, + "ymax": 345.4658489226651 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5743133663439, + 345.40714707011756 + ], + [ + 717.9344928994512, + 345.4658489226651 + ], + [ + 721.7365137585543, + 330.9072160186936 + ], + [ + 721.3817057175186, + 330.8503274595458 + ], + [ + 719.1890398991837, + 324.9058404286362 + ], + [ + 719.5568205956605, + 324.96445059822804 + ], + [ + 723.4109577410059, + 310.43324569814837 + ], + [ + 723.0487760236329, + 310.3764827807159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.205148301274, + "ymin": 318.82918409753063, + "xmax": 724.6987825418022, + "ymax": 353.82964082435944 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.205148301274, + 353.3825952013646 + ], + [ + 718.9242622440484, + 353.82964082435944 + ], + [ + 723.1885604514641, + 337.28780355087645 + ], + [ + 720.5151063847629, + 336.8562906598625 + ], + [ + 717.6130536589417, + 335.33336831186995 + ], + [ + 720.3831076862548, + 335.7799640049246 + ], + [ + 724.6987825418022, + 319.25998359270454 + ], + [ + 721.9761013451382, + 318.82918409753063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.8002830880099, + "ymin": 308.1400493403547, + "xmax": 725.0748597621737, + "ymax": 349.1687435859151 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.8002830880099, + 349.09789915220114 + ], + [ + 718.2332746962736, + 349.1687435859151 + ], + [ + 723.2834595220498, + 329.7303192183986 + ], + [ + 722.8590579982897, + 329.6623775933789 + ], + [ + 719.5097642676436, + 327.53767987415 + ], + [ + 719.9524024235892, + 327.6084184693333 + ], + [ + 725.0748597621737, + 308.20782778674163 + ], + [ + 724.6411949771316, + 308.1400493403547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.8003796839163, + "ymin": 308.14021451614593, + "xmax": 725.0749577386334, + "ymax": 349.168916259565 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.8003796839163, + 349.09807179979543 + ], + [ + 718.233371379096, + 349.168916259565 + ], + [ + 723.2835551128242, + 329.7304848165887 + ], + [ + 722.8591535055748, + 329.6625431670983 + ], + [ + 719.5098633072794, + 327.5378522635311 + ], + [ + 719.9525015540524, + 327.60859088530276 + ], + [ + 725.0749577386334, + 308.2079929874699 + ], + [ + 724.6412928664222, + 308.14021451614593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.2051494094666, + "ymin": 318.82918205739867, + "xmax": 724.6987836317788, + "ymax": 353.82963870528334 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 716.2051494094666, + 353.38259308429576 + ], + [ + 718.9242633466598, + 353.82963870528334 + ], + [ + 723.1885615253381, + 337.28780150544526 + ], + [ + 720.5151074640328, + 336.8562886163349 + ], + [ + 717.6130547843896, + 335.3333661969504 + ], + [ + 720.3831088059103, + 335.77996188796266 + ], + [ + 724.6987836317788, + 319.25998155063763 + ], + [ + 721.9761024407115, + 318.82918205739867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.800521240357, + "ymin": 308.1400902974104, + "xmax": 725.0750984852186, + "ymax": 349.1687864241374 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.800521240357, + 349.0979419619681 + ], + [ + 718.2335130207637, + 349.1687864241374 + ], + [ + 723.2836931383247, + 329.730360301286 + ], + [ + 722.8592914466008, + 329.6624186491051 + ], + [ + 719.5100077324969, + 327.53772261989013 + ], + [ + 719.9526460652686, + 327.6084612436282 + ], + [ + 725.0750984852186, + 308.2078687710234 + ], + [ + 724.64143352775, + 308.1400902974104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.0154333530032, + "ymin": 241.93554855128292, + "xmax": 744.8048140981871, + "ymax": 273.9616924885472 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 737.0154333530032, + 273.58710556574204 + ], + [ + 739.5134288927039, + 273.9616924885472 + ], + [ + 743.0917191627503, + 260.0809733303646 + ], + [ + 740.632323338412, + 259.71832664984737 + ], + [ + 738.6536101223169, + 255.743292141417 + ], + [ + 741.1945275145706, + 256.1163344291897 + ], + [ + 744.8048140981871, + 242.29650390736109 + ], + [ + 742.3038246103856, + 241.93554855128292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.8004025574942, + "ymin": 308.14006657041045, + "xmax": 725.0749794235405, + "ymax": 349.16876159809823 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 717.8004025574942, + 349.0979171616664 + ], + [ + 718.2333941830788, + 349.16876159809823 + ], + [ + 723.2835766300834, + 329.7303364925163 + ], + [ + 722.859175089698, + 329.66239486494396 + ], + [ + 719.5098863957048, + 327.53769785668 + ], + [ + 719.9525245697462, + 327.60843645463683 + ], + [ + 725.0749794235405, + 308.20784501939863 + ], + [ + 724.641314621145, + 308.14006657041045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.0984239365634, + "ymin": 322.8723442113111, + "xmax": 722.5514465827191, + "ymax": 357.71291225656995 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 714.0984239365634, + 357.2660851725641 + ], + [ + 716.8040700659227, + 357.71291225656995 + ], + [ + 721.0861474409166, + 341.1778676779093 + ], + [ + 718.4257123152399, + 340.7464963864723 + ], + [ + 715.4610142653559, + 339.37255772844946 + ], + [ + 718.2170929341725, + 339.8190077744423 + ], + [ + 722.5514465827191, + 323.30307500767327 + ], + [ + 719.8422664700047, + 322.8723442113111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5741959341547, + "ymin": 310.3765611170128, + "xmax": 723.410840269141, + "ymax": 345.465929945005 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5741959341547, + 345.40722808228685 + ], + [ + 717.9343754910939, + 345.465929945005 + ], + [ + 721.7363985020916, + 330.90729453818597 + ], + [ + 721.3815904379202, + 330.85040596933516 + ], + [ + 719.1889201654068, + 324.90592131417185 + ], + [ + 719.5567008867362, + 324.96453149412974 + ], + [ + 723.410840269141, + 310.43332404432516 + ], + [ + 723.0486585276562, + 310.3765611170128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.2042564394111, + "ymin": 234.81303810743356, + "xmax": 742.9256216951125, + "ymax": 266.5637923560533 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 735.2042564394111, + 266.1955931915528 + ], + [ + 737.6800778011592, + 266.5637923560533 + ], + [ + 741.2574230427166, + 252.91795086310708 + ], + [ + 738.81952340444, + 252.5613902200734 + ], + [ + 736.797856811268, + 248.3833770748603 + ], + [ + 739.315835421651, + 248.74995190484256 + ], + [ + 742.9256216951125, + 235.16783646209208 + ], + [ + 740.4468578876367, + 234.81303810743356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5741832805895, + "ymin": 310.3767025394793, + "xmax": 723.410828473608, + "ymax": 345.4660762166516 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 717.5741832805895, + 345.40737433557223 + ], + [ + 717.934362893066, + 345.4660762166516 + ], + [ + 721.7363866855461, + 330.90743629137916 + ], + [ + 721.3815785674806, + 330.85054770501137 + ], + [ + 719.1889075062358, + 324.90606733884306 + ], + [ + 719.5566882854716, + 324.9646775375151 + ], + [ + 723.410828473608, + 310.43346548462813 + ], + [ + 723.0486466759655, + 310.3767025394793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.8127696819915, + "ymin": 15.213361589369924, + "xmax": 1117.7034723678462, + "ymax": 41.00892156430234 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1109.0819934625665, + 37.75424358323568 + ], + [ + 1098.8127696819915, + 36.702897866917624 + ], + [ + 1099.520251999195, + 39.94665134958723 + ], + [ + 1109.8439297511718, + 41.00892156430234 + ], + [ + 1116.887629878413, + 16.245538945176747 + ], + [ + 1106.4345203964274, + 15.213361589369924 + ], + [ + 1107.1939392709269, + 18.398159412645725 + ], + [ + 1117.7034723678462, + 19.441241819610696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.2192609081741, + "ymin": 261.14859781152535, + "xmax": 737.725903918519, + "ymax": 321.6306830984647 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 730.2192609081741, + 321.35546781367395 + ], + [ + 731.9563068266244, + 321.6306830984647 + ], + [ + 732.3712752779836, + 319.9878765249341 + ], + [ + 730.6372343266034, + 319.7136523369667 + ], + [ + 735.4574585416003, + 262.7738790392686 + ], + [ + 737.2970650007067, + 263.046355992643 + ], + [ + 737.725903918519, + 261.42003671180186 + ], + [ + 735.8896676586232, + 261.14859781152535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.6081329123249, + "ymin": 248.03121478792275, + "xmax": 741.1871426401276, + "ymax": 308.31170651174875 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 733.6081329123249, + 308.0444750041429 + ], + [ + 735.320803140574, + 308.31170651174875 + ], + [ + 735.7237422390094, + 306.716521475207 + ], + [ + 734.0139934458019, + 306.45023828976565 + ], + [ + 738.9591518903547, + 249.60672743052373 + ], + [ + 740.7714398348537, + 249.87085164440512 + ], + [ + 741.1871426401276, + 248.29434826929656 + ], + [ + 739.3781257904724, + 248.03121478792275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.0207145974618, + "ymin": 277.4810521907404, + "xmax": 701.7063299256366, + "ymax": 338.1838779020087 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 696.0207145974618, + 337.89857652467 + ], + [ + 697.7787908105582, + 338.1838779020087 + ], + [ + 698.2640032344875, + 336.4809115655359 + ], + [ + 696.5090034734565, + 336.1966562126164 + ], + [ + 699.33586982217, + 279.16938404733787 + ], + [ + 701.1990980511478, + 279.4524434025815 + ], + [ + 701.7063299256366, + 277.76301249619166 + ], + [ + 699.8465569996692, + 277.4810521907404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.7243279366905, + "ymin": 134.76369799891046, + "xmax": 1092.5205699568878, + "ymax": 147.53591226746906 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1090.9847638493738, + 147.53591226746906 + ], + [ + 1089.8321803683607, + 140.93853939038974 + ], + [ + 1071.7243279366905, + 138.77308464591525 + ], + [ + 1072.7104449085261, + 145.33123555652958 + ], + [ + 1092.5205699568878, + 143.50797926683776 + ], + [ + 1091.3503082197067, + 136.92450375831498 + ], + [ + 1073.1770117161525, + 134.76369799891046 + ], + [ + 1074.1795976075896, + 141.30790207335843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.2305099863689, + "ymin": 330.39596939326947, + "xmax": 720.2487278265388, + "ymax": 391.0653707509827 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 713.2305099863689, + 390.7491683204402 + ], + [ + 715.0795300769945, + 391.0653707509827 + ], + [ + 715.5549761852376, + 389.17809645132166 + ], + [ + 713.7093597140779, + 388.863109479406 + ], + [ + 717.7876125649503, + 332.2797064130684 + ], + [ + 719.7532968395693, + 332.5955637255556 + ], + [ + 720.2487278265388, + 330.71053723742 + ], + [ + 718.2868900548676, + 330.39596939326947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.5195567759808, + "ymin": 126.64423602928457, + "xmax": 1248.3576397222203, + "ymax": 391.50575599646953 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1126.9022540664928, + 391.50575599646953 + ], + [ + 1125.090805527134, + 380.71491985673254 + ], + [ + 987.5195567759808, + 358.99019828145526 + ], + [ + 987.7949763920788, + 369.3007645272299 + ], + [ + 1248.3576397222203, + 157.3216102426431 + ], + [ + 1244.4363381635044, + 147.08473708226404 + ], + [ + 1070.6470975748807, + 126.64423602928457 + ], + [ + 1072.111661167742, + 136.31732080790374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 218.8488841536295, + "ymax": 165.87810387906907 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 211.830066029529, + 165.87810387906907 + ], + [ + 218.8488841536295, + 158.80957025020217 + ], + [ + 85.18527007866362, + 139.71207739646627 + ], + [ + 77.11754336048284, + 146.4229416663804 + ], + [ + 128.38123817821696, + -61.068754565613915 + ], + [ + 137.6837625153346, + -66.96754171171096 + ], + [ + -18.50221246430715, + -82.79782599988164 + ], + [ + -29.228247100880708, + -77.25274234862701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.1276547418674, + "ymin": 262.1162830828284, + "xmax": 733.4118876923042, + "ymax": 322.6123817829465 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.1276547418674, + 322.33657337242744 + ], + [ + 727.8653345517117, + 322.6123817829465 + ], + [ + 728.2881309905002, + 320.96603751481103 + ], + [ + 726.5534581590038, + 320.69122340383234 + ], + [ + 731.133988293539, + 263.74526650932836 + ], + [ + 732.9743082068486, + 264.0183648443078 + ], + [ + 733.4118876923042, + 262.38833981520725 + ], + [ + 731.5749403820188, + 262.1162830828284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.9065389127156, + "ymin": 240.8079544354313, + "xmax": 739.3265427817598, + "ymax": 300.9681704334754 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 731.9065389127156, + 300.7052905918764 + ], + [ + 733.6047027912382, + 300.9681704334754 + ], + [ + 734.0073761808675, + 299.39894293109546 + ], + [ + 732.3120844286693, + 299.1369883622547 + ], + [ + 737.114908024525, + 242.35639237406295 + ], + [ + 738.9109620571955, + 242.6159727975811 + ], + [ + 739.3265427817598, + 241.0665695584326 + ], + [ + 737.5337014721321, + 240.8079544354313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.832963421171, + "ymin": 134.8312389535496, + "xmax": 1092.4076838301055, + "ymax": 147.46746533773603 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1090.8886624053275, + 147.46746533773603 + ], + [ + 1089.7491503006609, + 140.9406514791237 + ], + [ + 1071.832963421171, + 138.79807711410328 + ], + [ + 1072.8095299085858, + 145.28649976083943 + ], + [ + 1092.4076838301055, + 143.4824735271017 + ], + [ + 1091.2508742134246, + 136.96926301338004 + ], + [ + 1073.2706228196273, + 134.8312389535496 + ], + [ + 1074.2633156993556, + 141.30601035121973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1065.240487971239, + "ymin": 0.0, + "xmax": 1178.0006365924228, + "ymax": 105.16447359000188 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1084.5394806971417, + 103.84270052642853 + ], + [ + 1095.7637626077799, + 105.16447359000188 + ], + [ + 1074.4558188553772, + -17.343574996536972 + ], + [ + 1065.240487971239, + -18.240710110720897 + ], + [ + 1164.5710471812677, + -116.96420858253157 + ], + [ + 1178.0006365924228, + -115.90062977734084 + ], + [ + 1137.0380596713826, + -211.4719195815735 + ], + [ + 1126.3854812244765, + -212.15006632036284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 549.3801508941227, + "ymin": 0.0, + "xmax": 873.787633886381, + "ymax": 84.06876893950584 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 565.0583590784081, + 46.579624601287094 + ], + [ + 562.1541411009129, + 51.08912143836665 + ], + [ + 838.383160299923, + 84.06876893950584 + ], + [ + 839.3927534006093, + 79.08501206528223 + ], + [ + 552.8615455142665, + -162.35116983183832 + ], + [ + 549.3801508941227, + -158.8252018706014 + ], + [ + 872.9032355098619, + -132.78883710981881 + ], + [ + 873.787633886381, + -136.75175916577786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 713.529422531021, + "ymin": 326.06825636255184, + "xmax": 720.5961648005417, + "ymax": 387.23025166493846 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 713.529422531021, + 386.9139999559368 + ], + [ + 715.3860891888978, + 387.23025166493846 + ], + [ + 715.8628805913203, + 385.34269558851184 + ], + [ + 714.0096457524842, + 385.0276644760244 + ], + [ + 718.1249707394941, + 327.951265129273 + ], + [ + 720.0992990154641, + 328.26700359779187 + ], + [ + 720.5961648005417, + 326.3827002739416 + ], + [ + 718.6257169185583, + 326.06825636255184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.0815049625483, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 283.1879178957147 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 1383.261899420385, + 280.29924851318657 + ], + [ + 1609.8124076221407, + 283.1879178957147 + ], + [ + 1472.2904207962938, + 155.85047302606117 + ], + [ + 1279.0815049625483, + 153.7420577755968 + ], + [ + 1653.893543172896, + -102.02964033178466 + ], + [ + 1964.535305036407, + -99.81800302952661 + ], + [ + 1719.137619667802, + -192.48469273964895 + ], + [ + 1467.9309444424534, + -193.94010399757894 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00161/meta.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00161/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f3062de458d0e48be1e479be4bad1e0015864c0a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/frames_playback/frame_00161/meta.json @@ -0,0 +1,6945 @@ +{ + "frame_id": 161, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 80.5, + "sim_timestamp": 13485.964735846268 + }, + "drone_pose": { + "x": -18.03965598966765, + "y": 3.05393036150602, + "z": 20.0, + "pitch": -45.2240570245452, + "yaw": -17.354864869384542, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.672271728515625, + 0.21009576320648193, + 0.7098665237426758, + -1.4281625747680664 + ], + [ + -0.2982890009880066, + 0.9544755816459656, + 0.0, + 2.4661285877227783 + ], + [ + -0.6775503158569336, + -0.21174536645412445, + 0.7043362259864807, + -26.956153869628906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": null, + "t1_image_uv": null, + "t1_depth": null + }, + "target": { + "enabled": true, + "actor_id": 221, + "world_location": { + "x": 0.33281707763671875, + "y": -2.687763214111328, + "z": 0.6001010727882385 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.328938693464515, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -2.687762975692749, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.15096858143806458, + "y": 0.23259443044662476, + "z": 0.5784041881561279 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.4578677601695, + "ymin": 340.17735813613245, + "xmax": 649.5049119055011, + "ymax": 379.4486995377145 + }, + "corners_3d": [ + [ + 0.18184849619865417, + -2.9203574657440186, + 0.021696865558624268 + ], + [ + 0.18184849619865417, + -2.4551684856414795, + 0.021696865558624268 + ], + [ + 0.4837856590747833, + -2.4551684856414795, + 0.021696865558624268 + ], + [ + 0.4837856590747833, + -2.9203574657440186, + 0.021696865558624268 + ], + [ + 0.18184849619865417, + -2.9203574657440186, + 1.1785051822662354 + ], + [ + 0.18184849619865417, + -2.4551684856414795, + 1.1785051822662354 + ], + [ + 0.4837856590747833, + -2.4551684856414795, + 1.1785051822662354 + ], + [ + 0.4837856590747833, + -2.9203574657440186, + 1.1785051822662354 + ] + ], + "corners_2d": [ + [ + 630.7408825587554, + 375.9646569198271 + ], + [ + 646.1580244225994, + 379.4486995377145 + ], + [ + 649.2240686468148, + 372.24010808953943 + ], + [ + 633.908389111079, + 368.80668347310564 + ], + [ + 630.4578677601695, + 347.3378139752323 + ], + [ + 646.3469382514738, + 350.8242177028055 + ], + [ + 649.5049119055011, + 343.61157594157925 + ], + [ + 633.7235887858893, + 340.17735813613245 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 161, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 372555, + "2": 217802, + "5": 3502, + "6": 5071, + "7": 194, + "10": 9, + "12": 1935, + "14": 18920, + "15": 12440, + "20": 3017, + "24": 27379, + "25": 258776 + }, + "instance_pixel_counts": { + "2188": 889, + "2706": 3316, + "3218": 2509, + "3424": 131880, + "3724": 210, + "5506": 2656, + "6215": 25680, + "6284": 5963, + "6290": 23785, + "6730": 1035, + "8286": 3884, + "8332": 11143, + "8338": 21130, + "8798": 5143, + "10846": 7157, + "15184": 3502, + "15510": 3324, + "16022": 383, + "16203": 1142, + "18000": 3017, + "19092": 29382, + "19604": 8621, + "21140": 74169, + "23392": 994, + "23700": 91931, + "23904": 204, + "28000": 641, + "28256": 609, + "28768": 575, + "29024": 69, + "29280": 221, + "29826": 900, + "31584": 454, + "31840": 144, + "32096": 183, + "34304": 309, + "34560": 1400, + "34956": 1125, + "35402": 352, + "35468": 414, + "35476": 4472, + "36170": 339, + "36682": 154, + "37524": 5575, + "38540": 7686, + "38801": 2296, + "39825": 2548, + "40588": 7372, + "42897": 16331, + "44945": 32223, + "52038": 53182, + "56576": 211, + "56647": 126896, + "56832": 201, + "57088": 646, + "57344": 530, + "57600": 347, + "58368": 12440, + "59541": 1657, + "60051": 15613, + "60563": 92, + "60565": 4, + "62101": 1593, + "62208": 2736, + "62611": 58632, + "64149": 2901, + "64585": 354, + "64659": 94115 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 211, + "type_id": "walker.pedestrian.0048", + "bbox_3d": { + "center_world": { + "x": 0.33281707763671875, + "y": -2.687762975692749, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.1528981477022171, + "y": 0.23203229904174805, + "z": 0.5779916644096375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.4560764401127, + "ymin": 340.14659644359045, + "xmax": 649.5056968632163, + "ymax": 379.48097831002957 + }, + "corners_3d": [ + [ + 0.17991892993450165, + -2.919795274734497, + 0.022109389305114746 + ], + [ + 0.17991892993450165, + -2.455730676651001, + 0.022109389305114746 + ], + [ + 0.48571521043777466, + -2.455730676651001, + 0.022109389305114746 + ], + [ + 0.48571521043777466, + -2.919795274734497, + 0.022109389305114746 + ], + [ + 0.17991892993450165, + -2.919795274734497, + 1.1780927181243896 + ], + [ + 0.17991892993450165, + -2.455730676651001, + 1.1780927181243896 + ], + [ + 0.48571521043777466, + -2.455730676651001, + 1.1780927181243896 + ], + [ + 0.48571521043777466, + -2.919795274734497, + 1.1780927181243896 + ] + ], + "corners_2d": [ + [ + 630.7389599484919, + 376.00502865809756 + ], + [ + 646.1196516934417, + 379.48097831002957 + ], + [ + 649.2250420485877, + 372.1803085432617 + ], + [ + 633.9468632553691, + 368.75550053907085 + ], + [ + 630.4560764401127, + 347.3986390787752 + ], + [ + 646.3072606621612, + 350.87695272864767 + ], + [ + 649.5056968632163, + 343.5721854488964 + ], + [ + 633.7633710517448, + 340.14659644359045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 201, + "type_id": "walker.pedestrian.0010", + "bbox_3d": { + "center_world": { + "x": 4.458803653717041, + "y": 0.3099415600299835, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.13467727601528168, + "y": 0.18360693752765656, + "z": 0.5534133911132812 + }, + "yaw": -9.00001049041748 + }, + "bbox_2d": { + "xmin": 765.378535144439, + "ymin": 272.39032866766274, + "xmax": 781.3635283419324, + "ymax": 306.51998254882636 + }, + "corners_3d": [ + [ + 4.297061920166016, + 0.1496633142232895, + 0.04668766260147095 + ], + [ + 4.354506969451904, + 0.512356162071228, + 0.04668766260147095 + ], + [ + 4.620545387268066, + 0.47021979093551636, + 0.04668766260147095 + ], + [ + 4.563100337982178, + 0.10752694308757782, + 0.04668766260147095 + ], + [ + 4.297061920166016, + 0.1496633142232895, + 1.1535143852233887 + ], + [ + 4.354506969451904, + 0.512356162071228, + 1.1535143852233887 + ], + [ + 4.620545387268066, + 0.47021979093551636, + 1.1535143852233887 + ], + [ + 4.563100337982178, + 0.10752694308757782, + 1.1535143852233887 + ] + ], + "corners_2d": [ + [ + 765.378535144439, + 305.3668814848913 + ], + [ + 777.2595038419171, + 306.51998254882636 + ], + [ + 777.6539042374818, + 300.78964084044964 + ], + [ + 765.8468310106849, + 299.65094332030986 + ], + [ + 768.7748390462505, + 278.0846883213243 + ], + [ + 780.9824679879072, + 279.2336704080783 + ], + [ + 781.3635283419324, + 273.5245733840611 + ], + [ + 769.2339012382492, + 272.39032866766274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 646, + "type_id": "walker.pedestrian.0003", + "bbox_3d": { + "center_world": { + "x": -3.089085578918457, + "y": 5.0606160163879395, + "z": 0.6000961661338806 + }, + "extent": { + "x": 0.17654067277908325, + "y": 0.3447549343109131, + "z": 0.9173765182495117 + }, + "yaw": -3.0000007152557373 + }, + "bbox_2d": { + "xmin": 879.9710201331222, + "ymin": 491.0828326859672, + "xmax": 924.2033893638493, + "ymax": 552.5305947299316 + }, + "corners_3d": [ + [ + -3.2834274768829346, + 4.7255730628967285, + -0.3172803521156311 + ], + [ + -3.2473411560058594, + 5.414137840270996, + -0.3172803521156311 + ], + [ + -2.8947436809539795, + 5.39565896987915, + -0.3172803521156311 + ], + [ + -2.9308300018310547, + 4.707094192504883, + -0.3172803521156311 + ], + [ + -3.2834274768829346, + 4.7255730628967285, + 1.517472743988037 + ], + [ + -3.2473411560058594, + 5.414137840270996, + 1.517472743988037 + ], + [ + -2.8947436809539795, + 5.39565896987915, + 1.517472743988037 + ], + [ + -2.9308300018310547, + 4.707094192504883, + 1.517472743988037 + ] + ], + "corners_2d": [ + [ + 879.9710201331222, + 546.7086404482031 + ], + [ + 908.0449493395059, + 552.5305947299316 + ], + [ + 908.8519483580942, + 540.9393902200171 + ], + [ + 881.0531255112428, + 535.2329124851352 + ], + [ + 893.7461441170174, + 502.74849892596944 + ], + [ + 923.5136972371838, + 508.6719068723934 + ], + [ + 924.2033893638493, + 496.88209616373354 + ], + [ + 894.7449793963915, + 491.0828326859672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 530, + "type_id": "walker.pedestrian.0001", + "bbox_3d": { + "center_world": { + "x": -9.167181968688965, + "y": -2.687762975692749, + "z": 0.6001010537147522 + }, + "extent": { + "x": 0.17225158214569092, + "y": 0.29512229561805725, + "z": 0.9181107878684998 + }, + "yaw": 3.0000014305114746 + }, + "bbox_2d": { + "xmin": 489.6956378993324, + "ymin": 622.6625975912161, + "xmax": 529.1984793290285, + "ymax": 686.0484860615161 + }, + "corners_3d": [ + [ + -9.323752403259277, + -2.9914958477020264, + -0.31800973415374756 + ], + [ + -9.354642868041992, + -2.402060031890869, + -0.31800973415374756 + ], + [ + -9.010611534118652, + -2.3840301036834717, + -0.31800973415374756 + ], + [ + -8.979721069335938, + -2.973465919494629, + -0.31800973415374756 + ], + [ + -9.323752403259277, + -2.9914958477020264, + 1.518211841583252 + ], + [ + -9.354642868041992, + -2.402060031890869, + 1.518211841583252 + ], + [ + -9.010611534118652, + -2.3840301036834717, + 1.518211841583252 + ], + [ + -8.979721069335938, + -2.973465919494629, + 1.518211841583252 + ] + ], + "corners_2d": [ + [ + 498.7858227542404, + 677.3693348766378 + ], + [ + 522.6475105184187, + 686.0484860615161 + ], + [ + 529.1984793290285, + 672.4466158265482 + ], + [ + 505.54253411732185, + 663.9484255396014 + ], + [ + 489.6956378993324, + 636.4835964129536 + ], + [ + 515.0390067334417, + 645.4313810740539 + ], + [ + 522.0950840120678, + 631.4119688741636 + ], + [ + 496.98344891617785, + 622.6625975912161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 347, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": 11.578152656555176, + "y": -10.857976913452148, + "z": 0.7535288333892822 + }, + "extent": { + "x": 0.20353882014751434, + "y": 0.34597837924957275, + "z": 0.9651182889938354 + }, + "yaw": 9.000020980834961 + }, + "bbox_2d": { + "xmin": 510.06505890094775, + "ymin": 83.68543576378704, + "xmax": 535.6559151223751, + "ymax": 138.11514818968072 + }, + "corners_3d": [ + [ + 11.431242942810059, + -11.231535911560059, + -0.21158945560455322 + ], + [ + 11.322997093200684, + -10.54809856414795, + -0.21158945560455322 + ], + [ + 11.725062370300293, + -10.484417915344238, + -0.21158945560455322 + ], + [ + 11.833308219909668, + -11.167855262756348, + -0.21158945560455322 + ], + [ + 11.431242942810059, + -11.231535911560059, + 1.7186471223831177 + ], + [ + 11.322997093200684, + -10.54809856414795, + 1.7186471223831177 + ], + [ + 11.725062370300293, + -10.484417915344238, + 1.7186471223831177 + ], + [ + 11.833308219909668, + -11.167855262756348, + 1.7186471223831177 + ] + ], + "corners_2d": [ + [ + 514.8560163150106, + 133.77386041693845 + ], + [ + 530.2345335231814, + 138.11514818968072 + ], + [ + 535.6559151223751, + 132.96562826703962 + ], + [ + 520.351641444179, + 128.68392362929987 + ], + [ + 510.06505890094775, + 88.64722217512667 + ], + [ + 526.0067635603488, + 92.88127014045028 + ], + [ + 531.6657737373429, + 87.8591648413248 + ], + [ + 515.8037223238654, + 83.68543576378704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 12440, + "type_id": "vehicle.mercedes.sprinter", + "bbox_3d": { + "center_world": { + "x": 0.537021815776825, + "y": 2.552152395248413, + "z": 1.2683353424072266 + }, + "extent": { + "x": 2.957595109939575, + "y": 0.9942164421081543, + "z": 1.2803276777267456 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 764.2251245876813, + "ymin": 267.6142888574228, + "xmax": 887.0349138858714, + "ymax": 501.1199565921114 + }, + "corners_3d": [ + [ + -2.4229846000671387, + 1.5651381015777588, + -0.011992378160357475 + ], + [ + -2.4181442260742188, + 3.55356502532959, + -0.011992378160357475 + ], + [ + 3.497028350830078, + 3.5391666889190674, + -0.011992378160357475 + ], + [ + 3.492187976837158, + 1.5507397651672363, + -0.011992378160357475 + ], + [ + -2.4229846000671387, + 1.5651381015777588, + 2.5486629009246826 + ], + [ + -2.4181442260742188, + 3.55356502532959, + 2.5486629009246826 + ], + [ + 3.497028350830078, + 3.5391666889190674, + 2.5486629009246826 + ], + [ + 3.492187976837158, + 1.5507397651672363, + 2.5486629009246826 + ] + ], + "corners_2d": [ + [ + 764.2251245876813, + 482.75084316193306 + ], + [ + 840.4306359115822, + 501.1199565921114 + ], + [ + 871.324506890256, + 346.7576445747758 + ], + [ + 805.1360609567007, + 333.1161506349789 + ], + [ + 773.9583680840294, + 417.73698327187856 + ], + [ + 856.420395669775, + 436.3887967753867 + ], + [ + 887.0349138858714, + 281.1678142674572 + ], + [ + 816.1802370219714, + 267.6142888574228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 243, + "instance_id": 62208, + "pixel_count": 2736, + "type_id": "vehicle.ford.mustang", + "bbox_3d": { + "center_world": { + "x": 28.08228874206543, + "y": 12.446331024169922, + "z": 0.6455088257789612 + }, + "extent": { + "x": 2.358762502670288, + "y": 0.947413444519043, + "z": 0.650469958782196 + }, + "yaw": 89.4882583618164 + }, + "bbox_2d": { + "xmin": 1088.884215410928, + "ymin": 0.0, + "xmax": 1215.7962537551675, + "ymax": 39.906984991180934 + }, + "corners_3d": [ + [ + 29.008596420288086, + 10.079200744628906, + -0.0049611469730734825 + ], + [ + 27.113845825195312, + 10.096124649047852, + -0.0049611469730734825 + ], + [ + 27.155981063842773, + 14.813461303710938, + -0.0049611469730734825 + ], + [ + 29.050731658935547, + 14.796538352966309, + -0.0049611469730734825 + ], + [ + 29.008596420288086, + 10.079200744628906, + 1.2959787845611572 + ], + [ + 27.113845825195312, + 10.096124649047852, + 1.2959787845611572 + ], + [ + 27.155981063842773, + 14.813461303710938, + 1.2959787845611572 + ], + [ + 29.050731658935547, + 14.796538352966309, + 1.2959787845611572 + ] + ], + "corners_2d": [ + [ + 1088.884215410928, + 7.2077026346162825 + ], + [ + 1089.9592845560699, + 25.436582619953754 + ], + [ + 1203.169940759401, + 39.906984991180934 + ], + [ + 1198.7383732994972, + 20.84766960771026 + ], + [ + 1098.4291411460758, + -20.548048005831618 + ], + [ + 1099.8169967042734, + -2.760874334373341 + ], + [ + 1215.7962537551675, + 11.374882095290559 + ], + [ + 1210.8885457266988, + -7.240706387057912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.923681075632, + "ymin": 338.69787395698665, + "xmax": 739.4137866807973, + "ymax": 374.61077606496616 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.923681075632, + 373.99974931640696 + ], + [ + 731.6940523406939, + 374.61077606496616 + ], + [ + 737.5688352199911, + 357.3490789268057 + ], + [ + 734.8435340050481, + 356.7593351199153 + ], + [ + 730.6347342737696, + 355.9408954333503 + ], + [ + 733.4595320129378, + 356.5522284548064 + ], + [ + 739.4137866807973, + 339.28751448337556 + ], + [ + 736.6358352599491, + 338.69787395698665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236794960577, + "ymin": 338.69787839617584, + "xmax": 739.4137851479011, + "ymax": 374.61078067089653 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236794960577, + 373.99975391660814 + ], + [ + 731.6940507731284, + 374.61078067089653 + ], + [ + 737.5688337070427, + 357.3490833722563 + ], + [ + 734.8435324804761, + 356.7593395599334 + ], + [ + 730.6347326719749, + 355.94090003580214 + ], + [ + 733.4595304236292, + 356.5522330631007 + ], + [ + 739.4137851479011, + 339.28751892809896 + ], + [ + 736.635833714975, + 338.69787839617584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.1764944898397, + "ymin": 272.7036353953956, + "xmax": 757.9636493589479, + "ymax": 306.13591126409494 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 748.1764944898397, + 305.6070924341465 + ], + [ + 750.7648664932217, + 306.13591126409494 + ], + [ + 755.9245755185242, + 291.1789333051273 + ], + [ + 753.3756139464078, + 290.6672816044319 + ], + [ + 750.1103760218903, + 287.6063965156615 + ], + [ + 752.7461878548788, + 288.1340636615522 + ], + [ + 757.9636493589479, + 273.21387410908824 + ], + [ + 755.368697113995, + 272.7036353953956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.6966310444752, + "ymin": 271.8916322038924, + "xmax": 762.4815769873785, + "ymax": 305.2933636136494 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 752.6966310444752, + 304.76551933102473 + ], + [ + 755.285231577303, + 305.2933636136494 + ], + [ + 760.3663284282777, + 290.36373282990587 + ], + [ + 757.8171510487753, + 289.8530086290309 + ], + [ + 754.7094295486935, + 286.76667875500414 + ], + [ + 757.3454759426853, + 287.293356110733 + ], + [ + 762.4815769873785, + 272.40092973659387 + ], + [ + 759.8864034811024, + 271.8916322038924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5197793142036, + "ymin": 330.29266206964826, + "xmax": 738.1687163096176, + "ymax": 366.0935982254986 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.5197793142036, + 366.0133225492234 + ], + [ + 730.8868634486206, + 366.0935982254986 + ], + [ + 736.1171754390563, + 350.89550318284137 + ], + [ + 735.7553964064757, + 350.8177140050278 + ], + [ + 732.4829848298752, + 345.4853332048749 + ], + [ + 732.8581963969038, + 345.5656206764261 + ], + [ + 738.1687163096176, + 330.37041002597005 + ], + [ + 737.7990459830944, + 330.29266206964826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.519742973967, + "ymin": 330.2928361396074, + "xmax": 738.1686811899152, + "ymax": 366.09377798449276 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.519742973967, + 366.0135022785765 + ], + [ + 730.8868271731614, + 366.09377798449276 + ], + [ + 736.1171406804314, + 350.89567737366696 + ], + [ + 735.7553615849256, + 350.8178881675788 + ], + [ + 732.4829480717787, + 345.4855129603157 + ], + [ + 732.8581597064874, + 345.5658004621552 + ], + [ + 738.1686811899152, + 330.37058412479195 + ], + [ + 737.7990107976891, + 330.2928361396074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.923681075632, + "ymin": 338.69787395698665, + "xmax": 739.4137866807973, + "ymax": 374.61077606496616 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.923681075632, + 373.99974931640696 + ], + [ + 731.6940523406939, + 374.61077606496616 + ], + [ + 737.5688352199911, + 357.3490789268057 + ], + [ + 734.8435340050481, + 356.7593351199153 + ], + [ + 730.6347342737696, + 355.9408954333503 + ], + [ + 733.4595320129378, + 356.5522284548064 + ], + [ + 739.4137866807973, + 339.28751448337556 + ], + [ + 736.6358352599491, + 338.69787395698665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236814830188, + "ymin": 338.697874043694, + "xmax": 739.413786953471, + "ymax": 374.61077612494233 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236814830188, + 373.99974940625924 + ], + [ + 731.6940526126233, + 374.61077612494233 + ], + [ + 737.5688354874937, + 357.3490789846922 + ], + [ + 734.8435344058117, + 356.7593352066388 + ], + [ + 730.6347346891549, + 355.9408955232465 + ], + [ + 733.4595322902129, + 356.5522285148134 + ], + [ + 739.413786953471, + 339.28751454125256 + ], + [ + 736.6358356684503, + 338.697874043694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236798951157, + "ymin": 338.69787768521337, + "xmax": 739.4137854033838, + "ymax": 374.6107799032414 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236798951157, + 373.99975317985866 + ], + [ + 731.6940510343893, + 374.6107799032414 + ], + [ + 737.5688339592008, + 357.34908263134787 + ], + [ + 734.8435328681593, + 356.7593388488382 + ], + [ + 730.6347330774025, + 355.9408992986922 + ], + [ + 733.459530688514, + 356.5522322950516 + ], + [ + 739.4137854033838, + 339.2875181873117 + ], + [ + 736.6358341086377, + 338.69787768521337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.2272361481822, + "ymin": 287.239028685275, + "xmax": 724.1239508032597, + "ymax": 321.2179815102819 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 714.2272361481822, + 320.6715650987618 + ], + [ + 716.8383504265967, + 321.2179815102819 + ], + [ + 722.6462126928194, + 305.7673088878221 + ], + [ + 720.0751513398053, + 305.2389163228382 + ], + [ + 715.5764929226737, + 302.64233998319406 + ], + [ + 718.2359075940419, + 303.1878883194294 + ], + [ + 724.1239508032597, + 287.76626288949683 + ], + [ + 721.5060749810413, + 287.239028685275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5198827365955, + "ymin": 330.29244161877654, + "xmax": 738.1688185010529, + "ymax": 366.09337056974897 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.5198827365955, + 366.0130949310125 + ], + [ + 730.8869667937083, + 366.09337056974897 + ], + [ + 736.11727596709, + 350.89528257889657 + ], + [ + 735.7554970096147, + 350.8174934368912 + ], + [ + 732.4830900263496, + 345.4851055536273 + ], + [ + 732.8583015126051, + 345.56539298681986 + ], + [ + 738.1688185010529, + 330.3701895385453 + ], + [ + 737.799148252955, + 330.29244161877654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236794960577, + "ymin": 338.69787839617584, + "xmax": 739.4137851479011, + "ymax": 374.61078067089653 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236794960577, + 373.99975391660814 + ], + [ + 731.6940507731284, + 374.61078067089653 + ], + [ + 737.5688337070427, + 357.3490833722563 + ], + [ + 734.8435324804761, + 356.7593395599334 + ], + [ + 730.6347326719749, + 355.94090003580214 + ], + [ + 733.4595304236292, + 356.5522330631007 + ], + [ + 739.4137851479011, + 339.28751892809896 + ], + [ + 736.635833714975, + 338.69787839617584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5033056857594, + "ymin": 328.00283594244064, + "xmax": 740.0934107747653, + "ymax": 369.9676178491596 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 730.5033056857594, + 369.87073356558926 + ], + [ + 730.9445874714461, + 369.9676178491596 + ], + [ + 737.8993003515934, + 349.67490112048563 + ], + [ + 737.4665035540507, + 349.5819974690992 + ], + [ + 732.5754329172984, + 348.2881930962421 + ], + [ + 733.0270292373659, + 348.38510750189477 + ], + [ + 740.0934107747653, + 328.09568019832506 + ], + [ + 739.6506974116193, + 328.00283594244064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.519907940029, + "ymin": 330.29258487628, + "xmax": 738.1688450112108, + "ymax": 366.0935185092609 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.519907940029, + 366.0132428461302 + ], + [ + 730.886992054997, + 366.0935185092609 + ], + [ + 736.1173016163775, + 350.8954259358731 + ], + [ + 735.7555226027121, + 350.8176367705982 + ], + [ + 732.4831160811449, + 345.48525349021327 + ], + [ + 732.8583276278439, + 345.5655409483328 + ], + [ + 738.1688450112108, + 330.37033281980234 + ], + [ + 737.7991747044466, + 330.29258487628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236814830188, + "ymin": 338.697874043694, + "xmax": 739.413786953471, + "ymax": 374.61077612494233 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236814830188, + 373.99974940625924 + ], + [ + 731.6940526126233, + 374.61077612494233 + ], + [ + 737.5688354874937, + 357.3490789846922 + ], + [ + 734.8435344058117, + 356.7593352066388 + ], + [ + 730.6347346891549, + 355.9408955232465 + ], + [ + 733.4595322902129, + 356.5522285148134 + ], + [ + 739.413786953471, + 339.28751454125256 + ], + [ + 736.6358356684503, + 338.697874043694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5031841860518, + "ymin": 328.0028103792994, + "xmax": 740.0932887192658, + "ymax": 369.9675911382915 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 730.5031841860518, + 369.8707068900896 + ], + [ + 730.9444658106449, + 369.9675911382915 + ], + [ + 737.8991810303377, + 349.67487550712525 + ], + [ + 737.4663843903004, + 349.58197188954875 + ], + [ + 732.5753085779352, + 348.2881664125094 + ], + [ + 733.0269047325788, + 348.3850807826615 + ], + [ + 740.0932887192658, + 328.09565460128425 + ], + [ + 739.6505755177647, + 328.0028103792994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5032686338681, + "ymin": 328.002989987948, + "xmax": 740.0933751170255, + "ymax": 369.96777859961634 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 730.5032686338681, + 369.87089431425625 + ], + [ + 730.9445503514589, + 369.96777859961634 + ], + [ + 737.8992651221636, + 349.67505526595755 + ], + [ + 737.4664683926959, + 349.58215161348926 + ], + [ + 732.575395365675, + 348.28835389452274 + ], + [ + 733.0269916177065, + 348.38526830269564 + ], + [ + 740.0933751170255, + 328.09583424558383 + ], + [ + 739.6506618219572, + 328.002989987948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.9236828159883, + "ymin": 338.6978719397092, + "xmax": 739.4137882652665, + "ymax": 374.6107739419293 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 728.9236828159883, + 373.9997472259617 + ], + [ + 731.694053940265, + 374.6107739419293 + ], + [ + 737.5688367789732, + 357.3490768777398 + ], + [ + 734.8435357024492, + 356.7593331022612 + ], + [ + 730.6347360438992, + 355.94089334188226 + ], + [ + 733.4595336394174, + 356.55222633068 + ], + [ + 739.4137882652665, + 339.2875124346448 + ], + [ + 736.6358369856057, + 338.6978719397092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5034265492817, + "ymin": 328.00286533842376, + "xmax": 740.0935320951053, + "ymax": 369.96764853036564 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 730.5034265492817, + 369.8707642407137 + ], + [ + 730.9447083607995, + 369.96764853036564 + ], + [ + 737.8994189450779, + 349.674930541049 + ], + [ + 737.466622122724, + 349.58202688395187 + ], + [ + 732.5755566145842, + 348.288223780834 + ], + [ + 733.0271529616928, + 348.3851381927095 + ], + [ + 740.0935320951053, + 328.09570960014315 + ], + [ + 739.6508187060098, + 328.00286533842376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.5024366056743, + "ymin": 258.3881313230314, + "xmax": 767.1441948709921, + "ymax": 291.2818320300652 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 757.5024366056743, + 290.77006319271675 + ], + [ + 760.0540410857122, + 291.2818320300652 + ], + [ + 764.9815843713131, + 276.80337467614225 + ], + [ + 762.4682984116756, + 276.30795595678785 + ], + [ + 759.5683076528834, + 272.8061323198836 + ], + [ + 762.165996854341, + 273.31648990121016 + ], + [ + 767.1441948709921, + 258.88190414997825 + ], + [ + 764.5862127472647, + 258.3881313230314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5033060772146, + "ymin": 328.00283443812424, + "xmax": 740.093411013852, + "ymax": 369.9676162489932 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 730.5033060772146, + 369.87073199581386 + ], + [ + 730.9445877252259, + 369.9676162489932 + ], + [ + 737.8993005889564, + 349.67489958606757 + ], + [ + 737.4665039264291, + 349.5819959638172 + ], + [ + 732.575433314312, + 348.28819152598214 + ], + [ + 733.0270294934697, + 348.38510590122723 + ], + [ + 740.093411013852, + 328.09567866488464 + ], + [ + 739.6506977888303, + 328.00283443812424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.7144076427646, + "ymin": 342.6474126451598, + "xmax": 737.1499267019541, + "ymax": 378.38435217493424 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 726.7144076427646, + 377.77395587463036 + ], + [ + 729.4699509709656, + 378.38435217493424 + ], + [ + 735.3555948802964, + 361.13904416424776 + ], + [ + 732.6446407889795, + 360.54980828741037 + ], + [ + 728.3746938145988, + 359.87672737227746 + ], + [ + 731.1840779875516, + 360.4875183934758 + ], + [ + 737.1499267019541, + 343.2366348231123 + ], + [ + 734.3868794750158, + 342.6474126451598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5197793142036, + "ymin": 330.29266206964826, + "xmax": 738.1687163096176, + "ymax": 366.0935982254986 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.5197793142036, + 366.0133225492234 + ], + [ + 730.8868634486206, + 366.0935982254986 + ], + [ + 736.1171754390563, + 350.89550318284137 + ], + [ + 735.7553964064757, + 350.8177140050278 + ], + [ + 732.4829848298752, + 345.4853332048749 + ], + [ + 732.8581963969038, + 345.5656206764261 + ], + [ + 738.1687163096176, + 330.37041002597005 + ], + [ + 737.7990459830944, + 330.29266206964826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 756.2813578098221, + "ymin": 250.78459247819384, + "xmax": 765.8366063423126, + "ymax": 283.3921652269595 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 756.2813578098221, + 282.88933886332495 + ], + [ + 758.8098752460571, + 283.3921652269595 + ], + [ + 763.7147245002725, + 269.16475889202536 + ], + [ + 761.2238389145357, + 268.67785934622464 + ], + [ + 758.3075126771113, + 264.9484306012638 + ], + [ + 760.8812779269489, + 265.4497156317244 + ], + [ + 765.8366063423126, + 251.2697294870684 + ], + [ + 763.3018240498434, + 250.78459247819384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.5197531717687, + "ymin": 330.2928111939126, + "xmax": 738.1686912401699, + "ymax": 366.0937522235112 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 730.5197531717687, + 366.01347652184285 + ], + [ + 730.8868373620913, + 366.0937522235112 + ], + [ + 736.1171505740883, + 350.89565241065105 + ], + [ + 735.7553714872015, + 350.81786320861494 + ], + [ + 732.4829584376857, + 345.48548719984336 + ], + [ + 732.8581700631248, + 345.56577469734225 + ], + [ + 738.1686912401699, + 330.3705591749609 + ], + [ + 737.7990208569436, + 330.2928111939126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6672950169919854208, + "instance_id": 32918, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": 19.254947662353516, + "y": 11.71596908569336, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995727598667145, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.6398035683737, + "ymin": 32.82717287962504, + "xmax": 1178.4886477209793, + "ymax": 59.93414404118471 + }, + "corners_3d": [ + [ + 19.394283294677734, + 11.905925750732422, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.52601146697998, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.526012420654297, + 2.645533323287964 + ], + [ + 19.115612030029297, + 11.905926704406738, + 2.645533323287964 + ], + [ + 19.394283294677734, + 11.905925750732422, + 3.5146729946136475 + ], + [ + 19.394283294677734, + 11.52601146697998, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.526012420654297, + 3.5146729946136475 + ], + [ + 19.115612030029297, + 11.905926704406738, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1168.5710962981216, + 56.42411165912796 + ], + [ + 1157.6398035683737, + 54.939835575098925 + ], + [ + 1158.1234333874886, + 58.43415096037222 + ], + [ + 1169.113603661683, + 59.93414404118471 + ], + [ + 1177.8864100692342, + 34.2871908325144 + ], + [ + 1166.741716690696, + 32.82717287962504 + ], + [ + 1167.2827538599124, + 36.2645626329558 + ], + [ + 1178.4886477209793, + 37.7403150623569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.0520695273542, + "ymin": 278.3790304840951, + "xmax": 758.1140898865608, + "ymax": 339.30415314836614 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 749.0520695273542, + 338.92938593077037 + ], + [ + 750.8221808444786, + 339.30415314836614 + ], + [ + 751.3906129031552, + 337.5962527093963 + ], + [ + 749.6234686430353, + 337.22283600579084 + ], + [ + 755.6442390666659, + 280.07602426120866 + ], + [ + 757.5241662089735, + 280.4487424396577 + ], + [ + 758.1140898865608, + 278.7503245564309 + ], + [ + 756.2375097652139, + 278.3790304840951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.6848056325097, + "ymin": 264.68355936635334, + "xmax": 762.875170158656, + "ymax": 325.45756759383346 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 753.6848056325097, + 325.09367928969385 + ], + [ + 755.430838470357, + 325.45756759383346 + ], + [ + 755.982780892208, + 323.7992107204037 + ], + [ + 754.2396354533496, + 323.4366146051865 + ], + [ + 760.4505842708717, + 266.3284420138634 + ], + [ + 762.3033695601453, + 266.6897017493002 + ], + [ + 762.875170158656, + 265.0434600997159 + ], + [ + 761.0256365341446, + 264.68355936635334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.3914526280483, + "ymin": 293.94813526367875, + "xmax": 719.4167939895722, + "ymax": 355.0165665882765 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 712.3914526280483, + 354.6292606583029 + ], + [ + 714.1761803460797, + 355.0165665882765 + ], + [ + 714.8212244492255, + 353.2515649887085 + ], + [ + 713.039508935914, + 352.86567784999437 + ], + [ + 716.844551843064, + 295.70535825464066 + ], + [ + 718.7410153367684, + 296.0913205539636 + ], + [ + 719.4167939895722, + 294.3325969560368 + ], + [ + 717.5237319088378, + 293.94813526367875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9458088953020268019, + "instance_id": 62397, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.4675400257110596, + "y": 7.9519500732421875, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.1632631018683, + "ymin": 165.86629909357492, + "xmax": 1132.9133331592984, + "ymax": 180.34001084569584 + }, + "corners_3d": [ + [ + 2.319672107696533, + 8.157838821411133, + 7.633610725402832 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.633610725402832 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.633610725402832 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.633610725402832 + ], + [ + 2.319672107696533, + 8.157838821411133, + 7.742908477783203 + ], + [ + 2.6154088973999023, + 8.157837867736816, + 7.742908477783203 + ], + [ + 2.615407943725586, + 7.7460618019104, + 7.742908477783203 + ], + [ + 2.319671154022217, + 7.746062278747559, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 1131.125680219288, + 180.34001084569584 + ], + [ + 1130.525553341724, + 173.08535608367686 + ], + [ + 1111.1632631018683, + 169.970147018198 + ], + [ + 1111.5817332899408, + 177.16674488950508 + ], + [ + 1132.9133331592984, + 176.2189747644956 + ], + [ + 1132.2945222717985, + 168.97624043589357 + ], + [ + 1112.8556012576203, + 165.86629909357492 + ], + [ + 1113.2913095172075, + 173.05086320272073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.8706789307105, + "ymin": 350.513536182036, + "xmax": 734.1202528729115, + "ymax": 411.32967692332977 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 725.8706789307105, + 410.899190637066 + ], + [ + 727.7504795315594, + 411.32967692332977 + ], + [ + 728.401628852378, + 409.36803830304194 + ], + [ + 726.5251713391511, + 408.9392077138335 + ], + [ + 731.4344839392833, + 352.48055551618086 + ], + [ + 733.4386412059522, + 352.9126529698544 + ], + [ + 734.1202528729115, + 350.9438643698462 + ], + [ + 732.1198959808207, + 350.513536182036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.2460478077979, + "ymin": 157.217209951865, + "xmax": 1280.0, + "ymax": 434.60361407450705 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 1161.1746163389475, + 434.60361407450705 + ], + [ + 1160.103657198034, + 422.88280025948006 + ], + [ + 1014.8102819657697, + 392.21304361344846 + ], + [ + 1014.2460478077979, + 403.24277914293214 + ], + [ + 1301.4149160554064, + 198.36917079186966 + ], + [ + 1298.0642379515589, + 186.90099346813878 + ], + [ + 1110.5161328373486, + 157.217209951865 + ], + [ + 1111.1350531068842, + 167.8386606388232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 12.124276062597119, + "ymin": 0.0, + "xmax": 248.757438345541, + "ymax": 155.50794991044899 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 241.2518112815502, + 155.50794991044899 + ], + [ + 248.757438345541, + 148.5634670514258 + ], + [ + 120.57033248144705, + 124.1504699718636 + ], + [ + 112.17020579305859, + 130.651817619603 + ], + [ + 162.62556634930866, + -72.63500578758152 + ], + [ + 172.45021974437304, + -78.4526337882532 + ], + [ + 23.146309371096663, + -98.73983422565544 + ], + [ + 12.124276062597119, + -93.3620615758395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.7450156606312, + "ymin": 279.2024785528373, + "xmax": 753.5616883362884, + "ymax": 340.1359391094984 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 744.7450156606312, + 339.76051325320395 + ], + [ + 746.5149751760557, + 340.1359391094984 + ], + [ + 747.0916817834598, + 338.42503933531515 + ], + [ + 745.324688379764, + 338.05096755152556 + ], + [ + 751.082721520088, + 280.902631490221 + ], + [ + 752.9624830316891, + 281.2760443652372 + ], + [ + 753.5616883362884, + 279.5744633422353 + ], + [ + 751.6852727477047, + 279.2024785528373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.5525958601165, + "ymin": 256.9733691448034, + "xmax": 761.5966495369805, + "ymax": 317.65196422905296 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 752.5525958601165, + 317.2941379708542 + ], + [ + 754.2835831345287, + 317.65196422905296 + ], + [ + 754.8329382119731, + 316.02121524483175 + ], + [ + 753.1047887216242, + 315.6646490484292 + ], + [ + 759.1916701373773, + 258.5892727894618 + ], + [ + 761.027524287109, + 258.94416077814924 + ], + [ + 761.5966495369805, + 257.3269338936232 + ], + [ + 759.7639878140532, + 256.9733691448034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17894861866541010007, + "instance_id": 22348, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.467540979385376, + "y": 7.951941967010498, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.2766925130622, + "ymin": 165.9427266634807, + "xmax": 1132.7950762321038, + "ymax": 180.2623257266477 + }, + "corners_3d": [ + [ + 2.3212480545043945, + 8.155637741088867, + 7.634186744689941 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.634186744689941 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.634186744689941 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.634186744689941 + ], + [ + 2.3212480545043945, + 8.155637741088867, + 7.742321968078613 + ], + [ + 2.6138346195220947, + 8.15563678741455, + 7.742321968078613 + ], + [ + 2.6138339042663574, + 7.748246669769287, + 7.742321968078613 + ], + [ + 2.3212473392486572, + 7.748247146606445, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 1131.0269537021782, + 180.2623257266477 + ], + [ + 1130.4340907558512, + 173.0853220670813 + ], + [ + 1111.2766925130622, + 170.00301476015593 + ], + [ + 1111.6917403579164, + 177.1231910619461 + ], + [ + 1132.7950762321038, + 176.18521339794387 + ], + [ + 1132.183932589387, + 169.0198783536673 + ], + [ + 1112.9515188118805, + 165.9427266634807 + ], + [ + 1113.383447109255, + 173.05112460295297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.5840279084393, + "ymin": 0.0, + "xmax": 1249.5469235189773, + "ymax": 126.13524165104496 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1139.2783526633452, + 124.29323148165159 + ], + [ + 1151.1792094498592, + 126.13524165104496 + ], + [ + 1138.3367792606468, + -4.929794034543704 + ], + [ + 1128.5840279084393, + -6.173024113092424 + ], + [ + 1235.0684513093365, + -103.67670392120368 + ], + [ + 1249.5469235189773, + -102.16444562788877 + ], + [ + 1214.4843322842944, + -206.2407493809094 + ], + [ + 1203.0638237375229, + -207.19486480531805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 593.5430971564845, + "ymin": 0.0, + "xmax": 926.4695880057453, + "ymax": 94.13780056898969 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 603.5924636694255, + 45.48094381304696 + ], + [ + 600.2627690594504, + 50.05181453471653 + ], + [ + 881.1144044781844, + 94.13780056898969 + ], + [ + 882.5835741831147, + 88.93593001595423 + ], + [ + 597.4858241962685, + -167.03980091711867 + ], + [ + 593.5430971564845, + -163.43509479547822 + ], + [ + 925.1198834207216, + -128.2277429570961 + ], + [ + 926.4695880057453, + -132.42394916901532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.2348027436566, + "ymin": 346.17770560249534, + "xmax": 734.5446504167157, + "ymax": 407.5066664053817 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 726.2348027436566, + 407.07597682303947 + ], + [ + 728.1227323516674, + 407.5066664053817 + ], + [ + 728.7759188828721, + 405.54411391764245 + ], + [ + 726.8913613587907, + 405.11508781947157 + ], + [ + 731.8474350719741, + 348.14466640679365 + ], + [ + 733.8608346348894, + 348.5767558798934 + ], + [ + 734.5446504167157, + 346.60801787477806 + ], + [ + 732.5350863851322, + 346.17770560249534 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/ORI/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777284550/ORI/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..679f1597377207ebb2bf608264f54f6697216dda --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/ORI/perturbation_report.json @@ -0,0 +1,96 @@ +{ + "aug_index": 0, + "is_original": true, + "frames": 162, + "perturbation_frames": 0, + "pedestrian_delta": { + "dx": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "drone_delta": { + "dx": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xyz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "constraints_check": { + "pedestrian_z_expected": 0.0, + "pedestrian_z_nonzero_count": 0, + "pedestrian_z_abs_max": 0.0 + }, + "sample_head": [] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777284550/aug_001/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777284550/aug_001/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..363cd366ba6fa3efa6b298c5b61dc12541e7bae3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777284550/aug_001/perturbation_report.json @@ -0,0 +1,201 @@ +{ + "aug_index": 1, + "is_original": false, + "frames": 162, + "perturbation_frames": 162, + "pedestrian_delta": { + "dx": { + "count": 162.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 162.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 162.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xy": { + "count": 162.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "drone_delta": { + "dx": { + "count": 162.0, + "min": -0.16156958538552146, + "max": 0.17789620397173422, + "mean": -0.008049476264506212, + "std": 0.06677984652657361, + "p50": 0.0, + "p95": 0.10654891042690351, + "p99": 0.1538982545778152 + }, + "dy": { + "count": 162.0, + "min": -0.17937568816292782, + "max": 0.16971812073153103, + "mean": -0.008678133842116057, + "std": 0.06556299753758002, + "p50": 0.0, + "p95": 0.10327430941790057, + "p99": 0.16752936038550653 + }, + "dz": { + "count": 162.0, + "min": -0.1896525896886665, + "max": 0.1785843998312906, + "mean": 0.003844882685881975, + "std": 0.0702867053234023, + "p50": 0.0, + "p95": 0.11586043759120254, + "p99": 0.1668257289642978 + }, + "norm_xyz": { + "count": 162.0, + "min": 0.0, + "max": 0.19939090550432145, + "mean": 0.08737604716275366, + "std": 0.07885803112961424, + "p50": 0.1057547020833091, + "p95": 0.1883831606355763, + "p99": 0.19864411935658124 + } + }, + "constraints_check": { + "pedestrian_z_expected": 0.0, + "pedestrian_z_nonzero_count": 0, + "pedestrian_z_abs_max": 0.0 + }, + "sample_head": [ + { + "frame_id": 0, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + -0.155475981262839, + -0.12316068964656779, + -0.00021992036045048735 + ] + }, + { + "frame_id": 1, + "is_perturbed": false, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 2, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + -0.10778520835746264, + -0.03496820020095015, + 0.0849099171294121 + ] + }, + { + "frame_id": 3, + "is_perturbed": true, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 4, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + -0.12787967762402985, + 0.11393672607478322, + -0.07364078415990605 + ] + } + ], + "v5_joint_prob": { + "frames_pos_applied": 94, + "frames_viewpoint_applied": 97 + } +} \ No newline at end of file